diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 16 |
1 files changed, 10 insertions, 6 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index c4d1d7d3..d3629fc4 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -97,15 +97,18 @@ class MCU_endstop: , self._oid) self._query_cmd = mcu.lookup_command("end_stop_query oid=%c") self._homing = False - self._min_query_time = self._last_query_time = 0. - self._last_state = {} + self._min_query_time = 0. + self._next_query_clock = 0 self._mcu_freq = mcu.get_mcu_freq() + 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): clock = int(mcu_time * self._mcu_freq) rest_ticks = int(rest_time * self._mcu_freq) self._homing = True - self._min_query_time = self._last_query_time = time.time() + self._min_query_time = time.time() + self._next_query_clock = clock + self._retry_query_ticks msg = self._home_cmd.encode( self._oid, clock, rest_ticks, 1 ^ self._invert) self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue) @@ -124,8 +127,9 @@ class MCU_endstop: if self._last_state.get('#sent_time', -1.) >= self._min_query_time: if not self._homing or not self._last_state.get('homing', 0): return False - if self._last_query_time + self.RETRY_QUERY <= eventtime: - self._last_query_time = eventtime + last_clock = self._mcu.get_last_clock() + if last_clock >= self._next_query_clock: + self._next_query_clock = last_clock + self._retry_query_ticks msg = self._query_cmd.encode(self._oid) self._mcu.send(msg, cq=self._cmd_queue) return True @@ -137,7 +141,7 @@ class MCU_endstop: def query_endstop(self): self._homing = False self._min_query_time = time.time() - self._last_query_time = 0. + self._next_query_clock = 0 def get_last_triggered(self): return self._last_state.get('pin', self._invert) ^ self._invert |