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bltouch: Simplify handling of command timing 

Always disable the PWM after each command sent.  Automatically trim
the command duration so the PWM disable doesn't increase the total
pulse time (when the duration is 200ms or greater).

Track the ideal command end time separately from the pwm transmit time
and only delay toolhead moves to this ideal time.

Update verify_state() to automatically schedule the check using the
time of the last sent command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-04-08 15:17:14 -04:00
parent c3b973319f
commit 703490da1c
2 changed files with 25 additions and 30 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
config/example-extras.cfg
View File

@ -620,9 +620,9 @@
#control_pin:
# Pin connected to the BLTouch control pin. This parameter must be
# provided.
#pin_move_time: 0.675
#pin_move_time: 0.680
# The amount of time (in seconds) to wait for the BLTouch pin to
# move up or down. The default is 0.675 seconds.
# move up or down. The default is 0.680 seconds.
#stow_on_each_sample: True
# This determines if Klipper should command the pin to move up
# between each probe attempt when performing a multiple probe

51
klippy/extras/bltouch.py
View File

@ -1,9 +1,9 @@
# BLTouch support
#
# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2018-2020 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import logging
import homing, probe
SIGNAL_PERIOD = 0.020
@ -16,7 +16,7 @@ ENDSTOP_SAMPLE_TIME = .000015
ENDSTOP_SAMPLE_COUNT = 4
Commands = {
None: 0.0, 'pin_down': 0.000650, 'touch_mode': 0.001165,
'pin_down': 0.000650, 'touch_mode': 0.001165,
'pin_up': 0.001475, 'self_test': 0.001780, 'reset': 0.002190,
'set_5V_output_mode' : 0.001988, 'set_OD_output_mode' : 0.002091,
'output_mode_store' : 0.001884,
@ -36,7 +36,7 @@ class BLTouchEndstopWrapper:
self.mcu_pwm = ppins.setup_pin('pwm', config.get('control_pin'))
self.mcu_pwm.setup_max_duration(0.)
self.mcu_pwm.setup_cycle_time(SIGNAL_PERIOD)
self.next_cmd_time = 0.
self.next_cmd_time = self.action_end_time = 0.
# Create an "endstop" object to handle the sensor pin
pin = config.get('sensor_pin')
pin_params = ppins.lookup_pin(pin, can_invert=True, can_pullup=True)
@ -55,8 +55,7 @@ class BLTouchEndstopWrapper:
'pin_up_touch_mode_reports_triggered', True)
self.start_mcu_pos = []
# Calculate pin move time
pmt = max(config.getfloat('pin_move_time', 0.675), MIN_CMD_TIME)
self.pin_move_time = math.ceil(pmt / SIGNAL_PERIOD) * SIGNAL_PERIOD
self.pin_move_time = config.getfloat('pin_move_time', 0.680, above=0.)
# Wrappers
self.get_mcu = self.mcu_endstop.get_mcu
self.add_stepper = self.mcu_endstop.add_stepper
@ -94,32 +93,34 @@ class BLTouchEndstopWrapper:
else:
self.next_cmd_time = print_time
def send_cmd(self, cmd, duration=MIN_CMD_TIME):
self.mcu_pwm.set_pwm(self.next_cmd_time, Commands[cmd] / SIGNAL_PERIOD)
# Translate duration to ticks to avoid any secondary mcu clock skew
mcu = self.mcu_pwm.get_mcu()
cmd_clock = mcu.print_time_to_clock(self.next_cmd_time)
cmd_clock += mcu.seconds_to_clock(max(duration, MIN_CMD_TIME))
self.next_cmd_time = mcu.clock_to_print_time(cmd_clock)
return self.next_cmd_time
def verify_state(self, check_start_time, check_end_time, triggered):
pulse = int((duration - MIN_CMD_TIME) / SIGNAL_PERIOD) * SIGNAL_PERIOD
cmd_clock += mcu.seconds_to_clock(max(MIN_CMD_TIME, pulse))
end_time = mcu.clock_to_print_time(cmd_clock)
# Schedule command followed by PWM disable
self.mcu_pwm.set_pwm(self.next_cmd_time, Commands[cmd] / SIGNAL_PERIOD)
self.mcu_pwm.set_pwm(end_time, 0.)
# Update time tracking
self.action_end_time = self.next_cmd_time + duration
self.next_cmd_time = max(self.action_end_time, end_time + MIN_CMD_TIME)
def verify_state(self, triggered):
# Perform endstop check to verify bltouch reports desired state
self.mcu_endstop.home_start(check_start_time, ENDSTOP_SAMPLE_TIME,
self.mcu_endstop.home_start(self.action_end_time, ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME,
triggered=triggered)
return self.mcu_endstop.home_wait(check_end_time)
return self.mcu_endstop.home_wait(self.action_end_time + 0.100)
def raise_probe(self):
self.sync_mcu_print_time()
if not self.pin_up_not_triggered:
# No way to verify raise attempt - just issue commands
self.send_cmd('reset')
self.send_cmd('pin_up', duration=self.pin_move_time)
self.send_cmd(None)
return
for retry in range(3):
check_start_time = self.send_cmd('pin_up',
duration=self.pin_move_time)
check_end_time = self.send_cmd(None)
success = self.verify_state(check_start_time, check_end_time, False)
self.send_cmd('pin_up', duration=self.pin_move_time)
success = self.verify_state(False)
if success:
# The "probe raised" test completed successfully
break
@ -132,9 +133,7 @@ class BLTouchEndstopWrapper:
def lower_probe(self):
self.test_sensor()
self.sync_print_time()
duration = max(MIN_CMD_TIME, self.pin_move_time - MIN_CMD_TIME)
self.send_cmd('pin_down', duration=duration)
self.send_cmd(None)
self.send_cmd('pin_down', duration=self.pin_move_time)
def test_sensor(self):
if not self.pin_up_touch_triggered:
# Nothing to test
@ -147,15 +146,13 @@ class BLTouchEndstopWrapper:
# Raise the bltouch probe and test if probe is raised
self.sync_print_time()
for retry in range(3):
check_start_time = self.send_cmd('pin_up',
duration=self.pin_move_time)
self.send_cmd('pin_up', duration=self.pin_move_time)
self.send_cmd('touch_mode')
check_end_time = self.send_cmd(None)
success = self.verify_state(check_start_time, check_end_time, True)
success = self.verify_state(True)
self.sync_print_time()
if success:
# The "bltouch connection" test completed successfully
self.next_test_time = check_end_time + TEST_TIME
self.next_test_time = print_time + TEST_TIME
return
msg = "BLTouch failed to verify sensor state"
if retry >= 2:
@ -233,7 +230,6 @@ class BLTouchEndstopWrapper:
else:
self.send_cmd('set_OD_output_mode')
self.send_cmd('pin_up')
self.send_cmd(None)
cmd_BLTOUCH_DEBUG_help = "Send a command to the bltouch for debugging"
def cmd_BLTOUCH_DEBUG(self, gcmd):
cmd = gcmd.get('COMMAND', None)
@ -244,7 +240,6 @@ class BLTouchEndstopWrapper:
gcmd.respond_info("Sending BLTOUCH_DEBUG COMMAND=%s" % (cmd,))
self.sync_print_time()
self.send_cmd(cmd, duration=self.pin_move_time)
self.send_cmd(None)
self.sync_print_time()
cmd_BLTOUCH_STORE_help = "Store an output mode in the BLTouch EEPROM"
def cmd_BLTOUCH_STORE(self, gcmd):