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| author | Kevin O'Connor <kevin@koconnor.net> | 2024-01-16 20:40:55 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2024-01-16 20:40:55 -0500 |
| commit | 3d3b87f97fc91d93ae4198b36198262207e1202b (patch) | |
| tree | 942196be020186f1a960fc5fec5e7c062d781c77 | |
| parent | 447a88eb086829fd6139fda6e41eb8dc2e6a4366 (diff) | |
| download | kutter-3d3b87f97fc91d93ae4198b36198262207e1202b.tar.gz kutter-3d3b87f97fc91d93ae4198b36198262207e1202b.tar.xz kutter-3d3b87f97fc91d93ae4198b36198262207e1202b.zip | |
toolhead: Ensure full kin_flush_delay after flush_step_generation()
Commit b7b13588 made it possible that the kinematic code could be
restarted after a flush_step_generation() call without a sufficient
delay.
Rename last_sg_flush_time to min_restart_time and use that to ensure
_calc_print_time() always pauses kin_flush_delay time since the last
flush_step_generation() call.
Also, update force_move to invoke flush_step_generation() after any
movements. This is needed to ensure there is a sufficient delay
should force_move be called on a stepper motor that is part of the
toolhead kinematics and is using a step generation "scan time".
This fixes possible "internal error in stepcompress" reports when
using FORCE_MOVE.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | klippy/extras/force_move.py | 2 | ||||
| -rw-r--r-- | klippy/toolhead.py | 7 |
2 files changed, 5 insertions, 4 deletions
diff --git a/klippy/extras/force_move.py b/klippy/extras/force_move.py index 7501ea98..9cf49519 100644 --- a/klippy/extras/force_move.py +++ b/klippy/extras/force_move.py @@ -90,8 +90,8 @@ class ForceMove: print_time + 99999.9) stepper.set_trapq(prev_trapq) stepper.set_stepper_kinematics(prev_sk) - toolhead.note_kinematic_activity(print_time) toolhead.dwell(accel_t + cruise_t + accel_t) + toolhead.flush_step_generation() def _lookup_stepper(self, gcmd): name = gcmd.get('STEPPER') if name not in self.steppers: diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 477b5fce..55a39eff 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -239,7 +239,7 @@ class ToolHead: # Flush tracking self.flush_timer = self.reactor.register_timer(self._flush_handler) self.do_kick_flush_timer = True - self.last_flush_time = self.last_sg_flush_time = 0. + self.last_flush_time = self.min_restart_time = 0. self.need_flush_time = self.step_gen_time = self.clear_history_time = 0. # Kinematic step generation scan window time tracking self.kin_flush_delay = SDS_CHECK_TIME @@ -289,7 +289,7 @@ class ToolHead: sg_flush_time = max(sg_flush_want, flush_time) for sg in self.step_generators: sg(sg_flush_time) - self.last_sg_flush_time = sg_flush_time + self.min_restart_time = max(self.min_restart_time, sg_flush_time) # Free trapq entries that are no longer needed clear_history_time = self.clear_history_time if not self.can_pause: @@ -314,7 +314,7 @@ class ToolHead: def _calc_print_time(self): curtime = self.reactor.monotonic() est_print_time = self.mcu.estimated_print_time(curtime) - kin_time = max(est_print_time + MIN_KIN_TIME, self.last_sg_flush_time) + kin_time = max(est_print_time + MIN_KIN_TIME, self.min_restart_time) kin_time += self.kin_flush_delay min_print_time = max(est_print_time + BUFFER_TIME_START, kin_time) if min_print_time > self.print_time: @@ -361,6 +361,7 @@ class ToolHead: def flush_step_generation(self): self._flush_lookahead() self._advance_flush_time(self.step_gen_time) + self.min_restart_time = max(self.min_restart_time, self.print_time) def get_last_move_time(self): if self.special_queuing_state: self._flush_lookahead() |