def get_homed_offset(self, stepper):
if self.get_phase is not None:
try:
phase = self.get_phase()
except Exception as e:
msg = "Unable to get stepper %s phase: %s" % (self.name,
str(e))
logging.exception(msg)
raise homing.EndstopError(msg)
if stepper.is_dir_inverted():
phase = (self.phases - 1) - phase
else:
phase = stepper.get_mcu_position() % self.phases
self.phase_history[phase] += 1
if self.endstop_phase is None:
logging.info("Setting %s endstop phase to %d", self.name, phase)
self.endstop_phase = phase
return 0.
delta = (phase - self.endstop_phase) % self.phases
if delta >= self.phases - self.endstop_phase_accuracy:
delta -= self.phases
elif delta > self.endstop_phase_accuracy:
raise homing.EndstopError(
"Endstop %s incorrect phase (got %d vs %d)" %
(self.name, phase, self.endstop_phase))
return delta * self.step_dist
def check_move(self, move):
move.extrude_r = move.axes_d[3] / move.move_d
move.extrude_max_corner_v = 0.
if not self.heater.can_extrude:
raise homing.EndstopError(
"Extrude below minimum temp\n"
"See the 'min_extrude_temp' config option for details")
if not move.is_kinematic_move or move.extrude_r < 0.:
# Extrude only move (or retraction move) - limit accel and velocity
if abs(move.axes_d[3]) > self.max_e_dist:
raise homing.EndstopError(
"Extrude only move too long (%.3fmm vs %.3fmm)\n"
"See the 'max_extrude_only_distance' config"
" option for details" % (move.axes_d[3], self.max_e_dist))
inv_extrude_r = 1. / abs(move.extrude_r)
move.limit_speed(self.max_e_velocity * inv_extrude_r
, self.max_e_accel * inv_extrude_r)
elif move.extrude_r > self.max_extrude_ratio:
if move.axes_d[3] <= self.nozzle_diameter * self.max_extrude_ratio:
# Permit extrusion if amount extruded is tiny
move.extrude_r = self.max_extrude_ratio
return
area = move.axes_d[3] * self.filament_area / move.move_d
logging.debug("Overextrude: %s vs %s (area=%.3f dist=%.3f)",
move.extrude_r, self.max_extrude_ratio,
area, move.move_d)
raise homing.EndstopError(
"Move exceeds maximum extrusion (%.3fmm^2 vs %.3fmm^2)\n"
"See the 'max_extrude_cross_section' config option for details"
% (area, self.max_extrude_ratio * self.filament_area))
def test_sensor(self):
if not self.pin_up_touch_triggered:
# Nothing to test
return
toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time()
if print_time < self.next_test_time:
self.next_test_time = print_time + TEST_TIME
return
# Raise the bltouch probe and test if probe is raised
self.sync_print_time()
for retry in range(3):
check_start_time = self.send_cmd('pin_up',
duration=self.pin_move_time)
self.send_cmd('touch_mode')
check_end_time = self.send_cmd(None)
success = self.verify_state(check_start_time, check_end_time, True)
self.sync_print_time()
if success:
# The "bltouch connection" test completed successfully
self.next_test_time = check_end_time + TEST_TIME
return
msg = "BLTouch failed to verify sensor state"
if retry >= 2:
raise homing.EndstopError(msg)
self.gcode.respond_info(msg + '; retrying.')
self.send_cmd('reset', duration=RETRY_RESET_TIME)
def test_sensor(self):
if not self.test_sensor_pin:
return
toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time()
if print_time < self.next_test_time:
self.next_test_time = print_time + TEST_TIME
return
# Raise the bltouch probe and test if probe is raised
self.send_cmd(print_time, 'reset')
home_time = print_time + self.pin_move_time
self.send_cmd(home_time, 'touch_mode')
self.send_cmd(home_time + MIN_CMD_TIME, None)
# Perform endstop check to verify bltouch reports probe raised
prev_positions = [s.get_commanded_position()
for s in self.mcu_endstop.get_steppers()]
self.mcu_endstop.home_start(home_time, ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME)
try:
self.mcu_endstop.home_wait(home_time + MIN_CMD_TIME)
except self.mcu_endstop.TimeoutError as e:
raise homing.EndstopError("BLTouch sensor test failed")
for s, pos in zip(self.mcu_endstop.get_steppers(), prev_positions):
s.set_commanded_position(pos)
# Test was successful
self.next_test_time = home_time + TEST_TIME
toolhead.reset_print_time(home_time + 2. * MIN_CMD_TIME)
def home_finalize(self):
self.raise_probe()
self.sync_print_time()
# Verify the probe actually deployed during the attempt
for s, mcu_pos in self.start_mcu_pos:
if s.get_mcu_position() == mcu_pos:
raise homing.EndstopError("BLTouch failed to deploy")
self.mcu_endstop.home_finalize()
def probe_finish(self):
if self.multi == 'OFF':
self.raise_probe()
self.sync_print_time()
# Verify the probe actually deployed during the attempt
for s, mcu_pos in self.start_mcu_pos:
if s.get_mcu_position() == mcu_pos:
raise homing.EndstopError("BLTouch failed to deploy")
def verify_state(self, check_start_time, check_end_time, triggered, msg):
# Perform endstop check to verify bltouch reports desired state
self.mcu_endstop.home_start(check_start_time, ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME,
triggered=triggered)
try:
self.mcu_endstop.home_wait(check_end_time)
except self.mcu_endstop.TimeoutError as e:
logging.warning("BLTouch probe verify status failed.")
raise homing.EndstopError("BLTouch failed to %s" % (msg,))
def verify_state(self, check_start_time, check_end_time, triggered, msg):
# Perform endstop check to verify bltouch reports desired state
self.mcu_endstop.home_start(check_start_time,
ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT,
ENDSTOP_REST_TIME,
triggered=triggered)
did_trigger = self.mcu_endstop.home_wait(check_end_time)
if not did_trigger:
raise homing.EndstopError("BLTouch failed to %s" % (msg, ))
def verify_state(self, check_start_time, check_end_time, triggered, msg):
# Perform endstop check to verify bltouch reports desired state
prev_positions = [s.get_commanded_position()
for s in self.mcu_endstop.get_steppers()]
self.mcu_endstop.home_start(check_start_time, ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME,
triggered=triggered)
try:
self.mcu_endstop.home_wait(check_end_time)
except self.mcu_endstop.TimeoutError as e:
raise homing.EndstopError("BLTouch failed to %s" % (msg,))
for s, pos in zip(self.mcu_endstop.get_steppers(), prev_positions):
s.set_commanded_position(pos)
def get_homed_offset(self):
if not self.homing_stepper_phases or self.need_motor_enable:
return 0
pos = self.mcu_stepper.get_mcu_position()
pos %= self.homing_stepper_phases
if self.homing_endstop_phase is None:
logging.info("Setting %s endstop phase to %d" % (self.name, pos))
self.homing_endstop_phase = pos
return 0
delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
if delta >= self.homing_stepper_phases - self.homing_endstop_accuracy:
delta -= self.homing_stepper_phases
elif delta > self.homing_endstop_accuracy:
raise homing.EndstopError(
"Endstop %s incorrect phase (got %d vs %d)" %
(self.name, pos, self.homing_endstop_phase))
return delta * self.step_dist
def get_homed_offset(self):
if not self.homing_stepper_phases:
return 0. - self.homing_offset
pos = self.steppers[0].get_mcu_position()
pos %= self.homing_stepper_phases
if self.homing_endstop_phase is None:
self.logger.info("Setting %s endstop phase to %d", self.name, pos)
self.homing_endstop_phase = pos
return 0. - self.homing_offset
delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
if delta >= self.homing_stepper_phases - self.homing_endstop_accuracy:
delta -= self.homing_stepper_phases
elif delta > self.homing_endstop_accuracy:
raise homing.EndstopError(
"Endstop %s incorrect phase (got %d vs %d)" %
(self.name, pos, self.homing_endstop_phase))
return (delta * self.homing_step_dist) - self.homing_offset
def test_sensor(self):
toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time()
if print_time < self.next_test_time:
self.next_test_time = print_time + TEST_TIME
return
self.send_cmd(print_time, CMD_RESET)
home_time = print_time + PIN_MOVE_TIME
self.send_cmd(home_time, CMD_TOUCH_MODE)
self.send_cmd(home_time + MIN_CMD_TIME, 0.)
self.mcu_endstop.home_start(home_time, ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT, .001)
try:
self.mcu_endstop.home_wait(home_time + MIN_CMD_TIME)
except self.mcu_endstop.TimeoutError as e:
raise homing.EndstopError("BLTouch sensor test failed")
self.next_test_time = home_time + TEST_TIME
toolhead.reset_print_time(home_time + 2. * MIN_CMD_TIME)
def raise_probe(self):
self.sync_mcu_print_time()
if not self.pin_up_not_triggered:
# No way to verify raise attempt - just issue commands
self.send_cmd('reset')
self.send_cmd('pin_up', duration=self.pin_move_time)
return
for retry in range(3):
self.send_cmd('pin_up', duration=self.pin_move_time)
success = self.verify_state(False)
if success:
# The "probe raised" test completed successfully
break
if retry >= 2:
raise homing.EndstopError("BLTouch failed to raise probe")
msg = "Failed to verify BLTouch probe is raised; retrying."
self.gcode.respond_info(msg)
self.sync_mcu_print_time()
self.send_cmd('reset', duration=RETRY_RESET_TIME)
def query_endstops(self):
last_move_time = self.get_last_move_time()
try:
return self.kin.query_endstops(last_move_time)
except self.mcu.error as e:
raise homing.EndstopError(str(e))
def home_finalize(self):
try:
self.deactivate_gcode.run_gcode_from_command()
except self.gcode.error as e:
raise homing.EndstopError(str(e))
self.mcu_endstop.home_finalize()
def move_error(self, msg="Move out of range"):
pos = self.end_pos
return homing.EndstopError("%s: %.3f %.3f %.3f [%.3f]" %
(msg, pos[0], pos[1], pos[2], pos[3]))
