diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 19 |
1 files changed, 11 insertions, 8 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index e4d17898..c7fde801 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -43,6 +43,8 @@ class MCU_stepper: "set_next_step_dir oid=%c dir=%c") self._reset_cmd = mcu.lookup_command( "reset_step_clock oid=%c clock=%u") + self._get_position_cmd = mcu.lookup_command( + "stepper_get_position oid=%c") ffi_main, self.ffi_lib = chelper.get_ffi() self._stepqueue = ffi_main.gc(self.ffi_lib.stepcompress_alloc( max_error, self._step_cmd.msgid @@ -51,13 +53,9 @@ class MCU_stepper: self.print_to_mcu_time = mcu.print_to_mcu_time def get_oid(self): return self._oid - def get_invert_dir(self): - return self._invert_dir def set_position(self, pos): self._mcu_position_offset += self.commanded_position - pos self.commanded_position = pos - def set_mcu_position(self, pos): - self._mcu_position_offset = pos - self.commanded_position def get_mcu_position(self): return self.commanded_position + self._mcu_position_offset def note_homing_start(self, homing_clock): @@ -71,6 +69,14 @@ class MCU_stepper: ret = self.ffi_lib.stepcompress_reset(self._stepqueue, 0) if ret: raise error("Internal error in stepcompress") + def note_homing_triggered(self): + params = self._mcu.serial.send_with_response( + self._get_position_cmd.encode(self._oid), + 'stepper_position', self._oid) + pos = params['pos'] + if self._invert_dir: + pos = -pos + self._mcu_position_offset = pos - self.commanded_position def reset_step_clock(self, mcu_time): clock = int(mcu_time * self._mcu_freq) ret = self.ffi_lib.stepcompress_reset(self._stepqueue, clock) @@ -188,10 +194,7 @@ class MCU_endstop: if not self._homing: return False if not self._last_state.get('homing', 0): - pos = self._last_state.get('pos', 0) - if self._stepper.get_invert_dir(): - pos = -pos - self._stepper.set_mcu_position(pos) + self._stepper.note_homing_triggered() self._homing = False return False if (self._mcu.serial.get_clock(last_sent_time) |