mirror of https://github.com/Desuuuu/klipper.git
151 lines
6.5 KiB
Python
151 lines
6.5 KiB
Python
# Code for state tracking during homing operations
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#
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# Copyright (C) 2016,2017 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_STEP_DELAY = 0.00000025
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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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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.verify_retract = True
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def set_no_verify_retract(self):
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self.verify_retract = False
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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 _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 _get_homing_speed(self, speed, endstops):
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# Round the requested homing speed so that it is an even
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# number of ticks per step.
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mcu_stepper = endstops[0][0].get_steppers()[0]
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adjusted_freq = mcu_stepper.get_mcu().get_adjusted_freq()
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dist_ticks = adjusted_freq * mcu_stepper.get_step_dist()
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ticks_per_step = math.ceil(dist_ticks / speed)
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return dist_ticks / ticks_per_step
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def homing_move(self, movepos, endstops, speed, dwell_t=0.,
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probe_pos=False, verify_movement=False):
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# Notify endstops of upcoming home
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for mcu_endstop, name in endstops:
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mcu_endstop.home_prepare()
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if dwell_t:
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self.toolhead.dwell(dwell_t, check_stall=False)
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# Start endstop checking
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print_time = self.toolhead.get_last_move_time()
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start_mcu_pos = [(s, name, s.get_mcu_position())
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for es, name in endstops for s in es.get_steppers()]
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for mcu_endstop, name in endstops:
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min_step_dist = min([s.get_step_dist()
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for s in mcu_endstop.get_steppers()])
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mcu_endstop.home_start(
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print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
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min_step_dist / speed)
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self.toolhead.dwell(HOMING_START_DELAY, check_stall=False)
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# Issue move
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error = None
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try:
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self.toolhead.move(movepos, speed)
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except EndstopError 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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move_end_print_time = self.toolhead.get_last_move_time()
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self.toolhead.reset_print_time(print_time)
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for mcu_endstop, name in endstops:
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try:
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mcu_endstop.home_wait(move_end_print_time)
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except mcu_endstop.TimeoutError as e:
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if error is None:
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error = "Failed to home %s: %s" % (name, str(e))
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if probe_pos:
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self.set_homed_position(
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list(self.toolhead.get_kinematics().calc_position()) + [None])
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else:
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self.toolhead.set_position(movepos)
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for mcu_endstop, name in endstops:
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mcu_endstop.home_finalize()
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if error is not None:
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raise EndstopError(error)
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# Check if some movement occurred
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if verify_movement:
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for s, name, pos in start_mcu_pos:
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if s.get_mcu_position() == pos:
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if probe_pos:
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raise EndstopError("Probe triggered prior to movement")
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raise EndstopError(
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"Endstop %s still triggered after retract" % (name,))
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def home_rails(self, rails, forcepos, movepos, limit_speed=None):
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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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forcepos = self._fill_coord(forcepos)
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movepos = self._fill_coord(movepos)
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self.toolhead.set_position(forcepos, homing_axes=homing_axes)
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# Determine homing speed
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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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max_velocity = self.toolhead.get_max_velocity()[0]
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if limit_speed is not None and limit_speed < max_velocity:
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max_velocity = limit_speed
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homing_speed = min(hi.speed, max_velocity)
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homing_speed = self._get_homing_speed(homing_speed, endstops)
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second_homing_speed = min(hi.second_homing_speed, max_velocity)
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# Calculate a CPU delay when homing a large axis
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axes_d = [mp - fp for mp, fp in zip(movepos, forcepos)]
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est_move_d = abs(axes_d[0]) + abs(axes_d[1]) + abs(axes_d[2])
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est_steps = sum([est_move_d / s.get_step_dist()
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for es, n in endstops for s in es.get_steppers()])
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dwell_t = est_steps * HOMING_STEP_DELAY
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# Perform first home
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self.homing_move(movepos, endstops, homing_speed, dwell_t=dwell_t)
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# Perform second home
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if hi.retract_dist:
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# Retract
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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 = [mp - ad * retract_r
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for mp, ad in zip(movepos, axes_d)]
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self.toolhead.move(retractpos, homing_speed)
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# Home again
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forcepos = [rp - ad * retract_r
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for rp, ad in zip(retractpos, axes_d)]
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self.toolhead.set_position(forcepos)
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self.homing_move(movepos, endstops, second_homing_speed,
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verify_movement=self.verify_retract)
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# Signal home operation complete
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ret = self.printer.send_event("homing:homed_rails", self, rails)
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if any(ret):
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# Apply any homing offsets
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adjustpos = self.toolhead.get_kinematics().calc_position()
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for axis in homing_axes:
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movepos[axis] = adjustpos[axis]
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self.toolhead.set_position(movepos)
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def home_axes(self, axes):
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self.changed_axes = axes
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try:
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self.toolhead.get_kinematics().home(self)
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except EndstopError:
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self.toolhead.motor_off()
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raise
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class EndstopError(Exception):
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pass
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def EndstopMoveError(pos, msg="Move out of range"):
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return EndstopError("%s: %.3f %.3f %.3f [%.3f]" % (
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msg, pos[0], pos[1], pos[2], pos[3]))
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