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stepper_enable: Move enable tracking from stepper.py to stepper_enable.py

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Move the enable line tracking out of the main stepper.py code.  This
simplifies the main kinematic code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-11-12 12:49:21 -05:00
parent bfb34e0701
commit 0e30b862c7
5 changed files with 111 additions and 92 deletions
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75
klippy/stepper.py
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@ -7,50 +7,6 @@ import math, logging, collections
import homing
######################################################################
# Stepper enable pins
######################################################################
# Tracking of shared stepper enable pins
class StepperEnablePin:
def __init__(self, mcu_enable, enable_count=0):
self.mcu_enable = mcu_enable
self.enable_count = enable_count
def set_enable(self, print_time, enable):
if enable:
if not self.enable_count:
self.mcu_enable.set_digital(print_time, 1)
self.enable_count += 1
else:
self.enable_count -= 1
if not self.enable_count:
self.mcu_enable.set_digital(print_time, 0)
class StepperMultiEnablePin:
def __init__(self, enable_list):
self.enable_list = enable_list
def set_enable(self, print_time, enable):
for en in self.enable_list:
en.set_enable(print_time, enable)
def lookup_enable_pin(ppins, pin_list):
if pin_list is None:
return StepperEnablePin(None, 9999)
enable_list = []
for pin in pin_list.split(','):
pin_params = ppins.lookup_pin(pin, can_invert=True,
share_type='stepper_enable')
enable = pin_params.get('class')
if enable is None:
mcu_enable = pin_params['chip'].setup_pin('digital_out', pin_params)
mcu_enable.setup_max_duration(0.)
pin_params['class'] = enable = StepperEnablePin(mcu_enable)
enable_list.append(enable)
if len(enable_list) == 1:
return enable_list[0]
return StepperMultiEnablePin(enable_list)
######################################################################
# Steppers
######################################################################
@ -60,7 +16,6 @@ class PrinterStepper:
def __init__(self, config):
printer = config.get_printer()
self.name = config.get_name()
self.need_motor_enable = True
# Stepper definition
ppins = printer.lookup_object('pins')
step_pin = config.get('step_pin')
@ -70,19 +25,12 @@ class PrinterStepper:
mcu_stepper.setup_dir_pin(dir_pin_params)
step_dist = config.getfloat('step_distance', above=0.)
mcu_stepper.setup_step_distance(step_dist)
# Enable pin handling
stepper_enable = printer.try_load_module(config, 'stepper_enable')
stepper_enable.register_stepper(self)
mcu_stepper.add_active_callback(self._stepper_active)
self.enable = lookup_enable_pin(ppins, config.get('enable_pin', None))
# Register STEPPER_BUZZ command
force_move = printer.try_load_module(config, 'force_move')
force_move.register_stepper(self)
# Wrappers
self.setup_itersolve = mcu_stepper.setup_itersolve
self.generate_steps = mcu_stepper.generate_steps
self.set_trapq = mcu_stepper.set_trapq
self.set_stepper_kinematics = mcu_stepper.set_stepper_kinematics
self.add_active_callback = mcu_stepper.add_active_callback
self.calc_position_from_coord = mcu_stepper.calc_position_from_coord
self.set_position = mcu_stepper.set_position
self.get_commanded_position = mcu_stepper.get_commanded_position
@ -90,6 +38,12 @@ class PrinterStepper:
self.get_mcu_position = mcu_stepper.get_mcu_position
self.get_step_dist = mcu_stepper.get_step_dist
self.is_dir_inverted = mcu_stepper.is_dir_inverted
# Enable pin handling
stepper_enable = printer.try_load_module(config, 'stepper_enable')
stepper_enable.register_stepper(self, config.get('enable_pin', None))
# Register STEPPER_BUZZ command
force_move = printer.try_load_module(config, 'force_move')
force_move.register_stepper(self)
def get_name(self, short=False):
if short and self.name.startswith('stepper_'):
return self.name[8:]
@ -109,17 +63,6 @@ class PrinterStepper:
2. * 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 _stepper_active(self, active_time):
self.motor_enable(active_time, 1)
def motor_enable(self, print_time, enable=0):
if self.need_motor_enable != (not enable):
self.enable.set_enable(print_time, enable)
self.need_motor_enable = not enable
if not enable:
# Enable stepper on future stepper movement
self.mcu_stepper.add_active_callback(self._stepper_active)
def is_motor_enabled(self):
return not self.need_motor_enable
######################################################################
@ -136,7 +79,6 @@ class PrinterRail:
self.steppers = [stepper]
self.name = stepper.get_name(short=True)
self.get_commanded_position = stepper.get_commanded_position
self.is_motor_enabled = stepper.is_motor_enabled
# Primary endstop and its position
printer = config.get_printer()
ppins = printer.lookup_object('pins')
@ -232,9 +174,6 @@ class PrinterRail:
def set_position(self, coord):
for stepper in self.steppers:
stepper.set_position(coord)
def motor_enable(self, print_time, enable=0):
for stepper in self.steppers:
stepper.motor_enable(print_time, enable)
# Wrapper for dual stepper motor support
def LookupMultiRail(config):