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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-12-05 23:50:29 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-12-06 19:13:54 -0500 |
| commit | c78f66b8e8269bb75658e71e83fc20670d3cf0ae (patch) | |
| tree | df0e962899ff74893ad7be563ce092666c506728 | |
| parent | b340fdcc4a3285cb7568f86cbae268aa4a21fb30 (diff) | |
| download | kutter-c78f66b8e8269bb75658e71e83fc20670d3cf0ae.tar.gz kutter-c78f66b8e8269bb75658e71e83fc20670d3cf0ae.tar.xz kutter-c78f66b8e8269bb75658e71e83fc20670d3cf0ae.zip | |
mcu: Be sure all moves are completed before raising a home timeout
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | klippy/mcu.py | 13 |
1 files changed, 6 insertions, 7 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 606c22fb..10a14034 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -179,7 +179,7 @@ class MCU_endstop: rest_ticks = int(rest_time * self._mcu.get_adjusted_freq()) self._homing = True self._min_query_time = self._mcu.monotonic() - self._next_query_time = print_time + self.RETRY_QUERY + self._next_query_time = self._min_query_time + self.RETRY_QUERY msg = self._home_cmd.encode( self._oid, clock, self._mcu.seconds_to_clock(sample_time), sample_count, rest_ticks, 1 ^ self._invert) @@ -195,7 +195,6 @@ class MCU_endstop: self._last_state = params def _check_busy(self, eventtime, home_end_time=0.): # Check if need to send an end_stop_query command - print_time = self._mcu.estimated_print_time(eventtime) last_sent_time = self._last_state.get('#sent_time', -1.) if last_sent_time >= self._min_query_time or self._mcu.is_fileoutput(): if not self._homing: @@ -205,7 +204,8 @@ class MCU_endstop: s.note_homing_end(did_trigger=True) self._homing = False return False - if print_time > home_end_time: + last_sent_print_time = self._mcu.estimated_print_time(last_sent_time) + if last_sent_print_time > home_end_time: # Timeout - disable endstop checking for s in self._steppers: s.note_homing_end() @@ -215,15 +215,14 @@ class MCU_endstop: raise self.TimeoutError("Timeout during endstop homing") if self._mcu.is_shutdown(): raise error("MCU is shutdown") - if print_time >= self._next_query_time: - self._next_query_time = print_time + self.RETRY_QUERY + if eventtime >= self._next_query_time: + self._next_query_time = eventtime + self.RETRY_QUERY msg = self._query_cmd.encode(self._oid) self._mcu.send(msg, cq=self._cmd_queue) return True def query_endstop(self, print_time): self._homing = False - self._next_query_time = print_time - self._min_query_time = self._mcu.monotonic() + self._min_query_time = self._next_query_time = self._mcu.monotonic() def query_endstop_wait(self): eventtime = self._mcu.monotonic() while self._check_busy(eventtime): |