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serialhdl: Add a wrapper around the results of lookup_command()

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Add a lookup_command() method to the SerialReader class that provides
a wrapper that stores the serial and commandqueue references.  This
makes it easier to run the send() method.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-02-27 14:16:16 -05:00
parent 8518da9824
commit b139a8561f
6 changed files with 110 additions and 106 deletions
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36
klippy/extras/replicape.py
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@ -32,7 +32,6 @@ class pca9685_pwm:
self._is_static = False
self._last_clock = 0
self._pwm_max = 0.
self._cmd_queue = self._mcu.alloc_command_queue()
self._set_cmd = None
def get_mcu(self):
return self._mcu
@ -73,17 +72,17 @@ class pca9685_pwm:
self._start_value * self._pwm_max,
self._shutdown_value * self._pwm_max,
self._mcu.seconds_to_clock(self._max_duration)))
cmd_queue = self._mcu.alloc_command_queue()
self._set_cmd = self._mcu.lookup_command(
"schedule_pca9685_out oid=%c clock=%u value=%hu")
"schedule_pca9685_out oid=%c clock=%u value=%hu", cq=cmd_queue)
def set_pwm(self, print_time, value):
clock = self._mcu.print_time_to_clock(print_time)
if self._invert:
value = 1. - value
value = int(max(0., min(1., value)) * self._pwm_max + 0.5)
self._replicape.note_pwm_enable(print_time, self._channel, value)
msg = self._set_cmd.encode(self._oid, clock, value)
self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
, cq=self._cmd_queue)
self._set_cmd.send([self._oid, clock, value],
minclock=self._last_clock, reqclock=clock)
self._last_clock = clock
def set_digital(self, print_time, value):
if value:
@ -137,6 +136,8 @@ class Replicape:
"power_fan0": (pca9685_pwm, 7), "power_fan1": (pca9685_pwm, 8),
"power_fan2": (pca9685_pwm, 9), "power_fan3": (pca9685_pwm, 10) }
# Setup stepper config
self.send_spi_cmd = None
self.last_stepper_time = 0.
self.stepper_dacs = {}
shift_registers = [1, 0, 0, 1, 1]
for port, name in enumerate('xyzeh'):
@ -159,9 +160,7 @@ class Replicape:
self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT
self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel)
self.enabled_channels = {ch: False for cl, ch in self.pins.values()}
self.disable_stepper_cmd = "send_spi bus=%d dev=%d msg=%s" % (
REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
"".join(["%02x" % (x,) for x in reversed(shift_registers)]))
self.sr_disabled = tuple(reversed(shift_registers))
if [i for i in [0, 1, 2] if 11+i in self.stepper_dacs]:
# Enable xyz steppers
shift_registers[0] &= ~1
@ -171,11 +170,15 @@ class Replicape:
if (config.getboolean('standstill_power_down', False)
and self.stepper_dacs):
shift_registers[4] &= ~1
self.enable_stepper_cmd = "send_spi bus=%d dev=%d msg=%s" % (
self.sr_enabled = tuple(reversed(shift_registers))
self.host_mcu.add_config_object(self)
self.host_mcu.add_config_cmd("send_spi bus=%d dev=%d msg=%s" % (
REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
"".join(["%02x" % (x,) for x in reversed(shift_registers)]))
self.host_mcu.add_config_cmd(self.disable_stepper_cmd)
self.last_stepper_time = 0.
"".join(["%02x" % (x,) for x in self.sr_disabled])))
def build_config(self):
cmd_queue = self.host_mcu.alloc_command_queue()
self.send_spi_cmd = self.host_mcu.lookup_command(
"send_spi bus=%u dev=%u msg=%*s", cq=cmd_queue)
def note_pwm_start_value(self, channel, start_value, shutdown_value):
self.mcu_pwm_start_value |= not not start_value
self.mcu_pwm_shutdown_value |= not not shutdown_value
@ -200,16 +203,17 @@ class Replicape:
on_dacs = [1 for c in self.stepper_dacs.keys()
if self.enabled_channels[c]]
if not on_dacs:
cmd = self.disable_stepper_cmd
sr = self.sr_disabled
elif is_enable and len(on_dacs) == 1:
cmd = self.enable_stepper_cmd
sr = self.sr_enabled
else:
return
print_time = max(print_time, self.last_stepper_time + PIN_MIN_TIME)
clock = self.host_mcu.print_time_to_clock(print_time)
# XXX - the send_spi message should be scheduled
self.host_mcu.send(self.host_mcu.create_command(cmd),
minclock=clock, reqclock=clock)
self.send_spi_cmd.send([REPLICAPE_SHIFT_REGISTER_BUS,
REPLICAPE_SHIFT_REGISTER_DEVICE, sr],
minclock=clock, reqclock=clock)
def setup_pin(self, pin_params):
pin = pin_params['pin']
if pin not in self.pins: