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mcu: Return time of trigger from home_wait() 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-04-03 13:20:36 -04:00
parent 128a2f8cd6
commit 1dc2ab048f
3 changed files with 18 additions and 5 deletions
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3
klippy/extras/bltouch.py
View File

@ -116,7 +116,8 @@ class BLTouchEndstopWrapper:
self.mcu_endstop.home_start(self.action_end_time, ENDSTOP_SAMPLE_TIME, self.mcu_endstop.home_start(self.action_end_time, ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME, ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME,
triggered=triggered) triggered=triggered)
return self.mcu_endstop.home_wait(self.action_end_time + 0.100) trigger_time = self.mcu_endstop.home_wait(self.action_end_time + 0.100)
return trigger_time > 0.
def raise_probe(self): def raise_probe(self):
self.sync_mcu_print_time() self.sync_mcu_print_time()
if not self.pin_up_not_triggered: if not self.pin_up_not_triggered:

8
klippy/extras/homing.py
View File

@ -76,9 +76,11 @@ class HomingMove:
# Wait for endstops to trigger # Wait for endstops to trigger
move_end_print_time = self.toolhead.get_last_move_time() move_end_print_time = self.toolhead.get_last_move_time()
for mcu_endstop, name in self.endstops: for mcu_endstop, name in self.endstops:
did_trigger = mcu_endstop.home_wait(move_end_print_time) trigger_time = mcu_endstop.home_wait(move_end_print_time)
if not did_trigger and check_triggered and error is None: if trigger_time < 0. and error is None:
error = "Failed to home %s: Timeout during homing" % (name,) error = "Communication timeout during homing %s" % (name,)
elif not trigger_time and check_triggered and error is None:
error = "No trigger on %s after full movement" % (name,)
# Determine stepper halt positions # Determine stepper halt positions
self.toolhead.flush_step_generation() self.toolhead.flush_step_generation()
self.end_mcu_pos = [(s, name, spos, s.get_mcu_position()) self.end_mcu_pos = [(s, name, spos, s.get_mcu_position())

12
klippy/mcu.py
View File

@ -136,6 +136,7 @@ class MCU_endstop:
self._home_cmd = self._query_cmd = None self._home_cmd = self._query_cmd = None
self._mcu.register_config_callback(self._build_config) self._mcu.register_config_callback(self._build_config)
self._trigger_completion = None self._trigger_completion = None
self._rest_ticks = 0
ffi_main, ffi_lib = chelper.get_ffi() ffi_main, ffi_lib = chelper.get_ffi()
self._trdispatch = ffi_main.gc(ffi_lib.trdispatch_alloc(), ffi_lib.free) self._trdispatch = ffi_main.gc(ffi_lib.trdispatch_alloc(), ffi_lib.free)
self._trsync = MCU_trsync(mcu, self._trdispatch) self._trsync = MCU_trsync(mcu, self._trdispatch)
@ -169,6 +170,7 @@ class MCU_endstop:
triggered=True): triggered=True):
clock = self._mcu.print_time_to_clock(print_time) clock = self._mcu.print_time_to_clock(print_time)
rest_ticks = self._mcu.print_time_to_clock(print_time+rest_time) - clock rest_ticks = self._mcu.print_time_to_clock(print_time+rest_time) - clock
self._rest_ticks = rest_ticks
reactor = self._mcu.get_printer().get_reactor() reactor = self._mcu.get_printer().get_reactor()
self._trigger_completion = reactor.completion() self._trigger_completion = reactor.completion()
etrsync = self._trsync etrsync = self._trsync
@ -190,7 +192,15 @@ class MCU_endstop:
ffi_main, ffi_lib = chelper.get_ffi() ffi_main, ffi_lib = chelper.get_ffi()
ffi_lib.trdispatch_stop(self._trdispatch) ffi_lib.trdispatch_stop(self._trdispatch)
res = etrsync.stop() res = etrsync.stop()
return res == etrsync.REASON_ENDSTOP_HIT if res == etrsync.REASON_COMMS_TIMEOUT:
return -1.
if res != etrsync.REASON_ENDSTOP_HIT:
return 0.
if self._mcu.is_fileoutput():
return home_end_time
params = self._query_cmd.send([self._oid])
next_clock = self._mcu.clock32_to_clock64(params['next_clock'])
return self._mcu.clock_to_print_time(next_clock - self._rest_ticks)
def query_endstop(self, print_time): def query_endstop(self, print_time):
clock = self._mcu.print_time_to_clock(print_time) clock = self._mcu.print_time_to_clock(print_time)
if self._mcu.is_fileoutput(): if self._mcu.is_fileoutput():