3D-printing/klipper
1
0
Fork 0
mirror of https://github.com/Klipper3d/klipper.git synced 2025-08-05 04:54:11 -06:00
Code Issues Projects Releases Packages Wiki Activity Actions 4

mcu: Support multi-mcu homing

Browse source 
Support endstops and probes attached to a different micro-controller
than their associated steppers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-06-03 23:24:44 -04:00
parent 2e131497ca
commit 950477849d
5 changed files with 89 additions and 20 deletions
Download patch file Download diff file Expand all files Collapse all files

43
klippy/mcu.py
View file

@ -125,6 +125,9 @@ class MCU_trsync:
s.note_homing_end()
return params['trigger_reason']
TRSYNC_TIMEOUT = 0.025
TRSYNC_SINGLE_MCU_TIMEOUT = 0.250
class MCU_endstop:
RETRY_QUERY = 1.000
def __init__(self, mcu, pin_params):
@ -139,15 +142,27 @@ class MCU_endstop:
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)
self._trsyncs = [MCU_trsync(mcu, self._trdispatch)]
def get_mcu(self):
return self._mcu
def add_stepper(self, stepper):
if stepper.get_mcu() is not self._mcu:
raise pins.error("Endstop and stepper must be on the same mcu")
self._trsync.add_stepper(stepper)
trsyncs = {trsync.get_mcu(): trsync for trsync in self._trsyncs}
trsync = trsyncs.get(stepper.get_mcu())
if trsync is None:
trsync = MCU_trsync(stepper.get_mcu(), self._trdispatch)
self._trsyncs.append(trsync)
trsync.add_stepper(stepper)
# Check for unsupported multi-mcu shared stepper rails
sname = stepper.get_name()
if sname.startswith('stepper_'):
for ot in self._trsyncs:
for s in ot.get_steppers():
if ot is not trsync and s.get_name().startswith(sname[:9]):
cerror = self._mcu.get_printer().config_error
raise cerror("Multi-mcu homing not supported on"
" multi-mcu shared axis")
def get_steppers(self):
return self._trsync.get_steppers()
return [s for trsync in self._trsyncs for s in trsync.get_steppers()]
def _build_config(self):
# Setup config
self._mcu.add_config_cmd("config_endstop oid=%d pin=%s pull_up=%d"
@ -157,7 +172,7 @@ class MCU_endstop:
" rest_ticks=0 pin_value=0 trsync_oid=0 trigger_reason=0"
% (self._oid,), on_restart=True)
# Lookup commands
cmd_queue = self._trsync.get_command_queue()
cmd_queue = self._trsyncs[0].get_command_queue()
self._home_cmd = self._mcu.lookup_command(
"endstop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
" rest_ticks=%u pin_value=%c trsync_oid=%c trigger_reason=%c",
@ -173,8 +188,12 @@ class MCU_endstop:
self._rest_ticks = rest_ticks
reactor = self._mcu.get_printer().get_reactor()
self._trigger_completion = reactor.completion()
etrsync = self._trsync
etrsync.start(print_time, self._trigger_completion, .250)
expire_timeout = TRSYNC_TIMEOUT
if len(self._trsyncs) == 1:
expire_timeout = TRSYNC_SINGLE_MCU_TIMEOUT
for trsync in self._trsyncs:
trsync.start(print_time, self._trigger_completion, expire_timeout)
etrsync = self._trsyncs[0]
ffi_main, ffi_lib = chelper.get_ffi()
ffi_lib.trdispatch_start(self._trdispatch, etrsync.REASON_HOST_REQUEST)
self._home_cmd.send(
@ -183,7 +202,7 @@ class MCU_endstop:
etrsync.get_oid(), etrsync.REASON_ENDSTOP_HIT], reqclock=clock)
return self._trigger_completion
def home_wait(self, home_end_time):
etrsync = self._trsync
etrsync = self._trsyncs[0]
etrsync.set_home_end_time(home_end_time)
if self._mcu.is_fileoutput():
self._trigger_completion.complete(True)
@ -191,10 +210,10 @@ class MCU_endstop:
self._home_cmd.send([self._oid, 0, 0, 0, 0, 0, 0, 0])
ffi_main, ffi_lib = chelper.get_ffi()
ffi_lib.trdispatch_stop(self._trdispatch)
res = etrsync.stop()
if res == etrsync.REASON_COMMS_TIMEOUT:
res = [trsync.stop() for trsync in self._trsyncs]
if any([r == etrsync.REASON_COMMS_TIMEOUT for r in res]):
return -1.
if res != etrsync.REASON_ENDSTOP_HIT:
if res[0] != etrsync.REASON_ENDSTOP_HIT:
return 0.
if self._mcu.is_fileoutput():
return home_end_time