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homing: Support querying the current status of endstops

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-09-22 11:09:20 -04:00
parent c8ff439722
commit 0685802cb8
6 changed files with 75 additions and 17 deletions
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36
klippy/mcu.py
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@ -97,16 +97,15 @@ class MCU_endstop:
, self._oid)
self._query_cmd = mcu.lookup_command("end_stop_query oid=%c")
self._homing = False
self._last_position = 0
self._next_query_clock = 0
self._min_query_time = self._last_query_time = 0.
self._last_state = {}
self._mcu_freq = mcu.get_mcu_freq()
self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY)
self.print_to_mcu_time = mcu.print_to_mcu_time
def home(self, mcu_time, rest_time):
clock = int(mcu_time * self._mcu_freq)
rest_ticks = int(rest_time * self._mcu_freq)
self._homing = True
self._next_query_clock = clock + self._retry_query_ticks
self._min_query_time = self._last_query_time = time.time()
msg = self._home_cmd.encode(
self._oid, clock, rest_ticks, 1 ^ self._invert)
self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
@ -117,23 +116,30 @@ class MCU_endstop:
self._stepper.note_stepper_stop()
def _handle_end_stop_state(self, params):
logging.debug("end_stop_state %s" % (params,))
self._last_position = params['pos']
self._homing = params['homing'] != 0
def is_homing(self):
if not self._homing:
return self._homing
self._last_state = params
def check_busy(self, eventtime):
# Check if need to send an end_stop_query command
if self._mcu.output_file_mode:
return False
last_clock = self._mcu.get_last_clock()
if last_clock >= self._next_query_clock:
self._next_query_clock = last_clock + self._retry_query_ticks
if self._last_state.get('#sent_time', -1.) >= self._min_query_time:
if not self._homing or not self._last_state.get('homing', 0):
return False
if self._last_query_time + self.RETRY_QUERY <= eventtime:
self._last_query_time = eventtime
msg = self._query_cmd.encode(self._oid)
self._mcu.send(msg, cq=self._cmd_queue)
return self._homing
return True
def get_last_position(self):
pos = self._last_state.get('pos', 0)
if self._stepper.get_invert_dir():
return -self._last_position
return self._last_position
return -pos
return pos
def query_endstop(self):
self._homing = False
self._min_query_time = time.time()
self._last_query_time = 0.
def get_last_triggered(self):
return self._last_state.get('pin', self._invert) ^ self._invert
class MCU_digital_out:
def __init__(self, mcu, pin, max_duration):