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stepper: Introduce stepper_get_position command and remove from endstop.c

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Move the logic to calculate and report the stepper's current position
from endstop.c to stepper.c.  This localizes the stepper code into
stepper.c.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-03-05 15:00:15 -05:00
parent 8d6ecd9af8
commit a38437f378
6 changed files with 54 additions and 28 deletions
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19
klippy/mcu.py
View File

@@ -43,6 +43,8 @@ class MCU_stepper:
"set_next_step_dir oid=%c dir=%c")
self._reset_cmd = mcu.lookup_command(
"reset_step_clock oid=%c clock=%u")
self._get_position_cmd = 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(
max_error, self._step_cmd.msgid
@@ -51,13 +53,9 @@ class MCU_stepper:
self.print_to_mcu_time = mcu.print_to_mcu_time
def get_oid(self):
return self._oid
def get_invert_dir(self):
return self._invert_dir
def set_position(self, pos):
self._mcu_position_offset += self.commanded_position - pos
self.commanded_position = pos
def set_mcu_position(self, pos):
self._mcu_position_offset = pos - self.commanded_position
def get_mcu_position(self):
return self.commanded_position + self._mcu_position_offset
def note_homing_start(self, homing_clock):
@@ -71,6 +69,14 @@ class MCU_stepper:
ret = self.ffi_lib.stepcompress_reset(self._stepqueue, 0)
if ret:
raise error("Internal error in stepcompress")
def note_homing_triggered(self):
params = self._mcu.serial.send_with_response(
self._get_position_cmd.encode(self._oid),
'stepper_position', self._oid)
pos = params['pos']
if self._invert_dir:
pos = -pos
self._mcu_position_offset = pos - self.commanded_position
def reset_step_clock(self, mcu_time):
clock = int(mcu_time * self._mcu_freq)
ret = self.ffi_lib.stepcompress_reset(self._stepqueue, clock)
@@ -188,10 +194,7 @@ class MCU_endstop:
if not self._homing:
return False
if not self._last_state.get('homing', 0):
pos = self._last_state.get('pos', 0)
if self._stepper.get_invert_dir():
pos = -pos
self._stepper.set_mcu_position(pos)
self._stepper.note_homing_triggered()
self._homing = False
return False
if (self._mcu.serial.get_clock(last_sent_time)

11
klippy/serialhdl.py
View File

@@ -171,8 +171,8 @@ class SerialReader:
def encode_and_send(self, data, minclock, reqclock, cq):
self.ffi_lib.serialqueue_encode_and_send(
self.serialqueue, cq, data, len(data), minclock, reqclock)
def send_with_response(self, cmd, name):
src = SerialRetryCommand(self, cmd, name)
def send_with_response(self, cmd, name, oid=None):
src = SerialRetryCommand(self, cmd, name, oid)
return src.get_response()
def alloc_command_queue(self):
return self.ffi_main.gc(self.ffi_lib.serialqueue_alloc_commandqueue(),
@@ -235,17 +235,18 @@ class SerialReader:
class SerialRetryCommand:
TIMEOUT_TIME = 5.0
RETRY_TIME = 0.500
def __init__(self, serial, cmd, name):
def __init__(self, serial, cmd, name, oid=None):
self.serial = serial
self.cmd = cmd
self.name = name
self.oid = oid
self.response = None
self.min_query_time = self.serial.reactor.monotonic()
self.serial.register_callback(self.handle_callback, self.name)
self.serial.register_callback(self.handle_callback, self.name, self.oid)
self.send_timer = self.serial.reactor.register_timer(
self.send_event, self.serial.reactor.NOW)
def unregister(self):
self.serial.unregister_callback(self.name)
self.serial.unregister_callback(self.name, self.oid)
self.serial.reactor.unregister_timer(self.send_timer)
def send_event(self, eventtime):
if self.response is not None: