diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 37 |
1 files changed, 19 insertions, 18 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index ec64c276..f5d7489d 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -31,7 +31,7 @@ class MCU_stepper: self._mcu_position_offset = 0 self._mcu_freq = self._min_stop_interval = 0. self._reset_cmd = self._get_position_cmd = None - self.ffi_lib = self._stepqueue = None + self._ffi_lib = self._stepqueue = None self.print_to_mcu_time = mcu.print_to_mcu_time def set_min_stop_interval(self, min_stop_interval): self._min_stop_interval = min_stop_interval @@ -53,12 +53,12 @@ class MCU_stepper: "reset_step_clock oid=%c clock=%u") self._get_position_cmd = self._mcu.lookup_command( "stepper_get_position oid=%c") - ffi_main, self.ffi_lib = chelper.get_ffi() + ffi_main, self._ffi_lib = chelper.get_ffi() max_error = int(max_error * self._mcu_freq) - self._stepqueue = ffi_main.gc(self.ffi_lib.stepcompress_alloc( + self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc( max_error, step_cmd.msgid, dir_cmd.msgid, self._invert_dir, self._oid), - self.ffi_lib.stepcompress_free) + self._ffi_lib.stepcompress_free) def get_oid(self): return self._oid def set_position(self, pos): @@ -67,14 +67,15 @@ class MCU_stepper: def get_mcu_position(self): return self.commanded_position + self._mcu_position_offset def note_homing_start(self, homing_clock): - ret = self.ffi_lib.stepcompress_set_homing(self._stepqueue, homing_clock) + ret = self._ffi_lib.stepcompress_set_homing( + self._stepqueue, homing_clock) if ret: raise error("Internal error in stepcompress") def note_homing_finalized(self): - ret = self.ffi_lib.stepcompress_set_homing(self._stepqueue, 0) + ret = self._ffi_lib.stepcompress_set_homing(self._stepqueue, 0) if ret: raise error("Internal error in stepcompress") - ret = self.ffi_lib.stepcompress_reset(self._stepqueue, 0) + ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0) if ret: raise error("Internal error in stepcompress") def note_homing_triggered(self): @@ -87,17 +88,17 @@ class MCU_stepper: self._mcu_position_offset = pos - self.commanded_position def reset_step_clock(self, mcu_time): clock = int(mcu_time * self._mcu_freq) - ret = self.ffi_lib.stepcompress_reset(self._stepqueue, clock) + ret = self._ffi_lib.stepcompress_reset(self._stepqueue, clock) if ret: raise error("Internal error in stepcompress") data = (self._reset_cmd.msgid, self._oid, clock & 0xffffffff) - ret = self.ffi_lib.stepcompress_queue_msg( + ret = self._ffi_lib.stepcompress_queue_msg( self._stepqueue, data, len(data)) if ret: raise error("Internal error in stepcompress") def step(self, mcu_time, sdir): clock = mcu_time * self._mcu_freq - ret = self.ffi_lib.stepcompress_push(self._stepqueue, clock, sdir) + ret = self._ffi_lib.stepcompress_push(self._stepqueue, clock, sdir) if ret: raise error("Internal error in stepcompress") if sdir: @@ -107,7 +108,7 @@ class MCU_stepper: def step_sqrt(self, mcu_time, steps, step_offset, sqrt_offset, factor): clock = mcu_time * self._mcu_freq mcu_freq2 = self._mcu_freq**2 - count = self.ffi_lib.stepcompress_push_sqrt( + count = self._ffi_lib.stepcompress_push_sqrt( self._stepqueue, steps, step_offset, clock , sqrt_offset * mcu_freq2, factor * mcu_freq2) if count == STEPCOMPRESS_ERROR_RET: @@ -116,7 +117,7 @@ class MCU_stepper: return count def step_factor(self, mcu_time, steps, step_offset, factor): clock = mcu_time * self._mcu_freq - count = self.ffi_lib.stepcompress_push_factor( + count = self._ffi_lib.stepcompress_push_factor( self._stepqueue, steps, step_offset, clock, factor * self._mcu_freq) if count == STEPCOMPRESS_ERROR_RET: raise error("Internal error in stepcompress") @@ -126,7 +127,7 @@ class MCU_stepper: , inv_velocity, step_dist , height, closestxy_d, closest_height2, movez_r): clock = mcu_time * self._mcu_freq - count = self.ffi_lib.stepcompress_push_delta_const( + count = self._ffi_lib.stepcompress_push_delta_const( self._stepqueue, clock, dist, start_pos , inv_velocity * self._mcu_freq, step_dist , height, closestxy_d, closest_height2, movez_r) @@ -139,7 +140,7 @@ class MCU_stepper: , height, closestxy_d, closest_height2, movez_r): clock = mcu_time * self._mcu_freq mcu_freq2 = self._mcu_freq**2 - count = self.ffi_lib.stepcompress_push_delta_accel( + count = self._ffi_lib.stepcompress_push_delta_accel( self._stepqueue, clock, dist, start_pos , accel_multiplier * mcu_freq2, step_dist , height, closestxy_d, closest_height2, movez_r) @@ -399,7 +400,7 @@ class MCU: self._pin_map = config.get('pin_map', None) self._custom = config.get('custom', '') # Move command queuing - ffi_main, self.ffi_lib = chelper.get_ffi() + ffi_main, self._ffi_lib = chelper.get_ffi() self._max_stepper_error = config.getfloat('max_stepper_error', 0.000025) self._steppers = [] self._steppersync = None @@ -464,7 +465,7 @@ class MCU: def disconnect(self): self.serial.disconnect() if self._steppersync is not None: - self.ffi_lib.steppersync_free(self._steppersync) + self._ffi_lib.steppersync_free(self._steppersync) self._steppersync = None def stats(self, eventtime): return "%s mcu_task_avg=%.06f mcu_task_stddev=%.06f" % ( @@ -545,7 +546,7 @@ class MCU: move_count = config_params['move_count'] logging.info("Configured (%d moves)" % (move_count,)) stepqueues = tuple(s._stepqueue for s in self._steppers) - self._steppersync = self.ffi_lib.steppersync_alloc( + self._steppersync = self._ffi_lib.steppersync_alloc( self.serial.serialqueue, stepqueues, len(stepqueues), move_count) for cb in self._init_callbacks: cb() @@ -609,7 +610,7 @@ class MCU: return mcu_time = print_time + self._print_start_time clock = int(mcu_time * self._mcu_freq) - ret = self.ffi_lib.steppersync_flush(self._steppersync, clock) + ret = self._ffi_lib.steppersync_flush(self._steppersync, clock) if ret: raise error("Internal error in stepcompress") def pause(self, waketime): |