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mcu: Track the stepper position in the MCU in the MCU_stepper class 

Support tracking of both the commanded_position and the mcu_position
in the MCU_stepper class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-28 11:22:01 -05:00
parent 1e1364c3d4
commit a5637bb9d4
1 changed files with 11 additions and 1 deletions
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12
klippy/mcu.py
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@ -32,6 +32,7 @@ class MCU_stepper:
min_stop_interval = int(min_stop_interval * self._mcu_freq) min_stop_interval = int(min_stop_interval * self._mcu_freq)
max_error = int(max_error * self._mcu_freq) max_error = int(max_error * self._mcu_freq)
self.commanded_position = 0 self.commanded_position = 0
self._mcu_position_offset = 0
mcu.add_config_cmd( mcu.add_config_cmd(
"config_stepper oid=%d step_pin=%s dir_pin=%s" "config_stepper oid=%d step_pin=%s dir_pin=%s"
" min_stop_interval=%d invert_step=%d" % ( " min_stop_interval=%d invert_step=%d" % (
@ -53,7 +54,12 @@ class MCU_stepper:
def get_invert_dir(self): def get_invert_dir(self):
return self._invert_dir return self._invert_dir
def set_position(self, pos): def set_position(self, pos):
self._mcu_position_offset += self.commanded_position - pos
self.commanded_position = pos self.commanded_position = pos
def set_mcu_position(self, pos):
self._mcu_position_offset = pos - self.commanded_position
def get_mcu_position(self):
return self.commanded_position + self._mcu_position_offset
def note_stepper_stop(self): def note_stepper_stop(self):
self.ffi_lib.stepcompress_reset(self._stepqueue, 0) self.ffi_lib.stepcompress_reset(self._stepqueue, 0)
def reset_step_clock(self, mcu_time): def reset_step_clock(self, mcu_time):
@ -150,7 +156,11 @@ class MCU_endstop:
return False return False
last_sent_time = self._last_state.get('#sent_time', -1.) last_sent_time = self._last_state.get('#sent_time', -1.)
if last_sent_time >= self._min_query_time: if last_sent_time >= self._min_query_time:
if not self._homing or not self._last_state.get('homing', 0): if not self._homing:
return False
if not self._last_state.get('homing', 0):
self._stepper.set_mcu_position(self.get_last_position())
self._homing = False
return False return False
if (self._mcu.serial.get_clock(last_sent_time) if (self._mcu.serial.get_clock(last_sent_time)
> self._home_timeout_clock): > self._home_timeout_clock):