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mcu: Enhance itersolve stepper kinematics allocation

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Allocate the stepper_kinematics directly in mcu.py - that way the
kinematic classes don't have to interact with the chelper code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-07-13 11:24:36 -04:00
parent b988596519
commit a31c31aed4
7 changed files with 31 additions and 36 deletions
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10
klippy/stepper.py
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@ -4,7 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging, collections
import homing, chelper
import homing
######################################################################
@ -62,6 +62,7 @@ class PrinterStepper:
# Wrappers
self.step_itersolve = self.mcu_stepper.step_itersolve
self.setup_itersolve = self.mcu_stepper.setup_itersolve
self.set_stepper_kinematics = self.mcu_stepper.set_stepper_kinematics
self.set_ignore_move = self.mcu_stepper.set_ignore_move
self.set_position = self.mcu_stepper.set_position
self.get_mcu_position = self.mcu_stepper.get_mcu_position
@ -108,7 +109,6 @@ class PrinterRail:
self.steppers = [stepper]
self.name = stepper.get_name(short=True)
self.step_itersolve = stepper.step_itersolve
self.setup_itersolve = stepper.setup_itersolve
self.get_commanded_position = stepper.get_commanded_position
self.is_motor_enabled = stepper.is_motor_enabled
# Primary endstop and its position
@ -235,11 +235,9 @@ class PrinterRail:
def step_multi_itersolve(self, cmove):
for stepper in self.steppers:
stepper.step_itersolve(cmove)
def setup_cartesian_itersolve(self, axis):
ffi_main, ffi_lib = chelper.get_ffi()
def setup_itersolve(self, alloc_func, *params):
for stepper in self.steppers:
stepper.setup_itersolve(ffi_main.gc(
ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free))
stepper.setup_itersolve(alloc_func, *params)
def set_max_jerk(self, max_halt_velocity, max_accel):
for stepper in self.steppers:
stepper.set_max_jerk(max_halt_velocity, max_accel)