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stepcompress: Allow stepcompress_alloc() to be called early

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Don't require an mcu connection to allocate the stepcompress object.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-06-08 17:02:20 -04:00
parent 9a2eb4bedd
commit ba3428822d
4 changed files with 30 additions and 22 deletions
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18
klippy/mcu.py
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@ -14,7 +14,7 @@ STEPCOMPRESS_ERROR_RET = -989898989
class MCU_stepper:
def __init__(self, mcu, pin_params):
self._mcu = mcu
self._oid = self._mcu.create_oid()
self._oid = oid = self._mcu.create_oid()
self._step_pin = pin_params['pin']
self._invert_step = pin_params['invert']
self._dir_pin = self._invert_dir = None
@ -22,8 +22,12 @@ class MCU_stepper:
self._step_dist = self._inv_step_dist = 1.
self._min_stop_interval = 0.
self._reset_cmd_id = self._get_position_cmd = None
self._ffi_lib = self._stepqueue = None
ffi_main, self._ffi_lib = chelper.get_ffi()
self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc(oid),
self._ffi_lib.stepcompress_free)
self._mcu.register_stepqueue(self._stepqueue)
self._stepcompress_push_const = self._stepcompress_push_delta = None
self.set_ignore_move(False)
def get_mcu(self):
return self._mcu
def setup_dir_pin(self, pin_params):
@ -55,13 +59,9 @@ class MCU_stepper:
"reset_step_clock oid=%c clock=%u")
self._get_position_cmd = self._mcu.lookup_command(
"stepper_get_position oid=%c")
ffi_main, self._ffi_lib = chelper.get_ffi()
self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc(
self._mcu.seconds_to_clock(max_error), step_cmd_id, dir_cmd_id,
self._invert_dir, self._oid),
self._ffi_lib.stepcompress_free)
self._mcu.register_stepqueue(self._stepqueue)
self.set_ignore_move(False)
self._ffi_lib.stepcompress_fill(
self._stepqueue, self._mcu.seconds_to_clock(max_error),
self._invert_dir, step_cmd_id, dir_cmd_id)
def get_oid(self):
return self._oid
def get_step_dist(self):