mirror of
https://github.com/Klipper3d/klipper.git
synced 2026-02-08 01:01:06 -07:00
load_cell_probe: Move phoming.probing_move() interface to MCU_trigger_analog
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
067539e0a3
commit
165fe1730d
1 changed files with 58 additions and 69 deletions
|
|
@ -242,7 +242,6 @@ class LoadCellProbeConfigHelper:
|
|||
self._printer = config.get_printer()
|
||||
self._load_cell = load_cell_inst
|
||||
self._sensor = load_cell_inst.get_sensor()
|
||||
self._rest_time = 1. / float(self._sensor.get_samples_per_second())
|
||||
# Collect 4 x 60hz power cycles of data to average across power noise
|
||||
self._tare_time_param = floatParamHelper(config, 'tare_time',
|
||||
default=4. / 60., minval=0.01, maxval=1.0)
|
||||
|
|
@ -263,9 +262,6 @@ class LoadCellProbeConfigHelper:
|
|||
def get_safety_limit_grams(self, gcmd=None):
|
||||
return self._force_safety_limit_param.get(gcmd)
|
||||
|
||||
def get_rest_time(self):
|
||||
return self._rest_time
|
||||
|
||||
def get_safety_range(self, gcmd=None):
|
||||
counts_per_gram = self._load_cell.get_counts_per_gram()
|
||||
# calculate the safety band
|
||||
|
|
@ -294,16 +290,21 @@ class LoadCellProbeConfigHelper:
|
|||
# MCU_trigger_analog is the interface to `trigger_analog` on the MCU
|
||||
# This also manages the SosFilter so all commands use one command queue
|
||||
class MCU_trigger_analog:
|
||||
WATCHDOG_MAX = 3
|
||||
MONITOR_MAX = 3
|
||||
ERROR_SAFETY_RANGE = mcu.MCU_trsync.REASON_COMMS_TIMEOUT + 1
|
||||
ERROR_OVERFLOW = mcu.MCU_trsync.REASON_COMMS_TIMEOUT + 2
|
||||
ERROR_WATCHDOG = mcu.MCU_trsync.REASON_COMMS_TIMEOUT + 3
|
||||
ERROR_MAP = {
|
||||
mcu.MCU_trsync.REASON_COMMS_TIMEOUT: "Communication timeout during "
|
||||
"homing",
|
||||
ERROR_SAFETY_RANGE: "sensor exceeds safety limit",
|
||||
ERROR_OVERFLOW: "fixed point math overflow",
|
||||
ERROR_WATCHDOG: "timed out waiting for sensor data"
|
||||
}
|
||||
|
||||
def __init__(self, config, sensor_inst, sos_filter_inst, config_helper,
|
||||
trigger_dispatch):
|
||||
self._printer = config.get_printer()
|
||||
def __init__(self, sensor_inst, sos_filter_inst, trigger_dispatch):
|
||||
self._printer = sensor_inst.get_mcu().get_printer()
|
||||
self._sos_filter = sos_filter_inst
|
||||
self._config_helper = config_helper
|
||||
self._sensor = sensor_inst
|
||||
self._mcu = self._sensor.get_mcu()
|
||||
# configure MCU objects
|
||||
|
|
@ -313,6 +314,7 @@ class MCU_trigger_analog:
|
|||
self._raw_min = self._raw_max = 0
|
||||
self._last_range_args = None
|
||||
self._trigger_value = 0.
|
||||
self._last_trigger_time = 0.
|
||||
self._config_commands()
|
||||
self._home_cmd = None
|
||||
self._query_cmd = None
|
||||
|
|
@ -355,6 +357,9 @@ class MCU_trigger_analog:
|
|||
def get_dispatch(self):
|
||||
return self._dispatch
|
||||
|
||||
def get_last_trigger_time(self):
|
||||
return self._last_trigger_time
|
||||
|
||||
def set_trigger_value(self, trigger_value):
|
||||
self._trigger_value = trigger_value
|
||||
|
||||
|
|
@ -362,7 +367,7 @@ class MCU_trigger_analog:
|
|||
self._raw_min = raw_min
|
||||
self._raw_max = raw_max
|
||||
|
||||
def reset_filter(self):
|
||||
def _reset_filter(self):
|
||||
# Update parameters in mcu (if they have changed)
|
||||
tval32 = self._sos_filter.convert_value(self._trigger_value)
|
||||
args = [self._oid, self._raw_min, self._raw_max, tval32]
|
||||
|
|
@ -372,15 +377,7 @@ class MCU_trigger_analog:
|
|||
# Update sos filter in mcu
|
||||
self._sos_filter.reset_filter()
|
||||
|
||||
def home_start(self, print_time):
|
||||
clock = self._mcu.print_time_to_clock(print_time)
|
||||
rest_time = self._config_helper.get_rest_time()
|
||||
rest_ticks = self._mcu.seconds_to_clock(rest_time)
|
||||
self._home_cmd.send([self._oid, self._dispatch.get_oid(),
|
||||
mcu.MCU_trsync.REASON_ENDSTOP_HIT, self.ERROR_SAFETY_RANGE, clock,
|
||||
rest_ticks, self.WATCHDOG_MAX], reqclock=clock)
|
||||
|
||||
def clear_home(self):
|
||||
def _clear_home(self):
|
||||
params = self._query_cmd.send([self._oid])
|
||||
# The time of the first sample that triggered is in "trigger_ticks"
|
||||
trigger_ticks = self._mcu.clock32_to_clock64(params['trigger_ticks'])
|
||||
|
|
@ -388,20 +385,43 @@ class MCU_trigger_analog:
|
|||
self._home_cmd.send([self._oid, 0, 0, 0, 0, 0, 0, 0])
|
||||
return self._mcu.clock_to_print_time(trigger_ticks)
|
||||
|
||||
def get_steppers(self):
|
||||
return self._dispatch.get_steppers()
|
||||
|
||||
def home_start(self, print_time, sample_time, sample_count, rest_time,
|
||||
triggered=True):
|
||||
self._last_trigger_time = 0.
|
||||
self._reset_filter()
|
||||
trigger_completion = self._dispatch.start(print_time)
|
||||
clock = self._mcu.print_time_to_clock(print_time)
|
||||
sensor_update = 1. / self._sensor.get_samples_per_second()
|
||||
sm_ticks = self._mcu.seconds_to_clock(sensor_update)
|
||||
self._home_cmd.send([self._oid, self._dispatch.get_oid(),
|
||||
mcu.MCU_trsync.REASON_ENDSTOP_HIT, self.ERROR_SAFETY_RANGE, clock,
|
||||
sm_ticks, self.MONITOR_MAX], reqclock=clock)
|
||||
return trigger_completion
|
||||
|
||||
def home_wait(self, home_end_time):
|
||||
self._dispatch.wait_end(home_end_time)
|
||||
# trigger has happened, now to find out why...
|
||||
res = self._dispatch.stop()
|
||||
# clear the homing state so it stops processing samples
|
||||
trigger_time = self._clear_home()
|
||||
if res >= mcu.MCU_trsync.REASON_COMMS_TIMEOUT:
|
||||
defmsg = "unknown reason code %i" % (res,)
|
||||
error_msg = self.ERROR_MAP.get(res, defmsg)
|
||||
raise self._printer.command_error("Trigger analog error: %s"
|
||||
% (error_msg,))
|
||||
if res != mcu.MCU_trsync.REASON_ENDSTOP_HIT:
|
||||
return 0.
|
||||
if self._mcu.is_fileoutput():
|
||||
trigger_time = home_end_time
|
||||
self._last_trigger_time = trigger_time
|
||||
return trigger_time
|
||||
|
||||
|
||||
# Execute probing moves using the MCU_trigger_analog
|
||||
class LoadCellProbingMove:
|
||||
ERROR_MAP = {
|
||||
mcu.MCU_trsync.REASON_COMMS_TIMEOUT: "Communication timeout during "
|
||||
"homing",
|
||||
MCU_trigger_analog.ERROR_SAFETY_RANGE: "Load Cell Probe Error: load "
|
||||
"exceeds safety limit",
|
||||
MCU_trigger_analog.ERROR_OVERFLOW: "Load Cell Probe Error: fixed point "
|
||||
"math overflow",
|
||||
MCU_trigger_analog.ERROR_WATCHDOG: "Load Cell Probe Error: timed out "
|
||||
"waiting for sensor data"
|
||||
}
|
||||
|
||||
def __init__(self, config, load_cell_inst, mcu_trigger_analog, param_helper,
|
||||
continuous_tare_filter_helper, config_helper):
|
||||
self._printer = config.get_printer()
|
||||
|
|
@ -416,7 +436,6 @@ class LoadCellProbingMove:
|
|||
probe.LookupZSteppers(config, self._dispatch.add_stepper)
|
||||
# internal state tracking
|
||||
self._tare_counts = 0
|
||||
self._last_trigger_time = 0
|
||||
|
||||
def _start_collector(self):
|
||||
toolhead = self._printer.lookup_object('toolhead')
|
||||
|
|
@ -451,37 +470,6 @@ class LoadCellProbingMove:
|
|||
Q17_14_FRAC_BITS = 14
|
||||
sos_filter.set_offset_scale(int(-tare_counts), gpc,
|
||||
Q17_14_FRAC_BITS, Q16_15_FRAC_BITS)
|
||||
self._mcu_trigger_analog.reset_filter()
|
||||
|
||||
def _home_start(self, print_time):
|
||||
# start trsync
|
||||
trigger_completion = self._dispatch.start(print_time)
|
||||
self._mcu_trigger_analog.home_start(print_time)
|
||||
return trigger_completion
|
||||
|
||||
def home_start(self, print_time, sample_time, sample_count, rest_time,
|
||||
triggered=True):
|
||||
return self._home_start(print_time)
|
||||
|
||||
def home_wait(self, home_end_time):
|
||||
self._dispatch.wait_end(home_end_time)
|
||||
# trigger has happened, now to find out why...
|
||||
res = self._dispatch.stop()
|
||||
# clear the homing state so it stops processing samples
|
||||
self._last_trigger_time = self._mcu_trigger_analog.clear_home()
|
||||
if self._mcu.is_fileoutput():
|
||||
self._last_trigger_time = home_end_time
|
||||
if res >= mcu.MCU_trsync.REASON_COMMS_TIMEOUT:
|
||||
error = "Load Cell Probe Error: unknown reason code %i" % (res,)
|
||||
if res in self.ERROR_MAP:
|
||||
error = self.ERROR_MAP[res]
|
||||
raise self._printer.command_error(error)
|
||||
if res != mcu.MCU_trsync.REASON_ENDSTOP_HIT:
|
||||
return 0.
|
||||
return self._last_trigger_time
|
||||
|
||||
def get_steppers(self):
|
||||
return self._dispatch.get_steppers()
|
||||
|
||||
# Probe towards z_min until the trigger_analog on the MCU triggers
|
||||
def probing_move(self, gcmd):
|
||||
|
|
@ -499,20 +487,22 @@ class LoadCellProbingMove:
|
|||
# start collector after tare samples are consumed
|
||||
collector = self._start_collector()
|
||||
# do homing move
|
||||
return phoming.probing_move(self, pos, speed), collector
|
||||
epos = phoming.probing_move(self._mcu_trigger_analog, pos, speed)
|
||||
return epos, collector
|
||||
|
||||
# Wait for the MCU to trigger with no movement
|
||||
def probing_test(self, gcmd, timeout):
|
||||
self._pause_and_tare(gcmd)
|
||||
toolhead = self._printer.lookup_object('toolhead')
|
||||
print_time = toolhead.get_last_move_time()
|
||||
self._home_start(print_time)
|
||||
return self.home_wait(print_time + timeout)
|
||||
self._mcu_trigger_analog.home_start(print_time, 0., 0, 0.)
|
||||
return self._mcu_trigger_analog.home_wait(print_time + timeout)
|
||||
|
||||
def get_status(self, eventtime):
|
||||
trig_time = self._mcu_trigger_analog.get_last_trigger_time()
|
||||
return {
|
||||
'tare_counts': self._tare_counts,
|
||||
'last_trigger_time': self._last_trigger_time,
|
||||
'last_trigger_time': trig_time,
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -642,9 +632,8 @@ class LoadCellPrinterProbe:
|
|||
self._param_helper = probe.ProbeParameterHelper(config)
|
||||
self._cmd_helper = probe.ProbeCommandHelper(config, self)
|
||||
self._probe_offsets = probe.ProbeOffsetsHelper(config)
|
||||
self._mcu_trigger_analog = MCU_trigger_analog(config, sensor,
|
||||
continuous_tare_filter_helper.get_sos_filter(), config_helper,
|
||||
trigger_dispatch)
|
||||
self._mcu_trigger_analog = MCU_trigger_analog(sensor,
|
||||
continuous_tare_filter_helper.get_sos_filter(), trigger_dispatch)
|
||||
load_cell_probing_move = LoadCellProbingMove(config, self._load_cell,
|
||||
self._mcu_trigger_analog, self._param_helper,
|
||||
continuous_tare_filter_helper, config_helper)
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue