muehe/onefinity-firmware
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AuxAxis: pre-load home_zero via HOMECFG, drop post-home WPOS

Browse Source 
home() previously matched the wrong [home] line (firmware-side bug,
fixed in auxcnc) and even when it would have matched, it tried to
shift the step counter by writing 'WPOS <n>' after homing. The ESP's
WPOS handler clears HOMED, so a bbctrl restart would forget the home
state.

Push the desired step counter via HOMECFG zero= (firmware writes it
into the counter at the end of a successful HOME, leaving HOMED set).
home() now only reads the terminal [home] line; no post-home counter
fixup.
This commit is contained in:
Henrik Muehe
2026-05-01 11:08:51 +02:00
parent 41d720c1d0
commit 68a92bb297
1 changed files with 15 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
src/py/bbctrl/AuxAxis.py
View File

@@ -154,22 +154,22 @@ class AuxAxis(object):
def home(self):
"""Run the homing cycle on the ESP. Blocks until done. Raises on
failure. Updates aux_homed and aux_pos."""
failure. Updates aux_homed and aux_pos.
The ESP's home_zero is pre-loaded via HOMECFG so when the cycle
completes the step counter already corresponds to home_position_mm.
That way the homed-state survives a bbctrl restart correctly
(we don't need a post-home WPOS write, which would clear HOMED)."""
self._require_present()
# Make sure home_zero on the ESP matches our current
# home_position_mm in case the user just edited config.
self._push_homecfg()
line = self._rpc('HOME', topic='home', timeout=120.0)
# line is the body after '[home] '
# line is the body after '[home] '. Only terminal lines use
# the [home] topic now (done / failed); progress is [home_log].
if line.startswith('done'):
# ESP set its counter to home_zero; mirror that.
new_pos = self._parse_kv_int(line, 'pos', 0)
self._pos_steps = new_pos
self._pos_steps = self._parse_kv_int(line, 'pos', 0)
self._homed = True
# Translate to home_position_mm. Conceptually the host says
# "after homing, W is here in mm". We achieve that by setting
# the ESP counter (WPOS) so the mm conversion works out.
target_pos = self._mm_to_steps(self._cfg['home_position_mm'])
if target_pos != new_pos:
self._rpc('WPOS %d' % target_pos, topic='ok', timeout=2.0)
self._pos_steps = target_pos
self._publish_state()
return
# failure
@@ -312,13 +312,15 @@ class AuxAxis(object):
def _push_homecfg(self):
c = self._cfg
zero_steps = self._mm_to_steps(c['home_position_mm'])
cmd = ('HOMECFG dir=%s fast=%d slow=%d backoff=%d maxtravel=%d '
'zero=0 accel=%d step_max=%d step_start=%d limit_low=%d') % (
'zero=%d accel=%d step_max=%d step_start=%d limit_low=%d') % (
c['home_dir'],
int(c['home_fast_sps']),
int(c['home_slow_sps']),
int(c['home_backoff_steps']),
int(c['home_maxtravel_steps']),
int(zero_steps),
int(c['step_accel_sps2']),
int(c['step_max_sps']),
int(c['step_start_sps']),