From b3b4922d1780443a7dec27d660fc32b2270d5f3a Mon Sep 17 00:00:00 2001
From: Rogerio Goncalves <rogerlz@gmail.com>
Date: Tue, 7 Nov 2023 19:27:35 +0000
Subject: [PATCH] expose the multi mcu homing timeout as a parameter (#93)

---
 README.md                       | 2 ++
 docs/Config_Reference.md        | 2 ++
 klippy/extras/danger_options.py | 4 ++++
 klippy/mcu.py                   | 6 ++++--
 test/klippy/danger_options.cfg  | 1 +
 5 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 1879415c8..c7a98af2a 100644
--- a/README.md
+++ b/README.md
@@ -48,6 +48,8 @@ Features merged into the master branch:
 
 - [danger_options: allow plugins to override conflicting extras](https://github.com/DangerKlippers/danger-klipper/pull/82)
 
+- [danger_options: expose the multi mcu homing timeout as a parameter](https://github.com/DangerKlippers/danger-klipper/pull/93)
+
 If you're feeling adventurous, take a peek at the extra features in the bleeding-edge branch:
 
   - [dmbutyugin's advanced-features branch](https://github.com/DangerKlippers/danger-klipper/pull/69) [dmbutyugin/advanced-features](https://github.com/dmbutyugin/klipper/commits/advanced-features)
diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
index 90a48d8b0..e3d4503f6 100644
--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@@ -101,6 +101,8 @@ log_shutdown_info: True
 # Allows modules in `plugins` to override modules of the same name in `extras`
 allow_plugin_override: False
 
+# The timeout (in seconds) for MCU synchronization during the homing process when multiple MCUs are in use.
+multi_mcu_trsync_timeout: 0.025
 ```
 
 ## Common kinematic settings
diff --git a/klippy/extras/danger_options.py b/klippy/extras/danger_options.py
index 909063478..314b6f092 100644
--- a/klippy/extras/danger_options.py
+++ b/klippy/extras/danger_options.py
@@ -16,6 +16,10 @@ def __init__(self, config):
             "allow_plugin_override", False
         )
 
+        self.multi_mcu_trsync_timeout = config.getfloat(
+            "multi_mcu_trsync_timeout", 0.025, minval=0.0
+        )
+
 
 def load_config(config):
     return DangerOptions(config)
diff --git a/klippy/mcu.py b/klippy/mcu.py
index 966f4c820..daeda98d5 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -288,7 +288,6 @@ def stop(self):
         return params["trigger_reason"]
 
 
-TRSYNC_TIMEOUT = 0.025
 TRSYNC_SINGLE_MCU_TIMEOUT = 0.250
 
 
@@ -308,6 +307,9 @@ def __init__(self, mcu, pin_params):
         ffi_main, ffi_lib = chelper.get_ffi()
         self._trdispatch = ffi_main.gc(ffi_lib.trdispatch_alloc(), ffi_lib.free)
         self._trsyncs = [MCU_trsync(mcu, self._trdispatch)]
+        self.danger_options = self._mcu.get_printer().lookup_object(
+            "danger_options"
+        )
 
     def get_mcu(self):
         return self._mcu
@@ -370,7 +372,7 @@ def home_start(
         self._rest_ticks = rest_ticks
         reactor = self._mcu.get_printer().get_reactor()
         self._trigger_completion = reactor.completion()
-        expire_timeout = TRSYNC_TIMEOUT
+        expire_timeout = self.danger_options.multi_mcu_trsync_timeout
         if len(self._trsyncs) == 1:
             expire_timeout = TRSYNC_SINGLE_MCU_TIMEOUT
         for trsync in self._trsyncs:
diff --git a/test/klippy/danger_options.cfg b/test/klippy/danger_options.cfg
index f6fbac8a2..84bfd7c29 100644
--- a/test/klippy/danger_options.cfg
+++ b/test/klippy/danger_options.cfg
@@ -7,6 +7,7 @@ error_on_unused_config_options: False
 log_bed_mesh_at_startup: False
 log_shutdown_info: False
 allow_plugin_override: True
+multi_mcu_trsync_timeout: 0.05
 
 [stepper_x]
 step_pin: PF0