mirror of https://github.com/Desuuuu/klipper.git
homing: Check for timeout during homing operation
Should a homing move complete without hitting the endstop, then disable motors, disable the endstop checking, and report the error to the user. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
parent
4f30dce64f
commit
e0aa067cc9
|
@ -17,9 +17,6 @@ Host user interaction
|
|||
highlight an error (one has to look in the terminal tab to find the
|
||||
error) and errors written to the log can be non-obvious to a user.
|
||||
|
||||
* Implement timeouts on homing. The host currently waits forever if
|
||||
an endstop is not hit during a homing operation.
|
||||
|
||||
* Improve startup:
|
||||
|
||||
* Provide startup scripts so that Klippy can startup at system
|
||||
|
|
|
@ -151,6 +151,9 @@ class GCodeParser:
|
|||
def busy_handler(self, eventtime):
|
||||
try:
|
||||
busy = self.busy_state.check_busy(eventtime)
|
||||
except homing.EndstopError, e:
|
||||
self.respond("Error: %s" % (e,))
|
||||
busy = False
|
||||
except:
|
||||
logging.exception("Exception in busy handler")
|
||||
self.toolhead.force_shutdown()
|
||||
|
|
|
@ -3,8 +3,8 @@
|
|||
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
|
||||
#
|
||||
# This file may be distributed under the terms of the GNU GPLv3 license.
|
||||
|
||||
import logging
|
||||
import mcu
|
||||
|
||||
class Homing:
|
||||
def __init__(self, toolhead, changed_axes):
|
||||
|
@ -31,7 +31,11 @@ class Homing:
|
|||
self.eventtime = eventtime
|
||||
while self.states:
|
||||
first = self.states[0]
|
||||
ret = first[0](*first[1])
|
||||
try:
|
||||
ret = first[0](*first[1])
|
||||
except EndstopError, e:
|
||||
self.toolhead.motor_off()
|
||||
raise
|
||||
if ret:
|
||||
return True
|
||||
self.states.pop(0)
|
||||
|
@ -55,17 +59,22 @@ class Homing:
|
|||
print_time = self.toolhead.get_last_move_time()
|
||||
for s in steppers:
|
||||
es = s.enable_endstop_checking(print_time, s.step_dist / speed)
|
||||
self.endstops.append(es)
|
||||
self.endstops.append((s.name, es))
|
||||
self.toolhead.move(self.fill_coord(movepos), speed)
|
||||
move_end_print_time = self.toolhead.get_last_move_time()
|
||||
self.toolhead.reset_print_time()
|
||||
for es in self.endstops:
|
||||
es.home_finalize()
|
||||
for name, es in self.endstops:
|
||||
es.home_finalize(es.print_to_mcu_time(move_end_print_time))
|
||||
return False
|
||||
def do_wait_endstop(self):
|
||||
# Check if endstops have triggered
|
||||
for es in self.endstops:
|
||||
if es.check_busy(self.eventtime):
|
||||
return True
|
||||
for name, es in self.endstops:
|
||||
try:
|
||||
if es.check_busy(self.eventtime):
|
||||
return True
|
||||
except mcu.MCUError, e:
|
||||
raise EndstopError("Failed to home stepper %s: %s" % (
|
||||
name, str(e)))
|
||||
# Finished
|
||||
del self.endstops[:]
|
||||
return False
|
||||
|
@ -85,13 +94,16 @@ class QueryEndstops:
|
|||
if es is None:
|
||||
continue
|
||||
self.endstops.append((stepper.name, es))
|
||||
self.busy.append(es)
|
||||
self.busy.append((stepper.name, es))
|
||||
def check_busy(self, eventtime):
|
||||
# Check if all endstop queries have been received
|
||||
while self.busy:
|
||||
busy = self.busy[0].check_busy(eventtime)
|
||||
if busy:
|
||||
return True
|
||||
try:
|
||||
if self.busy[0][1].check_busy(eventtime):
|
||||
return True
|
||||
except mcu.MCUError, e:
|
||||
raise EndstopError("Failed to query endstop %s: %s" % (
|
||||
self.busy[0][0], str(e)))
|
||||
self.busy.pop(0)
|
||||
# All responses received - report status
|
||||
msgs = []
|
||||
|
|
|
@ -6,6 +6,12 @@
|
|||
import sys, zlib, logging, time, math
|
||||
import serialhdl, pins, chelper
|
||||
|
||||
class MCUError(Exception):
|
||||
def __init__(self, msg="MCU Error"):
|
||||
self._msg = msg
|
||||
def __str__(self):
|
||||
return self._msg
|
||||
|
||||
def parse_pin_extras(pin, can_pullup=False):
|
||||
pullup = invert = 0
|
||||
if can_pullup and pin.startswith('^'):
|
||||
|
@ -100,7 +106,7 @@ class MCU_endstop:
|
|||
self._query_cmd = mcu.lookup_command("end_stop_query oid=%c")
|
||||
self._homing = False
|
||||
self._min_query_time = 0.
|
||||
self._next_query_clock = 0
|
||||
self._next_query_clock = self._home_timeout_clock = 0
|
||||
self._mcu_freq = mcu.get_mcu_freq()
|
||||
self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY)
|
||||
self._last_state = {}
|
||||
|
@ -114,11 +120,12 @@ class MCU_endstop:
|
|||
msg = self._home_cmd.encode(
|
||||
self._oid, clock, rest_ticks, 1 ^ self._invert)
|
||||
self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
|
||||
def home_finalize(self):
|
||||
def home_finalize(self, mcu_time):
|
||||
# XXX - this flushes the serial port of messages ready to be
|
||||
# sent, but doesn't flush messages if they had an unmet minclock
|
||||
self._mcu.serial.send_flush()
|
||||
self._stepper.note_stepper_stop()
|
||||
self._home_timeout_clock = int(mcu_time * self._mcu_freq)
|
||||
def _handle_end_stop_state(self, params):
|
||||
logging.debug("end_stop_state %s" % (params,))
|
||||
self._last_state = params
|
||||
|
@ -126,9 +133,18 @@ class MCU_endstop:
|
|||
# Check if need to send an end_stop_query command
|
||||
if self._mcu.output_file_mode:
|
||||
return False
|
||||
if self._last_state.get('#sent_time', -1.) >= self._min_query_time:
|
||||
last_sent_time = self._last_state.get('#sent_time', -1.)
|
||||
if last_sent_time >= self._min_query_time:
|
||||
if not self._homing or not self._last_state.get('homing', 0):
|
||||
return False
|
||||
if (self._mcu.serial.get_clock(last_sent_time)
|
||||
> self._home_timeout_clock):
|
||||
# Timeout - disable endstop checking
|
||||
msg = self._home_cmd.encode(self._oid, 0, 0, 0)
|
||||
self._mcu.send(msg, reqclock=0, cq=self._cmd_queue)
|
||||
raise MCUError("Timeout during endstop homing")
|
||||
if self._mcu.is_shutdown:
|
||||
raise MCUError("MCU is shutdown")
|
||||
last_clock = self._mcu.get_last_clock()
|
||||
if last_clock >= self._next_query_clock:
|
||||
self._next_query_clock = last_clock + self._retry_query_ticks
|
||||
|
|
Loading…
Reference in New Issue