diff options
| author | Kevin O'Connor <kevin@koconnor.net> | 2017-10-01 16:31:05 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-10-01 19:15:55 -0400 |
| commit | ece1f71c645da7115f497642c16278417a1f5292 (patch) | |
| tree | 31b3e6d8a21f83be6be4ca14d03fc9277e330449 /klippy | |
| parent | 776d8f9f79761fb3e9ae633290738a7c86118016 (diff) | |
| download | kutter-ece1f71c645da7115f497642c16278417a1f5292.tar.gz kutter-ece1f71c645da7115f497642c16278417a1f5292.tar.xz kutter-ece1f71c645da7115f497642c16278417a1f5292.zip | |
endstop: Support oversampling of the endstop
Some printers can show occasional noise on the endstop pin. Support
sampling the endstop pin multiple times to attempt to filter out this
noise.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/mcu.py | 9 | ||||
| -rw-r--r-- | klippy/stepper.py | 5 |
2 files changed, 14 insertions, 0 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index a2f742cc..a24a3ba3 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -137,6 +137,8 @@ class MCU_endstop: self._pin = pin_params['pin'] self._pullup = pin_params['pullup'] self._invert = pin_params['invert'] + self._oversample_count = 0 + self._oversample_time = 0. self._cmd_queue = mcu.alloc_command_queue() self._oid = self._home_cmd = self._query_cmd = None self._homing = False @@ -144,6 +146,9 @@ class MCU_endstop: self._last_state = {} def get_mcu(self): return self._mcu + def setup_oversample(self, oversample_count, oversample_time): + self._oversample_count = oversample_count + self._oversample_time = oversample_time def add_stepper(self, stepper): self._steppers.append(stepper) def build_config(self): @@ -155,6 +160,10 @@ class MCU_endstop: self._mcu.add_config_cmd( "end_stop_set_stepper oid=%d pos=%d stepper_oid=%d" % ( self._oid, i, s.get_oid()), is_init=True) + self._mcu.add_config_cmd( + "end_stop_set_oversample oid=%d sample_ticks=%d sample_count=%d" % ( + self._oid, self._mcu.seconds_to_clock(self._oversample_time), + self._oversample_count), is_init=True) 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") diff --git a/klippy/stepper.py b/klippy/stepper.py index ab1af2ba..5040ce9e 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -6,6 +6,9 @@ import math, logging import homing, pins +ENDSTOP_OVERSAMPLE_COUNT = 4 +ENDSTOP_OVERSAMPLE_TIME = .000015 + class PrinterStepper: def __init__(self, printer, config, name): self.name = name @@ -52,6 +55,8 @@ class PrinterHomingStepper(PrinterStepper): self.mcu_endstop = pins.setup_pin( printer, 'endstop', config.get('endstop_pin')) + self.mcu_endstop.setup_oversample( + ENDSTOP_OVERSAMPLE_COUNT, ENDSTOP_OVERSAMPLE_TIME) self.mcu_endstop.add_stepper(self.mcu_stepper) self.position_min = config.getfloat('position_min', 0.) self.position_max = config.getfloat( |