diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 21 |
1 files changed, 12 insertions, 9 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 091222b2..ba441474 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -111,6 +111,7 @@ class MCU_stepper: return self.ffi_lib.stepcompress_get_errors(self._stepqueue) class MCU_endstop: + error = error RETRY_QUERY = 1.000 def __init__(self, mcu, pin, stepper): self._mcu = mcu @@ -134,7 +135,7 @@ class MCU_endstop: self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY) self._last_state = {} self.print_to_mcu_time = mcu.print_to_mcu_time - def home(self, mcu_time, rest_time): + def home_start(self, mcu_time, rest_time): clock = int(mcu_time * self._mcu_freq) rest_ticks = int(rest_time * self._mcu_freq) self._homing = True @@ -149,10 +150,14 @@ class MCU_endstop: self._mcu.serial.send_flush() self._stepper.note_stepper_stop() self._home_timeout_clock = int(mcu_time * self._mcu_freq) + def home_wait(self): + eventtime = time.time() + while self._check_busy(eventtime): + eventtime = self._mcu.pause(eventtime + 0.1) def _handle_end_stop_state(self, params): logging.debug("end_stop_state %s" % (params,)) self._last_state = params - def check_busy(self, eventtime): + def _check_busy(self, eventtime): # Check if need to send an end_stop_query command if self._mcu.is_fileoutput(): return False @@ -161,7 +166,10 @@ class MCU_endstop: if not self._homing: return False if not self._last_state.get('homing', 0): - self._stepper.set_mcu_position(self.get_last_position()) + pos = self._last_state.get('pos', 0) + if self._stepper.get_invert_dir(): + pos = -pos + self._stepper.set_mcu_position(pos) self._homing = False return False if (self._mcu.serial.get_clock(last_sent_time) @@ -178,11 +186,6 @@ class MCU_endstop: msg = self._query_cmd.encode(self._oid) self._mcu.send(msg, cq=self._cmd_queue) return True - def get_last_position(self): - pos = self._last_state.get('pos', 0) - if self._stepper.get_invert_dir(): - return -pos - return pos def query_endstop(self, mcu_time): clock = int(mcu_time * self._mcu_freq) self._homing = False @@ -190,7 +193,7 @@ class MCU_endstop: self._next_query_clock = clock def query_endstop_wait(self): eventtime = time.time() - while self.check_busy(eventtime): + while self._check_busy(eventtime): eventtime = self._mcu.pause(eventtime + 0.1) return self._last_state.get('pin', self._invert) ^ self._invert |