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motion_queuing: Add allocate_stepcompress() call

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Allocate the low-level C stepcompress object in the motion_queuing
module.  This simplifies the mcu.py code as it no longer needs to
track the stepqueues for the steppersync object.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2025-08-04 23:52:59 -04:00
parent 128226fe8a
commit 6f685e9e01
4 changed files with 34 additions and 29 deletions
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27
klippy/stepper.py
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@@ -19,22 +19,23 @@ MIN_OPTIMIZED_BOTH_EDGE_DURATION = 0.000000150
# Interface to low-level mcu and chelper code
class MCU_stepper:
def __init__(self, name, step_pin_params, dir_pin_params,
def __init__(self, config, step_pin_params, dir_pin_params,
rotation_dist, steps_per_rotation,
step_pulse_duration=None, units_in_radians=False):
self._name = name
self._name = config.get_name()
self._rotation_dist = rotation_dist
self._steps_per_rotation = steps_per_rotation
self._step_pulse_duration = step_pulse_duration
self._units_in_radians = units_in_radians
self._step_dist = rotation_dist / steps_per_rotation
self._mcu = step_pin_params['chip']
self._oid = oid = self._mcu.create_oid()
self._mcu.register_config_callback(self._build_config)
self._mcu = mcu = step_pin_params['chip']
self._oid = oid = mcu.create_oid()
mcu.register_config_callback(self._build_config)
self._step_pin = step_pin_params['pin']
self._invert_step = step_pin_params['invert']
if dir_pin_params['chip'] is not self._mcu:
raise self._mcu.get_printer().config_error(
printer = mcu.get_printer()
if dir_pin_params['chip'] is not mcu:
raise printer.config_error(
"Stepper dir pin must be on same mcu as step pin")
self._dir_pin = dir_pin_params['pin']
self._invert_dir = self._orig_invert_dir = dir_pin_params['invert']
@@ -42,17 +43,16 @@ class MCU_stepper:
self._mcu_position_offset = 0.
self._reset_cmd_tag = self._get_position_cmd = None
self._active_callbacks = []
motion_queuing = printer.load_object(config, 'motion_queuing')
self._stepqueue = motion_queuing.allocate_stepcompress(mcu, oid)
ffi_main, ffi_lib = chelper.get_ffi()
self._stepqueue = ffi_main.gc(ffi_lib.stepcompress_alloc(oid),
ffi_lib.stepcompress_free)
ffi_lib.stepcompress_set_invert_sdir(self._stepqueue, self._invert_dir)
self._mcu.register_stepqueue(self._stepqueue)
self._stepper_kinematics = None
self._itersolve_generate_steps = ffi_lib.itersolve_generate_steps
self._itersolve_check_active = ffi_lib.itersolve_check_active
self._trapq = ffi_main.NULL
self._mcu.get_printer().register_event_handler('klippy:connect',
self._query_mcu_position)
printer.register_event_handler('klippy:connect',
self._query_mcu_position)
def get_mcu(self):
return self._mcu
def get_name(self, short=False):
@@ -258,7 +258,6 @@ class MCU_stepper:
# Helper code to build a stepper object from a config section
def PrinterStepper(config, units_in_radians=False):
printer = config.get_printer()
name = config.get_name()
# Stepper definition
ppins = printer.lookup_object('pins')
step_pin = config.get('step_pin')
@@ -269,7 +268,7 @@ def PrinterStepper(config, units_in_radians=False):
config, units_in_radians, True)
step_pulse_duration = config.getfloat('step_pulse_duration', None,
minval=0., maxval=.001)
mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params,
mcu_stepper = MCU_stepper(config, step_pin_params, dir_pin_params,
rotation_dist, steps_per_rotation,
step_pulse_duration, units_in_radians)
# Register with helper modules