diff options
| -rw-r--r-- | klippy/mcu.py | 29 |
1 files changed, 13 insertions, 16 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 2d8a9b55..345c75e8 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -147,7 +147,6 @@ class MCU_endstop: self._invert = pin_params['invert'] self._oid = self._home_cmd = self._query_cmd = None self._mcu.register_config_callback(self._build_config) - self._homing = False self._min_query_time = 0. self._next_query_print_time = 0. self._last_state = {} @@ -179,17 +178,16 @@ class MCU_endstop: " 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) - self._mcu.register_response(self._handle_end_stop_state, - "end_stop_state", self._oid) def home_prepare(self): pass def home_start(self, print_time, sample_time, sample_count, rest_time, triggered=True): clock = self._mcu.print_time_to_clock(print_time) rest_ticks = int(rest_time * self._mcu.get_adjusted_freq()) - self._homing = True self._min_query_time = self._mcu.monotonic() self._next_query_print_time = print_time + self.RETRY_QUERY + self._mcu.register_response(self._handle_end_stop_state, + "end_stop_state", self._oid) self._home_cmd.send( [self._oid, clock, self._mcu.seconds_to_clock(sample_time), sample_count, rest_ticks, triggered ^ self._invert], @@ -198,8 +196,11 @@ class MCU_endstop: s.note_homing_start(clock) def home_wait(self, home_end_time): eventtime = self._mcu.monotonic() - while self._check_busy(eventtime, home_end_time): - eventtime = self._mcu.pause(eventtime + 0.1) + try: + while self._check_busy(eventtime, home_end_time): + eventtime = self._mcu.pause(eventtime + 0.1) + finally: + self._mcu.register_response(None, "end_stop_state", self._oid) def home_finalize(self): pass def _handle_end_stop_state(self, params): @@ -209,12 +210,9 @@ class MCU_endstop: # Check if need to send an end_stop_query command 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: - return False if not self._last_state.get('homing', 0): for s in self._steppers: s.note_homing_end(did_trigger=True) - self._homing = False return False last_sent_print_time = self._mcu.estimated_print_time( last_sent_time) @@ -222,7 +220,6 @@ class MCU_endstop: # Timeout - disable endstop checking for s in self._steppers: s.note_homing_end() - self._homing = False self._home_cmd.send([self._oid, 0, 0, 0, 0, 0]) raise self.TimeoutError("Timeout during endstop homing") if self._mcu.is_shutdown(): @@ -233,12 +230,12 @@ class MCU_endstop: self._query_cmd.send([self._oid]) return True def query_endstop(self, print_time): - self._homing = False - self._min_query_time = eventtime = self._mcu.monotonic() - self._next_query_print_time = print_time - while self._check_busy(eventtime): - eventtime = self._mcu.pause(eventtime + 0.1) - return self._last_state.get('pin_value', self._invert) ^ self._invert + clock = self._mcu.print_time_to_clock(print_time) + if self._mcu.is_fileoutput(): + return 0 + params = self._query_cmd.send_with_response( + [self._oid], "end_stop_state", self._oid, minclock=clock) + return params['pin_value'] ^ self._invert class MCU_digital_out: def __init__(self, mcu, pin_params): |