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bltouch: Raise the probe as soon as the endstop triggers 

Start the raise sequence once the endstop notification arrives.  This
can reduce the response time as it does not require waiting for the
homing sequence to fully finalize.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-03-29 15:25:23 -04:00
parent c9ae89e142
commit 2a9a133f36
1 changed files with 26 additions and 11 deletions
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37
klippy/extras/bltouch.py
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@ -38,7 +38,9 @@ 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)
# Command timing
self.next_cmd_time = self.action_end_time = 0. self.next_cmd_time = self.action_end_time = 0.
self.finish_home_complete = self.wait_trigger_complete = None
# 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)
@ -82,6 +84,7 @@ class BLTouchEndstopWrapper:
self.set_output_mode(self.output_mode) self.set_output_mode(self.output_mode)
try: try:
self.raise_probe() self.raise_probe()
self.verify_raise_probe()
except self.printer.command_error as e: except self.printer.command_error as e:
logging.warning("BLTouch raise probe error: %s", str(e)) logging.warning("BLTouch raise probe error: %s", str(e))
def sync_mcu_print_time(self): def sync_mcu_print_time(self):
@ -117,12 +120,13 @@ class BLTouchEndstopWrapper:
def raise_probe(self): def raise_probe(self):
self.sync_mcu_print_time() self.sync_mcu_print_time()
if not self.pin_up_not_triggered: if not self.pin_up_not_triggered:
# No way to verify raise attempt - just issue commands
self.send_cmd('reset') self.send_cmd('reset')
self.send_cmd('pin_up', duration=self.pin_move_time) self.send_cmd('pin_up', duration=self.pin_move_time)
def verify_raise_probe(self):
if not self.pin_up_not_triggered:
# No way to verify raise attempt
return return
for retry in range(3): for retry in range(3):
self.send_cmd('pin_up', duration=self.pin_move_time)
success = self.verify_state(False) success = self.verify_state(False)
if success: if success:
# The "probe raised" test completed successfully # The "probe raised" test completed successfully
@ -134,6 +138,7 @@ class BLTouchEndstopWrapper:
self.gcode.respond_info(msg) self.gcode.respond_info(msg)
self.sync_mcu_print_time() self.sync_mcu_print_time()
self.send_cmd('reset', duration=RETRY_RESET_TIME) self.send_cmd('reset', duration=RETRY_RESET_TIME)
self.send_cmd('pin_up', duration=self.pin_move_time)
def lower_probe(self): def lower_probe(self):
self.test_sensor() self.test_sensor()
self.sync_print_time() self.sync_print_time()
@ -174,6 +179,7 @@ class BLTouchEndstopWrapper:
return return
self.sync_print_time() self.sync_print_time()
self.raise_probe() self.raise_probe()
self.verify_raise_probe()
self.sync_print_time() self.sync_print_time()
self.multi = 'OFF' self.multi = 'OFF'
def probe_prepare(self, hmove): def probe_prepare(self, hmove):
@ -182,17 +188,26 @@ class BLTouchEndstopWrapper:
if self.multi == 'FIRST': if self.multi == 'FIRST':
self.multi = 'ON' self.multi = 'ON'
self.sync_print_time() self.sync_print_time()
def probe_finish(self, hmove):
if self.multi == 'OFF':
self.raise_probe()
self.sync_print_time()
if hmove.check_no_movement() is not None:
raise self.printer.command_error("BLTouch failed to deploy")
def home_start(self, print_time, sample_time, sample_count, rest_time, def home_start(self, print_time, sample_time, sample_count, rest_time,
triggered=True): triggered=True):
rest_time = min(rest_time, ENDSTOP_REST_TIME) rest_time = min(rest_time, ENDSTOP_REST_TIME)
return self.mcu_endstop.home_start(print_time, sample_time, self.finish_home_complete = self.mcu_endstop.home_start(
sample_count, rest_time, triggered) print_time, sample_time, sample_count, rest_time, triggered)
# Schedule wait_for_trigger callback
r = self.printer.get_reactor()
self.wait_trigger_complete = r.register_callback(self.wait_for_trigger)
return self.finish_home_complete
def wait_for_trigger(self, eventtime):
self.finish_home_complete.wait()
if self.multi == 'OFF':
self.raise_probe()
def probe_finish(self, hmove):
self.wait_trigger_complete.wait()
if self.multi == 'OFF':
self.verify_raise_probe()
self.sync_print_time()
if hmove.check_no_movement() is not None:
raise self.printer.command_error("BLTouch failed to deploy")
def get_position_endstop(self): def get_position_endstop(self):
return self.position_endstop return self.position_endstop
def set_output_mode(self, mode): def set_output_mode(self, mode):