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klippy: Eliminate high-level build_config phase

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Now that the mcu objects can be created prior to connecting to the
mcu, it is no longer necessary to separate the init and build_config
phases in the high-level code.  Move the mcu objection creation from
the build_config phase to the init phase and eliminate the
build_config phase.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-03-12 22:43:05 -04:00
parent 92649332ce
commit d21b9280f0
9 changed files with 47 additions and 81 deletions
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37
klippy/stepper.py
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@ -8,10 +8,7 @@ import homing
class PrinterStepper:
def __init__(self, printer, config, name):
self.printer = printer
self.config = config
self.name = name
self.mcu_stepper = self.mcu_enable = self.mcu_endstop = None
self.step_dist = config.getfloat('step_distance')
self.inv_step_dist = 1. / self.step_dist
@ -36,32 +33,29 @@ class PrinterStepper:
endstop_accuracy * self.inv_step_dist))
if self.homing_endstop_accuracy >= self.homing_stepper_phases/2:
logging.info("Endstop for %s is not accurate enough for stepper"
" phase adjustment" % (self.config.section,))
" phase adjustment" % (name,))
self.homing_stepper_phases = None
self.position_min = self.position_endstop = self.position_max = None
if config.get('endstop_pin', None) is not None:
endstop_pin = config.get('endstop_pin', None)
step_pin = config.get('step_pin')
dir_pin = config.get('dir_pin')
mcu = printer.mcu
self.mcu_stepper = mcu.create_stepper(step_pin, dir_pin)
enable_pin = config.get('enable_pin', None)
if enable_pin is not None:
self.mcu_enable = mcu.create_digital_out(enable_pin, 0)
if endstop_pin is not None:
self.mcu_endstop = mcu.create_endstop(endstop_pin, self.mcu_stepper)
self.position_min = config.getfloat('position_min', 0.)
self.position_endstop = config.getfloat('position_endstop')
self.position_max = config.getfloat('position_max', 0.)
self.need_motor_enable = True
def set_max_jerk(self, max_halt_velocity, max_accel):
jc = max_halt_velocity / max_accel
inv_max_step_accel = self.step_dist / max_accel
self.min_stop_interval = (math.sqrt(3.*inv_max_step_accel + jc**2)
- math.sqrt(inv_max_step_accel + jc**2))
def build_config(self):
step_pin = self.config.get('step_pin')
dir_pin = self.config.get('dir_pin')
mcu = self.printer.mcu
self.mcu_stepper = mcu.create_stepper(step_pin, dir_pin)
self.mcu_stepper.set_min_stop_interval(self.min_stop_interval)
enable_pin = self.config.get('enable_pin', None)
if enable_pin is not None:
self.mcu_enable = mcu.create_digital_out(enable_pin, 0)
endstop_pin = self.config.get('endstop_pin', None)
if endstop_pin is not None:
self.mcu_endstop = mcu.create_endstop(endstop_pin, self.mcu_stepper)
min_stop_interval = (math.sqrt(3.*inv_max_step_accel + jc**2)
- math.sqrt(inv_max_step_accel + jc**2))
self.mcu_stepper.set_min_stop_interval(min_stop_interval)
def motor_enable(self, move_time, enable=0):
if enable and self.need_motor_enable:
mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
@ -85,8 +79,7 @@ class PrinterStepper:
pos = self.mcu_stepper.get_mcu_position()
pos %= self.homing_stepper_phases
if self.homing_endstop_phase is None:
logging.info("Setting %s endstop phase to %d" % (
self.config.section, pos))
logging.info("Setting %s endstop phase to %d" % (self.name, pos))
self.homing_endstop_phase = pos
return 0
delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases