diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 36 |
1 files changed, 21 insertions, 15 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 884adbe5..c4d1d7d3 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -97,16 +97,15 @@ class MCU_endstop: , self._oid) self._query_cmd = mcu.lookup_command("end_stop_query oid=%c") self._homing = False - self._last_position = 0 - self._next_query_clock = 0 + self._min_query_time = self._last_query_time = 0. + self._last_state = {} self._mcu_freq = mcu.get_mcu_freq() - self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY) self.print_to_mcu_time = mcu.print_to_mcu_time def home(self, mcu_time, rest_time): clock = int(mcu_time * self._mcu_freq) rest_ticks = int(rest_time * self._mcu_freq) self._homing = True - self._next_query_clock = clock + self._retry_query_ticks + self._min_query_time = self._last_query_time = time.time() msg = self._home_cmd.encode( self._oid, clock, rest_ticks, 1 ^ self._invert) self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue) @@ -117,23 +116,30 @@ class MCU_endstop: self._stepper.note_stepper_stop() def _handle_end_stop_state(self, params): logging.debug("end_stop_state %s" % (params,)) - self._last_position = params['pos'] - self._homing = params['homing'] != 0 - def is_homing(self): - if not self._homing: - return self._homing + self._last_state = params + def check_busy(self, eventtime): + # Check if need to send an end_stop_query command if self._mcu.output_file_mode: return False - last_clock = self._mcu.get_last_clock() - if last_clock >= self._next_query_clock: - self._next_query_clock = last_clock + self._retry_query_ticks + if self._last_state.get('#sent_time', -1.) >= self._min_query_time: + if not self._homing or not self._last_state.get('homing', 0): + return False + if self._last_query_time + self.RETRY_QUERY <= eventtime: + self._last_query_time = eventtime msg = self._query_cmd.encode(self._oid) self._mcu.send(msg, cq=self._cmd_queue) - return self._homing + return True def get_last_position(self): + pos = self._last_state.get('pos', 0) if self._stepper.get_invert_dir(): - return -self._last_position - return self._last_position + return -pos + return pos + def query_endstop(self): + self._homing = False + self._min_query_time = time.time() + self._last_query_time = 0. + def get_last_triggered(self): + return self._last_state.get('pin', self._invert) ^ self._invert class MCU_digital_out: def __init__(self, mcu, pin, max_duration): |