homing: Support querying the current status of endstops

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-09-22 11:09:20 -04:00
parent c8ff439722
commit 0685802cb8
6 changed files with 75 additions and 17 deletions

View File

@ -67,6 +67,8 @@ class CartKinematics:
def motor_off(self, move_time):
for stepper in self.steppers:
stepper.motor_enable(move_time, 0)
def query_endstops(self, move_time):
return homing.QueryEndstops(["x", "y", "z"], self.steppers)
def move(self, move_time, move):
inv_accel = 1. / move.accel
inv_cruise_v = 1. / move.cruise_v

View File

@ -44,7 +44,7 @@ class GCodeParser:
def build_handlers(self):
shutdown_handlers = ['M105', 'M110', 'M114']
handlers = ['G0', 'G1', 'G4', 'G20', 'G21', 'G28', 'G90', 'G91', 'G92',
'M18', 'M82', 'M83', 'M84', 'M110', 'M114', 'M206']
'M18', 'M82', 'M83', 'M84', 'M110', 'M114', 'M119', 'M206']
if self.heater_nozzle is not None:
handlers.extend(['M104', 'M105', 'M109', 'M303'])
if self.heater_bed is not None:
@ -294,6 +294,20 @@ class GCodeParser:
self.last_position[0], self.last_position[1],
self.last_position[2], self.last_position[3],
kinpos[0], kinpos[1], kinpos[2]))
def cmd_M119(self, params):
# Get Endstop Status
if self.inputfile:
return
# Wrapper class for check_busy() that responds with final status
class endstop_handler_wrapper:
gcode = self
state = self.toolhead.query_endstops()
def check_busy(self, eventtime):
busy = self.state.check_busy(eventtime)
if not busy:
self.gcode.respond(self.state.get_msg())
return busy
self.set_busy(endstop_handler_wrapper())
def cmd_M140(self, params):
# Set Bed Temperature
self.set_temp(self.heater_bed, params)

View File

@ -11,6 +11,7 @@ class Homing:
self.toolhead = toolhead
self.changed_axes = changed_axes
self.eventtime = 0.
self.states = []
self.endstops = []
def plan_home(self, forcepos, movepos, steppers, speed):
@ -21,6 +22,7 @@ class Homing:
def plan_axes_update(self, callback):
self.states.append((callback, (self.changed_axes,)))
def check_busy(self, eventtime):
self.eventtime = eventtime
while self.states:
first = self.states[0]
ret = first[0](*first[1])
@ -57,8 +59,34 @@ class Homing:
def do_wait_endstop(self):
# Check if endstops have triggered
for es in self.endstops:
if es.is_homing():
if es.check_busy(self.eventtime):
return True
# Finished
del self.endstops[:]
return False
class QueryEndstops:
def __init__(self, names, steppers):
self.endstops = []
self.busy = []
for name, stepper in zip(names, steppers):
es = stepper.query_endstop()
if es is None:
continue
self.endstops.append((name, es))
self.busy.append(es)
def check_busy(self, eventtime):
while self.busy:
busy = self.busy[0].check_busy(eventtime)
if busy:
return True
self.busy.pop(0)
return False
def get_msg(self):
msgs = []
for name, es in self.endstops:
msg = "open"
if es.get_last_triggered():
msg = "TRIGGERED"
msgs.append("%s:%s" % (name, msg))
return " ".join(msgs)

View File

@ -97,16 +97,15 @@ class MCU_endstop:
, self._oid)
self._query_cmd = mcu.lookup_command("end_stop_query oid=%c")
self._homing = False
self._last_position = 0
self._next_query_clock = 0
self._min_query_time = self._last_query_time = 0.
self._last_state = {}
self._mcu_freq = mcu.get_mcu_freq()
self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY)
self.print_to_mcu_time = mcu.print_to_mcu_time
def home(self, mcu_time, rest_time):
clock = int(mcu_time * self._mcu_freq)
rest_ticks = int(rest_time * self._mcu_freq)
self._homing = True
self._next_query_clock = clock + self._retry_query_ticks
self._min_query_time = self._last_query_time = time.time()
msg = self._home_cmd.encode(
self._oid, clock, rest_ticks, 1 ^ self._invert)
self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
@ -117,23 +116,30 @@ class MCU_endstop:
self._stepper.note_stepper_stop()
def _handle_end_stop_state(self, params):
logging.debug("end_stop_state %s" % (params,))
self._last_position = params['pos']
self._homing = params['homing'] != 0
def is_homing(self):
if not self._homing:
return self._homing
self._last_state = params
def check_busy(self, eventtime):
# Check if need to send an end_stop_query command
if self._mcu.output_file_mode:
return False
last_clock = self._mcu.get_last_clock()
if last_clock >= self._next_query_clock:
self._next_query_clock = last_clock + self._retry_query_ticks
if self._last_state.get('#sent_time', -1.) >= self._min_query_time:
if not self._homing or not self._last_state.get('homing', 0):
return False
if self._last_query_time + self.RETRY_QUERY <= eventtime:
self._last_query_time = eventtime
msg = self._query_cmd.encode(self._oid)
self._mcu.send(msg, cq=self._cmd_queue)
return self._homing
return True
def get_last_position(self):
pos = self._last_state.get('pos', 0)
if self._stepper.get_invert_dir():
return -self._last_position
return self._last_position
return -pos
return pos
def query_endstop(self):
self._homing = False
self._min_query_time = time.time()
self._last_query_time = 0.
def get_last_triggered(self):
return self._last_state.get('pin', self._invert) ^ self._invert
class MCU_digital_out:
def __init__(self, mcu, pin, max_duration):

View File

@ -80,6 +80,11 @@ class PrinterStepper:
mcu_time = self.mcu_endstop.print_to_mcu_time(move_time)
self.mcu_endstop.home(mcu_time, step_time)
return self.mcu_endstop
def query_endstop(self):
if self.mcu_endstop is None:
return None
self.mcu_endstop.query_endstop()
return self.mcu_endstop
def get_homed_position(self):
if not self.homing_stepper_phases:
return self.position_endstop

View File

@ -280,6 +280,9 @@ class ToolHead:
self.extruder.motor_off(last_move_time)
self.dwell(STALL_TIME)
logging.debug('; Max time of %f' % (last_move_time,))
def query_endstops(self):
last_move_time = self.get_last_move_time()
return self.kin.query_endstops(last_move_time)
def force_shutdown(self):
self.printer.mcu.force_shutdown()
self.move_queue.reset()