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stepcompress: Implement print time to clock conversion in C code

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Implement the conversion from print_time to the local mcu's clock
within the C code.  This simplifies the python code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-09-13 08:59:26 -04:00
parent 008be18f41
commit f662445766
4 changed files with 69 additions and 52 deletions
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21
klippy/mcu.py
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@ -20,9 +20,8 @@ class MCU_stepper:
self._dir_pin = self._invert_dir = None
self._commanded_pos = 0
self._step_dist = self._inv_step_dist = 1.
self._velocity_factor = self._accel_factor = 0.
self._mcu_position_offset = 0
self._mcu_freq = self._min_stop_interval = 0.
self._min_stop_interval = 0.
self._reset_cmd = self._get_position_cmd = None
self._ffi_lib = self._stepqueue = None
def get_mcu(self):
@ -38,9 +37,6 @@ class MCU_stepper:
self._step_dist = step_dist
self._inv_step_dist = 1. / step_dist
def build_config(self):
self._mcu_freq = self._mcu.get_mcu_freq()
self._velocity_factor = 1. / (self._mcu_freq * self._step_dist)
self._accel_factor = 1. / (self._mcu_freq**2 * self._step_dist)
max_error = self._mcu.get_max_stepper_error()
min_stop_interval = max(0., self._min_stop_interval - max_error)
self._mcu.add_config_cmd(
@ -107,29 +103,27 @@ class MCU_stepper:
if ret:
raise error("Internal error in stepcompress")
def step(self, print_time, sdir):
clock = print_time * self._mcu_freq
count = self._ffi_lib.stepcompress_push(self._stepqueue, clock, sdir)
count = self._ffi_lib.stepcompress_push(
self._stepqueue, print_time, sdir)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count
def step_const(self, print_time, start_pos, dist, start_v, accel):
clock = print_time * self._mcu_freq
inv_step_dist = self._inv_step_dist
step_offset = self._commanded_pos - start_pos * inv_step_dist
count = self._ffi_lib.stepcompress_push_const(
self._stepqueue, clock, step_offset, dist * inv_step_dist,
start_v * self._velocity_factor, accel * self._accel_factor)
self._stepqueue, print_time, step_offset, dist * inv_step_dist,
start_v * inv_step_dist, accel * inv_step_dist)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count
def step_delta(self, print_time, dist, start_v, accel
, height_base, startxy_d, arm_d, movez_r):
clock = print_time * self._mcu_freq
inv_step_dist = self._inv_step_dist
height = self._commanded_pos - height_base * inv_step_dist
count = self._ffi_lib.stepcompress_push_delta(
self._stepqueue, clock, dist * inv_step_dist,
start_v * self._velocity_factor, accel * self._accel_factor,
self._stepqueue, print_time, dist * inv_step_dist,
start_v * inv_step_dist, accel * inv_step_dist,
height, startxy_d * inv_step_dist, arm_d * inv_step_dist, movez_r)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
@ -636,6 +630,7 @@ class MCU:
self._steppersync = self._ffi_lib.steppersync_alloc(
self.serial.serialqueue, self._stepqueues, len(self._stepqueues),
move_count)
self._ffi_lib.steppersync_set_time(self._steppersync, 0., self._mcu_freq)
for c in self._init_cmds:
self.send(self.create_command(c))
# Config creation helpers