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stepper: Query the stepper mcu position during startup

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Try to keep the host mcu_position synchronized with the
micro-controller by querying during startup and after every homing
event.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-04-02 12:18:05 -04:00
parent 33dcb38297
commit 24586f0c31
3 changed files with 12 additions and 8 deletions
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9
klippy/stepper.py
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@ -42,6 +42,8 @@ class MCU_stepper:
self._itersolve_generate_steps = ffi_lib.itersolve_generate_steps
self._itersolve_check_active = ffi_lib.itersolve_check_active
self._trapq = ffi_main.NULL
self._mcu.get_printer().register_event_handler('klippy:connect',
self._query_mcu_position)
def get_mcu(self):
return self._mcu
def get_name(self, short=False):
@ -136,7 +138,7 @@ class MCU_stepper:
self.set_trapq(self._trapq)
self._set_mcu_position(mcu_pos)
return old_sk
def note_homing_end(self, did_trigger=False):
def note_homing_end(self):
ffi_main, ffi_lib = chelper.get_ffi()
ret = ffi_lib.stepcompress_reset(self._stepqueue, 0)
if ret:
@ -145,7 +147,9 @@ class MCU_stepper:
ret = ffi_lib.stepcompress_queue_msg(self._stepqueue, data, len(data))
if ret:
raise error("Internal error in stepcompress")
if not did_trigger or self._mcu.is_fileoutput():
self._query_mcu_position()
def _query_mcu_position(self):
if self._mcu.is_fileoutput():
return
params = self._get_position_cmd.send([self._oid])
last_pos = params['pos']
@ -153,6 +157,7 @@ class MCU_stepper:
last_pos = -last_pos
print_time = self._mcu.estimated_print_time(params['#receive_time'])
clock = self._mcu.print_time_to_clock(print_time)
ffi_main, ffi_lib = chelper.get_ffi()
ret = ffi_lib.stepcompress_set_last_position(self._stepqueue, clock,
last_pos)
if ret: