diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 67 |
1 files changed, 37 insertions, 30 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 3f88c3e5..dc0011c9 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -18,10 +18,10 @@ class MCU_endstop: self._pullup = pin_params['pullup'] self._invert = pin_params['invert'] self._reactor = mcu.get_printer().get_reactor() - self._oid = self._home_cmd = self._requery_cmd = self._query_cmd = None + self._oid = self._home_cmd = self._query_cmd = None + self._ts_oid = self._trsync_start_cmd = self._trsync_trigger_cmd = None self._mcu.register_config_callback(self._build_config) - self._min_query_time = self._last_sent_time = 0. - self._next_query_print_time = self._end_home_time = 0. + self._min_query_time = self._last_sent_time = self._end_home_time = 0. self._trigger_completion = self._home_completion = None def get_mcu(self): return self._mcu @@ -34,23 +34,31 @@ class MCU_endstop: def get_steppers(self): return list(self._steppers) def _build_config(self): + # Setup config + self._ts_oid = self._mcu.create_oid() + self._mcu.add_config_cmd("config_trsync oid=%d" % (self._ts_oid,)) + self._mcu.add_config_cmd("trsync_trigger oid=%d reason=0" + % (self._ts_oid,), on_restart=True) self._oid = self._mcu.create_oid() - self._mcu.add_config_cmd( - "config_endstop oid=%d pin=%s pull_up=%d stepper_count=%d" % ( - self._oid, self._pin, self._pullup, len(self._steppers))) + self._mcu.add_config_cmd("config_endstop oid=%d pin=%s pull_up=%d" + % (self._oid, self._pin, self._pullup)) self._mcu.add_config_cmd( "endstop_home oid=%d clock=0 sample_ticks=0 sample_count=0" - " rest_ticks=0 pin_value=0" % (self._oid,), on_restart=True) - for i, s in enumerate(self._steppers): - self._mcu.add_config_cmd( - "endstop_set_stepper oid=%d pos=%d stepper_oid=%d" % ( - self._oid, i, s.get_oid()), is_init=True) + " rest_ticks=0 pin_value=0 trsync_oid=0 trigger_reason=0" + % (self._oid,), on_restart=True) + # Lookup commands cmd_queue = self._mcu.alloc_command_queue() + self._trsync_start_cmd = self._mcu.lookup_command( + "trsync_start oid=%c report_clock=%u report_ticks=%u" + " expire_reason=%c", cq=cmd_queue) + self._trsync_trigger_cmd = self._mcu.lookup_command( + "trsync_trigger oid=%c reason=%c", cq=cmd_queue) + self._stepper_stop_cmd = self._mcu.lookup_command( + "stepper_stop_on_trigger oid=%c trsync_oid=%c", cq=cmd_queue) self._home_cmd = self._mcu.lookup_command( "endstop_home oid=%c clock=%u sample_ticks=%u sample_count=%c" - " rest_ticks=%u pin_value=%c", cq=cmd_queue) - self._requery_cmd = self._mcu.lookup_command( - "endstop_query_state oid=%c", cq=cmd_queue) + " rest_ticks=%u pin_value=%c trsync_oid=%c trigger_reason=%c", + cq=cmd_queue) self._query_cmd = self._mcu.lookup_query_command( "endstop_query_state oid=%c", "endstop_state oid=%c homing=%c next_clock=%u pin_value=%c", @@ -59,24 +67,28 @@ class MCU_endstop: triggered=True): clock = self._mcu.print_time_to_clock(print_time) rest_ticks = self._mcu.print_time_to_clock(print_time+rest_time) - clock - self._next_query_print_time = print_time + self.RETRY_QUERY self._min_query_time = self._reactor.monotonic() self._last_sent_time = 0. self._home_end_time = self._reactor.NEVER self._trigger_completion = self._reactor.completion() - self._mcu.register_response(self._handle_endstop_state, - "endstop_state", self._oid) + self._mcu.register_response(self._handle_trsync_state, + "trsync_state", self._ts_oid) + report_ticks = self._mcu.seconds_to_clock(0.100) + self._trsync_start_cmd.send([self._ts_oid, clock, report_ticks, 0], + reqclock=clock) + for s in self._steppers: + self._stepper_stop_cmd.send([s.get_oid(), self._ts_oid]) self._home_cmd.send( [self._oid, clock, self._mcu.seconds_to_clock(sample_time), - sample_count, rest_ticks, triggered ^ self._invert], - reqclock=clock) + sample_count, rest_ticks, triggered ^ self._invert, + self._ts_oid, 0], reqclock=clock) self._home_completion = self._reactor.register_callback( self._home_retry) return self._trigger_completion - def _handle_endstop_state(self, params): - logging.debug("endstop_state %s", params) + def _handle_trsync_state(self, params): + logging.debug("trsync_state %s", params) if params['#sent_time'] >= self._min_query_time: - if params['homing']: + if params['can_trigger']: self._last_sent_time = params['#sent_time'] else: self._min_query_time = self._reactor.NEVER @@ -93,17 +105,12 @@ class MCU_endstop: last = self._mcu.estimated_print_time(self._last_sent_time) if last > self._home_end_time or self._mcu.is_shutdown(): return False - # Check for resend - eventtime = self._reactor.monotonic() - est_print_time = self._mcu.estimated_print_time(eventtime) - if est_print_time >= self._next_query_print_time: - self._next_query_print_time = est_print_time + self.RETRY_QUERY - self._requery_cmd.send([self._oid]) def home_wait(self, home_end_time): self._home_end_time = home_end_time did_trigger = self._home_completion.wait() - self._mcu.register_response(None, "endstop_state", self._oid) - self._home_cmd.send([self._oid, 0, 0, 0, 0, 0]) + self._trsync_trigger_cmd.send([self._ts_oid, 0]) + self._mcu.register_response(None, "trsync_state", self._ts_oid) + self._home_cmd.send([self._oid, 0, 0, 0, 0, 0, 0, 0]) for s in self._steppers: s.note_homing_end(did_trigger=did_trigger) if not self._trigger_completion.test(): |