diff options
| -rw-r--r-- | klippy/cartesian.py | 10 | ||||
| -rw-r--r-- | klippy/delta.py | 10 | ||||
| -rw-r--r-- | klippy/extruder.py | 2 | ||||
| -rw-r--r-- | klippy/gcode.py | 14 | ||||
| -rw-r--r-- | klippy/homing.py | 19 | ||||
| -rw-r--r-- | klippy/mcu.py | 5 | ||||
| -rw-r--r-- | klippy/stepper.py | 8 | ||||
| -rw-r--r-- | klippy/toolhead.py | 5 |
8 files changed, 37 insertions, 36 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index e386704c..b7b4a9ab 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -10,9 +10,9 @@ StepList = (0, 1, 2) class CartKinematics: def __init__(self, printer, config): - steppers = ['stepper_x', 'stepper_y', 'stepper_z'] - self.steppers = [stepper.PrinterStepper(printer, config.getsection(n)) - for n in steppers] + self.steppers = [stepper.PrinterStepper( + printer, config.getsection('stepper_' + n), n) + for n in ['x', 'y', 'z']] self.need_motor_enable = True self.limits = [(1.0, -1.0)] * 3 self.stepper_pos = [0, 0, 0] @@ -73,8 +73,8 @@ class CartKinematics: self.steppers[i].motor_enable(move_time, 1) need_motor_enable |= self.steppers[i].need_motor_enable self.need_motor_enable = need_motor_enable - def query_endstops(self, move_time): - return homing.QueryEndstops(["x", "y", "z"], self.steppers) + def query_endstops(self, query_state): + query_state.set_steppers(self.steppers) def check_endstops(self, move): end_pos = move.end_pos for i in StepList: diff --git a/klippy/delta.py b/klippy/delta.py index 99233cf2..8f5bd409 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -10,9 +10,9 @@ StepList = (0, 1, 2) class DeltaKinematics: def __init__(self, printer, config): - steppers = ['stepper_a', 'stepper_b', 'stepper_c'] - self.steppers = [stepper.PrinterStepper(printer, config.getsection(n)) - for n in steppers] + self.steppers = [stepper.PrinterStepper( + printer, config.getsection('stepper_' + n), n) + for n in ['a', 'b', 'c']] self.need_motor_enable = True radius = config.getfloat('delta_radius') arm_length = config.getfloat('delta_arm_length') @@ -111,8 +111,8 @@ class DeltaKinematics: for i in StepList: self.steppers[i].motor_enable(move_time, 1) self.need_motor_enable = False - def query_endstops(self, move_time): - return homing.QueryEndstops(["a", "b", "c"], self.steppers) + def query_endstops(self, query_state): + query_state.set_steppers(self.steppers) def check_move(self, move): end_pos = move.end_pos xy2 = end_pos[0]**2 + end_pos[1]**2 diff --git a/klippy/extruder.py b/klippy/extruder.py index 8b66dad6..451aebb0 100644 --- a/klippy/extruder.py +++ b/klippy/extruder.py @@ -9,7 +9,7 @@ import stepper, heater, homing class PrinterExtruder: def __init__(self, printer, config): self.heater = heater.PrinterHeater(printer, config) - self.stepper = stepper.PrinterStepper(printer, config) + self.stepper = stepper.PrinterStepper(printer, config, 'extruder') self.pressure_advance = config.getfloat('pressure_advance', 0.) self.need_motor_enable = True self.stepper_pos = 0 diff --git a/klippy/gcode.py b/klippy/gcode.py index 9902ec4c..97f88563 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -308,16 +308,10 @@ class GCodeParser: # Get Endstop Status if self.inputfile: return - # Wrapper class for check_busy() that responds with final status - class endstop_handler_wrapper: - gcode = self - state = self.toolhead.query_endstops() - def check_busy(self, eventtime): - busy = self.state.check_busy(eventtime) - if not busy: - self.gcode.respond(self.state.get_msg()) - return busy - self.set_busy(endstop_handler_wrapper()) + print_time = self.toolhead.get_last_move_time() + query_state = homing.QueryEndstops(print_time, self.respond) + self.toolhead.query_endstops(query_state) + self.set_busy(query_state) def cmd_M140(self, params): # Set Bed Temperature self.set_temp(self.heater_bed, params) diff --git a/klippy/homing.py b/klippy/homing.py index 9b405299..117080f1 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -65,31 +65,36 @@ class Homing: del self.endstops[:] return False +# Helper code for querying and reporting the status of the endstops class QueryEndstops: - def __init__(self, names, steppers): + def __init__(self, print_time, respond_cb): + self.print_time = print_time + self.respond_cb = respond_cb self.endstops = [] self.busy = [] - for name, stepper in zip(names, steppers): - es = stepper.query_endstop() + def set_steppers(self, steppers): + for stepper in steppers: + es = stepper.query_endstop(self.print_time) if es is None: continue - self.endstops.append((name, es)) + self.endstops.append((stepper.name, es)) self.busy.append(es) def check_busy(self, eventtime): + # Check if all endstop queries have been received while self.busy: busy = self.busy[0].check_busy(eventtime) if busy: return True self.busy.pop(0) - return False - def get_msg(self): + # All responses received - report status msgs = [] for name, es in self.endstops: msg = "open" if es.get_last_triggered(): msg = "TRIGGERED" msgs.append("%s:%s" % (name, msg)) - return " ".join(msgs) + self.respond_cb(" ".join(msgs)) + return False class EndstopError(Exception): def __init__(self, pos, msg="Move out of range"): diff --git a/klippy/mcu.py b/klippy/mcu.py index de9518ac..df1bb3dc 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -140,10 +140,11 @@ class MCU_endstop: if self._stepper.get_invert_dir(): return -pos return pos - def query_endstop(self): + def query_endstop(self, mcu_time): + clock = int(mcu_time * self._mcu_freq) self._homing = False self._min_query_time = time.time() - self._next_query_clock = 0 + self._next_query_clock = clock def get_last_triggered(self): return self._last_state.get('pin', self._invert) ^ self._invert diff --git a/klippy/stepper.py b/klippy/stepper.py index 51abd093..61a9d26a 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -6,9 +6,10 @@ import math, logging class PrinterStepper: - def __init__(self, printer, config): + def __init__(self, printer, config, name): self.printer = printer self.config = config + self.name = name self.mcu_stepper = self.mcu_enable = self.mcu_endstop = None self.step_dist = config.getfloat('step_distance') @@ -76,10 +77,11 @@ class PrinterStepper: mcu_time = self.mcu_endstop.print_to_mcu_time(move_time) self.mcu_endstop.home(mcu_time, step_time) return self.mcu_endstop - def query_endstop(self): + def query_endstop(self, print_time): if self.mcu_endstop is None: return None - self.mcu_endstop.query_endstop() + mcu_time = self.mcu_endstop.print_to_mcu_time(print_time) + self.mcu_endstop.query_endstop(mcu_time) return self.mcu_endstop def get_homed_offset(self): if not self.homing_stepper_phases or self.need_motor_enable: diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 91843805..91bcd87f 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -279,9 +279,8 @@ class ToolHead: self.extruder.motor_off(last_move_time) self.dwell(STALL_TIME) logging.debug('; Max time of %f' % (last_move_time,)) - def query_endstops(self): - last_move_time = self.get_last_move_time() - return self.kin.query_endstops(last_move_time) + def query_endstops(self, query_state): + return self.kin.query_endstops(query_state) def force_shutdown(self): self.printer.mcu.force_shutdown() self.move_queue.reset() |