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homing: Check for timeout during homing operation

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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
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36
klippy/homing.py
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@@ -3,8 +3,8 @@
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import mcu
class Homing:
def __init__(self, toolhead, changed_axes):
@@ -31,7 +31,11 @@ class Homing:
self.eventtime = eventtime
while self.states:
first = self.states[0]
ret = first[0](*first[1])
try:
ret = first[0](*first[1])
except EndstopError, e:
self.toolhead.motor_off()
raise
if ret:
return True
self.states.pop(0)
@@ -55,17 +59,22 @@ class Homing:
print_time = self.toolhead.get_last_move_time()
for s in steppers:
es = s.enable_endstop_checking(print_time, s.step_dist / speed)
self.endstops.append(es)
self.endstops.append((s.name, es))
self.toolhead.move(self.fill_coord(movepos), speed)
move_end_print_time = self.toolhead.get_last_move_time()
self.toolhead.reset_print_time()
for es in self.endstops:
es.home_finalize()
for name, es in self.endstops:
es.home_finalize(es.print_to_mcu_time(move_end_print_time))
return False
def do_wait_endstop(self):
# Check if endstops have triggered
for es in self.endstops:
if es.check_busy(self.eventtime):
return True
for name, es in self.endstops:
try:
if es.check_busy(self.eventtime):
return True
except mcu.MCUError, e:
raise EndstopError("Failed to home stepper %s: %s" % (
name, str(e)))
# Finished
del self.endstops[:]
return False
@@ -85,13 +94,16 @@ class QueryEndstops:
if es is None:
continue
self.endstops.append((stepper.name, es))
self.busy.append(es)
self.busy.append((stepper.name, es))
def check_busy(self, eventtime):
# Check if all endstop queries have been received
while self.busy:
busy = self.busy[0].check_busy(eventtime)
if busy:
return True
try:
if self.busy[0][1].check_busy(eventtime):
return True
except mcu.MCUError, e:
raise EndstopError("Failed to query endstop %s: %s" % (
self.busy[0][0], str(e)))
self.busy.pop(0)
# All responses received - report status
msgs = []