diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/extras/bltouch.py | 3 | ||||
| -rw-r--r-- | klippy/extras/homing.py | 8 | ||||
| -rw-r--r-- | klippy/mcu.py | 12 |
3 files changed, 18 insertions, 5 deletions
diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py index 05822c01..48759752 100644 --- a/klippy/extras/bltouch.py +++ b/klippy/extras/bltouch.py @@ -116,7 +116,8 @@ class BLTouchEndstopWrapper: self.mcu_endstop.home_start(self.action_end_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME, triggered=triggered) - return self.mcu_endstop.home_wait(self.action_end_time + 0.100) + trigger_time = self.mcu_endstop.home_wait(self.action_end_time + 0.100) + return trigger_time > 0. def raise_probe(self): self.sync_mcu_print_time() if not self.pin_up_not_triggered: diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py index dc7acd62..67a19513 100644 --- a/klippy/extras/homing.py +++ b/klippy/extras/homing.py @@ -76,9 +76,11 @@ class HomingMove: # Wait for endstops to trigger move_end_print_time = self.toolhead.get_last_move_time() for mcu_endstop, name in self.endstops: - did_trigger = mcu_endstop.home_wait(move_end_print_time) - if not did_trigger and check_triggered and error is None: - error = "Failed to home %s: Timeout during homing" % (name,) + trigger_time = mcu_endstop.home_wait(move_end_print_time) + if trigger_time < 0. and error is None: + error = "Communication timeout during homing %s" % (name,) + elif not trigger_time and check_triggered and error is None: + error = "No trigger on %s after full movement" % (name,) # Determine stepper halt positions self.toolhead.flush_step_generation() self.end_mcu_pos = [(s, name, spos, s.get_mcu_position()) diff --git a/klippy/mcu.py b/klippy/mcu.py index 83143837..eb1f319f 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -136,6 +136,7 @@ class MCU_endstop: self._home_cmd = self._query_cmd = None self._mcu.register_config_callback(self._build_config) self._trigger_completion = None + self._rest_ticks = 0 ffi_main, ffi_lib = chelper.get_ffi() self._trdispatch = ffi_main.gc(ffi_lib.trdispatch_alloc(), ffi_lib.free) self._trsync = MCU_trsync(mcu, self._trdispatch) @@ -169,6 +170,7 @@ class MCU_endstop: triggered=True): clock = self._mcu.print_time_to_clock(print_time) rest_ticks = self._mcu.print_time_to_clock(print_time+rest_time) - clock + self._rest_ticks = rest_ticks reactor = self._mcu.get_printer().get_reactor() self._trigger_completion = reactor.completion() etrsync = self._trsync @@ -190,7 +192,15 @@ class MCU_endstop: ffi_main, ffi_lib = chelper.get_ffi() ffi_lib.trdispatch_stop(self._trdispatch) res = etrsync.stop() - return res == etrsync.REASON_ENDSTOP_HIT + if res == etrsync.REASON_COMMS_TIMEOUT: + return -1. + if res != etrsync.REASON_ENDSTOP_HIT: + return 0. + if self._mcu.is_fileoutput(): + return home_end_time + params = self._query_cmd.send([self._oid]) + next_clock = self._mcu.clock32_to_clock64(params['next_clock']) + return self._mcu.clock_to_print_time(next_clock - self._rest_ticks) def query_endstop(self, print_time): clock = self._mcu.print_time_to_clock(print_time) if self._mcu.is_fileoutput(): |