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endstop: Support oversampling of the endstop

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Some printers can show occasional noise on the endstop pin.  Support
sampling the endstop pin multiple times to attempt to filter out this
noise.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-10-01 16:31:05 -04:00
parent 776d8f9f79
commit ece1f71c64
3 changed files with 59 additions and 5 deletions
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9
klippy/mcu.py
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@ -137,6 +137,8 @@ class MCU_endstop:
self._pin = pin_params['pin']
self._pullup = pin_params['pullup']
self._invert = pin_params['invert']
self._oversample_count = 0
self._oversample_time = 0.
self._cmd_queue = mcu.alloc_command_queue()
self._oid = self._home_cmd = self._query_cmd = None
self._homing = False
@ -144,6 +146,9 @@ class MCU_endstop:
self._last_state = {}
def get_mcu(self):
return self._mcu
def setup_oversample(self, oversample_count, oversample_time):
self._oversample_count = oversample_count
self._oversample_time = oversample_time
def add_stepper(self, stepper):
self._steppers.append(stepper)
def build_config(self):
@ -155,6 +160,10 @@ class MCU_endstop:
self._mcu.add_config_cmd(
"end_stop_set_stepper oid=%d pos=%d stepper_oid=%d" % (
self._oid, i, s.get_oid()), is_init=True)
self._mcu.add_config_cmd(
"end_stop_set_oversample oid=%d sample_ticks=%d sample_count=%d" % (
self._oid, self._mcu.seconds_to_clock(self._oversample_time),
self._oversample_count), is_init=True)
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")