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mcu: Pass print_time directly to MCU calls

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Now that the print_time is always synchronized with the mcu_time,
there is no longer a need to track mcu_time as a separate quantity.
Eliminate references to mcu_time from the code and pass print_time
directly in its place.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-09-12 12:47:40 -04:00
parent 5dfe4e1eb9
commit a100f174f9
8 changed files with 108 additions and 119 deletions
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16
klippy/stepper.py
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@@ -38,14 +38,12 @@ class PrinterStepper:
2. * self.step_dist, max_halt_velocity, max_accel)
min_stop_interval = second_last_step_time - last_step_time
self.mcu_stepper.setup_min_stop_interval(min_stop_interval)
def motor_enable(self, move_time, enable=0):
def motor_enable(self, print_time, enable=0):
if enable and self.need_motor_enable:
mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
self.mcu_stepper.reset_step_clock(mcu_time)
self.mcu_stepper.reset_step_clock(print_time)
if (self.mcu_enable is not None
and self.mcu_enable.get_last_setting() != enable):
mcu_time = self.mcu_enable.get_mcu().print_to_mcu_time(move_time)
self.mcu_enable.set_digital(mcu_time, enable)
self.mcu_enable.set_digital(print_time, enable)
self.need_motor_enable = not enable
class PrinterHomingStepper(PrinterStepper):
@@ -97,13 +95,11 @@ 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 enable_endstop_checking(self, move_time, step_time):
mcu_time = self.mcu_endstop.get_mcu().print_to_mcu_time(move_time)
self.mcu_endstop.home_start(mcu_time, step_time)
def enable_endstop_checking(self, print_time, step_time):
self.mcu_endstop.home_start(print_time, step_time)
return self.mcu_endstop
def query_endstop(self, print_time):
mcu_time = self.mcu_endstop.get_mcu().print_to_mcu_time(print_time)
self.mcu_endstop.query_endstop(mcu_time)
self.mcu_endstop.query_endstop(print_time)
return self.mcu_endstop
def get_homing_speed(self):
# Round the configured homing speed so that it is an even