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mcu: Return time of trigger from home_wait()

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-04-03 13:20:36 -04:00
parent 128a2f8cd6
commit 1dc2ab048f
3 changed files with 18 additions and 5 deletions
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12
klippy/mcu.py
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@ -136,6 +136,7 @@ class MCU_endstop:
self._home_cmd = self._query_cmd = None
self._mcu.register_config_callback(self._build_config)
self._trigger_completion = None
self._rest_ticks = 0
ffi_main, ffi_lib = chelper.get_ffi()
self._trdispatch = ffi_main.gc(ffi_lib.trdispatch_alloc(), ffi_lib.free)
self._trsync = MCU_trsync(mcu, self._trdispatch)
@ -169,6 +170,7 @@ 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._rest_ticks = rest_ticks
reactor = self._mcu.get_printer().get_reactor()
self._trigger_completion = reactor.completion()
etrsync = self._trsync
@ -190,7 +192,15 @@ class MCU_endstop:
ffi_main, ffi_lib = chelper.get_ffi()
ffi_lib.trdispatch_stop(self._trdispatch)
res = etrsync.stop()
return res == etrsync.REASON_ENDSTOP_HIT
if res == etrsync.REASON_COMMS_TIMEOUT:
return -1.
if res != etrsync.REASON_ENDSTOP_HIT:
return 0.
if self._mcu.is_fileoutput():
return home_end_time
params = self._query_cmd.send([self._oid])
next_clock = self._mcu.clock32_to_clock64(params['next_clock'])
return self._mcu.clock_to_print_time(next_clock - self._rest_ticks)
def query_endstop(self, print_time):
clock = self._mcu.print_time_to_clock(print_time)
if self._mcu.is_fileoutput():