diff options
| -rw-r--r-- | config/example-extras.cfg | 9 | ||||
| -rw-r--r-- | klippy/extras/probe.py | 26 | ||||
| -rw-r--r-- | klippy/homing.py | 4 | ||||
| -rw-r--r-- | klippy/mcu.py | 4 |
4 files changed, 43 insertions, 0 deletions
diff --git a/config/example-extras.cfg b/config/example-extras.cfg index 9844d978..9a792afa 100644 --- a/config/example-extras.cfg +++ b/config/example-extras.cfg @@ -15,6 +15,15 @@ #z_position: 0.0 # The Z position to command the head to move to during a PROBE # command. The default is 0. +#activate_gcode: +# A list of G-Code commands (one per line) to execute prior to each +# probe attempt. This may be useful if the probe needs to be +# activated in some way. The default is to not run any special +# G-Code commands on activation. +#deactivate_gcode: +# A list of G-Code commands (one per line) to execute after each +# probe attempt completes. The default is to not run any special +# G-Code commands on deactivation. # Bed tilt compensation. One may define a [bed_tilt] config section to diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py index aeebf725..b1e89944 100644 --- a/klippy/extras/probe.py +++ b/klippy/extras/probe.py @@ -16,6 +16,9 @@ class PrinterProbe: mcu = pin_params['chip'] mcu.add_config_object(self) self.mcu_probe = mcu.setup_pin(pin_params) + if (config.get('activate_gcode', None) is not None or + config.get('deactivate_gcode', None) is not None): + self.mcu_probe = ProbeEndstopWrapper(config, self.mcu_probe) self.gcode = self.printer.lookup_object('gcode') self.gcode.register_command( 'PROBE', self.cmd_PROBE, desc=self.cmd_PROBE_help) @@ -49,6 +52,29 @@ class PrinterProbe: self.gcode.respond_info( "probe: %s" % (["open", "TRIGGERED"][not not res],)) +# Endstop wrapper that enables running g-code scripts on setup +class ProbeEndstopWrapper: + def __init__(self, config, mcu_endstop): + self.mcu_endstop = mcu_endstop + self.gcode = config.get_printer().lookup_object('gcode') + self.activate_gcode = config.get('activate_gcode', "") + self.deactivate_gcode = config.get('deactivate_gcode', "") + # Wrappers + self.get_mcu = self.mcu_endstop.get_mcu + self.add_stepper = self.mcu_endstop.add_stepper + self.get_steppers = self.mcu_endstop.get_steppers + self.home_start = self.mcu_endstop.home_start + self.home_wait = self.mcu_endstop.home_wait + self.query_endstop = self.mcu_endstop.query_endstop + self.query_endstop_wait = self.mcu_endstop.query_endstop_wait + self.TimeoutError = self.mcu_endstop.TimeoutError + def home_prepare(self): + self.gcode.run_script(self.activate_gcode) + self.mcu_endstop.home_prepare() + def home_finalize(self): + self.gcode.run_script(self.deactivate_gcode) + self.mcu_endstop.home_finalize() + # Helper code that can probe a series of points and report the # position at each point. class ProbePointsHelper: diff --git a/klippy/homing.py b/klippy/homing.py index 276c31d9..41f1ece5 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -42,6 +42,8 @@ class Homing: return dist_ticks / ticks_per_step def homing_move(self, movepos, endstops, speed, probe_pos=False): # Start endstop checking + for mcu_endstop, name in endstops: + mcu_endstop.home_prepare() print_time = self.toolhead.get_last_move_time() for mcu_endstop, name in endstops: min_step_dist = min([s.get_step_dist() @@ -70,6 +72,8 @@ class Homing: list(self.toolhead.get_kinematics().get_position()) + [None]) else: self.toolhead.set_position(movepos) + for mcu_endstop, name in endstops: + mcu_endstop.home_finalize() if error is not None: raise EndstopError(error) def home(self, forcepos, movepos, endstops, speed, second_home=False): diff --git a/klippy/mcu.py b/klippy/mcu.py index 40fcbad7..06da3ea6 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -168,6 +168,8 @@ class MCU_endstop: self._query_cmd = self._mcu.lookup_command("end_stop_query oid=%c") self._mcu.register_msg(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): clock = self._mcu.print_time_to_clock(print_time) rest_ticks = int(rest_time * self._mcu.get_adjusted_freq()) @@ -184,6 +186,8 @@ class MCU_endstop: eventtime = self._mcu.monotonic() while self._check_busy(eventtime, home_end_time): eventtime = self._mcu.pause(eventtime + 0.1) + def home_finalize(self): + pass def _handle_end_stop_state(self, params): logging.debug("end_stop_state %s", params) self._last_state = params |