mirror of https://github.com/Desuuuu/klipper.git
277 lines
12 KiB
Python
277 lines
12 KiB
Python
# Helper code for implementing homing operations
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#
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# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging, math
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HOMING_START_DELAY = 0.001
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ENDSTOP_SAMPLE_TIME = .000015
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ENDSTOP_SAMPLE_COUNT = 4
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# Return a completion that completes when all completions in a list complete
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def multi_complete(printer, completions):
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if len(completions) == 1:
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return completions[0]
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# Build completion that waits for all completions
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reactor = printer.get_reactor()
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cp = reactor.register_callback(lambda e: [c.wait() for c in completions])
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# If any completion indicates an error, then exit main completion early
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for c in completions:
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reactor.register_callback(lambda e: cp.complete(1) if c.wait() else 0)
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return cp
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# Tracking of stepper positions during a homing/probing move
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class StepperPosition:
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def __init__(self, stepper, endstop_name):
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self.stepper = stepper
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self.endstop_name = endstop_name
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self.stepper_name = stepper.get_name()
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self.start_pos = stepper.get_mcu_position()
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self.halt_pos = self.trig_pos = None
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def note_home_end(self, trigger_time):
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self.halt_pos = self.stepper.get_mcu_position()
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self.trig_pos = self.stepper.get_past_mcu_position(trigger_time)
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# Implementation of homing/probing moves
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class HomingMove:
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def __init__(self, printer, endstops, toolhead=None):
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self.printer = printer
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self.endstops = endstops
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if toolhead is None:
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toolhead = printer.lookup_object('toolhead')
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self.toolhead = toolhead
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self.stepper_positions = []
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def get_mcu_endstops(self):
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return [es for es, name in self.endstops]
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def _calc_endstop_rate(self, mcu_endstop, movepos, speed):
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startpos = self.toolhead.get_position()
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axes_d = [mp - sp for mp, sp in zip(movepos, startpos)]
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move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
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move_t = move_d / speed
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max_steps = max([(abs(s.calc_position_from_coord(startpos)
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- s.calc_position_from_coord(movepos))
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/ s.get_step_dist())
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for s in mcu_endstop.get_steppers()])
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if max_steps <= 0.:
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return .001
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return move_t / max_steps
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def calc_toolhead_pos(self, kin_spos, offsets):
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kin_spos = dict(kin_spos)
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kin = self.toolhead.get_kinematics()
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for stepper in kin.get_steppers():
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sname = stepper.get_name()
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kin_spos[sname] += offsets.get(sname, 0) * stepper.get_step_dist()
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thpos = self.toolhead.get_position()
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return list(kin.calc_position(kin_spos))[:3] + thpos[3:]
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def homing_move(self, movepos, speed, probe_pos=False,
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triggered=True, check_triggered=True):
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# Notify start of homing/probing move
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self.printer.send_event("homing:homing_move_begin", self)
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# Note start location
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self.toolhead.flush_step_generation()
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kin = self.toolhead.get_kinematics()
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kin_spos = {s.get_name(): s.get_commanded_position()
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for s in kin.get_steppers()}
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self.stepper_positions = [ StepperPosition(s, name)
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for es, name in self.endstops
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for s in es.get_steppers() ]
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# Start endstop checking
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print_time = self.toolhead.get_last_move_time()
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endstop_triggers = []
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for mcu_endstop, name in self.endstops:
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rest_time = self._calc_endstop_rate(mcu_endstop, movepos, speed)
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wait = mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME,
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ENDSTOP_SAMPLE_COUNT, rest_time,
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triggered=triggered)
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endstop_triggers.append(wait)
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all_endstop_trigger = multi_complete(self.printer, endstop_triggers)
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self.toolhead.dwell(HOMING_START_DELAY)
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# Issue move
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error = None
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try:
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self.toolhead.drip_move(movepos, speed, all_endstop_trigger)
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except self.printer.command_error as e:
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error = "Error during homing move: %s" % (str(e),)
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# Wait for endstops to trigger
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trigger_times = {}
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move_end_print_time = self.toolhead.get_last_move_time()
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for mcu_endstop, name in self.endstops:
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trigger_time = mcu_endstop.home_wait(move_end_print_time)
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if trigger_time > 0.:
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trigger_times[name] = trigger_time
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elif trigger_time < 0. and error is None:
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error = "Communication timeout during homing %s" % (name,)
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elif check_triggered and error is None:
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error = "No trigger on %s after full movement" % (name,)
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# Determine stepper halt positions
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self.toolhead.flush_step_generation()
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for sp in self.stepper_positions:
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tt = trigger_times.get(sp.endstop_name, move_end_print_time)
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sp.note_home_end(tt)
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if probe_pos:
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halt_steps = {sp.stepper_name: sp.halt_pos - sp.start_pos
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for sp in self.stepper_positions}
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trig_steps = {sp.stepper_name: sp.trig_pos - sp.start_pos
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for sp in self.stepper_positions}
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haltpos = trigpos = self.calc_toolhead_pos(kin_spos, trig_steps)
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if trig_steps != halt_steps:
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haltpos = self.calc_toolhead_pos(kin_spos, halt_steps)
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else:
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haltpos = trigpos = movepos
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over_steps = {sp.stepper_name: sp.halt_pos - sp.trig_pos
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for sp in self.stepper_positions}
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if any(over_steps.values()):
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self.toolhead.set_position(movepos)
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halt_kin_spos = {s.get_name(): s.get_commanded_position()
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for s in kin.get_steppers()}
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haltpos = self.calc_toolhead_pos(halt_kin_spos, over_steps)
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self.toolhead.set_position(haltpos)
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# Signal homing/probing move complete
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try:
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self.printer.send_event("homing:homing_move_end", self)
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except self.printer.command_error as e:
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if error is None:
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error = str(e)
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if error is not None:
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raise self.printer.command_error(error)
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return trigpos
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def check_no_movement(self):
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if self.printer.get_start_args().get('debuginput') is not None:
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return None
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for sp in self.stepper_positions:
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if sp.start_pos == sp.trig_pos:
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return sp.endstop_name
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return None
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# State tracking of homing requests
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class Homing:
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def __init__(self, printer):
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self.printer = printer
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self.toolhead = printer.lookup_object('toolhead')
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self.changed_axes = []
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self.trigger_mcu_pos = {}
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self.adjust_pos = {}
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def set_axes(self, axes):
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self.changed_axes = axes
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def get_axes(self):
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return self.changed_axes
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def get_trigger_position(self, stepper_name):
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return self.trigger_mcu_pos[stepper_name]
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def set_stepper_adjustment(self, stepper_name, adjustment):
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self.adjust_pos[stepper_name] = adjustment
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def _fill_coord(self, coord):
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# Fill in any None entries in 'coord' with current toolhead position
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thcoord = list(self.toolhead.get_position())
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for i in range(len(coord)):
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if coord[i] is not None:
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thcoord[i] = coord[i]
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return thcoord
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def set_homed_position(self, pos):
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self.toolhead.set_position(self._fill_coord(pos))
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def home_rails(self, rails, forcepos, movepos):
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# Notify of upcoming homing operation
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self.printer.send_event("homing:home_rails_begin", self, rails)
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# Alter kinematics class to think printer is at forcepos
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homing_axes = [axis for axis in range(3) if forcepos[axis] is not None]
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startpos = self._fill_coord(forcepos)
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homepos = self._fill_coord(movepos)
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self.toolhead.set_position(startpos, homing_axes=homing_axes)
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# Perform first home
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endstops = [es for rail in rails for es in rail.get_endstops()]
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hi = rails[0].get_homing_info()
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hmove = HomingMove(self.printer, endstops)
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hmove.homing_move(homepos, hi.speed)
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# Perform second home
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if hi.retract_dist:
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# Retract
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startpos = self._fill_coord(forcepos)
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homepos = self._fill_coord(movepos)
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axes_d = [hp - sp for hp, sp in zip(homepos, startpos)]
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move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
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retract_r = min(1., hi.retract_dist / move_d)
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retractpos = [hp - ad * retract_r
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for hp, ad in zip(homepos, axes_d)]
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self.toolhead.move(retractpos, hi.retract_speed)
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# Home again
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startpos = [rp - ad * retract_r
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for rp, ad in zip(retractpos, axes_d)]
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self.toolhead.set_position(startpos)
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hmove = HomingMove(self.printer, endstops)
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hmove.homing_move(homepos, hi.second_homing_speed)
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if hmove.check_no_movement() is not None:
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raise self.printer.command_error(
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"Endstop %s still triggered after retract"
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% (hmove.check_no_movement(),))
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# Signal home operation complete
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self.toolhead.flush_step_generation()
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self.trigger_mcu_pos = {sp.stepper_name: sp.trig_pos
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for sp in hmove.stepper_positions}
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self.adjust_pos = {}
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self.printer.send_event("homing:home_rails_end", self, rails)
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if any(self.adjust_pos.values()):
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# Apply any homing offsets
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kin = self.toolhead.get_kinematics()
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homepos = self.toolhead.get_position()
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kin_spos = {s.get_name(): (s.get_commanded_position()
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+ self.adjust_pos.get(s.get_name(), 0.))
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for s in kin.get_steppers()}
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newpos = kin.calc_position(kin_spos)
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for axis in homing_axes:
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homepos[axis] = newpos[axis]
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self.toolhead.set_position(homepos)
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class PrinterHoming:
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def __init__(self, config):
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self.printer = config.get_printer()
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# Register g-code commands
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gcode = self.printer.lookup_object('gcode')
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gcode.register_command('G28', self.cmd_G28)
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def manual_home(self, toolhead, endstops, pos, speed,
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triggered, check_triggered):
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hmove = HomingMove(self.printer, endstops, toolhead)
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try:
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hmove.homing_move(pos, speed, triggered=triggered,
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check_triggered=check_triggered)
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except self.printer.command_error:
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if self.printer.is_shutdown():
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raise self.printer.command_error(
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"Homing failed due to printer shutdown")
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raise
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def probing_move(self, mcu_probe, pos, speed):
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endstops = [(mcu_probe, "probe")]
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hmove = HomingMove(self.printer, endstops)
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try:
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epos = hmove.homing_move(pos, speed, probe_pos=True)
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except self.printer.command_error:
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if self.printer.is_shutdown():
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raise self.printer.command_error(
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"Probing failed due to printer shutdown")
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raise
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if hmove.check_no_movement() is not None:
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raise self.printer.command_error(
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"Probe triggered prior to movement")
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return epos
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def cmd_G28(self, gcmd):
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# Move to origin
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axes = []
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for pos, axis in enumerate('XYZ'):
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if gcmd.get(axis, None) is not None:
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axes.append(pos)
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if not axes:
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axes = [0, 1, 2]
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homing_state = Homing(self.printer)
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homing_state.set_axes(axes)
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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try:
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kin.home(homing_state)
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except self.printer.command_error:
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if self.printer.is_shutdown():
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raise self.printer.command_error(
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"Homing failed due to printer shutdown")
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self.printer.lookup_object('stepper_enable').motor_off()
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raise
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def load_config(config):
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return PrinterHoming(config)
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