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endstop: Rename mcu end_stop commands to endstop 

Rename the commands.

The main reason for this change is to force a micro-controller code
updated (due to important bugfix in 7fefe52d).

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-07-12 08:09:30 -04:00
parent 7fefe52df7
commit 28aa2f507a
3 changed files with 51 additions and 51 deletions
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10
docs/MCU_Commands.md
View File

@ -161,15 +161,15 @@ This section lists some commonly used config commands.
clock ticks since the last step. It is used as a check on the
maximum stepper velocity that a stepper may have before stopping.
* `config_end_stop oid=%c pin=%c pull_up=%c stepper_count=%c` : This
* `config_endstop oid=%c pin=%c pull_up=%c stepper_count=%c` : This
command creates an internal "endstop" object. It is used to specify
the endstop pins and to enable "homing" operations (see the
end_stop_home command below). The command will configure the
endstop_home command below). The command will configure the
specified pin in digital input mode. The 'pull_up' parameter
determines whether hardware provided pullup resistors for the pin
(if available) will be enabled. The 'stepper_count' parameter
specifies the maximum number of steppers that this endstop may need
to halt during a homing operation (see end_stop_home below).
to halt during a homing operation (see endstop_home below).
* `config_spi oid=%c bus=%u pin=%u mode=%u rate=%u shutdown_msg=%*s` :
This command creates an internal SPI object. It is used with
@ -260,9 +260,9 @@ Stepper commands
number of steps generated with dir=1 minus the total number of steps
generated with dir=0.
* `end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c
* `endstop_home oid=%c clock=%u sample_ticks=%u sample_count=%c
rest_ticks=%u pin_value=%c` : This command is used during stepper
"homing" operations. To use this command a 'config_end_stop' command
"homing" operations. To use this command a 'config_endstop' command
with the same 'oid' parameter must have been issued during
micro-controller configuration. When this command is invoked, the
micro-controller will sample the endstop pin every 'rest_ticks'

22
klippy/mcu.py
View File

@ -155,21 +155,21 @@ class MCU_endstop:
def _build_config(self):
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_end_stop oid=%d pin=%s pull_up=%d stepper_count=%d" % (
"config_endstop oid=%d pin=%s pull_up=%d stepper_count=%d" % (
self._oid, self._pin, self._pullup, len(self._steppers)))
self._mcu.add_config_cmd(
"end_stop_home oid=%d clock=0 sample_ticks=0 sample_count=0"
"endstop_home oid=%d clock=0 sample_ticks=0 sample_count=0"
" rest_ticks=0 pin_value=0" % (self._oid,), is_init=True)
for i, s in enumerate(self._steppers):
self._mcu.add_config_cmd(
"end_stop_set_stepper oid=%d pos=%d stepper_oid=%d" % (
"endstop_set_stepper oid=%d pos=%d stepper_oid=%d" % (
self._oid, i, s.get_oid()), is_init=True)
cmd_queue = self._mcu.alloc_command_queue()
self._home_cmd = self._mcu.lookup_command(
"end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
"endstop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
" rest_ticks=%u pin_value=%c", cq=cmd_queue)
self._query_cmd = self._mcu.lookup_command(
"end_stop_query_state oid=%c", cq=cmd_queue)
"endstop_query_state oid=%c", cq=cmd_queue)
def home_prepare(self):
pass
def home_start(self, print_time, sample_time, sample_count, rest_time,
@ -183,16 +183,16 @@ class MCU_endstop:
self._home_end_time = self._reactor.NEVER
self._trigger_completion = self._reactor.completion()
self._home_completion = self._reactor.completion()
self._mcu.register_response(self._handle_end_stop_state,
"end_stop_state", self._oid)
self._mcu.register_response(self._handle_endstop_state,
"endstop_state", self._oid)
self._home_cmd.send(
[self._oid, clock, self._mcu.seconds_to_clock(sample_time),
sample_count, rest_ticks, triggered ^ self._invert],
reqclock=clock)
self._home_completion = self._reactor.register_callback(
self._home_retry)
def _handle_end_stop_state(self, params):
logging.debug("end_stop_state %s", params)
def _handle_endstop_state(self, params):
logging.debug("endstop_state %s", params)
if params['#sent_time'] >= self._min_query_time:
if params['homing']:
self._last_sent_time = params['#sent_time']
@ -222,7 +222,7 @@ class MCU_endstop:
def home_wait(self, home_end_time):
self._home_end_time = home_end_time
did_trigger = self._home_completion.wait()
self._mcu.register_response(None, "end_stop_state", self._oid)
self._mcu.register_response(None, "endstop_state", self._oid)
self._home_cmd.send([self._oid, 0, 0, 0, 0, 0])
for s in self._steppers:
s.note_homing_end(did_trigger=did_trigger)
@ -235,7 +235,7 @@ class MCU_endstop:
if self._mcu.is_fileoutput():
return 0
params = self._query_cmd.send_with_response(
[self._oid], "end_stop_state", self._oid, minclock=clock)
[self._oid], "endstop_state", self._oid, minclock=clock)
return params['pin_value'] ^ self._invert
class MCU_digital_out:

70
src/endstop.c
View File

@ -11,7 +11,7 @@
#include "sched.h" // struct timer
#include "stepper.h" // stepper_stop
struct end_stop {
struct endstop {
struct timer time;
struct gpio_in pin;
uint32_t rest_time, sample_time, nextwake;
@ -24,7 +24,7 @@ enum { ESF_PIN_HIGH=1<<0, ESF_HOMING=1<<1, ESF_REPORT=1<<2 };
static struct task_wake endstop_wake;
static void
stop_steppers(struct end_stop *e)
stop_steppers(struct endstop *e)
{
e->flags = ESF_REPORT;
uint8_t count = e->stepper_count;
@ -34,13 +34,13 @@ stop_steppers(struct end_stop *e)
sched_wake_task(&endstop_wake);
}
static uint_fast8_t end_stop_oversample_event(struct timer *t);
static uint_fast8_t endstop_oversample_event(struct timer *t);
// Timer callback for an end stop
static uint_fast8_t
end_stop_event(struct timer *t)
endstop_event(struct timer *t)
{
struct end_stop *e = container_of(t, struct end_stop, time);
struct endstop *e = container_of(t, struct endstop, time);
uint8_t val = gpio_in_read(e->pin);
uint32_t nextwake = e->time.waketime + e->rest_time;
if ((val ? ~e->flags : e->flags) & ESF_PIN_HIGH) {
@ -49,19 +49,19 @@ end_stop_event(struct timer *t)
return SF_RESCHEDULE;
}
e->nextwake = nextwake;
e->time.func = end_stop_oversample_event;
return end_stop_oversample_event(t);
e->time.func = endstop_oversample_event;
return endstop_oversample_event(t);
}
// Timer callback for an end stop that is sampling extra times
static uint_fast8_t
end_stop_oversample_event(struct timer *t)
endstop_oversample_event(struct timer *t)
{
struct end_stop *e = container_of(t, struct end_stop, time);
struct endstop *e = container_of(t, struct endstop, time);
uint8_t val = gpio_in_read(e->pin);
if ((val ? ~e->flags : e->flags) & ESF_PIN_HIGH) {
// No longer matching - reschedule for the next attempt
e->time.func = end_stop_event;
e->time.func = endstop_event;
e->time.waketime = e->nextwake;
e->trigger_count = e->sample_count;
return SF_RESCHEDULE;
@ -77,36 +77,36 @@ end_stop_oversample_event(struct timer *t)
}
void
command_config_end_stop(uint32_t *args)
command_config_endstop(uint32_t *args)
{
uint8_t stepper_count = args[3];
struct end_stop *e = oid_alloc(
args[0], command_config_end_stop
struct endstop *e = oid_alloc(
args[0], command_config_endstop
, sizeof(*e) + sizeof(e->steppers[0]) * stepper_count);
e->pin = gpio_in_setup(args[1], args[2]);
e->stepper_count = stepper_count;
e->sample_count = 1;
}
DECL_COMMAND(command_config_end_stop,
"config_end_stop oid=%c pin=%c pull_up=%c stepper_count=%c");
DECL_COMMAND(command_config_endstop,
"config_endstop oid=%c pin=%c pull_up=%c stepper_count=%c");
void
command_end_stop_set_stepper(uint32_t *args)
command_endstop_set_stepper(uint32_t *args)
{
struct end_stop *e = oid_lookup(args[0], command_config_end_stop);
struct endstop *e = oid_lookup(args[0], command_config_endstop);
uint8_t pos = args[1];
if (pos >= e->stepper_count)
shutdown("Set stepper past maximum stepper count");
e->steppers[pos] = stepper_oid_lookup(args[2]);
}
DECL_COMMAND(command_end_stop_set_stepper,
"end_stop_set_stepper oid=%c pos=%c stepper_oid=%c");
DECL_COMMAND(command_endstop_set_stepper,
"endstop_set_stepper oid=%c pos=%c stepper_oid=%c");
// Home an axis
void
command_end_stop_home(uint32_t *args)
command_endstop_home(uint32_t *args)
{
struct end_stop *e = oid_lookup(args[0], command_config_end_stop);
struct endstop *e = oid_lookup(args[0], command_config_endstop);
sched_del_timer(&e->time);
e->time.waketime = args[1];
e->sample_time = args[2];
@ -117,47 +117,47 @@ command_end_stop_home(uint32_t *args)
return;
}
e->rest_time = args[4];
e->time.func = end_stop_event;
e->time.func = endstop_event;
e->trigger_count = e->sample_count;
e->flags = ESF_HOMING | (args[5] ? ESF_PIN_HIGH : 0);
sched_add_timer(&e->time);
}
DECL_COMMAND(command_end_stop_home,
"end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
DECL_COMMAND(command_endstop_home,
"endstop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
" rest_ticks=%u pin_value=%c");
static void
end_stop_report(uint8_t oid, struct end_stop *e)
endstop_report(uint8_t oid, struct endstop *e)
{
irq_disable();
uint8_t eflags = e->flags;
e->flags &= ~ESF_REPORT;
irq_enable();
sendf("end_stop_state oid=%c homing=%c pin_value=%c"
sendf("endstop_state oid=%c homing=%c pin_value=%c"
, oid, !!(eflags & ESF_HOMING), gpio_in_read(e->pin));
}
void
command_end_stop_query_state(uint32_t *args)
command_endstop_query_state(uint32_t *args)
{
uint8_t oid = args[0];
struct end_stop *e = oid_lookup(oid, command_config_end_stop);
end_stop_report(oid, e);
struct endstop *e = oid_lookup(oid, command_config_endstop);
endstop_report(oid, e);
}
DECL_COMMAND(command_end_stop_query_state, "end_stop_query_state oid=%c");
DECL_COMMAND(command_endstop_query_state, "endstop_query_state oid=%c");
void
end_stop_task(void)
endstop_task(void)
{
if (!sched_check_wake(&endstop_wake))
return;
uint8_t oid;
struct end_stop *e;
foreach_oid(oid, e, command_config_end_stop) {
struct endstop *e;
foreach_oid(oid, e, command_config_endstop) {
if (!(e->flags & ESF_REPORT))
continue;
end_stop_report(oid, e);
endstop_report(oid, e);
}
}
DECL_TASK(end_stop_task);
DECL_TASK(endstop_task);