mcu: Support multi-mcu homing
Support endstops and probes attached to a different micro-controller than their associated steppers. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
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@ -119,7 +119,9 @@ different names for the stepper (eg, `stepper_x` vs `stepper_a`).
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Below are common stepper definitions.
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See the [rotation distance document](Rotation_Distance.md) for
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information on calculating the `rotation_distance` parameter.
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information on calculating the `rotation_distance` parameter. See the
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[Multi-MCU homing](Multi_MCU_Homing.md) document for information on
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homing using multiple micro-controllers.
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```
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[stepper_x]
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@ -152,8 +154,10 @@ microsteps:
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# distance the axis travels for one full rotation of the final gear.
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# The default is to not use a gear ratio.
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endstop_pin:
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# Endstop switch detection pin. This parameter must be provided for
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# the X, Y, and Z steppers on cartesian style printers.
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# Endstop switch detection pin. If this endstop pin is on a
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# different mcu than the stepper motor then it enables "multi-mcu
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# homing". This parameter must be provided for the X, Y, and Z
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# steppers on cartesian style printers.
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#position_min: 0
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# Minimum valid distance (in mm) the user may command the stepper to
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# move to. The default is 0mm.
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@ -1611,7 +1615,9 @@ stepper_z config section.
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```
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[probe]
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pin:
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# Probe detection pin. This parameter must be provided.
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# Probe detection pin. If the pin is on a different microcontroller
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# than the Z steppers then it enables "multi-mcu homing". This
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# parameter must be provided.
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#deactivate_on_each_sample: True
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# This determines if Klipper should execute deactivation gcode
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# between each probe attempt when performing a multiple probe
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@ -0,0 +1,42 @@
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# Multiple Micro-controller Homing and Probing
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Klipper supports a mechanism for homing with an endstop attached to
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one micro-controller while its stepper motors are on a different
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micro-controller. This support is referred to as "multi-mcu
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homing". This feature is also used when a Z probe is on a different
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micro-controller than the Z stepper motors.
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This feature can be useful to simplify wiring, as it may be more
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convenient to attach an endstop or probe to a closer micro-controller.
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However, using this feature may result in "overshoot" of the stepper
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motors during homing and probing operations.
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The overshoot occurs due to possible message transmission delays
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between the micro-controller monitoring the endstop and the
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micro-controllers moving the stepper motors. The Klipper code is
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designed to limit this delay to no more than 25ms. (When multi-mcu
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homing is activated, the micro-controllers send periodic status
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messages and check that corresponding status messages are received
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within 25ms.)
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So, for example, if homing at 10mm/s then it is possible for an
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overshoot of up to 0.250mm (10mm/s * .025s == 0.250mm). Care should be
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taken when configuring multi-mcu homing to account for this type of
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overshoot. Using slower homing or probing speeds can reduce the
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overshoot.
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Stepper motor overshoot should not adversely impact the precision of
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the homing and probing procedure. The Klipper code will detect the
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overshoot and account for it in its calculations. However, it is
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important that the hardware design is capable of handling overshoot
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without causing damage to the machine.
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Should Klipper detect a communication issue between micro-controllers
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during multi-mcu homing then it will raise a "Communication timeout
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during homing" error.
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Note that an axis with multiple steppers (eg, `stepper_z` and
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`stepper_z1`) need to be on the same micro-controller in order to use
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multi-mcu homing. For example, if an endstop is on a separate
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micro-controller from `stepper_z` then `stepper_z1` must be on the
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same micro-controller as `stepper_z`.
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@ -41,18 +41,19 @@ communication with the Klipper developers.
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using adxl345 accelerometer hardware to measure resonance.
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- [Pressure advance](Pressure_Advance.md): Calibrate extruder
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pressure.
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- [Slicers](Slicers.md): Configure "slicer" software for Klipper.
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- [G-Codes](G-Codes.md): Information on commands supported by Klipper.
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- [Command Templates](Command_Templates.md): G-Code macros and
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conditional evaluation.
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- [Status Reference](Status_Reference.md): Information available to
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macros (and similar).
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- [TMC Drivers](TMC_Drivers.md): Using Trinamic stepper motor drivers
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with Klipper.
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- [Multi-MCU Homing](Multi_MCU_Homing.md): Homing and probing using multiple micro-controllers.
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- [Slicers](Slicers.md): Configure "slicer" software for Klipper.
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- [Skew correction](skew_correction.md): Adjustments for axes not
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perfectly square.
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- [PWM tools](Using_PWM_Tools.md): Guide on how to use PWM controlled
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tools such as lasers or spindles.
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- [G-Codes](G-Codes.md): Information on commands supported by Klipper.
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## Developer Documentation
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@ -94,14 +94,15 @@ nav:
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- Resonance_Compensation.md
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- Measuring_Resonances.md
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- Pressure_Advance.md
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- Slicers.md
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- G-Codes.md
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- Command templates:
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- Command_Templates.md
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- Status_Reference.md
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- TMC_Drivers.md
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- Multi_MCU_Homing.md
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- Slicers.md
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- skew_correction.md
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- Using_PWM_Tools.md
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- G-Codes.md
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- Developer Documentation:
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- Code_Overview.md
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- Kinematics.md
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@ -125,6 +125,9 @@ class MCU_trsync:
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s.note_homing_end()
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return params['trigger_reason']
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TRSYNC_TIMEOUT = 0.025
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TRSYNC_SINGLE_MCU_TIMEOUT = 0.250
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class MCU_endstop:
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RETRY_QUERY = 1.000
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def __init__(self, mcu, pin_params):
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@ -139,15 +142,27 @@ class MCU_endstop:
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self._rest_ticks = 0
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ffi_main, ffi_lib = chelper.get_ffi()
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self._trdispatch = ffi_main.gc(ffi_lib.trdispatch_alloc(), ffi_lib.free)
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self._trsync = MCU_trsync(mcu, self._trdispatch)
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self._trsyncs = [MCU_trsync(mcu, self._trdispatch)]
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def get_mcu(self):
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return self._mcu
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def add_stepper(self, stepper):
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if stepper.get_mcu() is not self._mcu:
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raise pins.error("Endstop and stepper must be on the same mcu")
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self._trsync.add_stepper(stepper)
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trsyncs = {trsync.get_mcu(): trsync for trsync in self._trsyncs}
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trsync = trsyncs.get(stepper.get_mcu())
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if trsync is None:
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trsync = MCU_trsync(stepper.get_mcu(), self._trdispatch)
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self._trsyncs.append(trsync)
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trsync.add_stepper(stepper)
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# Check for unsupported multi-mcu shared stepper rails
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sname = stepper.get_name()
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if sname.startswith('stepper_'):
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for ot in self._trsyncs:
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for s in ot.get_steppers():
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if ot is not trsync and s.get_name().startswith(sname[:9]):
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cerror = self._mcu.get_printer().config_error
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raise cerror("Multi-mcu homing not supported on"
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" multi-mcu shared axis")
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def get_steppers(self):
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return self._trsync.get_steppers()
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return [s for trsync in self._trsyncs for s in trsync.get_steppers()]
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def _build_config(self):
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# Setup config
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self._mcu.add_config_cmd("config_endstop oid=%d pin=%s pull_up=%d"
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@ -157,7 +172,7 @@ class MCU_endstop:
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" rest_ticks=0 pin_value=0 trsync_oid=0 trigger_reason=0"
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% (self._oid,), on_restart=True)
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# Lookup commands
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cmd_queue = self._trsync.get_command_queue()
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cmd_queue = self._trsyncs[0].get_command_queue()
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self._home_cmd = self._mcu.lookup_command(
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"endstop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
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" rest_ticks=%u pin_value=%c trsync_oid=%c trigger_reason=%c",
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@ -173,8 +188,12 @@ class MCU_endstop:
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self._rest_ticks = rest_ticks
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reactor = self._mcu.get_printer().get_reactor()
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self._trigger_completion = reactor.completion()
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etrsync = self._trsync
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etrsync.start(print_time, self._trigger_completion, .250)
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expire_timeout = TRSYNC_TIMEOUT
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if len(self._trsyncs) == 1:
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expire_timeout = TRSYNC_SINGLE_MCU_TIMEOUT
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for trsync in self._trsyncs:
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trsync.start(print_time, self._trigger_completion, expire_timeout)
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etrsync = self._trsyncs[0]
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ffi_main, ffi_lib = chelper.get_ffi()
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ffi_lib.trdispatch_start(self._trdispatch, etrsync.REASON_HOST_REQUEST)
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self._home_cmd.send(
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@ -183,7 +202,7 @@ class MCU_endstop:
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etrsync.get_oid(), etrsync.REASON_ENDSTOP_HIT], reqclock=clock)
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return self._trigger_completion
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def home_wait(self, home_end_time):
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etrsync = self._trsync
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etrsync = self._trsyncs[0]
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etrsync.set_home_end_time(home_end_time)
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if self._mcu.is_fileoutput():
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self._trigger_completion.complete(True)
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@ -191,10 +210,10 @@ class MCU_endstop:
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self._home_cmd.send([self._oid, 0, 0, 0, 0, 0, 0, 0])
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ffi_main, ffi_lib = chelper.get_ffi()
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ffi_lib.trdispatch_stop(self._trdispatch)
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res = etrsync.stop()
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if res == etrsync.REASON_COMMS_TIMEOUT:
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res = [trsync.stop() for trsync in self._trsyncs]
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if any([r == etrsync.REASON_COMMS_TIMEOUT for r in res]):
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return -1.
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if res != etrsync.REASON_ENDSTOP_HIT:
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if res[0] != etrsync.REASON_ENDSTOP_HIT:
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return 0.
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if self._mcu.is_fileoutput():
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return home_end_time
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