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mcu: Use regular send_with_response() for query_endstop() 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-06-26 11:04:37 -04:00 committed by KevinOConnor
parent a116fa9054
commit e148dbe52a
1 changed files with 13 additions and 16 deletions
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29
klippy/mcu.py
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@ -147,7 +147,6 @@ class MCU_endstop:
self._invert = pin_params['invert'] self._invert = pin_params['invert']
self._oid = self._home_cmd = self._query_cmd = None self._oid = self._home_cmd = self._query_cmd = None
self._mcu.register_config_callback(self._build_config) self._mcu.register_config_callback(self._build_config)
self._homing = False
self._min_query_time = 0. self._min_query_time = 0.
self._next_query_print_time = 0. self._next_query_print_time = 0.
self._last_state = {} self._last_state = {}
@ -179,17 +178,16 @@ class MCU_endstop:
" rest_ticks=%u pin_value=%c", cq=cmd_queue) " rest_ticks=%u pin_value=%c", cq=cmd_queue)
self._query_cmd = self._mcu.lookup_command( self._query_cmd = self._mcu.lookup_command(
"end_stop_query_state oid=%c", cq=cmd_queue) "end_stop_query_state oid=%c", cq=cmd_queue)
self._mcu.register_response(self._handle_end_stop_state,
"end_stop_state", self._oid)
def home_prepare(self): def home_prepare(self):
pass pass
def home_start(self, print_time, sample_time, sample_count, rest_time, def home_start(self, print_time, sample_time, sample_count, rest_time,
triggered=True): triggered=True):
clock = self._mcu.print_time_to_clock(print_time) clock = self._mcu.print_time_to_clock(print_time)
rest_ticks = int(rest_time * self._mcu.get_adjusted_freq()) rest_ticks = int(rest_time * self._mcu.get_adjusted_freq())
self._homing = True
self._min_query_time = self._mcu.monotonic() self._min_query_time = self._mcu.monotonic()
self._next_query_print_time = print_time + self.RETRY_QUERY self._next_query_print_time = print_time + self.RETRY_QUERY
self._mcu.register_response(self._handle_end_stop_state,
"end_stop_state", self._oid)
self._home_cmd.send( self._home_cmd.send(
[self._oid, clock, self._mcu.seconds_to_clock(sample_time), [self._oid, clock, self._mcu.seconds_to_clock(sample_time),
sample_count, rest_ticks, triggered ^ self._invert], sample_count, rest_ticks, triggered ^ self._invert],
@ -198,8 +196,11 @@ class MCU_endstop:
s.note_homing_start(clock) s.note_homing_start(clock)
def home_wait(self, home_end_time): def home_wait(self, home_end_time):
eventtime = self._mcu.monotonic() eventtime = self._mcu.monotonic()
while self._check_busy(eventtime, home_end_time): try:
eventtime = self._mcu.pause(eventtime + 0.1) while self._check_busy(eventtime, home_end_time):
eventtime = self._mcu.pause(eventtime + 0.1)
finally:
self._mcu.register_response(None, "end_stop_state", self._oid)
def home_finalize(self): def home_finalize(self):
pass pass
def _handle_end_stop_state(self, params): def _handle_end_stop_state(self, params):
@ -209,12 +210,9 @@ class MCU_endstop:
# Check if need to send an end_stop_query command # Check if need to send an end_stop_query command
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 or self._mcu.is_fileoutput(): if last_sent_time >= self._min_query_time or self._mcu.is_fileoutput():
if not self._homing:
return False
if not self._last_state.get('homing', 0): if not self._last_state.get('homing', 0):
for s in self._steppers: for s in self._steppers:
s.note_homing_end(did_trigger=True) s.note_homing_end(did_trigger=True)
self._homing = False
return False return False
last_sent_print_time = self._mcu.estimated_print_time( last_sent_print_time = self._mcu.estimated_print_time(
last_sent_time) last_sent_time)
@ -222,7 +220,6 @@ class MCU_endstop:
# Timeout - disable endstop checking # Timeout - disable endstop checking
for s in self._steppers: for s in self._steppers:
s.note_homing_end() s.note_homing_end()
self._homing = False
self._home_cmd.send([self._oid, 0, 0, 0, 0, 0]) self._home_cmd.send([self._oid, 0, 0, 0, 0, 0])
raise self.TimeoutError("Timeout during endstop homing") raise self.TimeoutError("Timeout during endstop homing")
if self._mcu.is_shutdown(): if self._mcu.is_shutdown():
@ -233,12 +230,12 @@ class MCU_endstop:
self._query_cmd.send([self._oid]) self._query_cmd.send([self._oid])
return True return True
def query_endstop(self, print_time): def query_endstop(self, print_time):
self._homing = False clock = self._mcu.print_time_to_clock(print_time)
self._min_query_time = eventtime = self._mcu.monotonic() if self._mcu.is_fileoutput():
self._next_query_print_time = print_time return 0
while self._check_busy(eventtime): params = self._query_cmd.send_with_response(
eventtime = self._mcu.pause(eventtime + 0.1) [self._oid], "end_stop_state", self._oid, minclock=clock)
return self._last_state.get('pin_value', self._invert) ^ self._invert return params['pin_value'] ^ self._invert
class MCU_digital_out: class MCU_digital_out:
def __init__(self, mcu, pin_params): def __init__(self, mcu, pin_params):