mirror of https://github.com/Desuuuu/klipper.git
mcu: Rename self.ffi_lib to self._ffi_lib
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
49bdc6fbd1
commit
bfad970e4d
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@ -31,7 +31,7 @@ class MCU_stepper:
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self._mcu_position_offset = 0
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self._mcu_freq = self._min_stop_interval = 0.
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self._reset_cmd = self._get_position_cmd = None
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self.ffi_lib = self._stepqueue = None
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self._ffi_lib = self._stepqueue = None
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self.print_to_mcu_time = mcu.print_to_mcu_time
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def set_min_stop_interval(self, min_stop_interval):
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self._min_stop_interval = min_stop_interval
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@ -53,12 +53,12 @@ class MCU_stepper:
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"reset_step_clock oid=%c clock=%u")
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self._get_position_cmd = self._mcu.lookup_command(
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"stepper_get_position oid=%c")
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ffi_main, self.ffi_lib = chelper.get_ffi()
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ffi_main, self._ffi_lib = chelper.get_ffi()
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max_error = int(max_error * self._mcu_freq)
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self._stepqueue = ffi_main.gc(self.ffi_lib.stepcompress_alloc(
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self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc(
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max_error, step_cmd.msgid, dir_cmd.msgid,
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self._invert_dir, self._oid),
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self.ffi_lib.stepcompress_free)
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self._ffi_lib.stepcompress_free)
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def get_oid(self):
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return self._oid
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def set_position(self, pos):
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@ -67,14 +67,15 @@ class MCU_stepper:
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def get_mcu_position(self):
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return self.commanded_position + self._mcu_position_offset
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def note_homing_start(self, homing_clock):
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ret = self.ffi_lib.stepcompress_set_homing(self._stepqueue, homing_clock)
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ret = self._ffi_lib.stepcompress_set_homing(
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self._stepqueue, homing_clock)
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if ret:
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raise error("Internal error in stepcompress")
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def note_homing_finalized(self):
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ret = self.ffi_lib.stepcompress_set_homing(self._stepqueue, 0)
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ret = self._ffi_lib.stepcompress_set_homing(self._stepqueue, 0)
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if ret:
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raise error("Internal error in stepcompress")
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ret = self.ffi_lib.stepcompress_reset(self._stepqueue, 0)
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ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0)
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if ret:
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raise error("Internal error in stepcompress")
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def note_homing_triggered(self):
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@ -87,17 +88,17 @@ class MCU_stepper:
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self._mcu_position_offset = pos - self.commanded_position
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def reset_step_clock(self, mcu_time):
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clock = int(mcu_time * self._mcu_freq)
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ret = self.ffi_lib.stepcompress_reset(self._stepqueue, clock)
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ret = self._ffi_lib.stepcompress_reset(self._stepqueue, clock)
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if ret:
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raise error("Internal error in stepcompress")
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data = (self._reset_cmd.msgid, self._oid, clock & 0xffffffff)
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ret = self.ffi_lib.stepcompress_queue_msg(
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ret = self._ffi_lib.stepcompress_queue_msg(
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self._stepqueue, data, len(data))
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if ret:
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raise error("Internal error in stepcompress")
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def step(self, mcu_time, sdir):
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clock = mcu_time * self._mcu_freq
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ret = self.ffi_lib.stepcompress_push(self._stepqueue, clock, sdir)
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ret = self._ffi_lib.stepcompress_push(self._stepqueue, clock, sdir)
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if ret:
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raise error("Internal error in stepcompress")
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if sdir:
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@ -107,7 +108,7 @@ class MCU_stepper:
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def step_sqrt(self, mcu_time, steps, step_offset, sqrt_offset, factor):
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clock = mcu_time * self._mcu_freq
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mcu_freq2 = self._mcu_freq**2
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count = self.ffi_lib.stepcompress_push_sqrt(
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count = self._ffi_lib.stepcompress_push_sqrt(
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self._stepqueue, steps, step_offset, clock
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, sqrt_offset * mcu_freq2, factor * mcu_freq2)
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if count == STEPCOMPRESS_ERROR_RET:
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@ -116,7 +117,7 @@ class MCU_stepper:
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return count
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def step_factor(self, mcu_time, steps, step_offset, factor):
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clock = mcu_time * self._mcu_freq
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count = self.ffi_lib.stepcompress_push_factor(
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count = self._ffi_lib.stepcompress_push_factor(
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self._stepqueue, steps, step_offset, clock, factor * self._mcu_freq)
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if count == STEPCOMPRESS_ERROR_RET:
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raise error("Internal error in stepcompress")
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@ -126,7 +127,7 @@ class MCU_stepper:
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, inv_velocity, step_dist
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, height, closestxy_d, closest_height2, movez_r):
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clock = mcu_time * self._mcu_freq
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count = self.ffi_lib.stepcompress_push_delta_const(
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count = self._ffi_lib.stepcompress_push_delta_const(
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self._stepqueue, clock, dist, start_pos
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, inv_velocity * self._mcu_freq, step_dist
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, height, closestxy_d, closest_height2, movez_r)
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@ -139,7 +140,7 @@ class MCU_stepper:
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, height, closestxy_d, closest_height2, movez_r):
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clock = mcu_time * self._mcu_freq
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mcu_freq2 = self._mcu_freq**2
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count = self.ffi_lib.stepcompress_push_delta_accel(
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count = self._ffi_lib.stepcompress_push_delta_accel(
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self._stepqueue, clock, dist, start_pos
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, accel_multiplier * mcu_freq2, step_dist
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, height, closestxy_d, closest_height2, movez_r)
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@ -399,7 +400,7 @@ class MCU:
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self._pin_map = config.get('pin_map', None)
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self._custom = config.get('custom', '')
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# Move command queuing
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ffi_main, self.ffi_lib = chelper.get_ffi()
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ffi_main, self._ffi_lib = chelper.get_ffi()
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self._max_stepper_error = config.getfloat('max_stepper_error', 0.000025)
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self._steppers = []
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self._steppersync = None
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@ -464,7 +465,7 @@ class MCU:
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def disconnect(self):
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self.serial.disconnect()
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if self._steppersync is not None:
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self.ffi_lib.steppersync_free(self._steppersync)
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self._ffi_lib.steppersync_free(self._steppersync)
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self._steppersync = None
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def stats(self, eventtime):
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return "%s mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
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@ -545,7 +546,7 @@ class MCU:
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move_count = config_params['move_count']
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logging.info("Configured (%d moves)" % (move_count,))
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stepqueues = tuple(s._stepqueue for s in self._steppers)
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self._steppersync = self.ffi_lib.steppersync_alloc(
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self._steppersync = self._ffi_lib.steppersync_alloc(
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self.serial.serialqueue, stepqueues, len(stepqueues), move_count)
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for cb in self._init_callbacks:
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cb()
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@ -609,7 +610,7 @@ class MCU:
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return
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mcu_time = print_time + self._print_start_time
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clock = int(mcu_time * self._mcu_freq)
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ret = self.ffi_lib.steppersync_flush(self._steppersync, clock)
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ret = self._ffi_lib.steppersync_flush(self._steppersync, clock)
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if ret:
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raise error("Internal error in stepcompress")
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def pause(self, waketime):
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