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trsync: Introduce new "trigger synchronization" support

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Separate out the stepper stopping code from endstop.c into its own
trsync.c code file.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-02-04 10:07:13 -05:00
parent f3bd4e6acf
commit 05c2d51a12
7 changed files with 299 additions and 110 deletions
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67
klippy/mcu.py
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@ -18,10 +18,10 @@ class MCU_endstop:
self._pullup = pin_params['pullup']
self._invert = pin_params['invert']
self._reactor = mcu.get_printer().get_reactor()
self._oid = self._home_cmd = self._requery_cmd = self._query_cmd = None
self._oid = self._home_cmd = self._query_cmd = None
self._ts_oid = self._trsync_start_cmd = self._trsync_trigger_cmd = None
self._mcu.register_config_callback(self._build_config)
self._min_query_time = self._last_sent_time = 0.
self._next_query_print_time = self._end_home_time = 0.
self._min_query_time = self._last_sent_time = self._end_home_time = 0.
self._trigger_completion = self._home_completion = None
def get_mcu(self):
return self._mcu
@ -34,23 +34,31 @@ class MCU_endstop:
def get_steppers(self):
return list(self._steppers)
def _build_config(self):
# Setup config
self._ts_oid = self._mcu.create_oid()
self._mcu.add_config_cmd("config_trsync oid=%d" % (self._ts_oid,))
self._mcu.add_config_cmd("trsync_trigger oid=%d reason=0"
% (self._ts_oid,), on_restart=True)
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_endstop oid=%d pin=%s pull_up=%d stepper_count=%d" % (
self._oid, self._pin, self._pullup, len(self._steppers)))
self._mcu.add_config_cmd("config_endstop oid=%d pin=%s pull_up=%d"
% (self._oid, self._pin, self._pullup))
self._mcu.add_config_cmd(
"endstop_home oid=%d clock=0 sample_ticks=0 sample_count=0"
" rest_ticks=0 pin_value=0" % (self._oid,), on_restart=True)
for i, s in enumerate(self._steppers):
self._mcu.add_config_cmd(
"endstop_set_stepper oid=%d pos=%d stepper_oid=%d" % (
self._oid, i, s.get_oid()), is_init=True)
" rest_ticks=0 pin_value=0 trsync_oid=0 trigger_reason=0"
% (self._oid,), on_restart=True)
# Lookup commands
cmd_queue = self._mcu.alloc_command_queue()
self._trsync_start_cmd = self._mcu.lookup_command(
"trsync_start oid=%c report_clock=%u report_ticks=%u"
" expire_reason=%c", cq=cmd_queue)
self._trsync_trigger_cmd = self._mcu.lookup_command(
"trsync_trigger oid=%c reason=%c", cq=cmd_queue)
self._stepper_stop_cmd = self._mcu.lookup_command(
"stepper_stop_on_trigger oid=%c trsync_oid=%c", cq=cmd_queue)
self._home_cmd = self._mcu.lookup_command(
"endstop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
" rest_ticks=%u pin_value=%c", cq=cmd_queue)
self._requery_cmd = self._mcu.lookup_command(
"endstop_query_state oid=%c", cq=cmd_queue)
" rest_ticks=%u pin_value=%c trsync_oid=%c trigger_reason=%c",
cq=cmd_queue)
self._query_cmd = self._mcu.lookup_query_command(
"endstop_query_state oid=%c",
"endstop_state oid=%c homing=%c next_clock=%u pin_value=%c",
@ -59,24 +67,28 @@ 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._next_query_print_time = print_time + self.RETRY_QUERY
self._min_query_time = self._reactor.monotonic()
self._last_sent_time = 0.
self._home_end_time = self._reactor.NEVER
self._trigger_completion = self._reactor.completion()
self._mcu.register_response(self._handle_endstop_state,
"endstop_state", self._oid)
self._mcu.register_response(self._handle_trsync_state,
"trsync_state", self._ts_oid)
report_ticks = self._mcu.seconds_to_clock(0.100)
self._trsync_start_cmd.send([self._ts_oid, clock, report_ticks, 0],
reqclock=clock)
for s in self._steppers:
self._stepper_stop_cmd.send([s.get_oid(), self._ts_oid])
self._home_cmd.send(
[self._oid, clock, self._mcu.seconds_to_clock(sample_time),
sample_count, rest_ticks, triggered ^ self._invert],
reqclock=clock)
sample_count, rest_ticks, triggered ^ self._invert,
self._ts_oid, 0], reqclock=clock)
self._home_completion = self._reactor.register_callback(
self._home_retry)
return self._trigger_completion
def _handle_endstop_state(self, params):
logging.debug("endstop_state %s", params)
def _handle_trsync_state(self, params):
logging.debug("trsync_state %s", params)
if params['#sent_time'] >= self._min_query_time:
if params['homing']:
if params['can_trigger']:
self._last_sent_time = params['#sent_time']
else:
self._min_query_time = self._reactor.NEVER
@ -93,17 +105,12 @@ class MCU_endstop:
last = self._mcu.estimated_print_time(self._last_sent_time)
if last > self._home_end_time or self._mcu.is_shutdown():
return False
# Check for resend
eventtime = self._reactor.monotonic()
est_print_time = self._mcu.estimated_print_time(eventtime)
if est_print_time >= self._next_query_print_time:
self._next_query_print_time = est_print_time + self.RETRY_QUERY
self._requery_cmd.send([self._oid])
def home_wait(self, home_end_time):
self._home_end_time = home_end_time
did_trigger = self._home_completion.wait()
self._mcu.register_response(None, "endstop_state", self._oid)
self._home_cmd.send([self._oid, 0, 0, 0, 0, 0])
self._trsync_trigger_cmd.send([self._ts_oid, 0])
self._mcu.register_response(None, "trsync_state", self._ts_oid)
self._home_cmd.send([self._oid, 0, 0, 0, 0, 0, 0, 0])
for s in self._steppers:
s.note_homing_end(did_trigger=did_trigger)
if not self._trigger_completion.test():