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mcu: Integrate query_endstop_wait() into query_endstop() 

There is no need to have two separate calls to query an endstop.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-06-26 10:45:06 -04:00 committed by KevinOConnor
parent ced5e35f0c
commit b2c778b931
5 changed files with 6 additions and 16 deletions
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1
klippy/extras/bltouch.py
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@ -55,7 +55,6 @@ class BLTouchEndstopWrapper:
self.get_steppers = self.mcu_endstop.get_steppers self.get_steppers = self.mcu_endstop.get_steppers
self.home_wait = self.mcu_endstop.home_wait self.home_wait = self.mcu_endstop.home_wait
self.query_endstop = self.mcu_endstop.query_endstop self.query_endstop = self.mcu_endstop.query_endstop
self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
self.TimeoutError = self.mcu_endstop.TimeoutError self.TimeoutError = self.mcu_endstop.TimeoutError
# Register BLTOUCH_DEBUG command # Register BLTOUCH_DEBUG command
self.gcode = self.printer.lookup_object('gcode') self.gcode = self.printer.lookup_object('gcode')

4
klippy/extras/probe.py
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@ -145,8 +145,7 @@ class PrinterProbe:
def cmd_QUERY_PROBE(self, params): def cmd_QUERY_PROBE(self, params):
toolhead = self.printer.lookup_object('toolhead') toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time() print_time = toolhead.get_last_move_time()
self.mcu_probe.query_endstop(print_time) res = self.mcu_probe.query_endstop(print_time)
res = self.mcu_probe.query_endstop_wait()
self.gcode.respond_info( self.gcode.respond_info(
"probe: %s" % (["open", "TRIGGERED"][not not res],)) "probe: %s" % (["open", "TRIGGERED"][not not res],))
cmd_PROBE_ACCURACY_help = "Probe Z-height accuracy at current XY position" cmd_PROBE_ACCURACY_help = "Probe Z-height accuracy at current XY position"
@ -244,7 +243,6 @@ class ProbeEndstopWrapper:
self.home_start = self.mcu_endstop.home_start self.home_start = self.mcu_endstop.home_start
self.home_wait = self.mcu_endstop.home_wait self.home_wait = self.mcu_endstop.home_wait
self.query_endstop = self.mcu_endstop.query_endstop self.query_endstop = self.mcu_endstop.query_endstop
self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
self.TimeoutError = self.mcu_endstop.TimeoutError self.TimeoutError = self.mcu_endstop.TimeoutError
def _build_config(self): def _build_config(self):
kin = self.printer.lookup_object('toolhead').get_kinematics() kin = self.printer.lookup_object('toolhead').get_kinematics()

12
klippy/extras/query_endstops.py
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@ -1,6 +1,6 @@
# Utility for querying the current state of all endstops # Utility for querying the current state of all endstops
# #
# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> # Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
# #
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU GPLv3 license.
@ -16,14 +16,10 @@ class QueryEndstops:
self.endstops.append((mcu_endstop, name)) self.endstops.append((mcu_endstop, name))
cmd_QUERY_ENDSTOPS_help = "Report on the status of each endstop" cmd_QUERY_ENDSTOPS_help = "Report on the status of each endstop"
def cmd_QUERY_ENDSTOPS(self, params): def cmd_QUERY_ENDSTOPS(self, params):
toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time()
# Query the endstops # Query the endstops
for mcu_endstop, name in self.endstops: print_time = self.printer.lookup_object('toolhead').get_last_move_time()
mcu_endstop.query_endstop(print_time) out = [(name, mcu_endstop.query_endstop(print_time))
out = [] for mcu_endstop, name in self.endstops]
for mcu_endstop, name in self.endstops:
out.append((name, mcu_endstop.query_endstop_wait()))
# Report results # Report results
msg = " ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t]) msg = " ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t])
for name, t in out]) for name, t in out])

1
klippy/extras/tmc.py
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@ -171,7 +171,6 @@ class TMCVirtualEndstop:
self.home_start = self.mcu_endstop.home_start self.home_start = self.mcu_endstop.home_start
self.home_wait = self.mcu_endstop.home_wait self.home_wait = self.mcu_endstop.home_wait
self.query_endstop = self.mcu_endstop.query_endstop self.query_endstop = self.mcu_endstop.query_endstop
self.query_endstop_wait = self.mcu_endstop.query_endstop_wait
self.TimeoutError = self.mcu_endstop.TimeoutError self.TimeoutError = self.mcu_endstop.TimeoutError
def home_prepare(self): def home_prepare(self):
self.fields.set_field("en_pwm_mode", 0) self.fields.set_field("en_pwm_mode", 0)

4
klippy/mcu.py
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@ -234,10 +234,8 @@ class MCU_endstop:
return True return True
def query_endstop(self, print_time): def query_endstop(self, print_time):
self._homing = False self._homing = False
self._min_query_time = self._mcu.monotonic() self._min_query_time = eventtime = self._mcu.monotonic()
self._next_query_print_time = print_time self._next_query_print_time = print_time
def query_endstop_wait(self):
eventtime = self._mcu.monotonic()
while self._check_busy(eventtime): while self._check_busy(eventtime):
eventtime = self._mcu.pause(eventtime + 0.1) eventtime = self._mcu.pause(eventtime + 0.1)
return self._last_state.get('pin_value', self._invert) ^ self._invert return self._last_state.get('pin_value', self._invert) ^ self._invert