diff options
Diffstat (limited to 'klippy/extras/bltouch.py')
| -rw-r--r-- | klippy/extras/bltouch.py | 51 |
1 files changed, 23 insertions, 28 deletions
diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py index 47555efc..479a90ec 100644 --- a/klippy/extras/bltouch.py +++ b/klippy/extras/bltouch.py @@ -1,9 +1,9 @@ # BLTouch support # -# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2018-2020 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import math, logging +import logging import homing, probe SIGNAL_PERIOD = 0.020 @@ -16,7 +16,7 @@ ENDSTOP_SAMPLE_TIME = .000015 ENDSTOP_SAMPLE_COUNT = 4 Commands = { - None: 0.0, 'pin_down': 0.000650, 'touch_mode': 0.001165, + 'pin_down': 0.000650, 'touch_mode': 0.001165, 'pin_up': 0.001475, 'self_test': 0.001780, 'reset': 0.002190, 'set_5V_output_mode' : 0.001988, 'set_OD_output_mode' : 0.002091, 'output_mode_store' : 0.001884, @@ -36,7 +36,7 @@ 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) - self.next_cmd_time = 0. + self.next_cmd_time = self.action_end_time = 0. # 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) @@ -55,8 +55,7 @@ class BLTouchEndstopWrapper: 'pin_up_touch_mode_reports_triggered', True) self.start_mcu_pos = [] # Calculate pin move time - pmt = max(config.getfloat('pin_move_time', 0.675), MIN_CMD_TIME) - self.pin_move_time = math.ceil(pmt / SIGNAL_PERIOD) * SIGNAL_PERIOD + self.pin_move_time = config.getfloat('pin_move_time', 0.680, above=0.) # Wrappers self.get_mcu = self.mcu_endstop.get_mcu self.add_stepper = self.mcu_endstop.add_stepper @@ -94,32 +93,34 @@ class BLTouchEndstopWrapper: else: self.next_cmd_time = print_time def send_cmd(self, cmd, duration=MIN_CMD_TIME): - self.mcu_pwm.set_pwm(self.next_cmd_time, Commands[cmd] / SIGNAL_PERIOD) # Translate duration to ticks to avoid any secondary mcu clock skew mcu = self.mcu_pwm.get_mcu() cmd_clock = mcu.print_time_to_clock(self.next_cmd_time) - cmd_clock += mcu.seconds_to_clock(max(duration, MIN_CMD_TIME)) - self.next_cmd_time = mcu.clock_to_print_time(cmd_clock) - return self.next_cmd_time - def verify_state(self, check_start_time, check_end_time, triggered): + pulse = int((duration - MIN_CMD_TIME) / SIGNAL_PERIOD) * SIGNAL_PERIOD + cmd_clock += mcu.seconds_to_clock(max(MIN_CMD_TIME, pulse)) + end_time = mcu.clock_to_print_time(cmd_clock) + # Schedule command followed by PWM disable + self.mcu_pwm.set_pwm(self.next_cmd_time, Commands[cmd] / SIGNAL_PERIOD) + self.mcu_pwm.set_pwm(end_time, 0.) + # Update time tracking + self.action_end_time = self.next_cmd_time + duration + self.next_cmd_time = max(self.action_end_time, end_time + MIN_CMD_TIME) + def verify_state(self, triggered): # Perform endstop check to verify bltouch reports desired state - self.mcu_endstop.home_start(check_start_time, ENDSTOP_SAMPLE_TIME, + self.mcu_endstop.home_start(self.action_end_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME, triggered=triggered) - return self.mcu_endstop.home_wait(check_end_time) + return self.mcu_endstop.home_wait(self.action_end_time + 0.100) 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(None) return for retry in range(3): - check_start_time = self.send_cmd('pin_up', - duration=self.pin_move_time) - check_end_time = self.send_cmd(None) - success = self.verify_state(check_start_time, check_end_time, False) + self.send_cmd('pin_up', duration=self.pin_move_time) + success = self.verify_state(False) if success: # The "probe raised" test completed successfully break @@ -132,9 +133,7 @@ class BLTouchEndstopWrapper: def lower_probe(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.send_cmd('pin_down', duration=self.pin_move_time) def test_sensor(self): if not self.pin_up_touch_triggered: # Nothing to test @@ -147,15 +146,13 @@ class BLTouchEndstopWrapper: # Raise the bltouch probe and test if probe is raised self.sync_print_time() for retry in range(3): - check_start_time = self.send_cmd('pin_up', - duration=self.pin_move_time) + self.send_cmd('pin_up', duration=self.pin_move_time) self.send_cmd('touch_mode') - check_end_time = self.send_cmd(None) - success = self.verify_state(check_start_time, check_end_time, True) + success = self.verify_state(True) self.sync_print_time() if success: # The "bltouch connection" test completed successfully - self.next_test_time = check_end_time + TEST_TIME + self.next_test_time = print_time + TEST_TIME return msg = "BLTouch failed to verify sensor state" if retry >= 2: @@ -233,7 +230,6 @@ class BLTouchEndstopWrapper: else: self.send_cmd('set_OD_output_mode') self.send_cmd('pin_up') - self.send_cmd(None) cmd_BLTOUCH_DEBUG_help = "Send a command to the bltouch for debugging" def cmd_BLTOUCH_DEBUG(self, gcmd): cmd = gcmd.get('COMMAND', None) @@ -244,7 +240,6 @@ class BLTouchEndstopWrapper: gcmd.respond_info("Sending BLTOUCH_DEBUG COMMAND=%s" % (cmd,)) self.sync_print_time() self.send_cmd(cmd, duration=self.pin_move_time) - self.send_cmd(None) self.sync_print_time() cmd_BLTOUCH_STORE_help = "Store an output mode in the BLTouch EEPROM" def cmd_BLTOUCH_STORE(self, gcmd): |