diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/stepper.py | 32 |
1 files changed, 26 insertions, 6 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index 1d1b6adb..b71eda94 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -264,6 +264,7 @@ class PrinterRail: self.stepper_units_in_radians = units_in_radians self.steppers = [] self.endstops = [] + self.endstop_map = {} self.add_extra_stepper(config) mcu_stepper = self.steppers[0] self.get_name = mcu_stepper.get_name @@ -336,18 +337,37 @@ class PrinterRail: def add_extra_stepper(self, config): stepper = PrinterStepper(config, self.stepper_units_in_radians) self.steppers.append(stepper) - if self.endstops and config.get('endstop_pin', None) is None: + endstop_pin = config.get('endstop_pin', None) + if self.endstops and endstop_pin is None: # No endstop defined - use primary endstop self.endstops[0][0].add_stepper(stepper) return printer = config.get_printer() ppins = printer.lookup_object('pins') - mcu_endstop = ppins.setup_pin('endstop', config.get('endstop_pin')) + pin_params = ppins.parse_pin(endstop_pin, True, True) + # Normalize pin name + pin_name = "%s:%s" % (pin_params['chip_name'], pin_params['pin']) + # Look for already-registered endstop + endstop = self.endstop_map.get(pin_name, None) + if endstop is None: + # New endstop, register it + mcu_endstop = ppins.setup_pin('endstop', endstop_pin) + self.endstop_map[pin_name] = {'endstop': mcu_endstop, + 'invert': pin_params['invert'], + 'pullup': pin_params['pullup']} + name = stepper.get_name(short=True) + self.endstops.append((mcu_endstop, name)) + query_endstops = printer.load_object(config, 'query_endstops') + query_endstops.register_endstop(mcu_endstop, name) + else: + mcu_endstop = endstop['endstop'] + changed_invert = pin_params['invert'] != endstop['invert'] + changed_pullup = pin_params['pullup'] != endstop['pullup'] + if changed_invert or changed_pullup: + raise error("Pinter rail %s shared endstop pin %s " + "must specify the same pullup/invert settings" % ( + self.get_name(), pin_name)) mcu_endstop.add_stepper(stepper) - name = stepper.get_name(short=True) - self.endstops.append((mcu_endstop, name)) - query_endstops = printer.load_object(config, 'query_endstops') - query_endstops.register_endstop(mcu_endstop, name) def setup_itersolve(self, alloc_func, *params): for stepper in self.steppers: stepper.setup_itersolve(alloc_func, *params) |