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mcu: Pass print_time directly to MCU calls 

Now that the print_time is always synchronized with the mcu_time,
there is no longer a need to track mcu_time as a separate quantity.
Eliminate references to mcu_time from the code and pass print_time
directly in its place.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-09-12 12:47:40 -04:00
parent 5dfe4e1eb9
commit a100f174f9
8 changed files with 108 additions and 119 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
klippy/cartesian.py
View File

@ -62,16 +62,16 @@ class CartKinematics:
# Set final homed position
coord[axis] = s.position_endstop + s.get_homed_offset()
homing_state.set_homed_position(coord)
def motor_off(self, move_time):
def motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
for stepper in self.steppers:
stepper.motor_enable(move_time, 0)
stepper.motor_enable(print_time, 0)
self.need_motor_enable = True
def _check_motor_enable(self, move_time, move):
def _check_motor_enable(self, print_time, move):
need_motor_enable = False
for i in StepList:
if move.axes_d[i]:
self.steppers[i].motor_enable(move_time, 1)
self.steppers[i].motor_enable(print_time, 1)
need_motor_enable |= self.steppers[i].need_motor_enable
self.need_motor_enable = need_motor_enable
def query_endstops(self, print_time):
@ -101,15 +101,15 @@ class CartKinematics:
z_ratio = move.move_d / abs(move.axes_d[2])
move.limit_speed(
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
def move(self, move_time, move):
def move(self, print_time, move):
if self.need_motor_enable:
self._check_motor_enable(move_time, move)
self._check_motor_enable(print_time, move)
for i in StepList:
axis_d = move.axes_d[i]
if not axis_d:
continue
mcu_stepper = self.steppers[i].mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
move_time = print_time
start_pos = move.start_pos[i]
axis_r = abs(axis_d) / move.move_d
accel = move.accel * axis_r
@ -119,18 +119,18 @@ class CartKinematics:
if move.accel_r:
accel_d = move.accel_r * axis_d
mcu_stepper.step_const(
mcu_time, start_pos, accel_d, move.start_v * axis_r, accel)
move_time, start_pos, accel_d, move.start_v * axis_r, accel)
start_pos += accel_d
mcu_time += move.accel_t
move_time += move.accel_t
# Cruising steps
if move.cruise_r:
cruise_d = move.cruise_r * axis_d
mcu_stepper.step_const(
mcu_time, start_pos, cruise_d, cruise_v, 0.)
move_time, start_pos, cruise_d, cruise_v, 0.)
start_pos += cruise_d
mcu_time += move.cruise_t
move_time += move.cruise_t
# Deceleration steps
if move.decel_r:
decel_d = move.decel_r * axis_d
mcu_stepper.step_const(
mcu_time, start_pos, decel_d, cruise_v, -accel)
move_time, start_pos, decel_d, cruise_v, -accel)

28
klippy/corexy.py
View File

@ -67,17 +67,17 @@ class CoreXYKinematics:
# Support endstop phase detection on Z axis
coord[axis] = s.position_endstop + s.get_homed_offset()
homing_state.set_homed_position(coord)
def motor_off(self, move_time):
def motor_off(self, print_time):
self.limits = [(1.0, -1.0)] * 3
for stepper in self.steppers:
stepper.motor_enable(move_time, 0)
stepper.motor_enable(print_time, 0)
self.need_motor_enable = True
def _check_motor_enable(self, move_time, move):
def _check_motor_enable(self, print_time, move):
if move.axes_d[0] or move.axes_d[1]:
self.steppers[0].motor_enable(move_time, 1)
self.steppers[1].motor_enable(move_time, 1)
self.steppers[0].motor_enable(print_time, 1)
self.steppers[1].motor_enable(print_time, 1)
if move.axes_d[2]:
self.steppers[2].motor_enable(move_time, 1)
self.steppers[2].motor_enable(print_time, 1)
need_motor_enable = False
for i in StepList:
need_motor_enable |= self.steppers[i].need_motor_enable
@ -109,9 +109,9 @@ class CoreXYKinematics:
z_ratio = move.move_d / abs(move.axes_d[2])
move.limit_speed(
self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
def move(self, move_time, move):
def move(self, print_time, move):
if self.need_motor_enable:
self._check_motor_enable(move_time, move)
self._check_motor_enable(print_time, move)
sxp = move.start_pos[0]
syp = move.start_pos[1]
move_start_pos = (sxp + syp, sxp - syp, move.start_pos[2])
@ -124,7 +124,7 @@ class CoreXYKinematics:
if not axis_d:
continue
mcu_stepper = self.steppers[i].mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
move_time = print_time
start_pos = move_start_pos[i]
axis_r = abs(axis_d) / move.move_d
accel = move.accel * axis_r
@ -134,18 +134,18 @@ class CoreXYKinematics:
if move.accel_r:
accel_d = move.accel_r * axis_d
mcu_stepper.step_const(
mcu_time, start_pos, accel_d, move.start_v * axis_r, accel)
move_time, start_pos, accel_d, move.start_v * axis_r, accel)
start_pos += accel_d
mcu_time += move.accel_t
move_time += move.accel_t
# Cruising steps
if move.cruise_r:
cruise_d = move.cruise_r * axis_d
mcu_stepper.step_const(
mcu_time, start_pos, cruise_d, cruise_v, 0.)
move_time, start_pos, cruise_d, cruise_v, 0.)
start_pos += cruise_d
mcu_time += move.cruise_t
move_time += move.cruise_t
# Deceleration steps
if move.decel_r:
decel_d = move.decel_r * axis_d
mcu_stepper.step_const(
mcu_time, start_pos, decel_d, cruise_v, -accel)
move_time, start_pos, decel_d, cruise_v, -accel)

24
klippy/delta.py
View File

@ -123,14 +123,14 @@ class DeltaKinematics:
+ self.steppers[i].get_homed_offset()
for i in StepList]
homing_state.set_homed_position(self._actuator_to_cartesian(spos))
def motor_off(self, move_time):
def motor_off(self, print_time):
self.limit_xy2 = -1.
for stepper in self.steppers:
stepper.motor_enable(move_time, 0)
stepper.motor_enable(print_time, 0)
self.need_motor_enable = self.need_home = True
def _check_motor_enable(self, move_time):
def _check_motor_enable(self, print_time):
for i in StepList:
self.steppers[i].motor_enable(move_time, 1)
self.steppers[i].motor_enable(print_time, 1)
self.need_motor_enable = False
def query_endstops(self, print_time):
endstops = [(s, s.query_endstop(print_time)) for s in self.steppers]
@ -164,9 +164,9 @@ class DeltaKinematics:
move.limit_speed(max_velocity * r, self.max_accel * r)
limit_xy2 = -1.
self.limit_xy2 = min(limit_xy2, self.slow_xy2)
def move(self, move_time, move):
def move(self, print_time, move):
if self.need_motor_enable:
self._check_motor_enable(move_time)
self._check_motor_enable(print_time)
axes_d = move.axes_d
move_d = move.move_d
movexy_r = 1.
@ -203,24 +203,24 @@ class DeltaKinematics:
# Generate steps
mcu_stepper = self.steppers[i].mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
move_time = print_time
if accel_d:
mcu_stepper.step_delta(
mcu_time, accel_d, move.start_v, accel,
move_time, accel_d, move.start_v, accel,
vt_startz, vt_startxy_d, vt_arm_d, movez_r)
vt_startz += accel_d * movez_r
vt_startxy_d -= accel_d * movexy_r
mcu_time += move.accel_t
move_time += move.accel_t
if cruise_d:
mcu_stepper.step_delta(
mcu_time, cruise_d, cruise_v, 0.,
move_time, cruise_d, cruise_v, 0.,
vt_startz, vt_startxy_d, vt_arm_d, movez_r)
vt_startz += cruise_d * movez_r
vt_startxy_d -= cruise_d * movexy_r
mcu_time += move.cruise_t
move_time += move.cruise_t
if decel_d:
mcu_stepper.step_delta(
mcu_time, decel_d, cruise_v, -accel,
move_time, decel_d, cruise_v, -accel,
vt_startz, vt_startxy_d, vt_arm_d, movez_r)

25
klippy/extruder.py
View File

@ -50,8 +50,8 @@ class PrinterExtruder:
if is_active:
return self.activate_gcode
return self.deactivate_gcode
def motor_off(self, move_time):
self.stepper.motor_enable(move_time, 0)
def motor_off(self, print_time):
self.stepper.motor_enable(print_time, 0)
self.need_motor_enable = True
def check_move(self, move):
move.extrude_r = move.axes_d[3] / move.move_d
@ -131,9 +131,9 @@ class PrinterExtruder:
return i
move.extrude_max_corner_v = max_corner_v
return flush_count
def move(self, move_time, move):
def move(self, print_time, move):
if self.need_motor_enable:
self.stepper.motor_enable(move_time, 1)
self.stepper.motor_enable(print_time, 1)
self.need_motor_enable = False
axis_d = move.axes_d[3]
axis_r = abs(axis_d) / move.move_d
@ -190,27 +190,28 @@ class PrinterExtruder:
# Prepare for steps
mcu_stepper = self.stepper.mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
move_time = print_time
# Acceleration steps
if accel_d:
mcu_stepper.step_const(mcu_time, start_pos, accel_d, start_v, accel)
mcu_stepper.step_const(move_time, start_pos, accel_d, start_v, accel)
start_pos += accel_d
mcu_time += accel_t
move_time += accel_t
# Cruising steps
if cruise_d:
mcu_stepper.step_const(mcu_time, start_pos, cruise_d, cruise_v, 0.)
mcu_stepper.step_const(move_time, start_pos, cruise_d, cruise_v, 0.)
start_pos += cruise_d
mcu_time += cruise_t
move_time += cruise_t
# Deceleration steps
if decel_d:
mcu_stepper.step_const(mcu_time, start_pos, decel_d, decel_v, -accel)
mcu_stepper.step_const(
move_time, start_pos, decel_d, decel_v, -accel)
start_pos += decel_d
mcu_time += decel_t
move_time += decel_t
# Retraction steps
if retract_d:
mcu_stepper.step_const(
mcu_time, start_pos, -retract_d, retract_v, accel)
move_time, start_pos, -retract_d, retract_v, accel)
start_pos -= retract_d
self.extrude_pos = start_pos

16
klippy/fan.py
View File

@ -18,23 +18,19 @@ class PrinterFan:
self.mcu_fan.setup_max_duration(0.)
self.mcu_fan.setup_cycle_time(PWM_CYCLE_TIME)
self.mcu_fan.setup_hard_pwm(config.getint('hard_pwm', 0))
def set_pwm(self, mcu_time, value):
def set_speed(self, print_time, value):
value = max(0., min(self.max_power, value))
if value == self.last_fan_value:
return
mcu_time = max(self.last_fan_time + FAN_MIN_TIME, mcu_time)
print_time = max(self.last_fan_time + FAN_MIN_TIME, print_time)
if (value and value < self.max_power
and not self.last_fan_value and self.kick_start_time):
# Run fan at full speed for specified kick_start_time
self.mcu_fan.set_pwm(mcu_time, self.max_power)
mcu_time += self.kick_start_time
self.mcu_fan.set_pwm(mcu_time, value)
self.last_fan_time = mcu_time
self.mcu_fan.set_pwm(print_time, self.max_power)
print_time += self.kick_start_time
self.mcu_fan.set_pwm(print_time, value)
self.last_fan_time = print_time
self.last_fan_value = value
# External commands
def set_speed(self, print_time, value):
mcu_time = self.mcu_fan.get_mcu().print_to_mcu_time(print_time)
self.set_pwm(mcu_time, value)
class PrinterHeaterFan:
def __init__(self, printer, config):

2
klippy/homing.py
View File

@ -42,7 +42,7 @@ class Homing:
move_end_print_time = self.toolhead.get_last_move_time()
self.toolhead.reset_print_time()
for s, es, last_pos in endstops:
es.home_finalize(es.get_mcu().print_to_mcu_time(move_end_print_time))
es.home_finalize(move_end_print_time)
# Wait for endstops to trigger
for s, es, last_pos in endstops:
try:

92
klippy/mcu.py
View File

@ -25,7 +25,6 @@ class MCU_stepper:
self._mcu_freq = self._min_stop_interval = 0.
self._reset_cmd = self._get_position_cmd = None
self._ffi_lib = self._stepqueue = None
self.print_to_mcu_time = mcu.print_to_mcu_time
def get_mcu(self):
return self._mcu
def setup_dir_pin(self, pin_params):
@ -48,7 +47,8 @@ class MCU_stepper:
"config_stepper oid=%d step_pin=%s dir_pin=%s"
" min_stop_interval=%d invert_step=%d" % (
self._oid, self._step_pin, self._dir_pin,
min_stop_interval * self._mcu_freq, self._invert_step))
self._mcu.seconds_to_clock(min_stop_interval),
self._invert_step))
step_cmd = self._mcu.lookup_command(
"queue_step oid=%c interval=%u count=%hu add=%hi")
dir_cmd = self._mcu.lookup_command(
@ -58,9 +58,8 @@ class MCU_stepper:
self._get_position_cmd = self._mcu.lookup_command(
"stepper_get_position oid=%c")
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(
max_error, step_cmd.msgid, dir_cmd.msgid,
self._mcu.seconds_to_clock(max_error), step_cmd.msgid, dir_cmd.msgid,
self._invert_dir, self._oid),
self._ffi_lib.stepcompress_free)
self._mcu.register_stepqueue(self._stepqueue)
@ -97,8 +96,8 @@ class MCU_stepper:
if self._invert_dir:
pos = -pos
self._mcu_position_offset = pos - self._commanded_pos
def reset_step_clock(self, mcu_time):
clock = int(mcu_time * self._mcu_freq)
def reset_step_clock(self, print_time):
clock = self._mcu.print_time_to_clock(print_time)
ret = self._ffi_lib.stepcompress_reset(self._stepqueue, clock)
if ret:
raise error("Internal error in stepcompress")
@ -107,28 +106,29 @@ class MCU_stepper:
self._stepqueue, data, len(data))
if ret:
raise error("Internal error in stepcompress")
def step(self, mcu_time, sdir):
count = self._ffi_lib.stepcompress_push(
self._stepqueue, mcu_time * self._mcu_freq, sdir)
def step(self, print_time, sdir):
clock = print_time * self._mcu_freq
count = self._ffi_lib.stepcompress_push(self._stepqueue, clock, sdir)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count
def step_const(self, mcu_time, start_pos, dist, start_v, accel):
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, mcu_time * self._mcu_freq, step_offset,
dist * inv_step_dist, start_v * self._velocity_factor,
accel * self._accel_factor)
self._stepqueue, clock, step_offset, dist * inv_step_dist,
start_v * self._velocity_factor, accel * self._accel_factor)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count
def step_delta(self, mcu_time, dist, start_v, accel
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, mcu_time * self._mcu_freq, dist * inv_step_dist,
self._stepqueue, clock, dist * inv_step_dist,
start_v * self._velocity_factor, accel * self._accel_factor,
height, startxy_d * inv_step_dist, arm_d * inv_step_dist, movez_r)
if count == STEPCOMPRESS_ERROR_RET:
@ -147,7 +147,7 @@ class MCU_endstop:
self._cmd_queue = mcu.alloc_command_queue()
self._oid = self._home_cmd = self._query_cmd = None
self._homing = False
self._min_query_time = self._mcu_freq = 0.
self._min_query_time = 0.
self._next_query_clock = self._home_timeout_clock = 0
self._retry_query_ticks = 0
self._last_state = {}
@ -156,7 +156,6 @@ class MCU_endstop:
def add_stepper(self, stepper):
self._steppers.append(stepper)
def build_config(self):
self._mcu_freq = self._mcu.get_mcu_freq()
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_end_stop oid=%d pin=%s pull_up=%d stepper_count=%d" % (
@ -165,15 +164,15 @@ class MCU_endstop:
self._mcu.add_config_cmd(
"end_stop_set_stepper oid=%d pos=%d stepper_oid=%d" % (
self._oid, i, s.get_oid()), is_init=True)
self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY)
self._retry_query_ticks = self._mcu.seconds_to_clock(self.RETRY_QUERY)
self._home_cmd = self._mcu.lookup_command(
"end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c")
self._query_cmd = self._mcu.lookup_command("end_stop_query oid=%c")
self._mcu.register_msg(self._handle_end_stop_state, "end_stop_state"
, self._oid)
def home_start(self, mcu_time, rest_time):
clock = int(mcu_time * self._mcu_freq)
rest_ticks = int(rest_time * self._mcu_freq)
def home_start(self, print_time, rest_time):
clock = self._mcu.print_time_to_clock(print_time)
rest_ticks = self._mcu.seconds_to_clock(rest_time)
self._homing = True
self._min_query_time = self._mcu.monotonic()
self._next_query_clock = clock + self._retry_query_ticks
@ -182,10 +181,10 @@ class MCU_endstop:
self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
for s in self._steppers:
s.note_homing_start(clock)
def home_finalize(self, mcu_time):
def home_finalize(self, print_time):
for s in self._steppers:
s.note_homing_finalized()
self._home_timeout_clock = int(mcu_time * self._mcu_freq)
self._home_timeout_clock = self._mcu.print_time_to_clock(print_time)
def home_wait(self):
eventtime = self._mcu.monotonic()
while self._check_busy(eventtime):
@ -220,11 +219,10 @@ class MCU_endstop:
msg = self._query_cmd.encode(self._oid)
self._mcu.send(msg, cq=self._cmd_queue)
return True
def query_endstop(self, mcu_time):
clock = int(mcu_time * self._mcu_freq)
def query_endstop(self, print_time):
self._homing = False
self._next_query_clock = self._mcu.print_time_to_clock(print_time)
self._min_query_time = self._mcu.monotonic()
self._next_query_clock = clock
def query_endstop_wait(self):
eventtime = self._mcu.monotonic()
while self._check_busy(eventtime):
@ -241,7 +239,6 @@ class MCU_digital_out:
self._max_duration = 2.
self._last_clock = 0
self._last_value = None
self._mcu_freq = 0.
self._cmd_queue = mcu.alloc_command_queue()
self._set_cmd = None
def get_mcu(self):
@ -251,7 +248,6 @@ class MCU_digital_out:
def setup_static(self):
self._static_value = not self._invert
def build_config(self):
self._mcu_freq = self._mcu.get_mcu_freq()
if self._static_value is not None:
self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % (
self._pin, self._static_value))
@ -261,11 +257,11 @@ class MCU_digital_out:
"config_digital_out oid=%d pin=%s default_value=%d"
" max_duration=%d" % (
self._oid, self._pin, self._invert,
self._max_duration * self._mcu_freq))
self._mcu.seconds_to_clock(self._max_duration)))
self._set_cmd = self._mcu.lookup_command(
"schedule_digital_out oid=%c clock=%u value=%c")
def set_digital(self, mcu_time, value):
clock = int(mcu_time * self._mcu_freq)
def set_digital(self, print_time, value):
clock = self._mcu.print_time_to_clock(print_time)
msg = self._set_cmd.encode(
self._oid, clock, not not (value ^ self._invert))
self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
@ -274,8 +270,8 @@ class MCU_digital_out:
self._last_value = value
def get_last_setting(self):
return self._last_value
def set_pwm(self, mcu_time, value):
self.set_digital(mcu_time, value >= 0.5)
def set_pwm(self, print_time, value):
self.set_digital(print_time, value >= 0.5)
class MCU_pwm:
def __init__(self, mcu, pin_params):
@ -288,7 +284,6 @@ class MCU_pwm:
self._pin = pin_params['pin']
self._invert = pin_params['invert']
self._last_clock = 0
self._mcu_freq = 0.
self._pwm_max = 0.
self._cmd_queue = mcu.alloc_command_queue()
self._set_cmd = None
@ -309,7 +304,6 @@ class MCU_pwm:
value = 1. - value
self._static_value = max(0., min(1., value))
def build_config(self):
self._mcu_freq = self._mcu.get_mcu_freq()
if self._hard_pwm:
self._pwm_max = self._mcu.serial.msgparser.get_constant_float(
"PWM_MAX")
@ -324,7 +318,7 @@ class MCU_pwm:
"config_pwm_out oid=%d pin=%s cycle_ticks=%d default_value=%d"
" max_duration=%d" % (
self._oid, self._pin, self._cycle_time, self._invert,
self._max_duration * self._mcu_freq))
self._mcu.seconds_to_clock(self._max_duration)))
self._set_cmd = self._mcu.lookup_command(
"schedule_pwm_out oid=%c clock=%u value=%hu")
else:
@ -340,12 +334,14 @@ class MCU_pwm:
self._mcu.add_config_cmd(
"config_soft_pwm_out oid=%d pin=%s cycle_ticks=%d"
" default_value=%d max_duration=%d" % (
self._oid, self._pin, self._cycle_time * self._mcu_freq,
self._invert, self._max_duration * self._mcu_freq))
self._oid, self._pin,
self._mcu.seconds_to_clock(self._cycle_time),
self._invert,
self._mcu.seconds_to_clock(self._max_duration)))
self._set_cmd = self._mcu.lookup_command(
"schedule_soft_pwm_out oid=%c clock=%u value=%hu")
def set_pwm(self, mcu_time, value):
clock = int(mcu_time * self._mcu_freq)
def set_pwm(self, print_time, value):
clock = self._mcu.print_time_to_clock(print_time)
if self._invert:
value = 1. - value
value = int(max(0., min(1., value)) * self._pwm_max + 0.5)
@ -364,7 +360,6 @@ class MCU_adc:
self._report_clock = 0
self._oid = self._callback = None
self._inv_max_adc = 0.
self._mcu_freq = 0.
self._cmd_queue = mcu.alloc_command_queue()
def get_mcu(self):
return self._mcu
@ -379,17 +374,17 @@ class MCU_adc:
def build_config(self):
if not self._sample_count:
return
self._mcu_freq = self._mcu.get_mcu_freq()
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % (
self._oid, self._pin))
last_clock, last_clock_time = self._mcu.get_last_clock()
clock = last_clock + int(self._mcu_freq * (1.0 + self._oid * 0.01)) # XXX
sample_ticks = int(self._sample_time * self._mcu_freq)
clock = last_clock + self._mcu.seconds_to_clock(
1.0 + self._oid * 0.01) # XXX
sample_ticks = self._mcu.seconds_to_clock(self._sample_time)
mcu_adc_max = self._mcu.serial.msgparser.get_constant_float("ADC_MAX")
max_adc = self._sample_count * mcu_adc_max
self._inv_max_adc = 1.0 / max_adc
self._report_clock = int(self._report_time * self._mcu_freq)
self._report_clock = self._mcu.seconds_to_clock(self._report_time)
min_sample = max(0, min(0xffff, int(self._min_sample * max_adc)))
max_sample = max(0, min(0xffff, int(
math.ceil(self._max_sample * max_adc))))
@ -403,7 +398,8 @@ class MCU_adc:
def _handle_analog_in_state(self, params):
last_value = params['value'] * self._inv_max_adc
next_clock = self._mcu.serial.translate_clock(params['next_clock'])
last_read_time = (next_clock - self._report_clock) / self._mcu_freq
last_read_clock = next_clock - self._report_clock
last_read_time = self._mcu.clock_to_print_time(last_read_clock)
if self._callback is not None:
self._callback(last_read_time, last_value)
@ -690,8 +686,6 @@ class MCU:
def create_command(self, msg):
return self.serial.msgparser.create_command(msg)
# Clock syncing
def print_to_mcu_time(self, print_time):
return print_time
def print_time_to_clock(self, print_time):
return int(print_time * self._mcu_freq)
def clock_to_print_time(self, clock):
@ -700,6 +694,8 @@ class MCU:
return self.clock_to_print_time(self.serial.get_clock(eventtime))
def get_mcu_freq(self):
return self._mcu_freq
def seconds_to_clock(self, time):
return int(time * self._mcu_freq)
def get_last_clock(self):
return self.serial.get_last_clock()
def get_max_stepper_error(self):

16
klippy/stepper.py
View File

@ -38,14 +38,12 @@ class PrinterStepper:
2. * self.step_dist, max_halt_velocity, max_accel)
min_stop_interval = second_last_step_time - last_step_time
self.mcu_stepper.setup_min_stop_interval(min_stop_interval)
def motor_enable(self, move_time, enable=0):
def motor_enable(self, print_time, enable=0):
if enable and self.need_motor_enable:
mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
self.mcu_stepper.reset_step_clock(mcu_time)
self.mcu_stepper.reset_step_clock(print_time)
if (self.mcu_enable is not None
and self.mcu_enable.get_last_setting() != enable):
mcu_time = self.mcu_enable.get_mcu().print_to_mcu_time(move_time)
self.mcu_enable.set_digital(mcu_time, enable)
self.mcu_enable.set_digital(print_time, enable)
self.need_motor_enable = not enable
class PrinterHomingStepper(PrinterStepper):
@ -97,13 +95,11 @@ class PrinterHomingStepper(PrinterStepper):
self.homing_stepper_phases = None
if self.mcu_endstop.get_mcu().is_fileoutput():
self.homing_endstop_accuracy = self.homing_stepper_phases
def enable_endstop_checking(self, move_time, step_time):
mcu_time = self.mcu_endstop.get_mcu().print_to_mcu_time(move_time)
self.mcu_endstop.home_start(mcu_time, step_time)
def enable_endstop_checking(self, print_time, step_time):
self.mcu_endstop.home_start(print_time, step_time)
return self.mcu_endstop
def query_endstop(self, print_time):
mcu_time = self.mcu_endstop.get_mcu().print_to_mcu_time(print_time)
self.mcu_endstop.query_endstop(mcu_time)
self.mcu_endstop.query_endstop(print_time)
return self.mcu_endstop
def get_homing_speed(self):
# Round the configured homing speed so that it is an even