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bltouch: Simplify time keeping of scheduled events 

Introduce a sync_print_time() method and update send_cmd() to track
the duration of bltouch commands.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-01-05 11:18:07 -05:00
parent 26e818d900
commit 04f5baa182
1 changed files with 33 additions and 26 deletions
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59
klippy/extras/bltouch.py
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@ -29,6 +29,7 @@ class BLTouchEndstopWrapper:
self.mcu_pwm = ppins.setup_pin('pwm', config.get('control_pin')) self.mcu_pwm = ppins.setup_pin('pwm', config.get('control_pin'))
self.mcu_pwm.setup_max_duration(0.) self.mcu_pwm.setup_max_duration(0.)
self.mcu_pwm.setup_cycle_time(SIGNAL_PERIOD) self.mcu_pwm.setup_cycle_time(SIGNAL_PERIOD)
self.next_cmd_time = 0.
# Create an "endstop" object to handle the sensor pin # Create an "endstop" object to handle the sensor pin
pin = config.get('sensor_pin') pin = config.get('sensor_pin')
pin_params = ppins.lookup_pin(pin, can_invert=True, can_pullup=True) pin_params = ppins.lookup_pin(pin, can_invert=True, can_pullup=True)
@ -58,8 +59,17 @@ class BLTouchEndstopWrapper:
kin = self.printer.lookup_object('toolhead').get_kinematics() kin = self.printer.lookup_object('toolhead').get_kinematics()
for stepper in kin.get_steppers('Z'): for stepper in kin.get_steppers('Z'):
stepper.add_to_endstop(self) stepper.add_to_endstop(self)
def send_cmd(self, print_time, cmd): def sync_print_time(self):
self.mcu_pwm.set_pwm(print_time, Commands[cmd] / SIGNAL_PERIOD) toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time()
if self.next_cmd_time > print_time:
toolhead.dwell(self.next_cmd_time - print_time)
else:
self.next_cmd_time = print_time
def send_cmd(self, cmd, duration=MIN_CMD_TIME):
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 test_sensor(self): def test_sensor(self):
if not self.test_sensor_pin: if not self.test_sensor_pin:
return return
@ -69,41 +79,39 @@ class BLTouchEndstopWrapper:
self.next_test_time = print_time + TEST_TIME self.next_test_time = print_time + TEST_TIME
return return
# Raise the bltouch probe and test if probe is raised # Raise the bltouch probe and test if probe is raised
self.send_cmd(print_time, 'reset') self.sync_print_time()
home_time = print_time + self.pin_move_time check_start_time = self.send_cmd('reset', duration=self.pin_move_time)
self.send_cmd(home_time, 'touch_mode') check_end_time = self.send_cmd('touch_mode')
self.send_cmd(home_time + MIN_CMD_TIME, None) self.send_cmd(None)
# Perform endstop check to verify bltouch reports probe raised # Perform endstop check to verify bltouch reports probe raised
prev_positions = [s.get_commanded_position() prev_positions = [s.get_commanded_position()
for s in self.mcu_endstop.get_steppers()] for s in self.mcu_endstop.get_steppers()]
self.mcu_endstop.home_start(home_time, ENDSTOP_SAMPLE_TIME, self.mcu_endstop.home_start(check_start_time, ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME) ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME)
try: try:
self.mcu_endstop.home_wait(home_time + MIN_CMD_TIME) self.mcu_endstop.home_wait(check_end_time)
except self.mcu_endstop.TimeoutError as e: except self.mcu_endstop.TimeoutError as e:
raise homing.EndstopError("BLTouch sensor test failed") raise homing.EndstopError("BLTouch sensor test failed")
for s, pos in zip(self.mcu_endstop.get_steppers(), prev_positions): for s, pos in zip(self.mcu_endstop.get_steppers(), prev_positions):
s.set_commanded_position(pos) s.set_commanded_position(pos)
# Test was successful # Test was successful
self.next_test_time = home_time + TEST_TIME self.next_test_time = check_end_time + TEST_TIME
toolhead.reset_print_time(home_time + 2. * MIN_CMD_TIME) self.sync_print_time()
def home_prepare(self): def home_prepare(self):
self.test_sensor() self.test_sensor()
toolhead = self.printer.lookup_object('toolhead') self.sync_print_time()
print_time = toolhead.get_last_move_time() self.send_cmd('pin_down', duration=self.pin_move_time)
self.send_cmd(print_time, 'pin_down') self.send_cmd('touch_mode')
self.send_cmd(print_time + self.pin_move_time, 'touch_mode') self.sync_print_time()
toolhead.dwell(self.pin_move_time + MIN_CMD_TIME)
self.mcu_endstop.home_prepare() self.mcu_endstop.home_prepare()
self.start_mcu_pos = [(s, s.get_mcu_position()) self.start_mcu_pos = [(s, s.get_mcu_position())
for s in self.mcu_endstop.get_steppers()] for s in self.mcu_endstop.get_steppers()]
def home_finalize(self): def home_finalize(self):
toolhead = self.printer.lookup_object('toolhead') self.sync_print_time()
print_time = toolhead.get_last_move_time() self.send_cmd('reset')
self.send_cmd(print_time, 'reset') self.send_cmd('pin_up', duration=self.pin_move_time - MIN_CMD_TIME)
self.send_cmd(print_time + MIN_CMD_TIME, 'pin_up') self.send_cmd(None)
self.send_cmd(print_time + MIN_CMD_TIME + self.pin_move_time, None) self.sync_print_time()
toolhead.dwell(self.pin_move_time + MIN_CMD_TIME)
# Verify the probe actually deployed during the attempt # Verify the probe actually deployed during the attempt
for s, mcu_pos in self.start_mcu_pos: for s, mcu_pos in self.start_mcu_pos:
if s.get_mcu_position() == mcu_pos: if s.get_mcu_position() == mcu_pos:
@ -122,14 +130,13 @@ class BLTouchEndstopWrapper:
self.gcode.respond_info("BLTouch commands: %s" % ( self.gcode.respond_info("BLTouch commands: %s" % (
", ".join(sorted([c for c in Commands if c is not None])))) ", ".join(sorted([c for c in Commands if c is not None]))))
return return
toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time()
msg = "Sending BLTOUCH_DEBUG COMMAND=%s" % (cmd,) msg = "Sending BLTOUCH_DEBUG COMMAND=%s" % (cmd,)
self.gcode.respond_info(msg) self.gcode.respond_info(msg)
logging.info(msg) logging.info(msg)
self.send_cmd(print_time, cmd) self.sync_print_time()
self.send_cmd(print_time + self.pin_move_time, None) self.send_cmd(cmd, duration=self.pin_move_time)
toolhead.dwell(self.pin_move_time + MIN_CMD_TIME) self.send_cmd(None)
self.sync_print_time()
def load_config(config): def load_config(config):
blt = BLTouchEndstopWrapper(config) blt = BLTouchEndstopWrapper(config)