diff options
Diffstat (limited to 'klippy/extras/bltouch.py')
| -rw-r--r-- | klippy/extras/bltouch.py | 35 |
1 files changed, 22 insertions, 13 deletions
diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py index 7276c361..6c1ed121 100644 --- a/klippy/extras/bltouch.py +++ b/klippy/extras/bltouch.py @@ -38,6 +38,8 @@ class BLTouchEndstopWrapper: self.mcu_endstop = mcu.setup_pin('endstop', pin_params) # Setup for sensor test self.next_test_time = 0. + self.pin_up_not_triggered = config.getboolean( + 'pin_up_reports_not_triggered', True) self.test_sensor_pin = config.getboolean('test_sensor_pin', True) self.start_mcu_pos = [] # Calculate pin move time @@ -74,6 +76,19 @@ class BLTouchEndstopWrapper: self.mcu_pwm.set_pwm(self.next_cmd_time, Commands[cmd] / SIGNAL_PERIOD) self.next_cmd_time += max(duration, MIN_CMD_TIME) return self.next_cmd_time + def verify_state(self, check_start_time, check_end_time, triggered, msg): + # Perform endstop check to verify bltouch reports desired state + prev_positions = [s.get_commanded_position() + for s in self.mcu_endstop.get_steppers()] + self.mcu_endstop.home_start(check_start_time, ENDSTOP_SAMPLE_TIME, + ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME, + triggered=triggered) + try: + self.mcu_endstop.home_wait(check_end_time) + except self.mcu_endstop.TimeoutError as e: + raise homing.EndstopError("BLTouch failed to %s" % (msg,)) + for s, pos in zip(self.mcu_endstop.get_steppers(), prev_positions): + s.set_commanded_position(pos) def test_sensor(self): if not self.test_sensor_pin: return @@ -87,17 +102,8 @@ class BLTouchEndstopWrapper: check_start_time = self.send_cmd('reset', duration=self.pin_move_time) check_end_time = self.send_cmd('touch_mode') self.send_cmd(None) - # Perform endstop check to verify bltouch reports probe raised - prev_positions = [s.get_commanded_position() - for s in self.mcu_endstop.get_steppers()] - self.mcu_endstop.home_start(check_start_time, ENDSTOP_SAMPLE_TIME, - ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME) - try: - self.mcu_endstop.home_wait(check_end_time) - except self.mcu_endstop.TimeoutError as e: - raise homing.EndstopError("BLTouch sensor test failed") - for s, pos in zip(self.mcu_endstop.get_steppers(), prev_positions): - s.set_commanded_position(pos) + self.verify_state(check_start_time, check_end_time, True, + "verify sensor state") # Test was successful self.next_test_time = check_end_time + TEST_TIME self.sync_print_time() @@ -113,8 +119,11 @@ class BLTouchEndstopWrapper: def home_finalize(self): self.sync_mcu_print_time() self.send_cmd('reset') - self.send_cmd('pin_up', duration=self.pin_move_time - MIN_CMD_TIME) - self.send_cmd(None) + check_start_time = self.send_cmd('pin_up', duration=self.pin_move_time) + check_end_time = self.send_cmd(None) + if self.pin_up_not_triggered: + self.verify_state(check_start_time, check_end_time, + False, "raise probe") self.sync_print_time() # Verify the probe actually deployed during the attempt for s, mcu_pos in self.start_mcu_pos: |