diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 35 |
1 files changed, 18 insertions, 17 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index aa4f6297..606c22fb 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -79,14 +79,17 @@ class MCU_stepper: self._stepqueue, homing_clock) if ret: raise error("Internal error in stepcompress") - def note_homing_finalized(self): + def note_homing_end(self, did_trigger=False): ret = self._ffi_lib.stepcompress_set_homing(self._stepqueue, 0) if ret: raise error("Internal error in stepcompress") + if not did_trigger: + return ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0) if ret: raise error("Internal error in stepcompress") - def note_homing_triggered(self): + if self._mcu.is_fileoutput(): + return cmd = self._get_position_cmd.encode(self._oid) params = self._mcu.send_with_response(cmd, 'stepper_position', self._oid) pos = params['pos'] @@ -131,7 +134,8 @@ class MCU_stepper: self._commanded_pos += count class MCU_endstop: - error = error + class TimeoutError(Exception): + pass RETRY_QUERY = 1.000 def __init__(self, mcu, pin_params): self._mcu = mcu @@ -142,7 +146,7 @@ class MCU_endstop: self._cmd_queue = mcu.alloc_command_queue() self._oid = self._home_cmd = self._query_cmd = None self._homing = False - self._min_query_time = self._next_query_time = self._home_timeout = 0. + self._min_query_time = self._next_query_time = 0. self._last_state = {} def get_mcu(self): return self._mcu @@ -182,36 +186,33 @@ class MCU_endstop: self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue) for s in self._steppers: s.note_homing_start(clock) - def home_finalize(self, print_time): - for s in self._steppers: - s.note_homing_finalized() - self._home_timeout = print_time - def home_wait(self): + def home_wait(self, home_end_time): eventtime = self._mcu.monotonic() - while self._check_busy(eventtime): + while self._check_busy(eventtime, home_end_time): 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, home_end_time=0.): # Check if need to send an end_stop_query command - if self._mcu.is_fileoutput(): - return False print_time = self._mcu.estimated_print_time(eventtime) last_sent_time = self._last_state.get('#sent_time', -1.) - if last_sent_time >= self._min_query_time: + if last_sent_time >= self._min_query_time or self._mcu.is_fileoutput(): if not self._homing: return False if not self._last_state.get('homing', 0): for s in self._steppers: - s.note_homing_triggered() + s.note_homing_end(did_trigger=True) self._homing = False return False - if print_time > self._home_timeout: + if print_time > home_end_time: # Timeout - disable endstop checking + for s in self._steppers: + s.note_homing_end() + self._homing = False msg = self._home_cmd.encode(self._oid, 0, 0, 0, 0, 0) self._mcu.send(msg, reqclock=0, cq=self._cmd_queue) - raise error("Timeout during endstop homing") + raise self.TimeoutError("Timeout during endstop homing") if self._mcu.is_shutdown(): raise error("MCU is shutdown") if print_time >= self._next_query_time: |