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homing: Calculate homing position based on trigger time 

Calculate the "homing position" using the endstop trigger time instead
of the position of the steppers.

This is in preparation for multi-mcu homing.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-04-05 10:59:47 -04:00
parent 1dc2ab048f
commit 3814a13251
3 changed files with 62 additions and 20 deletions
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6
docs/Config_Changes.md
View File

@ -8,6 +8,12 @@ All dates in this document are approximate.
## Changes
20210819: In some cases, a `G28` homing move may end in a position
that is nominally outside the valid movement range. In rare
situations this may result in confusing "Move out of range" errors
after homing. If this occurs, change your start scripts to move the
toolhead to a valid position immediately after homing.
20210814: The analog only pseudo-pins on the atmega168 and atmega328
have been renamed from PE0/PE1 to PE2/PE3.

73
klippy/extras/homing.py
View File

@ -3,7 +3,7 @@
# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, math, collections
import logging, math
HOMING_START_DELAY = 0.001
ENDSTOP_SAMPLE_TIME = .000015
@ -21,6 +21,18 @@ def multi_complete(printer, completions):
reactor.register_callback(lambda e: cp.complete(1) if c.wait() else 0)
return cp
# Tracking of stepper positions during a homing/probing move
class StepperPosition:
def __init__(self, stepper, endstop_name):
self.stepper = stepper
self.endstop_name = endstop_name
self.stepper_name = stepper.get_name()
self.start_pos = stepper.get_mcu_position()
self.halt_pos = self.trig_pos = None
def note_home_end(self, trigger_time):
self.halt_pos = self.stepper.get_mcu_position()
self.trig_pos = self.stepper.get_past_mcu_position(trigger_time)
# Implementation of homing/probing moves
class HomingMove:
def __init__(self, printer, endstops, toolhead=None):
@ -29,7 +41,7 @@ class HomingMove:
if toolhead is None:
toolhead = printer.lookup_object('toolhead')
self.toolhead = toolhead
self.end_mcu_pos = []
self.stepper_positions = []
def get_mcu_endstops(self):
return [es for es, name in self.endstops]
def _calc_endstop_rate(self, mcu_endstop, movepos, speed):
@ -44,6 +56,14 @@ class HomingMove:
if max_steps <= 0.:
return .001
return move_t / max_steps
def calc_toolhead_pos(self, kin_spos, offsets):
kin_spos = dict(kin_spos)
kin = self.toolhead.get_kinematics()
for stepper in kin.get_steppers():
sname = stepper.get_name()
kin_spos[sname] += offsets.get(sname, 0) * stepper.get_step_dist()
thpos = self.toolhead.get_position()
return list(kin.calc_position(kin_spos))[:3] + thpos[3:]
def homing_move(self, movepos, speed, probe_pos=False,
triggered=True, check_triggered=True):
# Notify start of homing/probing move
@ -53,9 +73,9 @@ class HomingMove:
kin = self.toolhead.get_kinematics()
kin_spos = {s.get_name(): s.get_commanded_position()
for s in kin.get_steppers()}
start_mcu_pos = [(s, name, s.get_mcu_position())
for es, name in self.endstops
for s in es.get_steppers()]
self.stepper_positions = [ StepperPosition(s, name)
for es, name in self.endstops
for s in es.get_steppers() ]
# Start endstop checking
print_time = self.toolhead.get_last_move_time()
endstop_triggers = []
@ -74,24 +94,39 @@ class HomingMove:
except self.printer.command_error as e:
error = "Error during homing move: %s" % (str(e),)
# Wait for endstops to trigger
trigger_times = {}
move_end_print_time = self.toolhead.get_last_move_time()
for mcu_endstop, name in self.endstops:
trigger_time = mcu_endstop.home_wait(move_end_print_time)
if trigger_time < 0. and error is None:
if trigger_time > 0.:
trigger_times[name] = trigger_time
elif trigger_time < 0. and error is None:
error = "Communication timeout during homing %s" % (name,)
elif not trigger_time and check_triggered and error is None:
elif check_triggered and error is None:
error = "No trigger on %s after full movement" % (name,)
# Determine stepper halt positions
self.toolhead.flush_step_generation()
self.end_mcu_pos = [(s, name, spos, s.get_mcu_position())
for s, name, spos in start_mcu_pos]
for sp in self.stepper_positions:
tt = trigger_times.get(sp.endstop_name, move_end_print_time)
sp.note_home_end(tt)
if probe_pos:
for s, name, spos, epos in self.end_mcu_pos:
sname = s.get_name()
if sname in kin_spos:
kin_spos[sname] += (epos - spos) * s.get_step_dist()
movepos = list(kin.calc_position(kin_spos))[:3] + movepos[3:]
self.toolhead.set_position(movepos)
halt_steps = {sp.stepper_name: sp.halt_pos - sp.start_pos
for sp in self.stepper_positions}
trig_steps = {sp.stepper_name: sp.trig_pos - sp.start_pos
for sp in self.stepper_positions}
haltpos = trigpos = self.calc_toolhead_pos(kin_spos, trig_steps)
if trig_steps != halt_steps:
haltpos = self.calc_toolhead_pos(kin_spos, halt_steps)
else:
haltpos = trigpos = movepos
over_steps = {sp.stepper_name: sp.halt_pos - sp.trig_pos
for sp in self.stepper_positions}
if any(over_steps.values()):
self.toolhead.set_position(movepos)
halt_kin_spos = {s.get_name(): s.get_commanded_position()
for s in kin.get_steppers()}
haltpos = self.calc_toolhead_pos(halt_kin_spos, over_steps)
self.toolhead.set_position(haltpos)
# Signal homing/probing move complete
try:
self.printer.send_event("homing:homing_move_end", self)
@ -100,13 +135,13 @@ class HomingMove:
error = str(e)
if error is not None:
raise self.printer.command_error(error)
return movepos
return trigpos
def check_no_movement(self):
if self.printer.get_start_args().get('debuginput') is not None:
return None
for s, name, spos, epos in self.end_mcu_pos:
if spos == epos:
return name
for sp in self.stepper_positions:
if sp.start_pos == sp.trig_pos:
return sp.endstop_name
return None
# State tracking of homing requests

3
klippy/stepper.py
View File

@ -117,7 +117,8 @@ class MCU_stepper:
def get_past_mcu_position(self, print_time):
clock = self._mcu.print_time_to_clock(print_time)
ffi_main, ffi_lib = chelper.get_ffi()
return ffi_lib.stepcompress_find_past_position(self._stepqueue, clock)
pos = ffi_lib.stepcompress_find_past_position(self._stepqueue, clock)
return int(pos)
def get_past_commanded_position(self, print_time):
mcu_pos = self.get_past_mcu_position(print_time)
return mcu_pos * self._step_dist - self._mcu_position_offset