diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 22 |
1 files changed, 19 insertions, 3 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index df1bb3dc..54cc78da 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -6,6 +6,12 @@ import sys, zlib, logging, time, math import serialhdl, pins, chelper +class MCUError(Exception): + def __init__(self, msg="MCU Error"): + self._msg = msg + def __str__(self): + return self._msg + def parse_pin_extras(pin, can_pullup=False): pullup = invert = 0 if can_pullup and pin.startswith('^'): @@ -100,7 +106,7 @@ class MCU_endstop: self._query_cmd = mcu.lookup_command("end_stop_query oid=%c") self._homing = False self._min_query_time = 0. - self._next_query_clock = 0 + self._next_query_clock = self._home_timeout_clock = 0 self._mcu_freq = mcu.get_mcu_freq() self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY) self._last_state = {} @@ -114,11 +120,12 @@ class MCU_endstop: msg = self._home_cmd.encode( self._oid, clock, rest_ticks, 1 ^ self._invert) self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue) - def home_finalize(self): + def home_finalize(self, mcu_time): # XXX - this flushes the serial port of messages ready to be # sent, but doesn't flush messages if they had an unmet minclock self._mcu.serial.send_flush() self._stepper.note_stepper_stop() + self._home_timeout_clock = int(mcu_time * self._mcu_freq) def _handle_end_stop_state(self, params): logging.debug("end_stop_state %s" % (params,)) self._last_state = params @@ -126,9 +133,18 @@ class MCU_endstop: # Check if need to send an end_stop_query command if self._mcu.output_file_mode: return False - if self._last_state.get('#sent_time', -1.) >= self._min_query_time: + last_sent_time = self._last_state.get('#sent_time', -1.) + if last_sent_time >= self._min_query_time: if not self._homing or not self._last_state.get('homing', 0): return False + if (self._mcu.serial.get_clock(last_sent_time) + > self._home_timeout_clock): + # Timeout - disable endstop checking + msg = self._home_cmd.encode(self._oid, 0, 0, 0) + self._mcu.send(msg, reqclock=0, cq=self._cmd_queue) + raise MCUError("Timeout during endstop homing") + if self._mcu.is_shutdown: + raise MCUError("MCU is shutdown") last_clock = self._mcu.get_last_clock() if last_clock >= self._next_query_clock: self._next_query_clock = last_clock + self._retry_query_ticks |