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bltouch: Attempt to verify that the probe raises after each probe attempt

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Query the bltouch state during the pin_up command to try and verify
that the probe does actually retract.  This may be useful to detect if
the bltouch enters into an "error" state.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2019-01-04 20:20:02 -05:00
parent 99f96f2832
commit e36122797b
3 changed files with 31 additions and 15 deletions
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35
klippy/extras/bltouch.py
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@@ -38,6 +38,8 @@ class BLTouchEndstopWrapper:
self.mcu_endstop = mcu.setup_pin('endstop', pin_params)
# Setup for sensor test
self.next_test_time = 0.
self.pin_up_not_triggered = config.getboolean(
'pin_up_reports_not_triggered', True)
self.test_sensor_pin = config.getboolean('test_sensor_pin', True)
self.start_mcu_pos = []
# Calculate pin move time
@@ -74,6 +76,19 @@ class BLTouchEndstopWrapper:
self.mcu_pwm.set_pwm(self.next_cmd_time, Commands[cmd] / SIGNAL_PERIOD)
self.next_cmd_time += max(duration, MIN_CMD_TIME)
return self.next_cmd_time
def verify_state(self, check_start_time, check_end_time, triggered, msg):
# Perform endstop check to verify bltouch reports desired state
prev_positions = [s.get_commanded_position()
for s in self.mcu_endstop.get_steppers()]
self.mcu_endstop.home_start(check_start_time, ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME,
triggered=triggered)
try:
self.mcu_endstop.home_wait(check_end_time)
except self.mcu_endstop.TimeoutError as e:
raise homing.EndstopError("BLTouch failed to %s" % (msg,))
for s, pos in zip(self.mcu_endstop.get_steppers(), prev_positions):
s.set_commanded_position(pos)
def test_sensor(self):
if not self.test_sensor_pin:
return
@@ -87,17 +102,8 @@ class BLTouchEndstopWrapper:
check_start_time = self.send_cmd('reset', duration=self.pin_move_time)
check_end_time = self.send_cmd('touch_mode')
self.send_cmd(None)
# Perform endstop check to verify bltouch reports probe raised
prev_positions = [s.get_commanded_position()
for s in self.mcu_endstop.get_steppers()]
self.mcu_endstop.home_start(check_start_time, ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME)
try:
self.mcu_endstop.home_wait(check_end_time)
except self.mcu_endstop.TimeoutError as e:
raise homing.EndstopError("BLTouch sensor test failed")
for s, pos in zip(self.mcu_endstop.get_steppers(), prev_positions):
s.set_commanded_position(pos)
self.verify_state(check_start_time, check_end_time, True,
"verify sensor state")
# Test was successful
self.next_test_time = check_end_time + TEST_TIME
self.sync_print_time()
@@ -113,8 +119,11 @@ class BLTouchEndstopWrapper:
def home_finalize(self):
self.sync_mcu_print_time()
self.send_cmd('reset')
self.send_cmd('pin_up', duration=self.pin_move_time - MIN_CMD_TIME)
self.send_cmd(None)
check_start_time = self.send_cmd('pin_up', duration=self.pin_move_time)
check_end_time = self.send_cmd(None)
if self.pin_up_not_triggered:
self.verify_state(check_start_time, check_end_time,
False, "raise probe")
self.sync_print_time()
# Verify the probe actually deployed during the attempt
for s, mcu_pos in self.start_mcu_pos: