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mcu: Fix timing of endstop checking 

Make sure to not query the given endstop until after the start of the
requested operation.  This ensures that the operation has started
prior to querying the status of that operation.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-01-10 12:27:56 -05:00
parent 0119e42d13
commit 32632c8226
1 changed files with 8 additions and 5 deletions
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13
klippy/mcu.py
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@ -146,7 +146,8 @@ class MCU_endstop:
self._oid = self._home_cmd = self._query_cmd = None
self._mcu.register_config_callback(self._build_config)
self._homing = False
self._min_query_time = self._next_query_time = 0.
self._min_query_time = 0.
self._next_query_print_time = 0.
self._last_state = {}
def get_mcu(self):
return self._mcu
@ -185,7 +186,7 @@ class MCU_endstop:
rest_ticks = int(rest_time * self._mcu.get_adjusted_freq())
self._homing = True
self._min_query_time = self._mcu.monotonic()
self._next_query_time = self._min_query_time + self.RETRY_QUERY
self._next_query_print_time = print_time + self.RETRY_QUERY
self._home_cmd.send(
[self._oid, clock, self._mcu.seconds_to_clock(sample_time),
sample_count, rest_ticks, 1 ^ self._invert], reqclock=clock)
@ -222,13 +223,15 @@ class MCU_endstop:
raise self.TimeoutError("Timeout during endstop homing")
if self._mcu.is_shutdown():
raise error("MCU is shutdown")
if eventtime >= self._next_query_time:
self._next_query_time = eventtime + self.RETRY_QUERY
est_print_time = self._mcu.estimated_print_time(eventtime)
if est_print_time >= self._next_query_print_time:
self._next_query_print_time = est_print_time + self.RETRY_QUERY
self._query_cmd.send([self._oid])
return True
def query_endstop(self, print_time):
self._homing = False
self._min_query_time = self._next_query_time = self._mcu.monotonic()
self._min_query_time = self._mcu.monotonic()
self._next_query_print_time = print_time
def query_endstop_wait(self):
eventtime = self._mcu.monotonic()
while self._check_busy(eventtime):