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mcu: Fix endstop query timeout checking 

Commit 0685802c changed the query endstop timeout to use host time
instead of the mcu clock.  However, it is possible for an endstop
homing request to be in the future which makes using the host time
inappropriate.  Revert back to using the mcu clock to determine when
to send an endstop query.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-10-10 23:41:40 -04:00
parent ab54fcd443
commit ee56b14faa
1 changed files with 10 additions and 6 deletions
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16
klippy/mcu.py
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@ -97,15 +97,18 @@ class MCU_endstop:
, self._oid) , self._oid)
self._query_cmd = mcu.lookup_command("end_stop_query oid=%c") self._query_cmd = mcu.lookup_command("end_stop_query oid=%c")
self._homing = False self._homing = False
self._min_query_time = self._last_query_time = 0. self._min_query_time = 0.
self._last_state = {} self._next_query_clock = 0
self._mcu_freq = mcu.get_mcu_freq() self._mcu_freq = mcu.get_mcu_freq()
self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY)
self._last_state = {}
self.print_to_mcu_time = mcu.print_to_mcu_time self.print_to_mcu_time = mcu.print_to_mcu_time
def home(self, mcu_time, rest_time): def home(self, mcu_time, rest_time):
clock = int(mcu_time * self._mcu_freq) clock = int(mcu_time * self._mcu_freq)
rest_ticks = int(rest_time * self._mcu_freq) rest_ticks = int(rest_time * self._mcu_freq)
self._homing = True self._homing = True
self._min_query_time = self._last_query_time = time.time() self._min_query_time = time.time()
self._next_query_clock = clock + self._retry_query_ticks
msg = self._home_cmd.encode( msg = self._home_cmd.encode(
self._oid, clock, rest_ticks, 1 ^ self._invert) self._oid, clock, rest_ticks, 1 ^ self._invert)
self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue) self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
@ -124,8 +127,9 @@ class MCU_endstop:
if self._last_state.get('#sent_time', -1.) >= self._min_query_time: if self._last_state.get('#sent_time', -1.) >= self._min_query_time:
if not self._homing or not self._last_state.get('homing', 0): if not self._homing or not self._last_state.get('homing', 0):
return False return False
if self._last_query_time + self.RETRY_QUERY <= eventtime: last_clock = self._mcu.get_last_clock()
self._last_query_time = eventtime if last_clock >= self._next_query_clock:
self._next_query_clock = last_clock + self._retry_query_ticks
msg = self._query_cmd.encode(self._oid) msg = self._query_cmd.encode(self._oid)
self._mcu.send(msg, cq=self._cmd_queue) self._mcu.send(msg, cq=self._cmd_queue)
return True return True
@ -137,7 +141,7 @@ class MCU_endstop:
def query_endstop(self): def query_endstop(self):
self._homing = False self._homing = False
self._min_query_time = time.time() self._min_query_time = time.time()
self._last_query_time = 0. self._next_query_clock = 0
def get_last_triggered(self): def get_last_triggered(self):
return self._last_state.get('pin', self._invert) ^ self._invert return self._last_state.get('pin', self._invert) ^ self._invert