bltouch: Raise the probe as soon as the endstop triggers

Start the raise sequence once the endstop notification arrives.  This
can reduce the response time as it does not require waiting for the
homing sequence to fully finalize.

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

1 files changed, 24 insertions, 9 deletions

diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py
index eabb2f2c..2d0be3d8 100644
--- a/klippy/extras/bltouch.py
+++ b/klippy/extras/bltouch.py
@@ -38,7 +38,9 @@ class BLTouchEndstopWrapper:
         self.mcu_pwm = ppins.setup_pin('pwm', config.get('control_pin'))
         self.mcu_pwm.setup_max_duration(0.)
         self.mcu_pwm.setup_cycle_time(SIGNAL_PERIOD)
+        # Command timing
         self.next_cmd_time = self.action_end_time = 0.
+        self.finish_home_complete = self.wait_trigger_complete = None
         # Create an "endstop" object to handle the sensor pin
         pin = config.get('sensor_pin')
         pin_params = ppins.lookup_pin(pin, can_invert=True, can_pullup=True)
@@ -82,6 +84,7 @@ class BLTouchEndstopWrapper:
         self.set_output_mode(self.output_mode)
         try:
             self.raise_probe()
+            self.verify_raise_probe()
         except self.printer.command_error as e:
             logging.warning("BLTouch raise probe error: %s", str(e))
     def sync_mcu_print_time(self):
@@ -117,12 +120,13 @@ class BLTouchEndstopWrapper:
     def raise_probe(self):
         self.sync_mcu_print_time()
         if not self.pin_up_not_triggered:
-            # No way to verify raise attempt - just issue commands
             self.send_cmd('reset')
-            self.send_cmd('pin_up', duration=self.pin_move_time)
+        self.send_cmd('pin_up', duration=self.pin_move_time)
+    def verify_raise_probe(self):
+        if not self.pin_up_not_triggered:
+            # No way to verify raise attempt
             return
         for retry in range(3):
-            self.send_cmd('pin_up', duration=self.pin_move_time)
             success = self.verify_state(False)
             if success:
                 # The "probe raised" test completed successfully
@@ -134,6 +138,7 @@ class BLTouchEndstopWrapper:
             self.gcode.respond_info(msg)
             self.sync_mcu_print_time()
             self.send_cmd('reset', duration=RETRY_RESET_TIME)
+            self.send_cmd('pin_up', duration=self.pin_move_time)
     def lower_probe(self):
         self.test_sensor()
         self.sync_print_time()
@@ -174,6 +179,7 @@ class BLTouchEndstopWrapper:
             return
         self.sync_print_time()
         self.raise_probe()
+        self.verify_raise_probe()
         self.sync_print_time()
         self.multi = 'OFF'
     def probe_prepare(self, hmove):
@@ -182,17 +188,26 @@ class BLTouchEndstopWrapper:
             if self.multi == 'FIRST':
                 self.multi = 'ON'
         self.sync_print_time()
-    def probe_finish(self, hmove):
+    def home_start(self, print_time, sample_time, sample_count, rest_time,
+                   triggered=True):
+        rest_time = min(rest_time, ENDSTOP_REST_TIME)
+        self.finish_home_complete = self.mcu_endstop.home_start(
+            print_time, sample_time, sample_count, rest_time, triggered)
+        # Schedule wait_for_trigger callback
+        r = self.printer.get_reactor()
+        self.wait_trigger_complete = r.register_callback(self.wait_for_trigger)
+        return self.finish_home_complete
+    def wait_for_trigger(self, eventtime):
+        self.finish_home_complete.wait()
         if self.multi == 'OFF':
             self.raise_probe()
+    def probe_finish(self, hmove):
+        self.wait_trigger_complete.wait()
+        if self.multi == 'OFF':
+            self.verify_raise_probe()
         self.sync_print_time()
         if hmove.check_no_movement() is not None:
             raise self.printer.command_error("BLTouch failed to deploy")
-    def home_start(self, print_time, sample_time, sample_count, rest_time,
-                   triggered=True):
-        rest_time = min(rest_time, ENDSTOP_REST_TIME)
-        return self.mcu_endstop.home_start(print_time, sample_time,
-                                           sample_count, rest_time, triggered)
     def get_position_endstop(self):
         return self.position_endstop
     def set_output_mode(self, mode):