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mcu: Reset the stepper step clock on init - not after each motor on 

Reset the last step clock during the init phase and after each home -
this simplifies the runtime code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-12-05 21:03:49 -05:00
parent c78f66b8e8
commit 2a8dd5c51f
2 changed files with 8 additions and 15 deletions
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21
klippy/mcu.py
View File

@ -45,6 +45,8 @@ class MCU_stepper:
self._oid, self._step_pin, self._dir_pin, self._oid, self._step_pin, self._dir_pin,
self._mcu.seconds_to_clock(min_stop_interval), self._mcu.seconds_to_clock(min_stop_interval),
self._invert_step)) self._invert_step))
self._mcu.add_config_cmd(
"reset_step_clock oid=%d clock=0" % (self._oid,), is_init=True)
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(
@ -83,12 +85,15 @@ class MCU_stepper:
ret = self._ffi_lib.stepcompress_set_homing(self._stepqueue, 0) ret = self._ffi_lib.stepcompress_set_homing(self._stepqueue, 0)
if ret: if ret:
raise error("Internal error in stepcompress") raise error("Internal error in stepcompress")
if not did_trigger:
return
ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0) ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0)
if ret: if ret:
raise error("Internal error in stepcompress") raise error("Internal error in stepcompress")
if self._mcu.is_fileoutput(): data = (self._reset_cmd.msgid, self._oid, 0)
ret = self._ffi_lib.stepcompress_queue_msg(
self._stepqueue, data, len(data))
if ret:
raise error("Internal error in stepcompress")
if not did_trigger or self._mcu.is_fileoutput():
return return
cmd = self._get_position_cmd.encode(self._oid) cmd = self._get_position_cmd.encode(self._oid)
params = self._mcu.send_with_response(cmd, 'stepper_position', self._oid) params = self._mcu.send_with_response(cmd, 'stepper_position', self._oid)
@ -96,16 +101,6 @@ class MCU_stepper:
if self._invert_dir: if self._invert_dir:
pos = -pos pos = -pos
self._mcu_position_offset = pos - self._commanded_pos self._mcu_position_offset = pos - self._commanded_pos
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")
data = (self._reset_cmd.msgid, self._oid, clock & 0xffffffff)
ret = self._ffi_lib.stepcompress_queue_msg(
self._stepqueue, data, len(data))
if ret:
raise error("Internal error in stepcompress")
def step(self, print_time, sdir): def step(self, print_time, sdir):
count = self._ffi_lib.stepcompress_push( count = self._ffi_lib.stepcompress_push(
self._stepqueue, print_time, sdir) self._stepqueue, print_time, sdir)

2
klippy/stepper.py
View File

@ -44,8 +44,6 @@ class PrinterStepper:
def set_position(self, pos): def set_position(self, pos):
self.mcu_stepper.set_position(pos) self.mcu_stepper.set_position(pos)
def motor_enable(self, print_time, enable=0): def motor_enable(self, print_time, enable=0):
if enable and self.need_motor_enable:
self.mcu_stepper.reset_step_clock(print_time)
if (self.mcu_enable is not None if (self.mcu_enable is not None
and self.mcu_enable.get_last_setting() != enable): and self.mcu_enable.get_last_setting() != enable):
self.mcu_enable.set_digital(print_time, enable) self.mcu_enable.set_digital(print_time, enable)