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manual_stepper: Rework STOP_ON_ENDSTOP parameter

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Replace the integer values of STOP_ON_ENDSTOP with string values and
deprecate the older format.  The newer string values should make the
commands easier to understand and allow for more homing options in the
future.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2026-02-01 17:07:55 -05:00
parent dd94441e74
commit 4fb3b24c8d
4 changed files with 52 additions and 22 deletions
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6
config/sample-mmu2s-diy.cfg
View file

@ -506,7 +506,7 @@ gcode:
{% if printer["gcode_macro SELECT_TOOL"].tool_selected|int != -1 %}
M118 Loading filament to PINDA ...
MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
MANUAL_STEPPER STEPPER=gear_stepper MOVE={printer["gcode_macro VAR_MMU2S"].pinda_load_length} STOP_ON_ENDSTOP=2
MANUAL_STEPPER STEPPER=gear_stepper MOVE={printer["gcode_macro VAR_MMU2S"].pinda_load_length} STOP_ON_ENDSTOP=try_home
MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
MANUAL_STEPPER STEPPER=gear_stepper MOVE=10
IS_FILAMENT_IN_PINDA
@ -579,7 +579,7 @@ gcode:
M118 Unloading filament from extruder to PINDA ...
MANUAL_STEPPER STEPPER=gear_stepper SET_POSITION=0
{% if printer["gcode_macro VAR_MMU2S"].enable_5in1 == 0 %}
MANUAL_STEPPER STEPPER=gear_stepper MOVE=-{printer["gcode_macro VAR_MMU2S"].bowden_unload_length} SPEED=120 ACCEL=80 STOP_ON_ENDSTOP=-2
MANUAL_STEPPER STEPPER=gear_stepper MOVE=-{printer["gcode_macro VAR_MMU2S"].bowden_unload_length} SPEED=120 ACCEL=80 STOP_ON_ENDSTOP=try_inverted_home
IS_FILAMENT_STUCK_IN_PINDA
{% else %}
MANUAL_STEPPER STEPPER=gear_stepper MOVE=-{printer["gcode_macro VAR_MMU2S"].bowden_unload_length} SPEED=120 ACCEL=80
@ -792,7 +792,7 @@ gcode:
{% if printer["gcode_macro VAR_MMU2S"].enable_5in1 == 0 %}
M118 Homing selector
MANUAL_STEPPER STEPPER=selector_stepper SET_POSITION=0
MANUAL_STEPPER STEPPER=selector_stepper MOVE=-76 STOP_ON_ENDSTOP=1
MANUAL_STEPPER STEPPER=selector_stepper MOVE=-76 STOP_ON_ENDSTOP=home
MANUAL_STEPPER STEPPER=selector_stepper SET_POSITION=0
{% endif %}
MANUAL_STEPPER STEPPER=idler_stepper MOVE=0

6
docs/Config_Changes.md
View file

@ -8,6 +8,12 @@ All dates in this document are approximate.
## Changes
20260207: The `MANUAL_STEPPER` G-Code command `STOP_ON_ENDSTOP`
parameter has changed. See the
[MANUAL_STEPPER](G-Codes.md#manual_stepper) documentation for
details. Using the previously supported integer values (-2, -1, 1, 2)
is deprecated and will be removed in the near future.
20260109: The status value `{printer.probe.last_z_result}` is
deprecated; it will be removed in the near future. Use
`{printer.probe.last_probe_position}` instead, and note that this new

43
docs/G-Codes.md
View file

@ -989,22 +989,33 @@ enabled.
#### MANUAL_STEPPER
`MANUAL_STEPPER STEPPER=config_name [ENABLE=[0|1]]
[SET_POSITION=<pos>] [SPEED=<speed>] [ACCEL=<accel>] [MOVE=<pos>
[STOP_ON_ENDSTOP=[1|2|-1|-2]] [SYNC=0]]`: This command will alter the
state of the stepper. Use the ENABLE parameter to enable/disable the
stepper. Use the SET_POSITION parameter to force the stepper to think
it is at the given position. Use the MOVE parameter to request a
movement to the given position. If SPEED and/or ACCEL is specified
then the given values will be used instead of the defaults specified
in the config file. If an ACCEL of zero is specified then no
acceleration will be performed. If STOP_ON_ENDSTOP=1 is specified then
the move will end early should the endstop report as triggered (use
STOP_ON_ENDSTOP=2 to complete the move without error even if the
endstop does not trigger, use -1 or -2 to stop when the endstop
reports not triggered). Normally future G-Code commands will be
scheduled to run after the stepper move completes, however if a manual
stepper move uses SYNC=0 then future G-Code movement commands may run
in parallel with the stepper movement.
[SET_POSITION=<pos>] [SPEED=<speed>] [ACCEL=<accel>] [MOVE=<pos>]
[SYNC=0]]`: This command will alter the state of the stepper. Use the
ENABLE parameter to enable/disable the stepper. Use the SET_POSITION
parameter to force the stepper to think it is at the given
position. Use the MOVE parameter to request a movement to the given
position. If SPEED and/or ACCEL is specified then the given values
will be used instead of the defaults specified in the config file. If
an ACCEL of zero is specified then no acceleration will be
performed. Normally future G-Code commands will be scheduled to run
after the stepper move completes, however if a manual stepper move
uses SYNC=0 then future G-Code movement commands may run in parallel
with the stepper movement.
`MANUAL_STEPPER STEPPER=config_name [SPEED=<speed>] [ACCEL=<accel>]
MOVE=<pos> STOP_ON_ENDSTOP=<check_type>`: If STOP_ON_ENDSTOP is
specified then the move will end early if an endstop event occurs. The
`STOP_ON_ENDSTOP` parameter may be set to one of the following values:
* `home`: The movement will stop when the endstop reports triggered
and the final position of the manual_stepper will be set such that
the trigger position matches the position specified in the `MOVE`
parameter.
* `inverted_home`: As above, however, the movement will stop when the
endstop reports it is in a non-triggered state.
* `try_home`, `try_inverted_home`: As above, but no error will be
reported if the movement fully completes without an endstop event
stopping the move early.
`MANUAL_STEPPER STEPPER=config_name GCODE_AXIS=[A-Z]
[LIMIT_VELOCITY=<velocity>] [LIMIT_ACCEL=<accel>]

19
klippy/extras/manual_stepper.py
View file

@ -102,14 +102,27 @@ class ManualStepper:
self.do_set_position(setpos)
speed = gcmd.get_float('SPEED', self.velocity, above=0.)
accel = gcmd.get_float('ACCEL', self.accel, minval=0.)
homing_move = gcmd.get_int('STOP_ON_ENDSTOP', 0)
if homing_move:
homing_move = gcmd.get('STOP_ON_ENDSTOP', None)
if homing_move is not None:
old_map = {'-2': 'try_inverted_home', '-1': 'inverted_home',
'1': 'home', '2': 'try_home'}.get(homing_move)
if old_map is not None:
pconfig = self.printer.lookup_object('configfile')
pconfig.runtime_warning("integer values for manual_stepper"
" STOP_ON_ENDSTOP is deprecated")
homing_move = old_map
is_try = homing_move.startswith('try_')
homing_move = homing_move[is_try*4:]
is_inverted = homing_move.startswith('inverted_')
homing_move = homing_move[is_inverted*9:]
if homing_move != "home":
raise gcmd.error("Unknown STOP_ON_ENDSTOP request")
movepos = gcmd.get_float('MOVE')
if ((self.pos_min is not None and movepos < self.pos_min)
or (self.pos_max is not None and movepos > self.pos_max)):
raise gcmd.error("Move out of range")
self.do_homing_move(movepos, speed, accel,
homing_move > 0, abs(homing_move) == 1)
not is_inverted, not is_try)
elif gcmd.get_float('MOVE', None) is not None:
movepos = gcmd.get_float('MOVE')
if ((self.pos_min is not None and movepos < self.pos_min)