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mcu: Delay setting of mcu_stepper.min_stop_interval

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Create a separate callback for setting the min_stop_interval.

Also, move the setting of the stepper max_error from the stepper
configs to the mcu config and rename it to max_stepper_error.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-03-12 22:23:10 -04:00
parent be91c1229f
commit 92649332ce
2 changed files with 27 additions and 22 deletions
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43
klippy/mcu.py
View File

@@ -22,26 +22,29 @@ def parse_pin_extras(pin, can_pullup=False):
STEPCOMPRESS_ERROR_RET = -989898989 STEPCOMPRESS_ERROR_RET = -989898989
class MCU_stepper: class MCU_stepper:
def __init__(self, mcu, step_pin, dir_pin, min_stop_interval, max_error): def __init__(self, mcu, step_pin, dir_pin):
self._mcu = mcu self._mcu = mcu
self._oid = mcu.create_oid(self) self._oid = mcu.create_oid(self)
self._max_error = max_error self._step_pin, pullup, self._invert_step = parse_pin_extras(step_pin)
step_pin, pullup, invert_step = parse_pin_extras(step_pin) self._dir_pin, pullup, self._invert_dir = parse_pin_extras(dir_pin)
dir_pin, pullup, self._invert_dir = parse_pin_extras(dir_pin)
self.commanded_position = 0 self.commanded_position = 0
self._mcu_position_offset = 0 self._mcu_position_offset = 0
self._mcu_freq = 0. self._mcu_freq = self._min_stop_interval = 0.
mcu.add_config_cmd(
"config_stepper oid=%d step_pin=%s dir_pin=%s"
" min_stop_interval=TICKS(%.9f) invert_step=%d" % (
self._oid, step_pin, dir_pin, min_stop_interval, invert_step))
mcu.register_stepper(self)
self._reset_cmd = self._get_position_cmd = None self._reset_cmd = self._get_position_cmd = None
self.ffi_lib = self._stepqueue = None self.ffi_lib = self._stepqueue = None
self.print_to_mcu_time = mcu.print_to_mcu_time self.print_to_mcu_time = mcu.print_to_mcu_time
def set_min_stop_interval(self, min_stop_interval):
self._min_stop_interval = min_stop_interval
def build_config(self): def build_config(self):
self._mcu_freq = self._mcu.get_mcu_freq() self._mcu_freq = self._mcu.get_mcu_freq()
max_error = int(self._max_error * self._mcu_freq) max_error = self._mcu.get_max_stepper_error()
min_stop_interval = max(0., self._min_stop_interval - max_error)
self._mcu.add_config_cmd(
"config_stepper oid=%d step_pin=%s dir_pin=%s"
" min_stop_interval=TICKS(%.9f) invert_step=%d" % (
self._oid, self._step_pin, self._dir_pin,
min_stop_interval, self._invert_step))
self._mcu.register_stepper(self)
step_cmd = self._mcu.lookup_command( step_cmd = self._mcu.lookup_command(
"queue_step oid=%c interval=%u count=%hu add=%hi") "queue_step oid=%c interval=%u count=%hu add=%hi")
dir_cmd = self._mcu.lookup_command( dir_cmd = self._mcu.lookup_command(
@@ -51,6 +54,7 @@ class MCU_stepper:
self._get_position_cmd = self._mcu.lookup_command( self._get_position_cmd = self._mcu.lookup_command(
"stepper_get_position oid=%c") "stepper_get_position oid=%c")
ffi_main, self.ffi_lib = chelper.get_ffi() ffi_main, self.ffi_lib = chelper.get_ffi()
max_error = int(max_error * self._mcu_freq)
self._stepqueue = ffi_main.gc(self.ffi_lib.stepcompress_alloc( self._stepqueue = ffi_main.gc(self.ffi_lib.stepcompress_alloc(
max_error, step_cmd.msgid, dir_cmd.msgid, max_error, step_cmd.msgid, dir_cmd.msgid,
self._invert_dir, self._oid), self._invert_dir, self._oid),
@@ -151,12 +155,9 @@ class MCU_endstop:
self._mcu = mcu self._mcu = mcu
self._oid = mcu.create_oid(self) self._oid = mcu.create_oid(self)
self._stepper = stepper self._stepper = stepper
stepper_oid = stepper.get_oid() self._pin, self._pullup, self._invert = parse_pin_extras(
pin, pullup, self._invert = parse_pin_extras(pin, can_pullup=True) pin, can_pullup=True)
self._cmd_queue = mcu.alloc_command_queue() self._cmd_queue = mcu.alloc_command_queue()
mcu.add_config_cmd(
"config_end_stop oid=%d pin=%s pull_up=%d stepper_oid=%d" % (
self._oid, pin, pullup, stepper_oid))
self._home_cmd = self._query_cmd = None self._home_cmd = self._query_cmd = None
self._homing = False self._homing = False
self._min_query_time = self._mcu_freq = 0. self._min_query_time = self._mcu_freq = 0.
@@ -166,6 +167,9 @@ class MCU_endstop:
self.print_to_mcu_time = mcu.print_to_mcu_time self.print_to_mcu_time = mcu.print_to_mcu_time
def build_config(self): def build_config(self):
self._mcu_freq = self._mcu.get_mcu_freq() self._mcu_freq = self._mcu.get_mcu_freq()
self._mcu.add_config_cmd(
"config_end_stop oid=%d pin=%s pull_up=%d stepper_oid=%d" % (
self._oid, self._pin, self._pullup, self._stepper.get_oid()))
self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY) self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY)
self._home_cmd = self._mcu.lookup_command( self._home_cmd = self._mcu.lookup_command(
"end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c") "end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c")
@@ -383,6 +387,7 @@ class MCU:
self._pin_map = config.get('pin_map', None) self._pin_map = config.get('pin_map', None)
# Move command queuing # Move command queuing
ffi_main, self.ffi_lib = chelper.get_ffi() ffi_main, self.ffi_lib = chelper.get_ffi()
self._max_stepper_error = config.getfloat('max_stepper_error', 0.000025)
self._steppers = [] self._steppers = []
self._steppersync = None self._steppersync = None
# Print time to clock epoch calculations # Print time to clock epoch calculations
@@ -551,8 +556,8 @@ class MCU:
def create_command(self, msg): def create_command(self, msg):
return self.serial.msgparser.create_command(msg) return self.serial.msgparser.create_command(msg)
# Wrappers for mcu object creation # Wrappers for mcu object creation
def create_stepper(self, step_pin, dir_pin, min_stop_interval, max_error): def create_stepper(self, step_pin, dir_pin):
return MCU_stepper(self, step_pin, dir_pin, min_stop_interval, max_error) return MCU_stepper(self, step_pin, dir_pin)
def create_endstop(self, pin, stepper): def create_endstop(self, pin, stepper):
return MCU_endstop(self, pin, stepper) return MCU_endstop(self, pin, stepper)
def create_digital_out(self, pin, max_duration=2.): def create_digital_out(self, pin, max_duration=2.):
@@ -579,6 +584,8 @@ class MCU:
return self._mcu_freq return self._mcu_freq
def get_last_clock(self): def get_last_clock(self):
return self.serial.get_last_clock() return self.serial.get_last_clock()
def get_max_stepper_error(self):
return self._max_stepper_error
# Move command queuing # Move command queuing
def send(self, cmd, minclock=0, reqclock=0, cq=None): def send(self, cmd, minclock=0, reqclock=0, cq=None):
self.serial.send(cmd, minclock, reqclock, cq=cq) self.serial.send(cmd, minclock, reqclock, cq=cq)

6
klippy/stepper.py
View File

@@ -51,13 +51,11 @@ class PrinterStepper:
self.min_stop_interval = (math.sqrt(3.*inv_max_step_accel + jc**2) self.min_stop_interval = (math.sqrt(3.*inv_max_step_accel + jc**2)
- math.sqrt(inv_max_step_accel + jc**2)) - math.sqrt(inv_max_step_accel + jc**2))
def build_config(self): def build_config(self):
max_error = self.config.getfloat('max_error', 0.000025)
step_pin = self.config.get('step_pin') step_pin = self.config.get('step_pin')
dir_pin = self.config.get('dir_pin') dir_pin = self.config.get('dir_pin')
min_stop_interval = max(0., self.min_stop_interval - max_error)
mcu = self.printer.mcu mcu = self.printer.mcu
self.mcu_stepper = mcu.create_stepper( self.mcu_stepper = mcu.create_stepper(step_pin, dir_pin)
step_pin, dir_pin, min_stop_interval, max_error) self.mcu_stepper.set_min_stop_interval(self.min_stop_interval)
enable_pin = self.config.get('enable_pin', None) enable_pin = self.config.get('enable_pin', None)
if enable_pin is not None: if enable_pin is not None:
self.mcu_enable = mcu.create_digital_out(enable_pin, 0) self.mcu_enable = mcu.create_digital_out(enable_pin, 0)