Mirror
/
klipper-dgus
mirror of https://github.com/Desuuuu/klipper.git
1
0
Fork 0
Code Issues Projects Releases Wiki Activity

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>
This commit is contained in:
Kevin O'Connor 2021-04-02 12:18:05 -04:00
parent 33dcb38297
commit 24586f0c31
3 changed files with 12 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
docs/Code_Overview.md
View File

@ -424,11 +424,10 @@ Recv: // gcode homing: X:0.000000 Y:0.000000 Z:0.000000
The "mcu" position (`stepper.get_mcu_position()` in the code) is the The "mcu" position (`stepper.get_mcu_position()` in the code) is the
total number of steps the micro-controller has issued in a positive total number of steps the micro-controller has issued in a positive
direction minus the number of steps issued in a negative direction direction minus the number of steps issued in a negative direction
since the micro-controller was last reset. The value reported is only since the micro-controller was last reset. If the robot is in motion
valid after the stepper has been homed. If the robot is in motion when when the query is issued then the reported value includes moves
the query is issued then the reported value includes moves buffered on buffered on the micro-controller, but does not include moves on the
the micro-controller, but does not include moves on the look-ahead look-ahead queue.
queue.
The "stepper" position (`stepper.get_commanded_position()`) is the The "stepper" position (`stepper.get_commanded_position()`) is the
position of the given stepper as tracked by the kinematics code. This position of the given stepper as tracked by the kinematics code. This

2
klippy/mcu.py
View File

@ -122,7 +122,7 @@ class MCU_trsync:
params = self._trsync_query_cmd.send([self._oid, params = self._trsync_query_cmd.send([self._oid,
self.REASON_HOST_REQUEST]) self.REASON_HOST_REQUEST])
for s in self._steppers: for s in self._steppers:
s.note_homing_end(did_trigger=True) # XXX s.note_homing_end()
return params['trigger_reason'] return params['trigger_reason']
class MCU_endstop: class MCU_endstop:

9
klippy/stepper.py
View File

@ -42,6 +42,8 @@ class MCU_stepper:
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',
self._query_mcu_position)
def get_mcu(self): def get_mcu(self):
return self._mcu return self._mcu
def get_name(self, short=False): def get_name(self, short=False):
@ -136,7 +138,7 @@ class MCU_stepper:
self.set_trapq(self._trapq) self.set_trapq(self._trapq)
self._set_mcu_position(mcu_pos) self._set_mcu_position(mcu_pos)
return old_sk return old_sk
def note_homing_end(self, did_trigger=False): def note_homing_end(self):
ffi_main, ffi_lib = chelper.get_ffi() ffi_main, ffi_lib = chelper.get_ffi()
ret = ffi_lib.stepcompress_reset(self._stepqueue, 0) ret = ffi_lib.stepcompress_reset(self._stepqueue, 0)
if ret: if ret:
@ -145,7 +147,9 @@ class MCU_stepper:
ret = ffi_lib.stepcompress_queue_msg(self._stepqueue, data, len(data)) ret = ffi_lib.stepcompress_queue_msg(self._stepqueue, data, len(data))
if ret: if ret:
raise error("Internal error in stepcompress") raise error("Internal error in stepcompress")
if not did_trigger or self._mcu.is_fileoutput(): self._query_mcu_position()
def _query_mcu_position(self):
if self._mcu.is_fileoutput():
return return
params = self._get_position_cmd.send([self._oid]) params = self._get_position_cmd.send([self._oid])
last_pos = params['pos'] last_pos = params['pos']
@ -153,6 +157,7 @@ class MCU_stepper:
last_pos = -last_pos last_pos = -last_pos
print_time = self._mcu.estimated_print_time(params['#receive_time']) print_time = self._mcu.estimated_print_time(params['#receive_time'])
clock = self._mcu.print_time_to_clock(print_time) clock = self._mcu.print_time_to_clock(print_time)
ffi_main, ffi_lib = chelper.get_ffi()
ret = ffi_lib.stepcompress_set_last_position(self._stepqueue, clock, ret = ffi_lib.stepcompress_set_last_position(self._stepqueue, clock,
last_pos) last_pos)
if ret: if ret: