diff options
| -rw-r--r-- | klippy/extras/bltouch.py | 6 | ||||
| -rw-r--r-- | klippy/extras/homing_heaters.py | 6 | ||||
| -rw-r--r-- | klippy/extras/manual_stepper.py | 11 | ||||
| -rw-r--r-- | klippy/extras/probe.py | 17 | ||||
| -rw-r--r-- | klippy/extras/tmc.py | 69 | ||||
| -rw-r--r-- | klippy/homing.py | 24 | ||||
| -rw-r--r-- | klippy/mcu.py | 4 |
7 files changed, 63 insertions, 74 deletions
diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py index c4556342..47714709 100644 --- a/klippy/extras/bltouch.py +++ b/klippy/extras/bltouch.py @@ -137,26 +137,24 @@ class BLTouchEndstopWrapper: # Test was successful self.next_test_time = check_end_time + TEST_TIME self.sync_print_time() - def home_prepare(self): + def probe_prepare(self): self.test_sensor() self.sync_print_time() duration = max(MIN_CMD_TIME, self.pin_move_time - MIN_CMD_TIME) self.send_cmd('pin_down', duration=duration) self.send_cmd(None) self.sync_print_time() - self.mcu_endstop.home_prepare() toolhead = self.printer.lookup_object('toolhead') toolhead.flush_step_generation() self.start_mcu_pos = [(s, s.get_mcu_position()) for s in self.mcu_endstop.get_steppers()] - def home_finalize(self): + def probe_finalize(self): self.raise_probe() self.sync_print_time() # Verify the probe actually deployed during the attempt for s, mcu_pos in self.start_mcu_pos: if s.get_mcu_position() == mcu_pos: raise homing.EndstopError("BLTouch failed to deploy") - self.mcu_endstop.home_finalize() def home_start(self, print_time, sample_time, sample_count, rest_time, notify=None): rest_time = min(rest_time, ENDSTOP_REST_TIME) diff --git a/klippy/extras/homing_heaters.py b/klippy/extras/homing_heaters.py index ff132180..6433869f 100644 --- a/klippy/extras/homing_heaters.py +++ b/klippy/extras/homing_heaters.py @@ -11,9 +11,9 @@ class HomingHeaters: self.printer = config.get_printer() self.printer.register_event_handler("klippy:connect", self.handle_connect) - self.printer.register_event_handler("homing:move_begin", + self.printer.register_event_handler("homing:homing_move_begin", self.handle_homing_move_begin) - self.printer.register_event_handler("homing:move_end", + self.printer.register_event_handler("homing:homing_move_end", self.handle_homing_move_end) self.heaters_to_disable = config.get("heaters", "") self.disable_heaters = [] @@ -49,7 +49,7 @@ class HomingHeaters: if self.flaky_steppers == [""]: return True steppers_being_homed = [s.get_name() - for es, name in endstops + for es in endstops for s in es.get_steppers()] return any(x in self.flaky_steppers for x in steppers_being_homed) def handle_homing_move_begin(self, endstops): diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py index 83e91850..ca6d0dd3 100644 --- a/klippy/extras/manual_stepper.py +++ b/klippy/extras/manual_stepper.py @@ -77,12 +77,9 @@ class ManualStepper: def do_homing_move(self, movepos, speed, accel, triggered): if not self.can_home: raise self.gcode.error("No endstop for this manual stepper") - # Notify endstops of upcoming home - endstops = self.rail.get_endstops() - for mcu_endstop, name in endstops: - mcu_endstop.home_prepare() # Start endstop checking self.sync_print_time() + endstops = self.rail.get_endstops() for mcu_endstop, name in endstops: min_step_dist = min([s.get_step_dist() for s in mcu_endstop.get_steppers()]) @@ -99,12 +96,6 @@ class ManualStepper: except mcu_endstop.TimeoutError as e: if error is None: error = "Failed to home %s: %s" % (name, str(e)) - for mcu_endstop, name in endstops: - try: - mcu_endstop.home_finalize() - except homing.CommandError as e: - if error is None: - error = str(e) self.sync_print_time() if error is not None: raise homing.CommandError(error) diff --git a/klippy/extras/probe.py b/klippy/extras/probe.py index e494eda1..3920c080 100644 --- a/klippy/extras/probe.py +++ b/klippy/extras/probe.py @@ -43,6 +43,11 @@ class PrinterProbe: minval=0) # Register z_virtual_endstop pin self.printer.lookup_object('pins').register_chip('probe', self) + # Register homing event handlers + self.printer.register_event_handler("homing:homing_move_begin", + self._handle_homing_move_begin) + self.printer.register_event_handler("homing:homing_move_end", + self._handle_homing_move_end) # Register PROBE/QUERY_PROBE commands self.gcode = self.printer.lookup_object('gcode') self.gcode.register_command('PROBE', self.cmd_PROBE, @@ -53,6 +58,12 @@ class PrinterProbe: desc=self.cmd_PROBE_CALIBRATE_help) self.gcode.register_command('PROBE_ACCURACY', self.cmd_PROBE_ACCURACY, desc=self.cmd_PROBE_ACCURACY_help) + def _handle_homing_move_begin(self, endstops): + if self.mcu_probe in endstops: + self.mcu_probe.probe_prepare() + def _handle_homing_move_end(self, endstops): + if self.mcu_probe in endstops: + self.mcu_probe.probe_finalize() def setup_pin(self, pin_type, pin_params): if pin_type != 'endstop' or pin_params['pin'] != 'z_virtual_endstop': raise pins.error("Probe virtual endstop only useful as endstop pin") @@ -255,22 +266,20 @@ class ProbeEndstopWrapper: for stepper in kin.get_steppers(): if stepper.is_active_axis('z'): self.add_stepper(stepper) - def home_prepare(self): + def probe_prepare(self): toolhead = self.printer.lookup_object('toolhead') start_pos = toolhead.get_position() self.activate_gcode.run_gcode_from_command() if toolhead.get_position()[:3] != start_pos[:3]: raise homing.CommandError( "Toolhead moved during probe activate_gcode script") - self.mcu_endstop.home_prepare() - def home_finalize(self): + def probe_finalize(self): toolhead = self.printer.lookup_object('toolhead') start_pos = toolhead.get_position() self.deactivate_gcode.run_gcode_from_command() if toolhead.get_position()[:3] != start_pos[:3]: raise homing.CommandError( "Toolhead moved during probe deactivate_gcode script") - self.mcu_endstop.home_finalize() def get_position_endstop(self): return self.position_endstop diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py index 7c92d772..cead9e4a 100644 --- a/klippy/extras/tmc.py +++ b/klippy/extras/tmc.py @@ -182,12 +182,30 @@ class TMCCommandHelper: # TMC virtual pins ###################################################################### -# Endstop wrapper that enables "sensorless homing" -class TMCVirtualEndstop: - def __init__(self, mcu_tmc, mcu_endstop): +# Helper class for "sensorless homing" +class TMCVirtualPinHelper: + def __init__(self, config, mcu_tmc, diag_pin): + self.printer = config.get_printer() self.mcu_tmc = mcu_tmc self.fields = mcu_tmc.get_fields() - self.mcu_endstop = mcu_endstop + self.diag_pin = diag_pin + self.mcu_endstop = None + self.en_pwm = False + self.pwmthrs = 0 + # Register virtual_endstop pin + name_parts = config.get_name().split() + ppins = self.printer.lookup_object("pins") + ppins.register_chip("%s_%s" % (name_parts[0], name_parts[-1]), self) + def setup_pin(self, pin_type, pin_params): + # Validate pin + ppins = self.printer.lookup_object('pins') + if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop': + raise ppins.error("tmc virtual endstop only useful as endstop") + if pin_params['invert'] or pin_params['pullup']: + raise ppins.error("Can not pullup/invert tmc virtual pin") + if self.diag_pin is None: + raise ppins.error("tmc virtual endstop requires diag pin config") + # Setup for sensorless homing reg = self.fields.lookup_register("en_pwm_mode", None) if reg is None: self.en_pwm = not self.fields.get_field("en_spreadCycle") @@ -195,15 +213,15 @@ class TMCVirtualEndstop: else: self.en_pwm = self.fields.get_field("en_pwm_mode") self.pwmthrs = 0 - # 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.TimeoutError = self.mcu_endstop.TimeoutError - def home_prepare(self): + self.printer.register_event_handler("homing:homing_move_begin", + self.handle_homing_move_begin) + self.printer.register_event_handler("homing:homing_move_end", + self.handle_homing_move_end) + self.mcu_endstop = ppins.setup_pin('endstop', self.diag_pin) + return self.mcu_endstop + def handle_homing_move_begin(self, endstops): + if self.mcu_endstop not in endstops: + return reg = self.fields.lookup_register("en_pwm_mode", None) if reg is None: # On "stallguard4" drivers, "stealthchop" must be enabled @@ -215,8 +233,9 @@ class TMCVirtualEndstop: val = self.fields.set_field("diag1_stall", 1) self.mcu_tmc.set_register("GCONF", val) self.mcu_tmc.set_register("TCOOLTHRS", 0xfffff) - self.mcu_endstop.home_prepare() - def home_finalize(self): + def handle_homing_move_end(self, endstops): + if self.mcu_endstop not in endstops: + return reg = self.fields.lookup_register("en_pwm_mode", None) if reg is None: self.mcu_tmc.set_register("TPWMTHRS", self.pwmthrs) @@ -226,26 +245,6 @@ class TMCVirtualEndstop: val = self.fields.set_field("diag1_stall", 0) self.mcu_tmc.set_register("GCONF", val) self.mcu_tmc.set_register("TCOOLTHRS", 0) - self.mcu_endstop.home_finalize() - -class TMCVirtualPinHelper: - def __init__(self, config, mcu_tmc, diag_pin): - self.printer = config.get_printer() - self.mcu_tmc = mcu_tmc - self.diag_pin = diag_pin - name_parts = config.get_name().split() - ppins = self.printer.lookup_object("pins") - ppins.register_chip("%s_%s" % (name_parts[0], name_parts[-1]), self) - def setup_pin(self, pin_type, pin_params): - ppins = self.printer.lookup_object('pins') - if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop': - raise ppins.error("tmc virtual endstop only useful as endstop") - if pin_params['invert'] or pin_params['pullup']: - raise ppins.error("Can not pullup/invert tmc virtual pin") - if self.diag_pin is None: - raise ppins.error("tmc virtual endstop requires diag pin config") - mcu_endstop = ppins.setup_pin('endstop', self.diag_pin) - return TMCVirtualEndstop(self.mcu_tmc, mcu_endstop) ###################################################################### diff --git a/klippy/homing.py b/klippy/homing.py index f681e26b..4dc40ad4 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -47,9 +47,9 @@ class Homing: self.toolhead.signal_drip_mode_end() def homing_move(self, movepos, endstops, speed, probe_pos=False, verify_movement=False): - # Notify endstops of upcoming home - for mcu_endstop, name in endstops: - mcu_endstop.home_prepare() + # Notify start of homing/probing move + self.printer.send_event("homing:homing_move_begin", + [es for es, name in endstops]) # Note start location self.toolhead.flush_step_generation() kin = self.toolhead.get_kinematics() @@ -66,8 +66,6 @@ class Homing: print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT, rest_time, notify=self._endstop_notify) self.toolhead.dwell(HOMING_START_DELAY) - # notify anyone out there of move start - self.printer.send_event("homing:move_begin", endstops) # Issue move error = None try: @@ -82,8 +80,6 @@ class Homing: except mcu_endstop.TimeoutError as e: if error is None: error = "Failed to home %s: %s" % (name, str(e)) - # notify anyone out there of move end - self.printer.send_event("homing:move_end", endstops) # Determine stepper halt positions self.toolhead.flush_step_generation() end_mcu_pos = [(s, name, spos, s.get_mcu_position()) @@ -95,13 +91,13 @@ class Homing: self.set_homed_position(kin.calc_tag_position()) else: self.toolhead.set_position(movepos) - # Signal homing complete - for mcu_endstop, name in endstops: - try: - mcu_endstop.home_finalize() - except CommandError as e: - if error is None: - error = str(e) + # Signal homing/probing move complete + try: + self.printer.send_event("homing:homing_move_end", + [es for es, name in endstops]) + except CommandError as e: + if error is None: + error = str(e) if error is not None: raise CommandError(error) # Check if some movement occurred diff --git a/klippy/mcu.py b/klippy/mcu.py index 3cabac38..fafaab9c 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -54,8 +54,6 @@ class MCU_endstop: " rest_ticks=%u pin_value=%c", cq=cmd_queue) self._query_cmd = self._mcu.lookup_command( "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, triggered=True, notify=None): clock = self._mcu.print_time_to_clock(print_time) @@ -112,8 +110,6 @@ class MCU_endstop: s.note_homing_end(did_trigger=did_trigger) if not did_trigger: raise self.TimeoutError("Timeout during endstop homing") - def home_finalize(self): - pass def query_endstop(self, print_time): clock = self._mcu.print_time_to_clock(print_time) if self._mcu.is_fileoutput(): |