diff options
| -rw-r--r-- | docs/MCU_Commands.md | 10 | ||||
| -rw-r--r-- | klippy/mcu.py | 22 | ||||
| -rw-r--r-- | src/endstop.c | 70 |
3 files changed, 51 insertions, 51 deletions
diff --git a/docs/MCU_Commands.md b/docs/MCU_Commands.md index f103af5f..32fb2618 100644 --- a/docs/MCU_Commands.md +++ b/docs/MCU_Commands.md @@ -161,15 +161,15 @@ This section lists some commonly used config commands. clock ticks since the last step. It is used as a check on the maximum stepper velocity that a stepper may have before stopping. -* `config_end_stop oid=%c pin=%c pull_up=%c stepper_count=%c` : This +* `config_endstop oid=%c pin=%c pull_up=%c stepper_count=%c` : This command creates an internal "endstop" object. It is used to specify the endstop pins and to enable "homing" operations (see the - end_stop_home command below). The command will configure the + endstop_home command below). The command will configure the specified pin in digital input mode. The 'pull_up' parameter determines whether hardware provided pullup resistors for the pin (if available) will be enabled. The 'stepper_count' parameter specifies the maximum number of steppers that this endstop may need - to halt during a homing operation (see end_stop_home below). + to halt during a homing operation (see endstop_home below). * `config_spi oid=%c bus=%u pin=%u mode=%u rate=%u shutdown_msg=%*s` : This command creates an internal SPI object. It is used with @@ -260,9 +260,9 @@ Stepper commands number of steps generated with dir=1 minus the total number of steps generated with dir=0. -* `end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c +* `endstop_home oid=%c clock=%u sample_ticks=%u sample_count=%c rest_ticks=%u pin_value=%c` : This command is used during stepper - "homing" operations. To use this command a 'config_end_stop' command + "homing" operations. To use this command a 'config_endstop' command with the same 'oid' parameter must have been issued during micro-controller configuration. When this command is invoked, the micro-controller will sample the endstop pin every 'rest_ticks' diff --git a/klippy/mcu.py b/klippy/mcu.py index 9088098d..c99214ef 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -155,21 +155,21 @@ class MCU_endstop: def _build_config(self): self._oid = self._mcu.create_oid() self._mcu.add_config_cmd( - "config_end_stop oid=%d pin=%s pull_up=%d stepper_count=%d" % ( + "config_endstop oid=%d pin=%s pull_up=%d stepper_count=%d" % ( self._oid, self._pin, self._pullup, len(self._steppers))) self._mcu.add_config_cmd( - "end_stop_home oid=%d clock=0 sample_ticks=0 sample_count=0" + "endstop_home oid=%d clock=0 sample_ticks=0 sample_count=0" " rest_ticks=0 pin_value=0" % (self._oid,), is_init=True) for i, s in enumerate(self._steppers): self._mcu.add_config_cmd( - "end_stop_set_stepper oid=%d pos=%d stepper_oid=%d" % ( + "endstop_set_stepper oid=%d pos=%d stepper_oid=%d" % ( self._oid, i, s.get_oid()), is_init=True) cmd_queue = self._mcu.alloc_command_queue() self._home_cmd = self._mcu.lookup_command( - "end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c" + "endstop_home oid=%c clock=%u sample_ticks=%u sample_count=%c" " rest_ticks=%u pin_value=%c", cq=cmd_queue) self._query_cmd = self._mcu.lookup_command( - "end_stop_query_state oid=%c", cq=cmd_queue) + "endstop_query_state oid=%c", cq=cmd_queue) def home_prepare(self): pass def home_start(self, print_time, sample_time, sample_count, rest_time, @@ -183,16 +183,16 @@ class MCU_endstop: self._home_end_time = self._reactor.NEVER self._trigger_completion = self._reactor.completion() self._home_completion = self._reactor.completion() - self._mcu.register_response(self._handle_end_stop_state, - "end_stop_state", self._oid) + self._mcu.register_response(self._handle_endstop_state, + "endstop_state", self._oid) self._home_cmd.send( [self._oid, clock, self._mcu.seconds_to_clock(sample_time), sample_count, rest_ticks, triggered ^ self._invert], reqclock=clock) self._home_completion = self._reactor.register_callback( self._home_retry) - def _handle_end_stop_state(self, params): - logging.debug("end_stop_state %s", params) + def _handle_endstop_state(self, params): + logging.debug("endstop_state %s", params) if params['#sent_time'] >= self._min_query_time: if params['homing']: self._last_sent_time = params['#sent_time'] @@ -222,7 +222,7 @@ class MCU_endstop: def home_wait(self, home_end_time): self._home_end_time = home_end_time did_trigger = self._home_completion.wait() - self._mcu.register_response(None, "end_stop_state", self._oid) + self._mcu.register_response(None, "endstop_state", self._oid) self._home_cmd.send([self._oid, 0, 0, 0, 0, 0]) for s in self._steppers: s.note_homing_end(did_trigger=did_trigger) @@ -235,7 +235,7 @@ class MCU_endstop: if self._mcu.is_fileoutput(): return 0 params = self._query_cmd.send_with_response( - [self._oid], "end_stop_state", self._oid, minclock=clock) + [self._oid], "endstop_state", self._oid, minclock=clock) return params['pin_value'] ^ self._invert class MCU_digital_out: diff --git a/src/endstop.c b/src/endstop.c index 1d8bcd6e..9c2f833e 100644 --- a/src/endstop.c +++ b/src/endstop.c @@ -11,7 +11,7 @@ #include "sched.h" // struct timer #include "stepper.h" // stepper_stop -struct end_stop { +struct endstop { struct timer time; struct gpio_in pin; uint32_t rest_time, sample_time, nextwake; @@ -24,7 +24,7 @@ enum { ESF_PIN_HIGH=1<<0, ESF_HOMING=1<<1, ESF_REPORT=1<<2 }; static struct task_wake endstop_wake; static void -stop_steppers(struct end_stop *e) +stop_steppers(struct endstop *e) { e->flags = ESF_REPORT; uint8_t count = e->stepper_count; @@ -34,13 +34,13 @@ stop_steppers(struct end_stop *e) sched_wake_task(&endstop_wake); } -static uint_fast8_t end_stop_oversample_event(struct timer *t); +static uint_fast8_t endstop_oversample_event(struct timer *t); // Timer callback for an end stop static uint_fast8_t -end_stop_event(struct timer *t) +endstop_event(struct timer *t) { - struct end_stop *e = container_of(t, struct end_stop, time); + struct endstop *e = container_of(t, struct endstop, time); uint8_t val = gpio_in_read(e->pin); uint32_t nextwake = e->time.waketime + e->rest_time; if ((val ? ~e->flags : e->flags) & ESF_PIN_HIGH) { @@ -49,19 +49,19 @@ end_stop_event(struct timer *t) return SF_RESCHEDULE; } e->nextwake = nextwake; - e->time.func = end_stop_oversample_event; - return end_stop_oversample_event(t); + e->time.func = endstop_oversample_event; + return endstop_oversample_event(t); } // Timer callback for an end stop that is sampling extra times static uint_fast8_t -end_stop_oversample_event(struct timer *t) +endstop_oversample_event(struct timer *t) { - struct end_stop *e = container_of(t, struct end_stop, time); + struct endstop *e = container_of(t, struct endstop, time); uint8_t val = gpio_in_read(e->pin); if ((val ? ~e->flags : e->flags) & ESF_PIN_HIGH) { // No longer matching - reschedule for the next attempt - e->time.func = end_stop_event; + e->time.func = endstop_event; e->time.waketime = e->nextwake; e->trigger_count = e->sample_count; return SF_RESCHEDULE; @@ -77,36 +77,36 @@ end_stop_oversample_event(struct timer *t) } void -command_config_end_stop(uint32_t *args) +command_config_endstop(uint32_t *args) { uint8_t stepper_count = args[3]; - struct end_stop *e = oid_alloc( - args[0], command_config_end_stop + struct endstop *e = oid_alloc( + args[0], command_config_endstop , sizeof(*e) + sizeof(e->steppers[0]) * stepper_count); e->pin = gpio_in_setup(args[1], args[2]); e->stepper_count = stepper_count; e->sample_count = 1; } -DECL_COMMAND(command_config_end_stop, - "config_end_stop oid=%c pin=%c pull_up=%c stepper_count=%c"); +DECL_COMMAND(command_config_endstop, + "config_endstop oid=%c pin=%c pull_up=%c stepper_count=%c"); void -command_end_stop_set_stepper(uint32_t *args) +command_endstop_set_stepper(uint32_t *args) { - struct end_stop *e = oid_lookup(args[0], command_config_end_stop); + struct endstop *e = oid_lookup(args[0], command_config_endstop); 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"); +DECL_COMMAND(command_endstop_set_stepper, + "endstop_set_stepper oid=%c pos=%c stepper_oid=%c"); // Home an axis void -command_end_stop_home(uint32_t *args) +command_endstop_home(uint32_t *args) { - struct end_stop *e = oid_lookup(args[0], command_config_end_stop); + struct endstop *e = oid_lookup(args[0], command_config_endstop); sched_del_timer(&e->time); e->time.waketime = args[1]; e->sample_time = args[2]; @@ -117,47 +117,47 @@ command_end_stop_home(uint32_t *args) return; } e->rest_time = args[4]; - e->time.func = end_stop_event; + e->time.func = endstop_event; e->trigger_count = e->sample_count; e->flags = ESF_HOMING | (args[5] ? ESF_PIN_HIGH : 0); sched_add_timer(&e->time); } -DECL_COMMAND(command_end_stop_home, - "end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c" +DECL_COMMAND(command_endstop_home, + "endstop_home oid=%c clock=%u sample_ticks=%u sample_count=%c" " rest_ticks=%u pin_value=%c"); static void -end_stop_report(uint8_t oid, struct end_stop *e) +endstop_report(uint8_t oid, struct endstop *e) { irq_disable(); uint8_t eflags = e->flags; e->flags &= ~ESF_REPORT; irq_enable(); - sendf("end_stop_state oid=%c homing=%c pin_value=%c" + sendf("endstop_state oid=%c homing=%c pin_value=%c" , oid, !!(eflags & ESF_HOMING), gpio_in_read(e->pin)); } void -command_end_stop_query_state(uint32_t *args) +command_endstop_query_state(uint32_t *args) { uint8_t oid = args[0]; - struct end_stop *e = oid_lookup(oid, command_config_end_stop); - end_stop_report(oid, e); + struct endstop *e = oid_lookup(oid, command_config_endstop); + endstop_report(oid, e); } -DECL_COMMAND(command_end_stop_query_state, "end_stop_query_state oid=%c"); +DECL_COMMAND(command_endstop_query_state, "endstop_query_state oid=%c"); void -end_stop_task(void) +endstop_task(void) { if (!sched_check_wake(&endstop_wake)) return; uint8_t oid; - struct end_stop *e; - foreach_oid(oid, e, command_config_end_stop) { + struct endstop *e; + foreach_oid(oid, e, command_config_endstop) { if (!(e->flags & ESF_REPORT)) continue; - end_stop_report(oid, e); + endstop_report(oid, e); } } -DECL_TASK(end_stop_task); +DECL_TASK(endstop_task); |