diff --git a/docs/Config_Changes.md b/docs/Config_Changes.md
index 1894fad99..0644beb56 100644
--- a/docs/Config_Changes.md
+++ b/docs/Config_Changes.md
@@ -8,6 +8,12 @@ All dates in this document are approximate.
## Changes
+20210819: In some cases, a `G28` homing move may end in a position
+that is nominally outside the valid movement range. In rare
+situations this may result in confusing "Move out of range" errors
+after homing. If this occurs, change your start scripts to move the
+toolhead to a valid position immediately after homing.
+
20210814: The analog only pseudo-pins on the atmega168 and atmega328
have been renamed from PE0/PE1 to PE2/PE3.
diff --git a/klippy/extras/homing.py b/klippy/extras/homing.py
index 67a195132..220877e14 100644
--- a/klippy/extras/homing.py
+++ b/klippy/extras/homing.py
@@ -3,7 +3,7 @@
# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
-import logging, math, collections
+import logging, math
HOMING_START_DELAY = 0.001
ENDSTOP_SAMPLE_TIME = .000015
@@ -21,6 +21,18 @@ def multi_complete(printer, completions):
reactor.register_callback(lambda e: cp.complete(1) if c.wait() else 0)
return cp
+# Tracking of stepper positions during a homing/probing move
+class StepperPosition:
+ def __init__(self, stepper, endstop_name):
+ self.stepper = stepper
+ self.endstop_name = endstop_name
+ self.stepper_name = stepper.get_name()
+ self.start_pos = stepper.get_mcu_position()
+ self.halt_pos = self.trig_pos = None
+ def note_home_end(self, trigger_time):
+ self.halt_pos = self.stepper.get_mcu_position()
+ self.trig_pos = self.stepper.get_past_mcu_position(trigger_time)
+
# Implementation of homing/probing moves
class HomingMove:
def __init__(self, printer, endstops, toolhead=None):
@@ -29,7 +41,7 @@ class HomingMove:
if toolhead is None:
toolhead = printer.lookup_object('toolhead')
self.toolhead = toolhead
- self.end_mcu_pos = []
+ self.stepper_positions = []
def get_mcu_endstops(self):
return [es for es, name in self.endstops]
def _calc_endstop_rate(self, mcu_endstop, movepos, speed):
@@ -44,6 +56,14 @@ class HomingMove:
if max_steps <= 0.:
return .001
return move_t / max_steps
+ def calc_toolhead_pos(self, kin_spos, offsets):
+ kin_spos = dict(kin_spos)
+ kin = self.toolhead.get_kinematics()
+ for stepper in kin.get_steppers():
+ sname = stepper.get_name()
+ kin_spos[sname] += offsets.get(sname, 0) * stepper.get_step_dist()
+ thpos = self.toolhead.get_position()
+ return list(kin.calc_position(kin_spos))[:3] + thpos[3:]
def homing_move(self, movepos, speed, probe_pos=False,
triggered=True, check_triggered=True):
# Notify start of homing/probing move
@@ -53,9 +73,9 @@ class HomingMove:
kin = self.toolhead.get_kinematics()
kin_spos = {s.get_name(): s.get_commanded_position()
for s in kin.get_steppers()}
- start_mcu_pos = [(s, name, s.get_mcu_position())
- for es, name in self.endstops
- for s in es.get_steppers()]
+ self.stepper_positions = [ StepperPosition(s, name)
+ for es, name in self.endstops
+ for s in es.get_steppers() ]
# Start endstop checking
print_time = self.toolhead.get_last_move_time()
endstop_triggers = []
@@ -74,24 +94,39 @@ class HomingMove:
except self.printer.command_error as e:
error = "Error during homing move: %s" % (str(e),)
# Wait for endstops to trigger
+ trigger_times = {}
move_end_print_time = self.toolhead.get_last_move_time()
for mcu_endstop, name in self.endstops:
trigger_time = mcu_endstop.home_wait(move_end_print_time)
- if trigger_time < 0. and error is None:
+ if trigger_time > 0.:
+ trigger_times[name] = trigger_time
+ elif trigger_time < 0. and error is None:
error = "Communication timeout during homing %s" % (name,)
- elif not trigger_time and check_triggered and error is None:
+ elif check_triggered and error is None:
error = "No trigger on %s after full movement" % (name,)
# Determine stepper halt positions
self.toolhead.flush_step_generation()
- self.end_mcu_pos = [(s, name, spos, s.get_mcu_position())
- for s, name, spos in start_mcu_pos]
+ for sp in self.stepper_positions:
+ tt = trigger_times.get(sp.endstop_name, move_end_print_time)
+ sp.note_home_end(tt)
if probe_pos:
- for s, name, spos, epos in self.end_mcu_pos:
- sname = s.get_name()
- if sname in kin_spos:
- kin_spos[sname] += (epos - spos) * s.get_step_dist()
- movepos = list(kin.calc_position(kin_spos))[:3] + movepos[3:]
- self.toolhead.set_position(movepos)
+ halt_steps = {sp.stepper_name: sp.halt_pos - sp.start_pos
+ for sp in self.stepper_positions}
+ trig_steps = {sp.stepper_name: sp.trig_pos - sp.start_pos
+ for sp in self.stepper_positions}
+ haltpos = trigpos = self.calc_toolhead_pos(kin_spos, trig_steps)
+ if trig_steps != halt_steps:
+ haltpos = self.calc_toolhead_pos(kin_spos, halt_steps)
+ else:
+ haltpos = trigpos = movepos
+ over_steps = {sp.stepper_name: sp.halt_pos - sp.trig_pos
+ for sp in self.stepper_positions}
+ if any(over_steps.values()):
+ self.toolhead.set_position(movepos)
+ halt_kin_spos = {s.get_name(): s.get_commanded_position()
+ for s in kin.get_steppers()}
+ haltpos = self.calc_toolhead_pos(halt_kin_spos, over_steps)
+ self.toolhead.set_position(haltpos)
# Signal homing/probing move complete
try:
self.printer.send_event("homing:homing_move_end", self)
@@ -100,13 +135,13 @@ class HomingMove:
error = str(e)
if error is not None:
raise self.printer.command_error(error)
- return movepos
+ return trigpos
def check_no_movement(self):
if self.printer.get_start_args().get('debuginput') is not None:
return None
- for s, name, spos, epos in self.end_mcu_pos:
- if spos == epos:
- return name
+ for sp in self.stepper_positions:
+ if sp.start_pos == sp.trig_pos:
+ return sp.endstop_name
return None
# State tracking of homing requests
diff --git a/klippy/stepper.py b/klippy/stepper.py
index bb95d4edf..f386f5b83 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -117,7 +117,8 @@ class MCU_stepper:
def get_past_mcu_position(self, print_time):
clock = self._mcu.print_time_to_clock(print_time)
ffi_main, ffi_lib = chelper.get_ffi()
- return ffi_lib.stepcompress_find_past_position(self._stepqueue, clock)
+ pos = ffi_lib.stepcompress_find_past_position(self._stepqueue, clock)
+ return int(pos)
def get_past_commanded_position(self, print_time):
mcu_pos = self.get_past_mcu_position(print_time)
return mcu_pos * self._step_dist - self._mcu_position_offset