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motion_queuing: Add allocate_stepcompress() call

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Allocate the low-level C stepcompress object in the motion_queuing
module.  This simplifies the mcu.py code as it no longer needs to
track the stepqueues for the steppersync object.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-08-04 23:52:59 -04:00
parent 128226fe8a
commit 6f685e9e01
4 changed files with 34 additions and 29 deletions
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13
klippy/extras/motion_queuing.py
View File

@ -11,6 +11,7 @@ class PrinterMotionQueuing:
self.printer = config.get_printer() self.printer = config.get_printer()
self.steppers = [] self.steppers = []
self.trapqs = [] self.trapqs = []
self.stepcompress = []
self.steppersyncs = [] self.steppersyncs = []
ffi_main, ffi_lib = chelper.get_ffi() ffi_main, ffi_lib = chelper.get_ffi()
self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves self.trapq_finalize_moves = ffi_lib.trapq_finalize_moves
@ -19,7 +20,17 @@ class PrinterMotionQueuing:
trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free) trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free)
self.trapqs.append(trapq) self.trapqs.append(trapq)
return trapq return trapq
def allocate_steppersync(self, mcu, serialqueue, stepqueues, move_count): def allocate_stepcompress(self, mcu, oid):
ffi_main, ffi_lib = chelper.get_ffi()
sc = ffi_main.gc(ffi_lib.stepcompress_alloc(oid),
ffi_lib.stepcompress_free)
self.stepcompress.append((mcu, sc))
return sc
def allocate_steppersync(self, mcu, serialqueue, move_count):
stepqueues = []
for sc_mcu, sc in self.stepcompress:
if sc_mcu is mcu:
stepqueues.append(sc)
ffi_main, ffi_lib = chelper.get_ffi() ffi_main, ffi_lib = chelper.get_ffi()
ss = ffi_main.gc( ss = ffi_main.gc(
ffi_lib.steppersync_alloc(serialqueue, stepqueues, len(stepqueues), ffi_lib.steppersync_alloc(serialqueue, stepqueues, len(stepqueues),

17
klippy/extras/pwm_tool.py
View File

@ -9,18 +9,18 @@ class error(Exception):
pass pass
class MCU_queued_pwm: class MCU_queued_pwm:
def __init__(self, pin_params): def __init__(self, config, pin_params):
self._mcu = pin_params['chip'] self._mcu = mcu = pin_params['chip']
self._hardware_pwm = False self._hardware_pwm = False
self._cycle_time = 0.100 self._cycle_time = 0.100
self._max_duration = 2. self._max_duration = 2.
self._oid = self._mcu.create_oid() self._oid = oid = mcu.create_oid()
printer = mcu.get_printer()
motion_queuing = printer.load_object(config, 'motion_queuing')
self._stepqueue = motion_queuing.allocate_stepcompress(mcu, oid)
ffi_main, ffi_lib = chelper.get_ffi() ffi_main, ffi_lib = chelper.get_ffi()
self._stepqueue = ffi_main.gc(ffi_lib.stepcompress_alloc(self._oid),
ffi_lib.stepcompress_free)
self._mcu.register_stepqueue(self._stepqueue)
self._stepcompress_queue_mq_msg = ffi_lib.stepcompress_queue_mq_msg self._stepcompress_queue_mq_msg = ffi_lib.stepcompress_queue_mq_msg
self._mcu.register_config_callback(self._build_config) mcu.register_config_callback(self._build_config)
self._pin = pin_params['pin'] self._pin = pin_params['pin']
self._invert = pin_params['invert'] self._invert = pin_params['invert']
self._start_value = self._shutdown_value = float(self._invert) self._start_value = self._shutdown_value = float(self._invert)
@ -29,7 +29,6 @@ class MCU_queued_pwm:
self._pwm_max = 0. self._pwm_max = 0.
self._set_cmd_tag = None self._set_cmd_tag = None
self._toolhead = None self._toolhead = None
printer = self._mcu.get_printer()
printer.register_event_handler("klippy:connect", self._handle_connect) printer.register_event_handler("klippy:connect", self._handle_connect)
def _handle_connect(self): def _handle_connect(self):
self._toolhead = self._mcu.get_printer().lookup_object("toolhead") self._toolhead = self._mcu.get_printer().lookup_object("toolhead")
@ -135,7 +134,7 @@ class PrinterOutputPin:
ppins = self.printer.lookup_object('pins') ppins = self.printer.lookup_object('pins')
# Determine pin type # Determine pin type
pin_params = ppins.lookup_pin(config.get('pin'), can_invert=True) pin_params = ppins.lookup_pin(config.get('pin'), can_invert=True)
self.mcu_pin = MCU_queued_pwm(pin_params) self.mcu_pin = MCU_queued_pwm(config, pin_params)
max_duration = self.mcu_pin.get_mcu().max_nominal_duration() max_duration = self.mcu_pin.get_mcu().max_nominal_duration()
cycle_time = config.getfloat('cycle_time', 0.100, above=0., cycle_time = config.getfloat('cycle_time', 0.100, above=0.,
maxval=max_duration) maxval=max_duration)

6
klippy/mcu.py
View File

@ -605,7 +605,6 @@ class MCU:
self._max_stepper_error = config.getfloat('max_stepper_error', 0.000025, self._max_stepper_error = config.getfloat('max_stepper_error', 0.000025,
minval=0.) minval=0.)
self._reserved_move_slots = 0 self._reserved_move_slots = 0
self._stepqueues = []
self._steppersync = None self._steppersync = None
self._flush_callbacks = [] self._flush_callbacks = []
# Stats # Stats
@ -773,8 +772,7 @@ class MCU:
ss_move_count = move_count - self._reserved_move_slots ss_move_count = move_count - self._reserved_move_slots
motion_queuing = self._printer.lookup_object('motion_queuing') motion_queuing = self._printer.lookup_object('motion_queuing')
self._steppersync = motion_queuing.allocate_steppersync( self._steppersync = motion_queuing.allocate_steppersync(
self, self._serial.get_serialqueue(), self, self._serial.get_serialqueue(), ss_move_count)
self._stepqueues, ss_move_count)
self._ffi_lib.steppersync_set_time(self._steppersync, self._ffi_lib.steppersync_set_time(self._steppersync,
0., self._mcu_freq) 0., self._mcu_freq)
# Log config information # Log config information
@ -971,8 +969,6 @@ class MCU:
def _firmware_restart_bridge(self): def _firmware_restart_bridge(self):
self._firmware_restart(True) self._firmware_restart(True)
# Move queue tracking # Move queue tracking
def register_stepqueue(self, stepqueue):
self._stepqueues.append(stepqueue)
def request_move_queue_slot(self): def request_move_queue_slot(self):
self._reserved_move_slots += 1 self._reserved_move_slots += 1
def register_flush_callback(self, callback): def register_flush_callback(self, callback):

25
klippy/stepper.py
View File

@ -19,22 +19,23 @@ MIN_OPTIMIZED_BOTH_EDGE_DURATION = 0.000000150
# Interface to low-level mcu and chelper code # Interface to low-level mcu and chelper code
class MCU_stepper: class MCU_stepper:
def __init__(self, name, step_pin_params, dir_pin_params, def __init__(self, config, step_pin_params, dir_pin_params,
rotation_dist, steps_per_rotation, rotation_dist, steps_per_rotation,
step_pulse_duration=None, units_in_radians=False): step_pulse_duration=None, units_in_radians=False):
self._name = name self._name = config.get_name()
self._rotation_dist = rotation_dist self._rotation_dist = rotation_dist
self._steps_per_rotation = steps_per_rotation self._steps_per_rotation = steps_per_rotation
self._step_pulse_duration = step_pulse_duration self._step_pulse_duration = step_pulse_duration
self._units_in_radians = units_in_radians self._units_in_radians = units_in_radians
self._step_dist = rotation_dist / steps_per_rotation self._step_dist = rotation_dist / steps_per_rotation
self._mcu = step_pin_params['chip'] self._mcu = mcu = step_pin_params['chip']
self._oid = oid = self._mcu.create_oid() self._oid = oid = mcu.create_oid()
self._mcu.register_config_callback(self._build_config) mcu.register_config_callback(self._build_config)
self._step_pin = step_pin_params['pin'] self._step_pin = step_pin_params['pin']
self._invert_step = step_pin_params['invert'] self._invert_step = step_pin_params['invert']
if dir_pin_params['chip'] is not self._mcu: printer = mcu.get_printer()
raise self._mcu.get_printer().config_error( if dir_pin_params['chip'] is not mcu:
raise printer.config_error(
"Stepper dir pin must be on same mcu as step pin") "Stepper dir pin must be on same mcu as step pin")
self._dir_pin = dir_pin_params['pin'] self._dir_pin = dir_pin_params['pin']
self._invert_dir = self._orig_invert_dir = dir_pin_params['invert'] self._invert_dir = self._orig_invert_dir = dir_pin_params['invert']
@ -42,16 +43,15 @@ class MCU_stepper:
self._mcu_position_offset = 0. self._mcu_position_offset = 0.
self._reset_cmd_tag = self._get_position_cmd = None self._reset_cmd_tag = self._get_position_cmd = None
self._active_callbacks = [] self._active_callbacks = []
motion_queuing = printer.load_object(config, 'motion_queuing')
self._stepqueue = motion_queuing.allocate_stepcompress(mcu, oid)
ffi_main, ffi_lib = chelper.get_ffi() ffi_main, ffi_lib = chelper.get_ffi()
self._stepqueue = ffi_main.gc(ffi_lib.stepcompress_alloc(oid),
ffi_lib.stepcompress_free)
ffi_lib.stepcompress_set_invert_sdir(self._stepqueue, self._invert_dir) ffi_lib.stepcompress_set_invert_sdir(self._stepqueue, self._invert_dir)
self._mcu.register_stepqueue(self._stepqueue)
self._stepper_kinematics = None self._stepper_kinematics = None
self._itersolve_generate_steps = ffi_lib.itersolve_generate_steps self._itersolve_generate_steps = ffi_lib.itersolve_generate_steps
self._itersolve_check_active = ffi_lib.itersolve_check_active self._itersolve_check_active = ffi_lib.itersolve_check_active
self._trapq = ffi_main.NULL self._trapq = ffi_main.NULL
self._mcu.get_printer().register_event_handler('klippy:connect', printer.register_event_handler('klippy:connect',
self._query_mcu_position) self._query_mcu_position)
def get_mcu(self): def get_mcu(self):
return self._mcu return self._mcu
@ -258,7 +258,6 @@ class MCU_stepper:
# Helper code to build a stepper object from a config section # Helper code to build a stepper object from a config section
def PrinterStepper(config, units_in_radians=False): def PrinterStepper(config, units_in_radians=False):
printer = config.get_printer() printer = config.get_printer()
name = config.get_name()
# Stepper definition # Stepper definition
ppins = printer.lookup_object('pins') ppins = printer.lookup_object('pins')
step_pin = config.get('step_pin') step_pin = config.get('step_pin')
@ -269,7 +268,7 @@ def PrinterStepper(config, units_in_radians=False):
config, units_in_radians, True) config, units_in_radians, True)
step_pulse_duration = config.getfloat('step_pulse_duration', None, step_pulse_duration = config.getfloat('step_pulse_duration', None,
minval=0., maxval=.001) minval=0., maxval=.001)
mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params, mcu_stepper = MCU_stepper(config, step_pin_params, dir_pin_params,
rotation_dist, steps_per_rotation, rotation_dist, steps_per_rotation,
step_pulse_duration, units_in_radians) step_pulse_duration, units_in_radians)
# Register with helper modules # Register with helper modules