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itersolve: Move tracking of commanded position to itersolve code

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Track the commanded position in just the itersolve.c code instead of
in mcu.py.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-06-14 16:33:57 -04:00
parent 8f747e2720
commit 926829e737
3 changed files with 23 additions and 20 deletions
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29
klippy/mcu.py
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@ -18,8 +18,8 @@ class MCU_stepper:
self._step_pin = pin_params['pin']
self._invert_step = pin_params['invert']
self._dir_pin = self._invert_dir = None
self._commanded_pos = self._mcu_position_offset = 0.
self._step_dist = self._inv_step_dist = 1.
self._mcu_position_offset = 0.
self._step_dist = 0.
self._min_stop_interval = 0.
self._reset_cmd_id = self._get_position_cmd = None
ffi_main, self._ffi_lib = chelper.get_ffi()
@ -39,7 +39,6 @@ class MCU_stepper:
self._min_stop_interval = min_stop_interval
def setup_step_distance(self, step_dist):
self._step_dist = step_dist
self._inv_step_dist = 1. / step_dist
def setup_itersolve(self, sk):
old_sk = self._stepper_kinematics
self._stepper_kinematics = sk
@ -73,16 +72,14 @@ class MCU_stepper:
def get_step_dist(self):
return self._step_dist
def set_position(self, pos):
if self._stepper_kinematics is not None:
self._ffi_lib.itersolve_set_commanded_pos(
self._stepper_kinematics, pos)
steppos = pos * self._inv_step_dist
self._mcu_position_offset += self._commanded_pos - steppos
self._commanded_pos = steppos
self._mcu_position_offset += self.get_commanded_position() - pos
self._ffi_lib.itersolve_set_commanded_pos(self._stepper_kinematics, pos)
def get_commanded_position(self):
return self._commanded_pos * self._step_dist
return self._ffi_lib.itersolve_get_commanded_pos(
self._stepper_kinematics)
def get_mcu_position(self):
mcu_pos = self._commanded_pos + self._mcu_position_offset
pos_delta = self.get_commanded_position() + self._mcu_position_offset
mcu_pos = pos_delta / self._step_dist
if mcu_pos >= 0.:
return int(mcu_pos + 0.5)
return int(mcu_pos - 0.5)
@ -115,15 +112,15 @@ class MCU_stepper:
return
params = self._get_position_cmd.send_with_response(
[self._oid], response='stepper_position', response_oid=self._oid)
pos = params['pos']
pos = params['pos'] * self._step_dist
if self._invert_dir:
pos = -pos
self._commanded_pos = pos - self._mcu_position_offset
self._ffi_lib.itersolve_set_commanded_pos(
self._stepper_kinematics, pos - self._mcu_position_offset)
def step_itersolve(self, cmove):
count = self._itersolve_gen_steps(self._stepper_kinematics, cmove)
if count == STEPCOMPRESS_ERROR_RET:
ret = self._itersolve_gen_steps(self._stepper_kinematics, cmove)
if ret:
raise error("Internal error in stepcompress")
self._commanded_pos += count
class MCU_endstop:
class TimeoutError(Exception):