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mcu: Support reserving move queue slots 

Signed-off-by: Pascal Pieper <accounts@pascalpieper.de>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Pascal Pieper 2020-11-20 21:07:24 -05:00 committed by Kevin O'Connor
parent 697412d25c
commit 99fe290753
1 changed files with 6 additions and 1 deletions
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7
klippy/mcu.py
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@ -442,6 +442,7 @@ class MCU:
ffi_main, self._ffi_lib = chelper.get_ffi()
self._max_stepper_error = config.getfloat('max_stepper_error', 0.000025,
minval=0.)
self._reserved_move_slots = 0
self._stepqueues = []
self._steppersync = None
# Stats
@ -588,11 +589,13 @@ class MCU:
self._send_config(config_params['crc'])
# Setup steppersync with the move_count returned by get_config
move_count = config_params['move_count']
if move_count < self._reserved_move_slots:
raise error("Too few moves available on MCU '%s'" % (self._name,))
ffi_main, ffi_lib = chelper.get_ffi()
self._steppersync = ffi_main.gc(
ffi_lib.steppersync_alloc(self._serial.serialqueue,
self._stepqueues, len(self._stepqueues),
move_count),
move_count-self._reserved_move_slots),
ffi_lib.steppersync_free)
ffi_lib.steppersync_set_time(self._steppersync, 0., self._mcu_freq)
# Log config information
@ -657,6 +660,8 @@ class MCU:
return self.print_time_to_clock(t) + slot
def register_stepqueue(self, stepqueue):
self._stepqueues.append(stepqueue)
def request_move_queue_slot(self):
self._reserved_move_slots += 1
def seconds_to_clock(self, time):
return int(time * self._mcu_freq)
def get_max_stepper_error(self):