diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 71 |
1 files changed, 36 insertions, 35 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 2c7dcbd3..c5e4ee16 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -24,6 +24,9 @@ class MCU_stepper: dir_pin, pullup, self._invert_dir = parse_pin_extras(dir_pin) self._sdir = -1 self._last_move_clock = -2**29 + self._mcu_freq = mcu.get_mcu_freq() + min_stop_interval = int(min_stop_interval * self._mcu_freq) + max_error = int(max_error * self._mcu_freq) mcu.add_config_cmd( "config_stepper oid=%d step_pin=%s dir_pin=%s" " min_stop_interval=%d invert_step=%d" % ( @@ -38,6 +41,7 @@ class MCU_stepper: ffi_main, self.ffi_lib = chelper.get_ffi() self._stepqueue = self.ffi_lib.stepcompress_alloc( max_error, self._step_cmd.msgid, self._oid) + self.print_to_mcu_time = mcu.print_to_mcu_time def get_oid(self): return self._oid def get_invert_dir(self): @@ -45,32 +49,35 @@ class MCU_stepper: def note_stepper_stop(self): self._sdir = -1 self._last_move_clock = -2**29 - def reset_step_clock(self, clock): + def _reset_step_clock(self, clock): self.ffi_lib.stepcompress_reset(self._stepqueue, clock) data = (self._reset_cmd.msgid, self._oid, clock & 0xffffffff) self.ffi_lib.stepcompress_queue_msg(self._stepqueue, data, len(data)) - def set_next_step_dir(self, sdir, clock): + def set_next_step_dir(self, mcu_time, sdir): + clock = int(mcu_time * self._mcu_freq) if clock - self._last_move_clock >= 2**29: - self.reset_step_clock(clock) + self._reset_step_clock(clock) self._last_move_clock = clock if self._sdir == sdir: return self._sdir = sdir data = (self._dir_cmd.msgid, self._oid, sdir ^ self._invert_dir) self.ffi_lib.stepcompress_queue_msg(self._stepqueue, data, len(data)) - def step(self, steptime): - self.ffi_lib.stepcompress_push(self._stepqueue, steptime) - def step_sqrt(self, steps, step_offset, clock_offset, sqrt_offset, factor): + def step(self, mcu_time): + clock = mcu_time * self._mcu_freq + self.ffi_lib.stepcompress_push(self._stepqueue, clock) + def step_sqrt(self, mcu_time, steps, step_offset, sqrt_offset, factor): + clock = mcu_time * self._mcu_freq + mcu_freq2 = self._mcu_freq**2 return self.ffi_lib.stepcompress_push_sqrt( - self._stepqueue, steps, step_offset, clock_offset - , sqrt_offset, factor) - def step_factor(self, steps, step_offset, clock_offset, factor): + self._stepqueue, steps, step_offset, clock + , sqrt_offset * mcu_freq2, factor * mcu_freq2) + def step_factor(self, mcu_time, steps, step_offset, factor): + clock = mcu_time * self._mcu_freq return self.ffi_lib.stepcompress_push_factor( - self._stepqueue, steps, step_offset, clock_offset, factor) + self._stepqueue, steps, step_offset, clock, factor * self._mcu_freq) def get_errors(self): return self.ffi_lib.stepcompress_get_errors(self._stepqueue) - def get_print_clock(self, print_time): - return self._mcu.get_print_clock(print_time) class MCU_endstop: RETRY_QUERY = 1.000 @@ -92,9 +99,12 @@ class MCU_endstop: self._homing = False self._last_position = 0 self._next_query_clock = 0 - mcu_freq = self._mcu.get_mcu_freq() - self._retry_query_ticks = mcu_freq * self.RETRY_QUERY - def home(self, clock, rest_ticks): + self._mcu_freq = mcu.get_mcu_freq() + self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY) + self.print_to_mcu_time = mcu.print_to_mcu_time + def home(self, mcu_time, rest_time): + clock = int(mcu_time * self._mcu_freq) + rest_ticks = int(rest_time * self._mcu_freq) self._homing = True self._next_query_clock = clock + self._retry_query_ticks msg = self._home_cmd.encode( @@ -124,8 +134,6 @@ class MCU_endstop: if self._stepper.get_invert_dir(): return -self._last_position return self._last_position - def get_print_clock(self, print_time): - return self._mcu.get_print_clock(print_time) class MCU_digital_out: def __init__(self, mcu, pin, max_duration): @@ -141,7 +149,9 @@ class MCU_digital_out: " max_duration=%d" % (self._oid, pin, self._invert, max_duration)) self._set_cmd = mcu.lookup_command( "schedule_digital_out oid=%c clock=%u value=%c") - def set_digital(self, clock, value): + self.print_to_mcu_time = mcu.print_to_mcu_time + def set_digital(self, mcu_time, value): + clock = int(mcu_time * self._mcu_freq) msg = self._set_cmd.encode(self._oid, clock, value ^ self._invert) self._mcu.send(msg, minclock=self._last_clock, reqclock=clock , cq=self._cmd_queue) @@ -150,13 +160,10 @@ class MCU_digital_out: def get_last_setting(self): return self._last_value def set_pwm(self, mcu_time, value): - clock = int(mcu_time * self._mcu_freq) dval = 0 if value > 127: dval = 1 - self.set_digital(clock, dval) - def get_print_clock(self, print_time): - return self._mcu.get_print_clock(print_time) + self.set_digital(mcu_time, dval) class MCU_pwm: def __init__(self, mcu, pin, cycle_ticks, max_duration, hard_pwm=True): @@ -253,7 +260,7 @@ class MCU: self._steppers = [] self._steppersync = None # Print time to clock epoch calculations - self._print_start_clock = 0. + self._print_start_clock = 0 self._clock_freq = 0. # Stats self._mcu_tick_avg = 0. @@ -420,8 +427,6 @@ class MCU: return last_move_end - (float(clock_diff) / self._clock_freq) def print_to_mcu_time(self, print_time): return print_time + self._print_start_clock / self._clock_freq - def get_print_clock(self, print_time): - return print_time * self._clock_freq + self._print_start_clock def get_mcu_freq(self): return self._clock_freq def get_last_clock(self): @@ -430,8 +435,8 @@ class MCU: def send(self, cmd, minclock=0, reqclock=0, cq=None): self.serial.send(cmd, minclock, reqclock, cq=cq) def flush_moves(self, print_time): - move_clock = int(self.get_print_clock(print_time)) - self.ffi_lib.steppersync_flush(self._steppersync, move_clock) + clock = int(print_time * self._clock_freq) + self._print_start_clock + self.ffi_lib.steppersync_flush(self._steppersync, clock) ###################################################################### @@ -456,10 +461,10 @@ class Dummy_MCU_stepper: self._stepid, dirstr, countstr, addstr, interval)) def set_next_step_dir(self, dir): self._sdir = dir - def reset_step_clock(self, clock): + def _reset_step_clock(self, clock): self._mcu.outfile.write("G6S%dT%d\n" % (self._stepid, clock)) - def get_print_clock(self, print_time): - return self._mcu.get_print_clock(print_time) + def print_to_mcu_time(self, print_time): + return self._mcu.print_to_mcu_time(print_time) class Dummy_MCU_obj: def __init__(self, mcu): @@ -480,14 +485,12 @@ class Dummy_MCU_obj: pass def print_to_mcu_time(self, print_time): return self._mcu.print_to_mcu_time(print_time) - def get_print_clock(self, print_time): - return self._mcu.get_print_clock(print_time) class DummyMCU: def __init__(self, outfile): self.outfile = outfile self._stepid = -1 - self._print_start_clock = 0. + self._print_start_clock = 0 self._clock_freq = 16000000. logging.debug('Translated by klippy') def connect(self): @@ -515,8 +518,6 @@ class DummyMCU: return 0.250 def print_to_mcu_time(self, print_time): return print_time + self._print_start_clock / self._clock_freq - def get_print_clock(self, print_time): - return print_time * self._clock_freq + self._print_start_clock def get_mcu_freq(self): return self._clock_freq def flush_moves(self, print_time): |