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motion_queuing: Add allocate_stepcompress() call

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Allocate the low-level C stepcompress object in the motion_queuing
module.  This simplifies the mcu.py code as it no longer needs to
track the stepqueues for the steppersync object.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2025-08-04 23:52:59 -04:00
parent 128226fe8a
commit 6f685e9e01
4 changed files with 34 additions and 29 deletions
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17
klippy/extras/pwm_tool.py
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@@ -9,18 +9,18 @@ class error(Exception):
pass
class MCU_queued_pwm:
def __init__(self, pin_params):
self._mcu = pin_params['chip']
def __init__(self, config, pin_params):
self._mcu = mcu = pin_params['chip']
self._hardware_pwm = False
self._cycle_time = 0.100
self._max_duration = 2.
self._oid = self._mcu.create_oid()
self._oid = oid = mcu.create_oid()
printer = mcu.get_printer()
motion_queuing = printer.load_object(config, 'motion_queuing')
self._stepqueue = motion_queuing.allocate_stepcompress(mcu, oid)
ffi_main, ffi_lib = chelper.get_ffi()
self._stepqueue = ffi_main.gc(ffi_lib.stepcompress_alloc(self._oid),
ffi_lib.stepcompress_free)
self._mcu.register_stepqueue(self._stepqueue)
self._stepcompress_queue_mq_msg = ffi_lib.stepcompress_queue_mq_msg
self._mcu.register_config_callback(self._build_config)
mcu.register_config_callback(self._build_config)
self._pin = pin_params['pin']
self._invert = pin_params['invert']
self._start_value = self._shutdown_value = float(self._invert)
@@ -29,7 +29,6 @@ class MCU_queued_pwm:
self._pwm_max = 0.
self._set_cmd_tag = None
self._toolhead = None
printer = self._mcu.get_printer()
printer.register_event_handler("klippy:connect", self._handle_connect)
def _handle_connect(self):
self._toolhead = self._mcu.get_printer().lookup_object("toolhead")
@@ -135,7 +134,7 @@ class PrinterOutputPin:
ppins = self.printer.lookup_object('pins')
# Determine pin type
pin_params = ppins.lookup_pin(config.get('pin'), can_invert=True)
self.mcu_pin = MCU_queued_pwm(pin_params)
self.mcu_pin = MCU_queued_pwm(config, pin_params)
max_duration = self.mcu_pin.get_mcu().max_nominal_duration()
cycle_time = config.getfloat('cycle_time', 0.100, above=0.,
maxval=max_duration)