diff options
Diffstat (limited to 'klippy/extras/bltouch.py')
| -rw-r--r-- | klippy/extras/bltouch.py | 33 |
1 files changed, 24 insertions, 9 deletions
diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py index eabb2f2c..2d0be3d8 100644 --- a/klippy/extras/bltouch.py +++ b/klippy/extras/bltouch.py @@ -38,7 +38,9 @@ class BLTouchEndstopWrapper: self.mcu_pwm = ppins.setup_pin('pwm', config.get('control_pin')) self.mcu_pwm.setup_max_duration(0.) self.mcu_pwm.setup_cycle_time(SIGNAL_PERIOD) + # Command timing self.next_cmd_time = self.action_end_time = 0. + self.finish_home_complete = self.wait_trigger_complete = None # Create an "endstop" object to handle the sensor pin pin = config.get('sensor_pin') pin_params = ppins.lookup_pin(pin, can_invert=True, can_pullup=True) @@ -82,6 +84,7 @@ class BLTouchEndstopWrapper: self.set_output_mode(self.output_mode) try: self.raise_probe() + self.verify_raise_probe() except self.printer.command_error as e: logging.warning("BLTouch raise probe error: %s", str(e)) def sync_mcu_print_time(self): @@ -117,12 +120,13 @@ class BLTouchEndstopWrapper: def raise_probe(self): self.sync_mcu_print_time() if not self.pin_up_not_triggered: - # No way to verify raise attempt - just issue commands self.send_cmd('reset') - self.send_cmd('pin_up', duration=self.pin_move_time) + self.send_cmd('pin_up', duration=self.pin_move_time) + def verify_raise_probe(self): + if not self.pin_up_not_triggered: + # No way to verify raise attempt return for retry in range(3): - self.send_cmd('pin_up', duration=self.pin_move_time) success = self.verify_state(False) if success: # The "probe raised" test completed successfully @@ -134,6 +138,7 @@ class BLTouchEndstopWrapper: self.gcode.respond_info(msg) self.sync_mcu_print_time() self.send_cmd('reset', duration=RETRY_RESET_TIME) + self.send_cmd('pin_up', duration=self.pin_move_time) def lower_probe(self): self.test_sensor() self.sync_print_time() @@ -174,6 +179,7 @@ class BLTouchEndstopWrapper: return self.sync_print_time() self.raise_probe() + self.verify_raise_probe() self.sync_print_time() self.multi = 'OFF' def probe_prepare(self, hmove): @@ -182,17 +188,26 @@ class BLTouchEndstopWrapper: if self.multi == 'FIRST': self.multi = 'ON' self.sync_print_time() - def probe_finish(self, hmove): + def home_start(self, print_time, sample_time, sample_count, rest_time, + triggered=True): + rest_time = min(rest_time, ENDSTOP_REST_TIME) + self.finish_home_complete = self.mcu_endstop.home_start( + print_time, sample_time, sample_count, rest_time, triggered) + # Schedule wait_for_trigger callback + r = self.printer.get_reactor() + self.wait_trigger_complete = r.register_callback(self.wait_for_trigger) + return self.finish_home_complete + def wait_for_trigger(self, eventtime): + self.finish_home_complete.wait() if self.multi == 'OFF': self.raise_probe() + def probe_finish(self, hmove): + self.wait_trigger_complete.wait() + if self.multi == 'OFF': + self.verify_raise_probe() self.sync_print_time() if hmove.check_no_movement() is not None: raise self.printer.command_error("BLTouch failed to deploy") - def home_start(self, print_time, sample_time, sample_count, rest_time, - triggered=True): - rest_time = min(rest_time, ENDSTOP_REST_TIME) - return self.mcu_endstop.home_start(print_time, sample_time, - sample_count, rest_time, triggered) def get_position_endstop(self): return self.position_endstop def set_output_mode(self, mode): |