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mcu: Support multi-mcu homing

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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
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14
docs/Config_Reference.md
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@@ -119,7 +119,9 @@ different names for the stepper (eg, `stepper_x` vs `stepper_a`).
Below are common stepper definitions.
See the [rotation distance document](Rotation_Distance.md) for
information on calculating the `rotation_distance` parameter.
information on calculating the `rotation_distance` parameter. See the
[Multi-MCU homing](Multi_MCU_Homing.md) document for information on
homing using multiple micro-controllers.
```
[stepper_x]
@@ -152,8 +154,10 @@ microsteps:
# distance the axis travels for one full rotation of the final gear.
# The default is to not use a gear ratio.
endstop_pin:
# Endstop switch detection pin. This parameter must be provided for
# the X, Y, and Z steppers on cartesian style printers.
# Endstop switch detection pin. If this endstop pin is on a
# different mcu than the stepper motor then it enables "multi-mcu
# homing". This parameter must be provided for the X, Y, and Z
# steppers on cartesian style printers.
#position_min: 0
# Minimum valid distance (in mm) the user may command the stepper to
# move to. The default is 0mm.
@@ -1611,7 +1615,9 @@ stepper_z config section.
```
[probe]
pin:
# Probe detection pin. This parameter must be provided.
# Probe detection pin. If the pin is on a different microcontroller
# than the Z steppers then it enables "multi-mcu homing". This
# parameter must be provided.
#deactivate_on_each_sample: True
# This determines if Klipper should execute deactivation gcode
# between each probe attempt when performing a multiple probe