Autogenerated - Upstream 13cea1c

klippy/.version

@@ -1 +1 @@
-9a2e079
+13cea1c

klippy/docs/Sponsors.md

@@ -17,7 +17,6 @@ serve the 3D printing community better. Follow them on
 ## Sponsors
 
 [<img src="./img/sponsors/obico-light-horizontal.png" width="200" style="margin:25px" />](https://obico.io/klipper.html?source=klipper_sponsor)
-[<img src="./img/sponsors/peopoly-logo.png" width="200" style="margin:25px" />](https://peopoly.net)
 
 ## Klipper Developers
 

klippy/extras/homing.py

@@ -1,6 +1,6 @@
 # Helper code for implementing homing operations
 #
-# Copyright (C) 2016-2021  Kevin O'Connor <[email protected]>
+# Copyright (C) 2016-2024  Kevin O'Connor <[email protected]>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging, math
@@ -29,10 +29,17 @@ def __init__(self, stepper, endstop_name):
         self.endstop_name = endstop_name
         self.stepper_name = stepper.get_name()
         self.start_pos = stepper.get_mcu_position()
+        self.start_cmd_pos = stepper.mcu_to_commanded_position(self.start_pos)
         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)
+    def verify_no_probe_skew(self, haltpos):
+        new_start_pos = self.stepper.get_mcu_position(self.start_cmd_pos)
+        if new_start_pos != self.start_pos:
+            logging.warning(
+                "Stepper '%s' position skew after probe: pos %d now %d",
+                self.stepper.get_name(), self.start_pos, new_start_pos)
 
 # Implementation of homing/probing moves
 class HomingMove:
@@ -121,6 +128,9 @@ def homing_move(self, movepos, speed, probe_pos=False,
             haltpos = trigpos = self.calc_toolhead_pos(kin_spos, trig_steps)
             if trig_steps != halt_steps:
                 haltpos = self.calc_toolhead_pos(kin_spos, halt_steps)
+            self.toolhead.set_position(haltpos)
+            for sp in self.stepper_positions:
+                sp.verify_no_probe_skew(haltpos)
         else:
             haltpos = trigpos = movepos
             over_steps = {sp.stepper_name: sp.halt_pos - sp.trig_pos
@@ -130,7 +140,7 @@ def homing_move(self, movepos, speed, probe_pos=False,
                 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)
+            self.toolhead.set_position(haltpos)
         # Signal homing/probing move complete
         try:
             self.printer.send_event("homing:homing_move_end", self)

klippy/mcu.py

@@ -832,9 +832,10 @@ def _ready(self):
         systime = self._reactor.monotonic()
         get_clock = self._clocksync.get_clock
         calc_freq = get_clock(systime + 1) - get_clock(systime)
+        freq_diff = abs(mcu_freq - calc_freq)
         mcu_freq_mhz = int(mcu_freq / 1000000. + 0.5)
         calc_freq_mhz = int(calc_freq / 1000000. + 0.5)
-        if mcu_freq_mhz != calc_freq_mhz:
+        if freq_diff > mcu_freq*0.01 and mcu_freq_mhz != calc_freq_mhz:
             pconfig = self._printer.lookup_object('configfile')
             msg = ("MCU '%s' configured for %dMhz but running at %dMhz!"
                     % (self._name, mcu_freq_mhz, calc_freq_mhz))

klippy/stepper.py

@@ -138,8 +138,10 @@ def set_position(self, coord):
     def get_commanded_position(self):
         ffi_main, ffi_lib = chelper.get_ffi()
         return ffi_lib.itersolve_get_commanded_pos(self._stepper_kinematics)
-    def get_mcu_position(self):
-        mcu_pos_dist = self.get_commanded_position() + self._mcu_position_offset
+    def get_mcu_position(self, cmd_pos=None):
+        if cmd_pos is None:
+            cmd_pos = self.get_commanded_position()
+        mcu_pos_dist = cmd_pos + self._mcu_position_offset
         mcu_pos = mcu_pos_dist / self._step_dist
         if mcu_pos >= 0.:
             return int(mcu_pos + 0.5)