diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 728ec91d..864ebbfb 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -40,6 +40,8 @@ class MCU_stepper: max_error, self._step_cmd.msgid, self._oid) def get_oid(self): return self._oid + def get_invert_dir(self): + return self._invert_dir def note_stepper_stop(self): self._sdir = -1 self._last_move_clock = -2**29 @@ -88,6 +90,7 @@ 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 mcu_freq = self._mcu.get_mcu_freq() self._retry_query_ticks = mcu_freq * self.RETRY_QUERY @@ -104,6 +107,7 @@ 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: @@ -116,6 +120,10 @@ class MCU_endstop: msg = self._query_cmd.encode(self._oid) self._mcu.send(msg, cq=self._cmd_queue) return self._homing + def get_last_position(self): + if self._stepper.get_invert_dir(): + return -self._last_position + return self._last_position def get_print_clock(self, print_time): return self._mcu.get_print_clock(print_time) |