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mcu: convert stepper, endstop, and digital_out to take mcu_time

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2016-08-24 16:42:25 -04:00
parent 11ecac626d
commit e52113a319
5 changed files with 79 additions and 86 deletions
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29
klippy/stepper.py
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@@ -42,23 +42,18 @@ class PrinterStepper:
self.position_endstop = config.getfloat('position_endstop')
self.position_max = config.getfloat('position_max')
self.clock_ticks = None
self.need_motor_enable = True
def set_max_jerk(self, max_jerk):
self.max_jerk = max_jerk
def build_config(self):
self.clock_ticks = self.printer.mcu.get_mcu_freq()
max_error = self.config.getfloat('max_error', 0.000050)
max_error = int(max_error * self.clock_ticks)
step_pin = self.config.get('step_pin')
dir_pin = self.config.get('dir_pin')
jc = self.max_jerk / self.max_accel
inv_max_step_accel = self.step_dist / self.max_accel
min_stop_interval = int((math.sqrt(3.*inv_max_step_accel + jc**2)
- math.sqrt(inv_max_step_accel + jc**2))
* self.clock_ticks) - max_error
min_stop_interval = max(0, min_stop_interval)
min_stop_interval = (math.sqrt(3.*inv_max_step_accel + jc**2)
- math.sqrt(inv_max_step_accel + jc**2)) - max_error
min_stop_interval = max(0., min_stop_interval)
mcu = self.printer.mcu
self.mcu_stepper = mcu.create_stepper(
step_pin, dir_pin, min_stop_interval, max_error)
@@ -71,19 +66,19 @@ class PrinterStepper:
def motor_enable(self, move_time, enable=0):
if (self.mcu_enable is not None
and self.mcu_enable.get_last_setting() != enable):
mc = int(self.mcu_enable.get_print_clock(move_time))
self.mcu_enable.set_digital(mc + 1, enable)
mcu_time = self.mcu_enable.print_to_mcu_time(move_time)
self.mcu_enable.set_digital(mcu_time, enable)
self.need_motor_enable = True
def prep_move(self, sdir, move_time):
move_clock = self.mcu_stepper.get_print_clock(move_time)
self.mcu_stepper.set_next_step_dir(sdir, int(move_clock))
def prep_move(self, move_time, sdir):
mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
self.mcu_stepper.set_next_step_dir(mcu_time, sdir)
if self.need_motor_enable:
self.motor_enable(move_time, 1)
self.need_motor_enable = False
return (move_clock, self.clock_ticks, self.mcu_stepper)
def enable_endstop_checking(self, move_time, hz):
move_clock = int(self.mcu_endstop.get_print_clock(move_time))
self.mcu_endstop.home(move_clock, int(self.clock_ticks / hz))
return (mcu_time, self.mcu_stepper)
def enable_endstop_checking(self, move_time, step_time):
mcu_time = self.mcu_endstop.print_to_mcu_time(move_time)
self.mcu_endstop.home(mcu_time, step_time)
return self.mcu_endstop
def get_homed_position(self):
if not self.homing_stepper_phases: