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endstop: Eliminate end_stop_set_oversample command 

Pass the sample_ticks and sample_count parameters directly in the
end_stop_home command instead.  This simplifies the code.

Also, simplify calculation of next wakeup time in
end_stop_oversample_event().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-10-12 10:39:46 -04:00
parent 78ba7064a7
commit 3b9b4e4d6f
5 changed files with 32 additions and 47 deletions
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16
docs/MCU_Commands.md
View File

@ -255,13 +255,15 @@ Stepper commands
number of steps generated with dir=1 minus the total number of steps
generated with dir=0.
* `end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c` : This
command is used during stepper "homing" operations. To use this
command a 'config_end_stop' command with the same 'oid' parameter
must have been issued during micro-controller configuration. When
this command is invoked, the micro-controller will sample the
endstop pin every 'rest_ticks' clock ticks and check if it has a
value equal to 'pin_value'. If the value matches then the movement
* `end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c
rest_ticks=%u pin_value=%c` : This command is used during stepper
"homing" operations. To use this command a 'config_end_stop' command
with the same 'oid' parameter must have been issued during
micro-controller configuration. When this command is invoked, the
micro-controller will sample the endstop pin every 'rest_ticks'
clock ticks and check if it has a value equal to 'pin_value'. If the
value matches (and it continues to match for 'sample_count'
additional samples spread 'sample_ticks' apart) then the movement
queue for the associated stepper will be cleared and the stepper
will come to an immediate halt. The host uses this command to
implement homing - the host instructs the endstop to sample for the

5
klippy/homing.py
View File

@ -6,6 +6,8 @@
import logging
HOMING_DELAY = 0.250
ENDSTOP_SAMPLE_TIME = .000015
ENDSTOP_SAMPLE_COUNT = 4
class Homing:
def __init__(self, toolhead, changed_axes):
@ -36,7 +38,8 @@ class Homing:
print_time = self.toolhead.get_last_move_time()
endstops = []
for s in steppers:
s.mcu_endstop.home_start(print_time, s.step_dist / speed)
s.mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT, s.step_dist / speed)
endstops.append((s, s.mcu_stepper.get_mcu_position()))
self.toolhead.move(self._fill_coord(movepos), speed)
move_end_print_time = self.toolhead.get_last_move_time()

19
klippy/mcu.py
View File

@ -137,8 +137,6 @@ class MCU_endstop:
self._pin = pin_params['pin']
self._pullup = pin_params['pullup']
self._invert = pin_params['invert']
self._oversample_count = 0
self._oversample_time = 0.
self._cmd_queue = mcu.alloc_command_queue()
self._oid = self._home_cmd = self._query_cmd = None
self._homing = False
@ -146,9 +144,6 @@ class MCU_endstop:
self._last_state = {}
def get_mcu(self):
return self._mcu
def setup_oversample(self, oversample_count, oversample_time):
self._oversample_count = oversample_count
self._oversample_time = oversample_time
def add_stepper(self, stepper):
self._steppers.append(stepper)
def build_config(self):
@ -160,23 +155,21 @@ class MCU_endstop:
self._mcu.add_config_cmd(
"end_stop_set_stepper oid=%d pos=%d stepper_oid=%d" % (
self._oid, i, s.get_oid()), is_init=True)
self._mcu.add_config_cmd(
"end_stop_set_oversample oid=%d sample_ticks=%d sample_count=%d" % (
self._oid, self._mcu.seconds_to_clock(self._oversample_time),
self._oversample_count), is_init=True)
self._home_cmd = self._mcu.lookup_command(
"end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c")
"end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
" rest_ticks=%u pin_value=%c")
self._query_cmd = self._mcu.lookup_command("end_stop_query oid=%c")
self._mcu.register_msg(self._handle_end_stop_state, "end_stop_state"
, self._oid)
def home_start(self, print_time, rest_time):
def home_start(self, print_time, sample_time, sample_count, rest_time):
clock = self._mcu.print_time_to_clock(print_time)
rest_ticks = int(rest_time * self._mcu.get_adjusted_freq())
self._homing = True
self._min_query_time = self._mcu.monotonic()
self._next_query_time = print_time + self.RETRY_QUERY
msg = self._home_cmd.encode(
self._oid, clock, rest_ticks, 1 ^ self._invert)
self._oid, clock, self._mcu.seconds_to_clock(sample_time),
sample_count, rest_ticks, 1 ^ self._invert)
self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
for s in self._steppers:
s.note_homing_start(clock)
@ -207,7 +200,7 @@ class MCU_endstop:
return False
if print_time > self._home_timeout:
# Timeout - disable endstop checking
msg = self._home_cmd.encode(self._oid, 0, 0, 0)
msg = self._home_cmd.encode(self._oid, 0, 0, 0, 0, 0)
self._mcu.send(msg, reqclock=0, cq=self._cmd_queue)
raise error("Timeout during endstop homing")
if self._mcu.is_shutdown():

5
klippy/stepper.py
View File

@ -6,9 +6,6 @@
import math, logging
import homing, pins
ENDSTOP_OVERSAMPLE_COUNT = 4
ENDSTOP_OVERSAMPLE_TIME = .000015
class PrinterStepper:
def __init__(self, printer, config, name):
self.name = name
@ -55,8 +52,6 @@ class PrinterHomingStepper(PrinterStepper):
self.mcu_endstop = pins.setup_pin(
printer, 'endstop', config.get('endstop_pin'))
self.mcu_endstop.setup_oversample(
ENDSTOP_OVERSAMPLE_COUNT, ENDSTOP_OVERSAMPLE_TIME)
self.mcu_endstop.add_stepper(self.mcu_stepper)
self.position_min = config.getfloat('position_min', 0.)
self.position_max = config.getfloat(

34
src/endstop.c
View File

@ -1,6 +1,6 @@
// Handling of end stops.
//
// Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
// Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
@ -13,8 +13,8 @@
struct end_stop {
struct timer time;
uint32_t rest_time, sample_time;
struct gpio_in pin;
uint32_t rest_time, sample_time, nextwake;
uint8_t flags, stepper_count, sample_count, trigger_count;
struct stepper *steppers[0];
};
@ -42,11 +42,13 @@ end_stop_event(struct timer *t)
{
struct end_stop *e = container_of(t, struct end_stop, time);
uint8_t val = gpio_in_read(e->pin);
uint32_t nextwake = e->time.waketime + e->rest_time;
if ((val ? ~e->flags : e->flags) & ESF_PIN_HIGH) {
// No match - reschedule for the next attempt
e->time.waketime += e->rest_time;
e->time.waketime = nextwake;
return SF_RESCHEDULE;
}
e->nextwake = nextwake;
e->time.func = end_stop_oversample_event;
return end_stop_oversample_event(t);
}
@ -60,8 +62,7 @@ end_stop_oversample_event(struct timer *t)
if ((val ? ~e->flags : e->flags) & ESF_PIN_HIGH) {
// No longer matching - reschedule for the next attempt
e->time.func = end_stop_event;
uint8_t past_triggers = e->sample_count - e->trigger_count;
e->time.waketime += e->rest_time - past_triggers * e->sample_time;
e->time.waketime = e->nextwake;
e->trigger_count = e->sample_count;
return SF_RESCHEDULE;
}
@ -101,18 +102,6 @@ command_end_stop_set_stepper(uint32_t *args)
DECL_COMMAND(command_end_stop_set_stepper,
"end_stop_set_stepper oid=%c pos=%c stepper_oid=%c");
void
command_end_stop_set_oversample(uint32_t *args)
{
struct end_stop *e = oid_lookup(args[0], command_config_end_stop);
e->sample_time = args[1];
e->sample_count = args[2];
if (!e->sample_count)
e->sample_count = 1;
}
DECL_COMMAND(command_end_stop_set_oversample,
"end_stop_set_oversample oid=%c sample_ticks=%u sample_count=%c");
// Home an axis
void
command_end_stop_home(uint32_t *args)
@ -120,19 +109,22 @@ command_end_stop_home(uint32_t *args)
struct end_stop *e = oid_lookup(args[0], command_config_end_stop);
sched_del_timer(&e->time);
e->time.waketime = args[1];
e->rest_time = args[2];
if (!e->rest_time) {
e->sample_time = args[2];
e->sample_count = args[3];
if (!e->sample_count) {
// Disable end stop checking
e->flags = 0;
return;
}
e->rest_time = args[4];
e->time.func = end_stop_event;
e->trigger_count = e->sample_count;
e->flags = ESF_HOMING | (args[3] ? ESF_PIN_HIGH : 0);
e->flags = ESF_HOMING | (args[5] ? ESF_PIN_HIGH : 0);
sched_add_timer(&e->time);
}
DECL_COMMAND(command_end_stop_home,
"end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c");
"end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
" rest_ticks=%u pin_value=%c");
static void
end_stop_report(uint8_t oid, struct end_stop *e)