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endstop: Support halting more than one stepper on trigger

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Extend the endstop code so that more than one stepper can be halted
during endstop homing.  Some kinematic setups (eg, corexy) require an
endstop to support this.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-03-05 15:30:04 -05:00
parent fff73c7735
commit 57f279677f
3 changed files with 54 additions and 19 deletions
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30
klippy/mcu.py
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@ -151,10 +151,10 @@ class MCU_stepper:
class MCU_endstop:
error = error
RETRY_QUERY = 1.000
def __init__(self, mcu, pin, stepper):
def __init__(self, mcu, pin):
self._mcu = mcu
self._oid = mcu.create_oid(self)
self._stepper = stepper
self._steppers = []
self._pin, self._pullup, self._invert = parse_pin_extras(
pin, can_pullup=True)
self._cmd_queue = mcu.alloc_command_queue()
@ -164,18 +164,27 @@ class MCU_endstop:
self._next_query_clock = self._home_timeout_clock = 0
self._retry_query_ticks = 0
self._last_state = {}
mcu.add_init_callback(self._init_callback)
self.print_to_mcu_time = mcu.print_to_mcu_time
def add_stepper(self, stepper):
self._steppers.append(stepper)
def build_config(self):
self._mcu_freq = self._mcu.get_mcu_freq()
self._mcu.add_config_cmd(
"config_end_stop oid=%d pin=%s pull_up=%d stepper_oid=%d" % (
self._oid, self._pin, self._pullup, self._stepper.get_oid()))
"config_end_stop oid=%d pin=%s pull_up=%d stepper_count=%d" % (
self._oid, self._pin, self._pullup, len(self._steppers)))
self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY)
self._home_cmd = self._mcu.lookup_command(
"end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c")
self._query_cmd = self._mcu.lookup_command("end_stop_query oid=%c")
self._mcu.register_msg(self._handle_end_stop_state, "end_stop_state"
, self._oid)
def _init_callback(self):
set_cmd = self._mcu.lookup_command(
"end_stop_set_stepper oid=%c pos=%c stepper_oid=%c")
for i, s in enumerate(self._steppers):
msg = set_cmd.encode(self._oid, i, s.get_oid())
self._mcu.send(msg, cq=self._cmd_queue)
def home_start(self, mcu_time, rest_time):
clock = int(mcu_time * self._mcu_freq)
rest_ticks = int(rest_time * self._mcu_freq)
@ -185,9 +194,11 @@ class MCU_endstop:
msg = self._home_cmd.encode(
self._oid, clock, rest_ticks, 1 ^ self._invert)
self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
self._stepper.note_homing_start(clock)
for s in self._steppers:
s.note_homing_start(clock)
def home_finalize(self, mcu_time):
self._stepper.note_homing_finalized()
for s in self._steppers:
s.note_homing_finalized()
self._home_timeout_clock = int(mcu_time * self._mcu_freq)
def home_wait(self):
eventtime = self._mcu.monotonic()
@ -205,7 +216,8 @@ class MCU_endstop:
if not self._homing:
return False
if not self._last_state.get('homing', 0):
self._stepper.note_homing_triggered()
for s in self._steppers:
s.note_homing_triggered()
self._homing = False
return False
if (self._mcu.serial.get_clock(last_sent_time)
@ -558,8 +570,8 @@ class MCU:
# Wrappers for mcu object creation
def create_stepper(self, step_pin, dir_pin):
return MCU_stepper(self, step_pin, dir_pin)
def create_endstop(self, pin, stepper):
return MCU_endstop(self, pin, stepper)
def create_endstop(self, pin):
return MCU_endstop(self, pin)
def create_digital_out(self, pin, max_duration=2.):
return MCU_digital_out(self, pin, max_duration)
def create_pwm(self, pin, cycle_time, hard_cycle_ticks=0, max_duration=2.):