Klipper-G28归位流程

最新推荐文章于 2025-08-11 22:22:04 发布

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归位流程

返回原点，归位
在打印模型时，会优先执行归位操作

toolhead 初始化的时候，会加载homing模块对象，并对其进行初始化操作。

def __init__(self, config):
    self.printer = config.get_printer()
    # Register g-code commands
    gcode = self.printer.lookup_object('gcode')
    gcode.register_command('G28', self.cmd_G28)

主要注册gcode命令G28的回调函数。

归位代码解析

def homing_move(self, movepos, speed, probe_pos=False,
                triggered=True, check_triggered=True):
    # Notify start of homing/probing move
    self.printer.send_event("homing:homing_move_begin", self)
    # Note start location
    self.toolhead.flush_step_generation()
    kin = self.toolhead.get_kinematics()
    kin_spos = {s.get_name(): s.get_commanded_position()
                for s in kin.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 = []
    for mcu_endstop, name in self.endstops:
        rest_time = self._calc_endstop_rate(mcu_endstop, movepos, speed)
        wait = mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME,
                                      ENDSTOP_SAMPLE_COUNT, rest_time,
                                      triggered=triggered)
        endstop_triggers.append(wait)
    all_endstop_trigger = multi_complete(self.printer, endstop_triggers)
    self.toolhead.dwell(HOMING_START_DELAY)
    # Issue move
    error = None
    try:
        self.toolhead.drip_move(movepos, speed, all_endstop_trigger)
    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.:
            trigger_times[name] = trigger_time
        elif trigger_time < 0. and error is None:
            error = "Communication timeout during homing %s" % (name,)
        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()
    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:
        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)
    except self.printer.command_error as e:
        if error is None:
            error = str(e)
    if error is not None:
        raise self.printer.command_error(error)
    return trigpos

发送归位操作开始事件

self.printer.send_event("homing:homing_move_begin", self)

通知打印机即将开始归位操作，触发事件 homing_move_begin。

获取当前步进电机的位置

kin = self.toolhead.get_kinematics()
kin_spos = {s.get_name(): s.get_commanded_position() for s in kin.get_steppers()}

kin.get_steppers() 返回系统中所有参与运动的步进电机。kin_spos 保存这些电机的当前命令位置。

记录限位开关的状态

self.stepper_positions = [StepperPosition(s, name) for es, name in self.endstops for s in es.get_steppers()]

为所有与限位开关（endstop）相关的步进电机创建一个 StepperPosition 对象，记录限位开关的相关信息。

计算限位开关的采样频率并开始监控

for mcu_endstop, name in self.endstops:
    rest_time = self._calc_endstop_rate(mcu_endstop, movepos, speed)
    wait = mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT, rest_time, triggered=triggered)
    endstop_triggers.append(wait)

这里通过调用 home_start() 方法开始检测限位开关的状态，指定采样时间、频率等参数。并将每个限位开关的触发状态加入到 endstop_triggers 列表中。

移动工具头

self.toolhead.drip_move(movepos, speed, all_endstop_trigger)

通过 drip_move 方法移动工具头至目标位置 movepos，并在移动过程中监控限位开关的触发状态 all_endstop_trigger。

检测限位开关是否触发

for mcu_endstop, name in self.endstops:
    trigger_time = mcu_endstop.home_wait(move_end_print_time)
    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 check_triggered and error is None:
        error = "No trigger on %s after full movement" % (name,)

使用 home_wait() 方法等待限位开关触发，判断各个限位开关是否在预期时间内触发。若未触发或通信超时，将会记录错误信息。

计算并设置停止位置

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)

通过计算步进电机的位置，确定工具头的停止位置。calc_toolhead_pos() 方法将步进电机的位置转换为工具头的物理位置。

调整并设置工具头的最终位置

self.toolhead.set_position(haltpos)

设置工具头的最终位置为计算出的 haltpos，该位置可能经过限位开关触发或过冲后的调整。

结束并发送归位操作结束事件

self.printer.send_event("homing:homing_move_end", self)

发送 homing_move_end 事件，通知打印机归位操作已完成。

错误处理

if error is not None:
    raise self.printer.command_error(error)

如果在归位过程中出现错误，抛出异常并将错误信息传递给打印机。