diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 19 |
1 files changed, 18 insertions, 1 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index 825f636e..3ea04282 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -4,7 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import math, logging -import homing +import homing, chelper # Tracking of shared stepper enable pins class StepperEnablePin: @@ -155,6 +155,10 @@ class PrinterHomingStepper(PrinterStepper): self.homing_stepper_phases = None if self.mcu_endstop.get_mcu().is_fileoutput(): self.homing_endstop_accuracy = self.homing_stepper_phases + def setup_cartesian_itersolve(self, axis): + ffi_main, ffi_lib = chelper.get_ffi() + self.setup_itersolve(ffi_main.gc( + ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free)) def get_endstops(self): return [(self.mcu_endstop, self.name)] def get_homed_offset(self): @@ -182,6 +186,7 @@ class PrinterMultiStepper(PrinterHomingStepper): self.endstops = PrinterHomingStepper.get_endstops(self) self.extras = [] self.all_step_const = [self.step_const] + self.all_step_itersolve = [self.step_itersolve] for i in range(1, 99): if not config.has_section(config.get_name() + str(i)): break @@ -189,6 +194,7 @@ class PrinterMultiStepper(PrinterHomingStepper): extra = PrinterStepper(printer, extraconfig) self.extras.append(extra) self.all_step_const.append(extra.step_const) + self.all_step_itersolve.append(extra.step_itersolve) extraendstop = extraconfig.get('endstop_pin', None) if extraendstop is not None: ppins = printer.lookup_object('pins') @@ -198,9 +204,20 @@ class PrinterMultiStepper(PrinterHomingStepper): else: self.mcu_endstop.add_stepper(extra.mcu_stepper) self.step_const = self.step_multi_const + self.step_itersolve = self.step_multi_itersolve def step_multi_const(self, print_time, start_pos, dist, start_v, accel): for step_const in self.all_step_const: step_const(print_time, start_pos, dist, start_v, accel) + def step_multi_itersolve(self, cmove): + for step_itersolve in self.all_step_itersolve: + step_itersolve(cmove) + def setup_cartesian_itersolve(self, axis): + ffi_main, ffi_lib = chelper.get_ffi() + self.setup_itersolve(ffi_main.gc( + ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free)) + for extra in self.extras: + extra.setup_itersolve(ffi_main.gc( + ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free)) def set_max_jerk(self, max_halt_velocity, max_accel): PrinterHomingStepper.set_max_jerk(self, max_halt_velocity, max_accel) for extra in self.extras: |