endstop: Support halting more than one stepper on trigger

Extend the endstop code so that more than one stepper can be halted
during endstop homing.  Some kinematic setups (eg, corexy) require an
endstop to support this.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

3 files changed, 54 insertions, 19 deletions

diff --git a/klippy/mcu.py b/klippy/mcu.py
index 530da118..ec64c276 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -151,10 +151,10 @@ class MCU_stepper:
 class MCU_endstop:
     error = error
     RETRY_QUERY = 1.000
-    def __init__(self, mcu, pin, stepper):
+    def __init__(self, mcu, pin):
         self._mcu = mcu
         self._oid = mcu.create_oid(self)
-        self._stepper = stepper
+        self._steppers = []
         self._pin, self._pullup, self._invert = parse_pin_extras(
             pin, can_pullup=True)
         self._cmd_queue = mcu.alloc_command_queue()
@@ -164,18 +164,27 @@ class MCU_endstop:
         self._next_query_clock = self._home_timeout_clock = 0
         self._retry_query_ticks = 0
         self._last_state = {}
+        mcu.add_init_callback(self._init_callback)
         self.print_to_mcu_time = mcu.print_to_mcu_time
+    def add_stepper(self, stepper):
+        self._steppers.append(stepper)
     def build_config(self):
         self._mcu_freq = self._mcu.get_mcu_freq()
         self._mcu.add_config_cmd(
-            "config_end_stop oid=%d pin=%s pull_up=%d stepper_oid=%d" % (
-                self._oid, self._pin, self._pullup, self._stepper.get_oid()))
+            "config_end_stop oid=%d pin=%s pull_up=%d stepper_count=%d" % (
+                self._oid, self._pin, self._pullup, len(self._steppers)))
         self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY)
         self._home_cmd = self._mcu.lookup_command(
             "end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c")
         self._query_cmd = self._mcu.lookup_command("end_stop_query oid=%c")
         self._mcu.register_msg(self._handle_end_stop_state, "end_stop_state"
                                , self._oid)
+    def _init_callback(self):
+        set_cmd = self._mcu.lookup_command(
+            "end_stop_set_stepper oid=%c pos=%c stepper_oid=%c")
+        for i, s in enumerate(self._steppers):
+            msg = set_cmd.encode(self._oid, i, s.get_oid())
+            self._mcu.send(msg, cq=self._cmd_queue)
     def home_start(self, mcu_time, rest_time):
         clock = int(mcu_time * self._mcu_freq)
         rest_ticks = int(rest_time * self._mcu_freq)
@@ -185,9 +194,11 @@ class MCU_endstop:
         msg = self._home_cmd.encode(
             self._oid, clock, rest_ticks, 1 ^ self._invert)
         self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
-        self._stepper.note_homing_start(clock)
+        for s in self._steppers:
+            s.note_homing_start(clock)
     def home_finalize(self, mcu_time):
-        self._stepper.note_homing_finalized()
+        for s in self._steppers:
+            s.note_homing_finalized()
         self._home_timeout_clock = int(mcu_time * self._mcu_freq)
     def home_wait(self):
         eventtime = self._mcu.monotonic()
@@ -205,7 +216,8 @@ class MCU_endstop:
             if not self._homing:
                 return False
             if not self._last_state.get('homing', 0):
-                self._stepper.note_homing_triggered()
+                for s in self._steppers:
+                    s.note_homing_triggered()
                 self._homing = False
                 return False
             if (self._mcu.serial.get_clock(last_sent_time)
@@ -558,8 +570,8 @@ class MCU:
     # Wrappers for mcu object creation
     def create_stepper(self, step_pin, dir_pin):
         return MCU_stepper(self, step_pin, dir_pin)
-    def create_endstop(self, pin, stepper):
-        return MCU_endstop(self, pin, stepper)
+    def create_endstop(self, pin):
+        return MCU_endstop(self, pin)
     def create_digital_out(self, pin, max_duration=2.):
         return MCU_digital_out(self, pin, max_duration)
     def create_pwm(self, pin, cycle_time, hard_cycle_ticks=0, max_duration=2.):
diff --git a/klippy/stepper.py b/klippy/stepper.py
index e362dee4..eb8c2400 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -47,7 +47,8 @@ class PrinterStepper:
         if enable_pin is not None:
             self.mcu_enable = mcu.create_digital_out(enable_pin, 0)
         if endstop_pin is not None:
-            self.mcu_endstop = mcu.create_endstop(endstop_pin, self.mcu_stepper)
+            self.mcu_endstop = mcu.create_endstop(endstop_pin)
+            self.mcu_endstop.add_stepper(self.mcu_stepper)
             self.position_min = config.getfloat('position_min', 0.)
             self.position_endstop = config.getfloat('position_endstop')
             self.position_max = config.getfloat('position_max', 0.)
diff --git a/src/endstop.c b/src/endstop.c
index a504de92..91a278cc 100644
--- a/src/endstop.c
+++ b/src/endstop.c
@@ -14,13 +14,23 @@
 struct end_stop {
     struct timer time;
     uint32_t rest_time;
-    struct stepper *stepper;
     struct gpio_in pin;
-    uint8_t flags;
+    uint8_t flags, stepper_count;
+    struct stepper *steppers[0];
 };
 
 enum { ESF_PIN_HIGH=1<<0, ESF_HOMING=1<<1, ESF_REPORT=1<<2 };
 
+static void noinline
+stop_steppers(struct end_stop *e)
+{
+    e->flags = ESF_REPORT;
+    uint8_t count = e->stepper_count;
+    while (count--)
+        if (e->steppers[count])
+            stepper_stop(e->steppers[count]);
+}
+
 // Timer callback for an end stop
 static uint_fast8_t
 end_stop_event(struct timer *t)
@@ -32,23 +42,35 @@ end_stop_event(struct timer *t)
         e->time.waketime += e->rest_time;
         return SF_RESCHEDULE;
     }
-    // Stop stepper
-    e->flags = ESF_REPORT;
-    stepper_stop(e->stepper);
+    stop_steppers(e);
     return SF_DONE;
 }
 
 void
 command_config_end_stop(uint32_t *args)
 {
-    struct end_stop *e = oid_alloc(args[0], command_config_end_stop, sizeof(*e));
-    struct stepper *s = stepper_oid_lookup(args[3]);
+    uint8_t stepper_count = args[3];
+    struct end_stop *e = oid_alloc(
+        args[0], command_config_end_stop
+        , sizeof(*e) + sizeof(e->steppers[0]) * stepper_count);
     e->time.func = end_stop_event;
-    e->stepper = s;
     e->pin = gpio_in_setup(args[1], args[2]);
+    e->stepper_count = stepper_count;
 }
 DECL_COMMAND(command_config_end_stop,
-             "config_end_stop oid=%c pin=%c pull_up=%c stepper_oid=%c");
+             "config_end_stop oid=%c pin=%c pull_up=%c stepper_count=%c");
+
+void
+command_end_stop_set_stepper(uint32_t *args)
+{
+    struct end_stop *e = oid_lookup(args[0], command_config_end_stop);
+    uint8_t pos = args[1];
+    if (pos >= e->stepper_count)
+        shutdown("Set stepper past maximum stepper count");
+    e->steppers[pos] = stepper_oid_lookup(args[2]);
+}
+DECL_COMMAND(command_end_stop_set_stepper,
+             "end_stop_set_stepper oid=%c pos=%c stepper_oid=%c");
 
 // Home an axis
 void