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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-08-29 17:37:14 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-08-29 18:00:17 -0400 |
| commit | 002dc0dfaf42feae0e7955c035ef0bbd19cf0a19 (patch) | |
| tree | 37a66798f739d415325232502d56609775309618 | |
| parent | 68d6788413ea8408d3c0290f4e6aa9974733a324 (diff) | |
| download | kutter-002dc0dfaf42feae0e7955c035ef0bbd19cf0a19.tar.gz kutter-002dc0dfaf42feae0e7955c035ef0bbd19cf0a19.tar.xz kutter-002dc0dfaf42feae0e7955c035ef0bbd19cf0a19.zip | |
stepper: Adjust homing_speed so that it's an even number of ticks per step
Adjust the configured homing speed so that it always results in a
speed that is an even number of mcu ticks per step. This ensures that
the code can always get good step compression during homing, which is
important as the entire homing operation must be able to fit within
the mcu's move queue. This fixes some "move queue empty" mcu shutdown
errors that could occur when the Z step distance was an unusual size.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | klippy/cartesian.py | 7 | ||||
| -rw-r--r-- | klippy/corexy.py | 7 | ||||
| -rw-r--r-- | klippy/delta.py | 7 | ||||
| -rw-r--r-- | klippy/stepper.py | 6 |
4 files changed, 18 insertions, 9 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index d1747e6e..ee27f7b3 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -43,18 +43,19 @@ class CartKinematics: rpos = s.position_endstop + s.homing_retract_dist r2pos = rpos + s.homing_retract_dist # Initial homing + homing_speed = s.get_homing_speed() homepos = [None, None, None, None] homepos[axis] = s.position_endstop coord = [None, None, None, None] coord[axis] = pos - homing_state.home(list(coord), homepos, [s], s.homing_speed) + homing_state.home(list(coord), homepos, [s], homing_speed) # Retract coord[axis] = rpos - homing_state.retract(list(coord), s.homing_speed) + homing_state.retract(list(coord), homing_speed) # Home again coord[axis] = r2pos homing_state.home( - list(coord), homepos, [s], s.homing_speed/2.0, second_home=True) + list(coord), homepos, [s], homing_speed/2.0, second_home=True) # Set final homed position coord[axis] = s.position_endstop + s.get_homed_offset() homing_state.set_homed_position(coord) diff --git a/klippy/corexy.py b/klippy/corexy.py index 1fdfa817..2069d16b 100644 --- a/klippy/corexy.py +++ b/klippy/corexy.py @@ -46,18 +46,19 @@ class CoreXYKinematics: rpos = s.position_endstop + s.homing_retract_dist r2pos = rpos + s.homing_retract_dist # Initial homing + homing_speed = s.get_homing_speed() homepos = [None, None, None, None] homepos[axis] = s.position_endstop coord = [None, None, None, None] coord[axis] = pos - homing_state.home(list(coord), homepos, [s], s.homing_speed) + homing_state.home(list(coord), homepos, [s], homing_speed) # Retract coord[axis] = rpos - homing_state.retract(list(coord), s.homing_speed) + homing_state.retract(list(coord), homing_speed) # Home again coord[axis] = r2pos homing_state.home( - list(coord), homepos, [s], s.homing_speed/2.0, second_home=True) + list(coord), homepos, [s], homing_speed/2.0, second_home=True) if axis == 2: # Support endstop phase detection on Z axis coord[axis] = s.position_endstop + s.get_homed_offset() diff --git a/klippy/delta.py b/klippy/delta.py index 8d8ecf04..fc796cd4 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -107,17 +107,18 @@ class DeltaKinematics: s = self.steppers[0] # Assume homing speed same for all steppers self.need_home = False # Initial homing + homing_speed = s.get_homing_speed() homepos = [0., 0., self.max_z, None] coord = list(homepos) coord[2] = -1.5 * math.sqrt(self.arm_length2-self.max_xy2) - homing_state.home(list(coord), homepos, self.steppers, s.homing_speed) + homing_state.home(list(coord), homepos, self.steppers, homing_speed) # Retract coord[2] = homepos[2] - s.homing_retract_dist - homing_state.retract(list(coord), s.homing_speed) + homing_state.retract(list(coord), homing_speed) # Home again coord[2] -= s.homing_retract_dist homing_state.home(list(coord), homepos, self.steppers - , s.homing_speed/2.0, second_home=True) + , homing_speed/2.0, second_home=True) # Set final homed position spos = self._cartesian_to_actuator(homepos) spos = [spos[i] + self.steppers[i].position_endstop - self.max_z diff --git a/klippy/stepper.py b/klippy/stepper.py index 9a0233ec..ece63029 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -104,6 +104,12 @@ class PrinterHomingStepper(PrinterStepper): mcu_time = self.mcu_endstop.get_mcu().print_to_mcu_time(print_time) self.mcu_endstop.query_endstop(mcu_time) return self.mcu_endstop + def get_homing_speed(self): + # Round the configured homing speed so that it is an even + # number of ticks per step. + dist_ticks = self.mcu_stepper.get_mcu().get_mcu_freq() * self.step_dist + ticks_per_step = round(dist_ticks / self.homing_speed) + return dist_ticks / ticks_per_step def get_homed_offset(self): if not self.homing_stepper_phases or self.need_motor_enable: return 0 |