diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/mcu.py | 19 | ||||
| -rw-r--r-- | klippy/serialhdl.py | 11 |
2 files changed, 17 insertions, 13 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index e4d17898..c7fde801 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -43,6 +43,8 @@ class MCU_stepper: "set_next_step_dir oid=%c dir=%c") self._reset_cmd = mcu.lookup_command( "reset_step_clock oid=%c clock=%u") + self._get_position_cmd = mcu.lookup_command( + "stepper_get_position oid=%c") ffi_main, self.ffi_lib = chelper.get_ffi() self._stepqueue = ffi_main.gc(self.ffi_lib.stepcompress_alloc( max_error, self._step_cmd.msgid @@ -51,13 +53,9 @@ class MCU_stepper: self.print_to_mcu_time = mcu.print_to_mcu_time def get_oid(self): return self._oid - def get_invert_dir(self): - return self._invert_dir def set_position(self, pos): self._mcu_position_offset += self.commanded_position - pos self.commanded_position = pos - def set_mcu_position(self, pos): - self._mcu_position_offset = pos - self.commanded_position def get_mcu_position(self): return self.commanded_position + self._mcu_position_offset def note_homing_start(self, homing_clock): @@ -71,6 +69,14 @@ class MCU_stepper: ret = self.ffi_lib.stepcompress_reset(self._stepqueue, 0) if ret: raise error("Internal error in stepcompress") + def note_homing_triggered(self): + params = self._mcu.serial.send_with_response( + self._get_position_cmd.encode(self._oid), + 'stepper_position', self._oid) + pos = params['pos'] + if self._invert_dir: + pos = -pos + self._mcu_position_offset = pos - self.commanded_position def reset_step_clock(self, mcu_time): clock = int(mcu_time * self._mcu_freq) ret = self.ffi_lib.stepcompress_reset(self._stepqueue, clock) @@ -188,10 +194,7 @@ class MCU_endstop: if not self._homing: return False if not self._last_state.get('homing', 0): - pos = self._last_state.get('pos', 0) - if self._stepper.get_invert_dir(): - pos = -pos - self._stepper.set_mcu_position(pos) + self._stepper.note_homing_triggered() self._homing = False return False if (self._mcu.serial.get_clock(last_sent_time) diff --git a/klippy/serialhdl.py b/klippy/serialhdl.py index 8112d703..6ccd9636 100644 --- a/klippy/serialhdl.py +++ b/klippy/serialhdl.py @@ -171,8 +171,8 @@ class SerialReader: def encode_and_send(self, data, minclock, reqclock, cq): self.ffi_lib.serialqueue_encode_and_send( self.serialqueue, cq, data, len(data), minclock, reqclock) - def send_with_response(self, cmd, name): - src = SerialRetryCommand(self, cmd, name) + def send_with_response(self, cmd, name, oid=None): + src = SerialRetryCommand(self, cmd, name, oid) return src.get_response() def alloc_command_queue(self): return self.ffi_main.gc(self.ffi_lib.serialqueue_alloc_commandqueue(), @@ -235,17 +235,18 @@ class SerialReader: class SerialRetryCommand: TIMEOUT_TIME = 5.0 RETRY_TIME = 0.500 - def __init__(self, serial, cmd, name): + def __init__(self, serial, cmd, name, oid=None): self.serial = serial self.cmd = cmd self.name = name + self.oid = oid self.response = None self.min_query_time = self.serial.reactor.monotonic() - self.serial.register_callback(self.handle_callback, self.name) + self.serial.register_callback(self.handle_callback, self.name, self.oid) self.send_timer = self.serial.reactor.register_timer( self.send_event, self.serial.reactor.NOW) def unregister(self): - self.serial.unregister_callback(self.name) + self.serial.unregister_callback(self.name, self.oid) self.serial.reactor.unregister_timer(self.send_timer) def send_event(self, eventtime): if self.response is not None: |