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| author | Kevin O'Connor <kevin@koconnor.net> | 2016-11-28 11:22:01 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2016-11-28 11:22:01 -0500 |
| commit | a5637bb9d486969db3f1127c1ac75fb9bbeb9a7c (patch) | |
| tree | a1ed5df496fa02511e72916a4a28caed7cf2af94 | |
| parent | 1e1364c3d4bc09f39f64f7ac49bf9d51de9694fc (diff) | |
| download | kutter-a5637bb9d486969db3f1127c1ac75fb9bbeb9a7c.tar.gz kutter-a5637bb9d486969db3f1127c1ac75fb9bbeb9a7c.tar.xz kutter-a5637bb9d486969db3f1127c1ac75fb9bbeb9a7c.zip | |
mcu: Track the stepper position in the MCU in the MCU_stepper class
Support tracking of both the commanded_position and the mcu_position
in the MCU_stepper class.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | klippy/mcu.py | 12 |
1 files changed, 11 insertions, 1 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index e10b82b3..0066d24b 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -32,6 +32,7 @@ class MCU_stepper: min_stop_interval = int(min_stop_interval * self._mcu_freq) max_error = int(max_error * self._mcu_freq) self.commanded_position = 0 + self._mcu_position_offset = 0 mcu.add_config_cmd( "config_stepper oid=%d step_pin=%s dir_pin=%s" " min_stop_interval=%d invert_step=%d" % ( @@ -53,7 +54,12 @@ class MCU_stepper: def get_invert_dir(self): return self._invert_dir def set_position(self, pos): + self._mcu_position_offset += self.commanded_position - pos self.commanded_position = pos + def set_mcu_position(self, pos): + self._mcu_position_offset = pos - self.commanded_position + def get_mcu_position(self): + return self.commanded_position + self._mcu_position_offset def note_stepper_stop(self): self.ffi_lib.stepcompress_reset(self._stepqueue, 0) def reset_step_clock(self, mcu_time): @@ -150,7 +156,11 @@ class MCU_endstop: return False last_sent_time = self._last_state.get('#sent_time', -1.) if last_sent_time >= self._min_query_time: - if not self._homing or not self._last_state.get('homing', 0): + if not self._homing: + return False + if not self._last_state.get('homing', 0): + self._stepper.set_mcu_position(self.get_last_position()) + self._homing = False return False if (self._mcu.serial.get_clock(last_sent_time) > self._home_timeout_clock): |