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mcu: Store the stepper position in the mcu_stepper class

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Move the storage of the stepper location from the kinematic classes to
the low-level mcu_stepper class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-19 11:34:42 -05:00
parent 7cf914537b
commit 1e1364c3d4
4 changed files with 39 additions and 45 deletions
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23
klippy/mcu.py
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@ -31,6 +31,7 @@ class MCU_stepper:
self._mcu_freq = mcu.get_mcu_freq()
min_stop_interval = int(min_stop_interval * self._mcu_freq)
max_error = int(max_error * self._mcu_freq)
self.commanded_position = 0
mcu.add_config_cmd(
"config_stepper oid=%d step_pin=%s dir_pin=%s"
" min_stop_interval=%d invert_step=%d" % (
@ -51,6 +52,8 @@ class MCU_stepper:
return self._oid
def get_invert_dir(self):
return self._invert_dir
def set_position(self, pos):
self.commanded_position = pos
def note_stepper_stop(self):
self.ffi_lib.stepcompress_reset(self._stepqueue, 0)
def reset_step_clock(self, mcu_time):
@ -61,29 +64,41 @@ class MCU_stepper:
def step(self, mcu_time, sdir):
clock = mcu_time * self._mcu_freq
self.ffi_lib.stepcompress_push(self._stepqueue, clock, sdir)
if sdir:
self.commanded_position += 1
else:
self.commanded_position -= 1
def step_sqrt(self, mcu_time, steps, step_offset, sqrt_offset, factor):
clock = mcu_time * self._mcu_freq
mcu_freq2 = self._mcu_freq**2
return self.ffi_lib.stepcompress_push_sqrt(
count = self.ffi_lib.stepcompress_push_sqrt(
self._stepqueue, steps, step_offset, clock
, sqrt_offset * mcu_freq2, factor * mcu_freq2)
self.commanded_position += count
return count
def step_factor(self, mcu_time, steps, step_offset, factor):
clock = mcu_time * self._mcu_freq
return self.ffi_lib.stepcompress_push_factor(
count = self.ffi_lib.stepcompress_push_factor(
self._stepqueue, steps, step_offset, clock, factor * self._mcu_freq)
self.commanded_position += count
return count
def step_delta_const(self, mcu_time, dist, step_dist, start_pos
, closest_height2, height, movez_r, inv_velocity):
clock = mcu_time * self._mcu_freq
return self.ffi_lib.stepcompress_push_delta_const(
count = self.ffi_lib.stepcompress_push_delta_const(
self._stepqueue, clock, dist, step_dist, start_pos
, closest_height2, height, movez_r, inv_velocity * self._mcu_freq)
self.commanded_position += count
return count
def step_delta_accel(self, mcu_time, dist, step_dist, start_pos
, closest_height2, height, movez_r, accel_multiplier):
clock = mcu_time * self._mcu_freq
mcu_freq2 = self._mcu_freq**2
return self.ffi_lib.stepcompress_push_delta_accel(
count = self.ffi_lib.stepcompress_push_delta_accel(
self._stepqueue, clock, dist, step_dist, start_pos
, closest_height2, height, movez_r, accel_multiplier * mcu_freq2)
self.commanded_position += count
return count
def get_errors(self):
return self.ffi_lib.stepcompress_get_errors(self._stepqueue)