mirror of https://github.com/Desuuuu/klipper.git
stepper: Query the stepper mcu position during startup
Try to keep the host mcu_position synchronized with the micro-controller by querying during startup and after every homing event. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -424,11 +424,10 @@ Recv: // gcode homing: X:0.000000 Y:0.000000 Z:0.000000
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The "mcu" position (`stepper.get_mcu_position()` in the code) is the
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total number of steps the micro-controller has issued in a positive
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direction minus the number of steps issued in a negative direction
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since the micro-controller was last reset. The value reported is only
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valid after the stepper has been homed. If the robot is in motion when
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the query is issued then the reported value includes moves buffered on
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the micro-controller, but does not include moves on the look-ahead
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queue.
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since the micro-controller was last reset. If the robot is in motion
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when the query is issued then the reported value includes moves
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buffered on the micro-controller, but does not include moves on the
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look-ahead queue.
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The "stepper" position (`stepper.get_commanded_position()`) is the
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position of the given stepper as tracked by the kinematics code. This
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@ -122,7 +122,7 @@ class MCU_trsync:
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params = self._trsync_query_cmd.send([self._oid,
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self.REASON_HOST_REQUEST])
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for s in self._steppers:
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s.note_homing_end(did_trigger=True) # XXX
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s.note_homing_end()
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return params['trigger_reason']
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class MCU_endstop:
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@ -42,6 +42,8 @@ class MCU_stepper:
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self._itersolve_generate_steps = ffi_lib.itersolve_generate_steps
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self._itersolve_check_active = ffi_lib.itersolve_check_active
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self._trapq = ffi_main.NULL
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self._mcu.get_printer().register_event_handler('klippy:connect',
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self._query_mcu_position)
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def get_mcu(self):
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return self._mcu
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def get_name(self, short=False):
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@ -136,7 +138,7 @@ class MCU_stepper:
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self.set_trapq(self._trapq)
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self._set_mcu_position(mcu_pos)
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return old_sk
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def note_homing_end(self, did_trigger=False):
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def note_homing_end(self):
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ffi_main, ffi_lib = chelper.get_ffi()
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ret = ffi_lib.stepcompress_reset(self._stepqueue, 0)
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if ret:
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@ -145,7 +147,9 @@ class MCU_stepper:
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ret = ffi_lib.stepcompress_queue_msg(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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if not did_trigger or self._mcu.is_fileoutput():
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self._query_mcu_position()
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def _query_mcu_position(self):
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if self._mcu.is_fileoutput():
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return
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params = self._get_position_cmd.send([self._oid])
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last_pos = params['pos']
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@ -153,6 +157,7 @@ class MCU_stepper:
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last_pos = -last_pos
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print_time = self._mcu.estimated_print_time(params['#receive_time'])
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clock = self._mcu.print_time_to_clock(print_time)
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ffi_main, ffi_lib = chelper.get_ffi()
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ret = ffi_lib.stepcompress_set_last_position(self._stepqueue, clock,
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last_pos)
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if ret:
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