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stepper: Support stepper phase adjustments when homing

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Add support for enhancing the precision of endstop switches by also
inspecting the phase of the stepper motor when the endstop triggers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-07-26 22:06:14 -04:00
parent 170389ef14
commit 654546e338
6 changed files with 81 additions and 2 deletions
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8
klippy/mcu.py
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@ -40,6 +40,8 @@ class MCU_stepper:
max_error, self._step_cmd.msgid, self._oid)
def get_oid(self):
return self._oid
def get_invert_dir(self):
return self._invert_dir
def note_stepper_stop(self):
self._sdir = -1
self._last_move_clock = -2**29
@ -88,6 +90,7 @@ class MCU_endstop:
, self._oid)
self._query_cmd = mcu.lookup_command("end_stop_query oid=%c")
self._homing = False
self._last_position = 0
self._next_query_clock = 0
mcu_freq = self._mcu.get_mcu_freq()
self._retry_query_ticks = mcu_freq * self.RETRY_QUERY
@ -104,6 +107,7 @@ class MCU_endstop:
self._stepper.note_stepper_stop()
def _handle_end_stop_state(self, params):
logging.debug("end_stop_state %s" % (params,))
self._last_position = params['pos']
self._homing = params['homing'] != 0
def is_homing(self):
if not self._homing:
@ -116,6 +120,10 @@ class MCU_endstop:
msg = self._query_cmd.encode(self._oid)
self._mcu.send(msg, cq=self._cmd_queue)
return self._homing
def get_last_position(self):
if self._stepper.get_invert_dir():
return -self._last_position
return self._last_position
def get_print_clock(self, print_time):
return self._mcu.get_print_clock(print_time)