3diy
/
klipper
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

stepper: Adjust homing_speed so that it's an even number of ticks per step 

Adjust the configured homing speed so that it always results in a
speed that is an even number of mcu ticks per step.  This ensures that
the code can always get good step compression during homing, which is
important as the entire homing operation must be able to fit within
the mcu's move queue.  This fixes some "move queue empty" mcu shutdown
errors that could occur when the Z step distance was an unusual size.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-08-29 17:37:14 -04:00
parent 68d6788413
commit 002dc0dfaf
4 changed files with 18 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
klippy/cartesian.py
View File

@ -43,18 +43,19 @@ class CartKinematics:
rpos = s.position_endstop + s.homing_retract_dist
r2pos = rpos + s.homing_retract_dist
# Initial homing
homing_speed = s.get_homing_speed()
homepos = [None, None, None, None]
homepos[axis] = s.position_endstop
coord = [None, None, None, None]
coord[axis] = pos
homing_state.home(list(coord), homepos, [s], s.homing_speed)
homing_state.home(list(coord), homepos, [s], homing_speed)
# Retract
coord[axis] = rpos
homing_state.retract(list(coord), s.homing_speed)
homing_state.retract(list(coord), homing_speed)
# Home again
coord[axis] = r2pos
homing_state.home(
list(coord), homepos, [s], s.homing_speed/2.0, second_home=True)
list(coord), homepos, [s], homing_speed/2.0, second_home=True)
# Set final homed position
coord[axis] = s.position_endstop + s.get_homed_offset()
homing_state.set_homed_position(coord)

7
klippy/corexy.py
View File

@ -46,18 +46,19 @@ class CoreXYKinematics:
rpos = s.position_endstop + s.homing_retract_dist
r2pos = rpos + s.homing_retract_dist
# Initial homing
homing_speed = s.get_homing_speed()
homepos = [None, None, None, None]
homepos[axis] = s.position_endstop
coord = [None, None, None, None]
coord[axis] = pos
homing_state.home(list(coord), homepos, [s], s.homing_speed)
homing_state.home(list(coord), homepos, [s], homing_speed)
# Retract
coord[axis] = rpos
homing_state.retract(list(coord), s.homing_speed)
homing_state.retract(list(coord), homing_speed)
# Home again
coord[axis] = r2pos
homing_state.home(
list(coord), homepos, [s], s.homing_speed/2.0, second_home=True)
list(coord), homepos, [s], homing_speed/2.0, second_home=True)
if axis == 2:
# Support endstop phase detection on Z axis
coord[axis] = s.position_endstop + s.get_homed_offset()

7
klippy/delta.py
View File

@ -107,17 +107,18 @@ class DeltaKinematics:
s = self.steppers[0] # Assume homing speed same for all steppers
self.need_home = False
# Initial homing
homing_speed = s.get_homing_speed()
homepos = [0., 0., self.max_z, None]
coord = list(homepos)
coord[2] = -1.5 * math.sqrt(self.arm_length2-self.max_xy2)
homing_state.home(list(coord), homepos, self.steppers, s.homing_speed)
homing_state.home(list(coord), homepos, self.steppers, homing_speed)
# Retract
coord[2] = homepos[2] - s.homing_retract_dist
homing_state.retract(list(coord), s.homing_speed)
homing_state.retract(list(coord), homing_speed)
# Home again
coord[2] -= s.homing_retract_dist
homing_state.home(list(coord), homepos, self.steppers
, s.homing_speed/2.0, second_home=True)
, homing_speed/2.0, second_home=True)
# Set final homed position
spos = self._cartesian_to_actuator(homepos)
spos = [spos[i] + self.steppers[i].position_endstop - self.max_z

6
klippy/stepper.py
View File

@ -104,6 +104,12 @@ class PrinterHomingStepper(PrinterStepper):
mcu_time = self.mcu_endstop.get_mcu().print_to_mcu_time(print_time)
self.mcu_endstop.query_endstop(mcu_time)
return self.mcu_endstop
def get_homing_speed(self):
# Round the configured homing speed so that it is an even
# number of ticks per step.
dist_ticks = self.mcu_stepper.get_mcu().get_mcu_freq() * self.step_dist
ticks_per_step = round(dist_ticks / self.homing_speed)
return dist_ticks / ticks_per_step
def get_homed_offset(self):
if not self.homing_stepper_phases or self.need_motor_enable:
return 0