diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/homing.py | 5 | ||||
| -rw-r--r-- | klippy/mcu.py | 19 | ||||
| -rw-r--r-- | klippy/stepper.py | 5 |
3 files changed, 10 insertions, 19 deletions
diff --git a/klippy/homing.py b/klippy/homing.py index 21d3e225..c4092fff 100644 --- a/klippy/homing.py +++ b/klippy/homing.py @@ -6,6 +6,8 @@ import logging HOMING_DELAY = 0.250 +ENDSTOP_SAMPLE_TIME = .000015 +ENDSTOP_SAMPLE_COUNT = 4 class Homing: def __init__(self, toolhead, changed_axes): @@ -36,7 +38,8 @@ class Homing: print_time = self.toolhead.get_last_move_time() endstops = [] for s in steppers: - s.mcu_endstop.home_start(print_time, s.step_dist / speed) + s.mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME, + ENDSTOP_SAMPLE_COUNT, s.step_dist / speed) endstops.append((s, s.mcu_stepper.get_mcu_position())) self.toolhead.move(self._fill_coord(movepos), speed) move_end_print_time = self.toolhead.get_last_move_time() diff --git a/klippy/mcu.py b/klippy/mcu.py index a24a3ba3..a89e6106 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -137,8 +137,6 @@ class MCU_endstop: self._pin = pin_params['pin'] self._pullup = pin_params['pullup'] self._invert = pin_params['invert'] - self._oversample_count = 0 - self._oversample_time = 0. self._cmd_queue = mcu.alloc_command_queue() self._oid = self._home_cmd = self._query_cmd = None self._homing = False @@ -146,9 +144,6 @@ class MCU_endstop: self._last_state = {} def get_mcu(self): return self._mcu - def setup_oversample(self, oversample_count, oversample_time): - self._oversample_count = oversample_count - self._oversample_time = oversample_time def add_stepper(self, stepper): self._steppers.append(stepper) def build_config(self): @@ -160,23 +155,21 @@ class MCU_endstop: self._mcu.add_config_cmd( "end_stop_set_stepper oid=%d pos=%d stepper_oid=%d" % ( self._oid, i, s.get_oid()), is_init=True) - self._mcu.add_config_cmd( - "end_stop_set_oversample oid=%d sample_ticks=%d sample_count=%d" % ( - self._oid, self._mcu.seconds_to_clock(self._oversample_time), - self._oversample_count), is_init=True) self._home_cmd = self._mcu.lookup_command( - "end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c") + "end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c" + " rest_ticks=%u pin_value=%c") self._query_cmd = self._mcu.lookup_command("end_stop_query oid=%c") self._mcu.register_msg(self._handle_end_stop_state, "end_stop_state" , self._oid) - def home_start(self, print_time, rest_time): + def home_start(self, print_time, sample_time, sample_count, rest_time): clock = self._mcu.print_time_to_clock(print_time) rest_ticks = int(rest_time * self._mcu.get_adjusted_freq()) self._homing = True self._min_query_time = self._mcu.monotonic() self._next_query_time = print_time + self.RETRY_QUERY msg = self._home_cmd.encode( - self._oid, clock, rest_ticks, 1 ^ self._invert) + self._oid, clock, self._mcu.seconds_to_clock(sample_time), + sample_count, rest_ticks, 1 ^ self._invert) self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue) for s in self._steppers: s.note_homing_start(clock) @@ -207,7 +200,7 @@ class MCU_endstop: return False if print_time > self._home_timeout: # Timeout - disable endstop checking - msg = self._home_cmd.encode(self._oid, 0, 0, 0) + 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") if self._mcu.is_shutdown(): diff --git a/klippy/stepper.py b/klippy/stepper.py index 6e75413b..9bcf1e72 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -6,9 +6,6 @@ import math, logging import homing, pins -ENDSTOP_OVERSAMPLE_COUNT = 4 -ENDSTOP_OVERSAMPLE_TIME = .000015 - class PrinterStepper: def __init__(self, printer, config, name): self.name = name @@ -55,8 +52,6 @@ class PrinterHomingStepper(PrinterStepper): self.mcu_endstop = pins.setup_pin( printer, 'endstop', config.get('endstop_pin')) - self.mcu_endstop.setup_oversample( - ENDSTOP_OVERSAMPLE_COUNT, ENDSTOP_OVERSAMPLE_TIME) self.mcu_endstop.add_stepper(self.mcu_stepper) self.position_min = config.getfloat('position_min', 0.) self.position_max = config.getfloat( |