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homing: Apply speed rounding after calling home_prepare() 

The step speed rounding and the cpu delay must be run after running
the endstop specific preparation code.  Otherwise, a delay in the
home_prepare() code could undo those calculations.  Specifically, this
could lead to errors on a multi-mcu setup when the Z is homed using a
virtual_z_offset and there is a delay in the activate_gcode section.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-05-14 11:18:31 -04:00
parent bf3c41cd06
commit 6c3db80d89
1 changed files with 9 additions and 4 deletions
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13
klippy/homing.py
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@ -40,10 +40,8 @@ class Homing:
dist_ticks = adjusted_freq * mcu_stepper.get_step_dist()
ticks_per_step = math.ceil(dist_ticks / speed)
return dist_ticks / ticks_per_step
def homing_move(self, movepos, endstops, speed, probe_pos=False):
def _homing_move(self, movepos, endstops, speed, probe_pos=False):
# Start endstop checking
for mcu_endstop, name in endstops:
mcu_endstop.home_prepare()
print_time = self.toolhead.get_last_move_time()
for mcu_endstop, name in endstops:
min_step_dist = min([s.get_step_dist()
@ -76,6 +74,10 @@ class Homing:
mcu_endstop.home_finalize()
if error is not None:
raise EndstopError(error)
def homing_move(self, movepos, endstops, speed, probe_pos=False):
for mcu_endstop, name in endstops:
mcu_endstop.home_prepare()
self._homing_move(movepos, endstops, speed, probe_pos)
def home(self, forcepos, movepos, endstops, speed, second_home=False):
if second_home and forcepos == movepos:
return
@ -83,6 +85,9 @@ class Homing:
homing_axes = [axis for axis in range(3) if forcepos[axis] is not None]
self.toolhead.set_position(
self._fill_coord(forcepos), homing_axes=homing_axes)
# Notify endstops of upcoming home
for mcu_endstop, name in endstops:
mcu_endstop.home_prepare()
# Add a CPU delay when homing a large axis
if not second_home:
est_move_d = sum([abs(forcepos[i]-movepos[i])
@ -96,7 +101,7 @@ class Homing:
start_mcu_pos = [(s, name, s.get_mcu_position())
for es, name in endstops for s in es.get_steppers()]
# Issue homing move
self.homing_move(movepos, endstops, speed)
self._homing_move(movepos, endstops, speed)
# Verify retract led to some movement on second home
if second_home and self.verify_retract:
for s, name, pos in start_mcu_pos: