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

51
klippy/extras/bltouch.py
View File

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