Merge remote-tracking branch 'upstream/master'

klippy/extras/axis_twist_compensation.py

@@ -38,10 +38,13 @@ def __init__(self, config):
 
         # setup calibrater
         self.calibrater = Calibrater(self, config)
+        # register events
+        self.printer.register_event_handler("probe:update_results",
+                                            self._update_z_compensation_value)
 
-    def get_z_compensation_value(self, pos):
+    def _update_z_compensation_value(self, pos):
         if not self.z_compensations:
-            return 0
+            return
 
         x_coord = pos[0]
         z_compensations = self.z_compensations
@@ -55,7 +58,7 @@ def get_z_compensation_value(self, pos):
         interpolated_z_compensation = BedMesh.lerp(
             interpolate_t, z_compensations[interpolate_i],
             z_compensations[interpolate_i + 1])
-        return interpolated_z_compensation
+        pos[2] += interpolated_z_compensation
 
     def clear_compensations(self):
         self.z_compensations = []
@@ -95,7 +98,7 @@ def _handle_connect(self):
             config = self.printer.lookup_object('configfile')
             raise config.error(
                 "AXIS_TWIST_COMPENSATION requires [probe] to be defined")
-        self.lift_speed = self.probe.get_lift_speed()
+        self.lift_speed = self.probe.get_probe_params()['lift_speed']
         self.probe_x_offset, self.probe_y_offset, _ = \
             self.probe.get_offsets()
 
@@ -186,7 +189,8 @@ def _calibration(self, probe_points, nozzle_points, interval):
                            probe_points[self.current_point_index][1], None))
 
         # probe the point
-        self.current_measured_z = self.probe.run_probe(self.gcmd)[2]
+        pos = probe.run_single_probe(self.probe, self.gcmd)
+        self.current_measured_z = pos[2]
 
         # horizontal_move_z (to prevent probe trigger or hitting bed)
         self._move_helper((None, None, self.horizontal_move_z))

klippy/extras/bltouch.py

@@ -1,6 +1,6 @@
 # BLTouch support
 #
-# Copyright (C) 2018-2021  Kevin O'Connor <[email protected]>
+# Copyright (C) 2018-2024  Kevin O'Connor <[email protected]>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging
@@ -23,13 +23,9 @@
 }
 
 # BLTouch "endstop" wrapper
-class BLTouchEndstopWrapper:
+class BLTouchProbe:
     def __init__(self, config):
         self.printer = config.get_printer()
-        self.printer.register_event_handler("klippy:connect",
-                                            self.handle_connect)
-        self.printer.register_event_handler('klippy:mcu_identify',
-                                            self.handle_mcu_identify)
         self.position_endstop = config.getfloat('z_offset', minval=0.)
         self.stow_on_each_sample = config.getboolean('stow_on_each_sample',
                                                      True)
@@ -44,10 +40,7 @@ def __init__(self, config):
         self.next_cmd_time = self.action_end_time = 0.
         self.finish_home_complete = self.wait_trigger_complete = None
         # Create an "endstop" object to handle the sensor pin
-        pin = config.get('sensor_pin')
-        pin_params = ppins.lookup_pin(pin, can_invert=True, can_pullup=True)
-        mcu = pin_params['chip']
-        self.mcu_endstop = mcu.setup_pin('endstop', pin_params)
+        self.mcu_endstop = ppins.setup_pin('endstop', config.get('sensor_pin'))
         # output mode
         omodes = {'5V': '5V', 'OD': 'OD', None: None}
         self.output_mode = config.getchoice('set_output_mode', omodes, None)
@@ -65,19 +58,30 @@ def __init__(self, config):
         self.get_steppers = self.mcu_endstop.get_steppers
         self.home_wait = self.mcu_endstop.home_wait
         self.query_endstop = self.mcu_endstop.query_endstop
+        # multi probes state
+        self.multi = 'OFF'
+        # Common probe implementation helpers
+        self.cmd_helper = probe.ProbeCommandHelper(
+            config, self, self.mcu_endstop.query_endstop)
+        self.probe_offsets = probe.ProbeOffsetsHelper(config)
+        self.probe_session = probe.ProbeSessionHelper(config, self)
         # Register BLTOUCH_DEBUG command
         self.gcode = self.printer.lookup_object('gcode')
         self.gcode.register_command("BLTOUCH_DEBUG", self.cmd_BLTOUCH_DEBUG,
                                     desc=self.cmd_BLTOUCH_DEBUG_help)
         self.gcode.register_command("BLTOUCH_STORE", self.cmd_BLTOUCH_STORE,
                                     desc=self.cmd_BLTOUCH_STORE_help)
-        # multi probes state
-        self.multi = 'OFF'
-    def handle_mcu_identify(self):
-        kin = self.printer.lookup_object('toolhead').get_kinematics()
-        for stepper in kin.get_steppers():
-            if stepper.is_active_axis('z'):
-                self.add_stepper(stepper)
+        # Register events
+        self.printer.register_event_handler("klippy:connect",
+                                            self.handle_connect)
+    def get_probe_params(self, gcmd=None):
+        return self.probe_session.get_probe_params(gcmd)
+    def get_offsets(self):
+        return self.probe_offsets.get_offsets()
+    def get_status(self, eventtime):
+        return self.cmd_helper.get_status(eventtime)
+    def start_probe_session(self, gcmd):
+        return self.probe_session.start_probe_session(gcmd)
     def handle_connect(self):
         self.sync_mcu_print_time()
         self.next_cmd_time += 0.200
@@ -278,6 +282,6 @@ def cmd_BLTOUCH_STORE(self, gcmd):
         self.sync_print_time()
 
 def load_config(config):
-    blt = BLTouchEndstopWrapper(config)
-    config.get_printer().add_object('probe', probe.PrinterProbe(config, blt))
+    blt = BLTouchProbe(config)
+    config.get_printer().add_object('probe', blt)
     return blt

klippy/extras/bulk_sensor.py

@@ -198,7 +198,7 @@ def get_time_translation(self):
         inv_freq = clock_to_print_time(base_mcu + inv_cfreq) - base_time
         return base_time, base_chip, inv_freq
 
-MAX_BULK_MSG_SIZE = 52
+MAX_BULK_MSG_SIZE = 51
 
 # Read sensor_bulk_data and calculate timestamps for devices that take
 # samples at a fixed frequency (and produce fixed data size samples).

klippy/extras/ldc1612.py

@@ -117,7 +117,7 @@ def _build_config(self):
         cmdqueue = self.i2c.get_command_queue()
         self.query_ldc1612_cmd = self.mcu.lookup_command(
             "query_ldc1612 oid=%c rest_ticks=%u", cq=cmdqueue)
-        self.ffreader.setup_query_command("query_ldc1612_status oid=%c",
+        self.ffreader.setup_query_command("query_status_ldc1612 oid=%c",
                                           oid=self.oid, cq=cmdqueue)
         self.ldc1612_setup_home_cmd = self.mcu.lookup_command(
             "ldc1612_setup_home oid=%c clock=%u threshold=%u"