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homing: Implement homing via new toolhead "drip" movement

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Rework the low-level implementation of homing movement.  The existing
mechanism buffers all homing movement into the micro-controller prior
to starting the home.  Replace with a system that buffers all movement
into the host look-ahead buffer and then "drip feed" those moves to
the micro-controllers.  Then clear the host look-ahead buffer when all
endstops trigger.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-06-25 21:25:01 -04:00 • committed by KevinOConnor
parent d6cce8a557
commit 43064d197d
4 changed files with 104 additions and 40 deletions
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13
klippy/homing.py
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@ -16,6 +16,7 @@ class Homing:
self.toolhead = printer.lookup_object('toolhead')
self.changed_axes = []
self.verify_retract = True
self.endstops_pending = -1
def set_no_verify_retract(self):
self.verify_retract = False
def set_axes(self, axes):
@ -39,6 +40,10 @@ class Homing:
dist_ticks = adjusted_freq * mcu_stepper.get_step_dist()
ticks_per_step = math.ceil(dist_ticks / speed)
return dist_ticks / ticks_per_step
def _endstop_notify(self):
self.endstops_pending -= 1
if not self.endstops_pending:
self.toolhead.signal_drip_mode_end()
def homing_move(self, movepos, endstops, speed, dwell_t=0.,
probe_pos=False, verify_movement=False):
# Notify endstops of upcoming home
@ -50,22 +55,22 @@ class Homing:
print_time = self.toolhead.get_last_move_time()
start_mcu_pos = [(s, name, s.get_mcu_position())
for es, name in endstops for s in es.get_steppers()]
self.endstops_pending = len(endstops)
for mcu_endstop, name in endstops:
min_step_dist = min([s.get_step_dist()
for s in mcu_endstop.get_steppers()])
mcu_endstop.home_start(
print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
min_step_dist / speed)
self.toolhead.dwell(HOMING_START_DELAY, check_stall=False)
min_step_dist / speed, notify=self._endstop_notify)
self.toolhead.dwell(HOMING_START_DELAY)
# Issue move
error = None
try:
self.toolhead.move(movepos, speed)
self.toolhead.drip_move(movepos, speed)
except CommandError as e:
error = "Error during homing move: %s" % (str(e),)
# Wait for endstops to trigger
move_end_print_time = self.toolhead.get_last_move_time()
self.toolhead.reset_print_time(print_time)
for mcu_endstop, name in endstops:
try:
mcu_endstop.home_wait(move_end_print_time)