diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/cartesian.py | 2 | ||||
| -rw-r--r-- | klippy/gcode.py | 16 | ||||
| -rw-r--r-- | klippy/homing.py | 30 | ||||
| -rw-r--r-- | klippy/mcu.py | 36 | ||||
| -rw-r--r-- | klippy/stepper.py | 5 | ||||
| -rw-r--r-- | klippy/toolhead.py | 3 |
6 files changed, 75 insertions, 17 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index 4fff4ab7..bc141c12 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -67,6 +67,8 @@ class CartKinematics: def motor_off(self, move_time): for stepper in self.steppers: stepper.motor_enable(move_time, 0) + def query_endstops(self, move_time): + return homing.QueryEndstops(["x", "y", "z"], self.steppers) def move(self, move_time, move): inv_accel = 1. / move.accel inv_cruise_v = 1. / move.cruise_v diff --git a/klippy/gcode.py b/klippy/gcode.py index f6f64d1e..529bd1dc 100644 --- a/klippy/gcode.py +++ b/klippy/gcode.py @@ -44,7 +44,7 @@ class GCodeParser: def build_handlers(self): shutdown_handlers = ['M105', 'M110', 'M114'] handlers = ['G0', 'G1', 'G4', 'G20', 'G21', 'G28', 'G90', 'G91', 'G92', - 'M18', 'M82', 'M83', 'M84', 'M110', 'M114', 'M206'] + 'M18', 'M82', 'M83', 'M84', 'M110', 'M114', 'M119', 'M206'] if self.heater_nozzle is not None: handlers.extend(['M104', 'M105', 'M109', 'M303']) if self.heater_bed is not None: @@ -294,6 +294,20 @@ class GCodeParser: self.last_position[0], self.last_position[1], self.last_position[2], self.last_position[3], kinpos[0], kinpos[1], kinpos[2])) + def cmd_M119(self, params): + # Get Endstop Status + if self.inputfile: + return + # Wrapper class for check_busy() that responds with final status + class endstop_handler_wrapper: + gcode = self + state = self.toolhead.query_endstops() + def check_busy(self, eventtime): + busy = self.state.check_busy(eventtime) + if not busy: + self.gcode.respond(self.state.get_msg()) + return busy + self.set_busy(endstop_handler_wrapper()) def cmd_M140(self, params): # Set Bed Temperature self.set_temp(self.heater_bed, params) diff --git a/klippy/homing.py b/klippy/homing.py index 8670c45a..1bfe141e 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -11,6 +11,7 @@ class Homing: self.toolhead = toolhead self.changed_axes = changed_axes + self.eventtime = 0. self.states = [] self.endstops = [] def plan_home(self, forcepos, movepos, steppers, speed): @@ -21,6 +22,7 @@ class Homing: def plan_axes_update(self, callback): self.states.append((callback, (self.changed_axes,))) def check_busy(self, eventtime): + self.eventtime = eventtime while self.states: first = self.states[0] ret = first[0](*first[1]) @@ -57,8 +59,34 @@ class Homing: def do_wait_endstop(self): # Check if endstops have triggered for es in self.endstops: - if es.is_homing(): + if es.check_busy(self.eventtime): return True # Finished del self.endstops[:] return False + +class QueryEndstops: + def __init__(self, names, steppers): + self.endstops = [] + self.busy = [] + for name, stepper in zip(names, steppers): + es = stepper.query_endstop() + if es is None: + continue + self.endstops.append((name, es)) + self.busy.append(es) + def check_busy(self, eventtime): + while self.busy: + busy = self.busy[0].check_busy(eventtime) + if busy: + return True + self.busy.pop(0) + return False + def get_msg(self): + msgs = [] + for name, es in self.endstops: + msg = "open" + if es.get_last_triggered(): + msg = "TRIGGERED" + msgs.append("%s:%s" % (name, msg)) + return " ".join(msgs) diff --git a/klippy/mcu.py b/klippy/mcu.py index 884adbe5..c4d1d7d3 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -97,16 +97,15 @@ class MCU_endstop: , self._oid) self._query_cmd = mcu.lookup_command("end_stop_query oid=%c") self._homing = False - self._last_position = 0 - self._next_query_clock = 0 + self._min_query_time = self._last_query_time = 0. + self._last_state = {} self._mcu_freq = mcu.get_mcu_freq() - self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY) 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._next_query_clock = clock + self._retry_query_ticks + self._min_query_time = self._last_query_time = time.time() msg = self._home_cmd.encode( self._oid, clock, rest_ticks, 1 ^ self._invert) self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue) @@ -117,23 +116,30 @@ class MCU_endstop: self._stepper.note_stepper_stop() def _handle_end_stop_state(self, params): logging.debug("end_stop_state %s" % (params,)) - self._last_position = params['pos'] - self._homing = params['homing'] != 0 - def is_homing(self): - if not self._homing: - return self._homing + self._last_state = params + def check_busy(self, eventtime): + # Check if need to send an end_stop_query command if self._mcu.output_file_mode: return False - last_clock = self._mcu.get_last_clock() - if last_clock >= self._next_query_clock: - self._next_query_clock = last_clock + self._retry_query_ticks + 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 msg = self._query_cmd.encode(self._oid) self._mcu.send(msg, cq=self._cmd_queue) - return self._homing + return True def get_last_position(self): + pos = self._last_state.get('pos', 0) if self._stepper.get_invert_dir(): - return -self._last_position - return self._last_position + return -pos + return pos + def query_endstop(self): + self._homing = False + self._min_query_time = time.time() + self._last_query_time = 0. + def get_last_triggered(self): + return self._last_state.get('pin', self._invert) ^ self._invert class MCU_digital_out: def __init__(self, mcu, pin, max_duration): diff --git a/klippy/stepper.py b/klippy/stepper.py index 084f0131..310a0711 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -80,6 +80,11 @@ class PrinterStepper: mcu_time = self.mcu_endstop.print_to_mcu_time(move_time) self.mcu_endstop.home(mcu_time, step_time) return self.mcu_endstop + def query_endstop(self): + if self.mcu_endstop is None: + return None + self.mcu_endstop.query_endstop() + return self.mcu_endstop def get_homed_position(self): if not self.homing_stepper_phases: return self.position_endstop diff --git a/klippy/toolhead.py b/klippy/toolhead.py index 54dae025..d6f41ef1 100644 --- a/klippy/toolhead.py +++ b/klippy/toolhead.py @@ -280,6 +280,9 @@ class ToolHead: self.extruder.motor_off(last_move_time) self.dwell(STALL_TIME) logging.debug('; Max time of %f' % (last_move_time,)) + def query_endstops(self): + last_move_time = self.get_last_move_time() + return self.kin.query_endstops(last_move_time) def force_shutdown(self): self.printer.mcu.force_shutdown() self.move_queue.reset() |