homing: Check for timeout during homing operation

Should a homing move complete without hitting the endstop, then
disable motors, disable the endstop checking, and report the error to
the user.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-18 13:03:40 -05:00
parent 4f30dce64f
commit e0aa067cc9
4 changed files with 46 additions and 18 deletions

View file

@ -6,6 +6,12 @@
import sys, zlib, logging, time, math
import serialhdl, pins, chelper
class MCUError(Exception):
def __init__(self, msg="MCU Error"):
self._msg = msg
def __str__(self):
return self._msg
def parse_pin_extras(pin, can_pullup=False):
pullup = invert = 0
if can_pullup and pin.startswith('^'):
@ -100,7 +106,7 @@ class MCU_endstop:
self._query_cmd = mcu.lookup_command("end_stop_query oid=%c")
self._homing = False
self._min_query_time = 0.
self._next_query_clock = 0
self._next_query_clock = self._home_timeout_clock = 0
self._mcu_freq = mcu.get_mcu_freq()
self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY)
self._last_state = {}
@ -114,11 +120,12 @@ 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)
def home_finalize(self):
def home_finalize(self, mcu_time):
# XXX - this flushes the serial port of messages ready to be
# sent, but doesn't flush messages if they had an unmet minclock
self._mcu.serial.send_flush()
self._stepper.note_stepper_stop()
self._home_timeout_clock = int(mcu_time * self._mcu_freq)
def _handle_end_stop_state(self, params):
logging.debug("end_stop_state %s" % (params,))
self._last_state = params
@ -126,9 +133,18 @@ class MCU_endstop:
# Check if need to send an end_stop_query command
if self._mcu.output_file_mode:
return False
if self._last_state.get('#sent_time', -1.) >= self._min_query_time:
last_sent_time = self._last_state.get('#sent_time', -1.)
if last_sent_time >= self._min_query_time:
if not self._homing or not self._last_state.get('homing', 0):
return False
if (self._mcu.serial.get_clock(last_sent_time)
> self._home_timeout_clock):
# Timeout - disable endstop checking
msg = self._home_cmd.encode(self._oid, 0, 0, 0)
self._mcu.send(msg, reqclock=0, cq=self._cmd_queue)
raise MCUError("Timeout during endstop homing")
if self._mcu.is_shutdown:
raise MCUError("MCU is shutdown")
last_clock = self._mcu.get_last_clock()
if last_clock >= self._next_query_clock:
self._next_query_clock = last_clock + self._retry_query_ticks