diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/mcu.py | 12 |
1 files changed, 11 insertions, 1 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index e10b82b3..0066d24b 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -32,6 +32,7 @@ class MCU_stepper: min_stop_interval = int(min_stop_interval * self._mcu_freq) max_error = int(max_error * self._mcu_freq) self.commanded_position = 0 + self._mcu_position_offset = 0 mcu.add_config_cmd( "config_stepper oid=%d step_pin=%s dir_pin=%s" " min_stop_interval=%d invert_step=%d" % ( @@ -53,7 +54,12 @@ class MCU_stepper: 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_stepper_stop(self): self.ffi_lib.stepcompress_reset(self._stepqueue, 0) def reset_step_clock(self, mcu_time): @@ -150,7 +156,11 @@ class MCU_endstop: return False last_sent_time = self._last_state.get('#sent_time', -1.) if last_sent_time >= self._min_query_time: - if not self._homing or not self._last_state.get('homing', 0): + if not self._homing: + return False + if not self._last_state.get('homing', 0): + self._stepper.set_mcu_position(self.get_last_position()) + self._homing = False return False if (self._mcu.serial.get_clock(last_sent_time) > self._home_timeout_clock): |