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endstop: Eliminate end_stop_set_oversample command

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Pass the sample_ticks and sample_count parameters directly in the
end_stop_home command instead.  This simplifies the code.

Also, simplify calculation of next wakeup time in
end_stop_oversample_event().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-10-12 10:39:46 -04:00
parent 78ba7064a7
commit 3b9b4e4d6f
5 changed files with 32 additions and 47 deletions
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5
klippy/homing.py
View File

@@ -6,6 +6,8 @@
import logging
HOMING_DELAY = 0.250
ENDSTOP_SAMPLE_TIME = .000015
ENDSTOP_SAMPLE_COUNT = 4
class Homing:
def __init__(self, toolhead, changed_axes):
@@ -36,7 +38,8 @@ class Homing:
print_time = self.toolhead.get_last_move_time()
endstops = []
for s in steppers:
s.mcu_endstop.home_start(print_time, s.step_dist / speed)
s.mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT, s.step_dist / speed)
endstops.append((s, s.mcu_stepper.get_mcu_position()))
self.toolhead.move(self._fill_coord(movepos), speed)
move_end_print_time = self.toolhead.get_last_move_time()

19
klippy/mcu.py
View File

@@ -137,8 +137,6 @@ 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
@@ -146,9 +144,6 @@ 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):
@@ -160,23 +155,21 @@ 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")
"end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
" 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 home_start(self, print_time, rest_time):
def home_start(self, print_time, sample_time, sample_count, rest_time):
clock = self._mcu.print_time_to_clock(print_time)
rest_ticks = int(rest_time * self._mcu.get_adjusted_freq())
self._homing = True
self._min_query_time = self._mcu.monotonic()
self._next_query_time = print_time + self.RETRY_QUERY
msg = self._home_cmd.encode(
self._oid, clock, rest_ticks, 1 ^ self._invert)
self._oid, clock, self._mcu.seconds_to_clock(sample_time),
sample_count, rest_ticks, 1 ^ self._invert)
self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
for s in self._steppers:
s.note_homing_start(clock)
@@ -207,7 +200,7 @@ class MCU_endstop:
return False
if print_time > self._home_timeout:
# Timeout - disable endstop checking
msg = self._home_cmd.encode(self._oid, 0, 0, 0)
msg = self._home_cmd.encode(self._oid, 0, 0, 0, 0, 0)
self._mcu.send(msg, reqclock=0, cq=self._cmd_queue)
raise error("Timeout during endstop homing")
if self._mcu.is_shutdown():

5
klippy/stepper.py
View File

@@ -6,9 +6,6 @@
import math, logging
import homing, pins
ENDSTOP_OVERSAMPLE_COUNT = 4
ENDSTOP_OVERSAMPLE_TIME = .000015
class PrinterStepper:
def __init__(self, printer, config, name):
self.name = name
@@ -55,8 +52,6 @@ class PrinterHomingStepper(PrinterStepper):
self.mcu_endstop = pins.setup_pin(
printer, 'endstop', config.get('endstop_pin'))
self.mcu_endstop.setup_oversample(
ENDSTOP_OVERSAMPLE_COUNT, ENDSTOP_OVERSAMPLE_TIME)
self.mcu_endstop.add_stepper(self.mcu_stepper)
self.position_min = config.getfloat('position_min', 0.)
self.position_max = config.getfloat(