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endstop_phase: Obtain phases directly from stepper microsteps config
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
7dcc778b6c
commit
96eba9f2df
6 changed files with 62 additions and 54 deletions
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@ -4,9 +4,13 @@
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import math, logging
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import stepper
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TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2660", "tmc5160"]
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def convert_phase(driver_phase, driver_phases, phases):
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return (int(float(driver_phase) / driver_phases * phases + .5) % phases)
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class EndstopPhase:
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def __init__(self, config):
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self.printer = config.get_printer()
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@ -17,37 +21,26 @@ class EndstopPhase:
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self.printer.register_event_handler("homing:home_rails_end",
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self.handle_home_rails_end)
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self.printer.load_object(config, "endstop_phase")
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self.printer.load_object(config, "force_move")
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# Obtain step_distance and microsteps from stepper config section
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sconfig = config.getsection(self.name)
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self.step_dist = stepper.parse_step_distance(sconfig)
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self.phases = sconfig.getint("microsteps", note_valid=False) * 4
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# Read config
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self.phases = config.getint('phases', None, minval=1)
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self.endstop_phase = config.getint('endstop_phase', None, minval=0)
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self.endstop_phase = None
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trigger_phase = config.get('trigger_phase', None)
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if trigger_phase is not None:
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try:
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p, ps = [int(v.strip()) for v in trigger_phase.split('/')]
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except:
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raise config.error("Unable to parse trigger_phase '%s'"
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% (trigger_phase,))
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if p >= ps:
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raise config.error("Invalid trigger_phase '%s'"
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% (trigger_phase,))
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self.endstop_phase = convert_phase(p, ps, self.phases)
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self.endstop_align_zero = config.getboolean('endstop_align_zero', False)
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self.endstop_accuracy = config.getfloat('endstop_accuracy', None,
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above=0.)
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self.step_dist = self.endstop_phase_accuracy = None
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def handle_connect(self):
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# Determine number of stepper phases
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for driver in TRINAMIC_DRIVERS:
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driver_name = "%s %s" % (driver, self.name)
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module = self.printer.lookup_object(driver_name, None)
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if module is not None:
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self.get_phase = module.get_phase
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if self.phases is not None:
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raise self.printer.config_error(
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"endstop_phase phases set with tmc driver")
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self.phases = module.get_microsteps() * 4
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break
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else:
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self.get_phase = None
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if self.phases is None:
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raise self.printer.config_error(
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"endstop_phase phases must be specified")
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if self.endstop_phase is not None and self.endstop_phase >= self.phases:
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raise self.printer.config_error(
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"endstop_phase endstop_phase parameter not valid")
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# Lookup stepper step_dist
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force_move = self.printer.lookup_object("force_move")
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self.step_dist = force_move.lookup_stepper(self.name).get_step_dist()
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# Determine endstop accuracy
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if self.endstop_accuracy is None:
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self.endstop_phase_accuracy = self.phases//2 - 1
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@ -63,6 +56,15 @@ class EndstopPhase:
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if self.printer.get_start_args().get('debugoutput') is not None:
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self.endstop_phase_accuracy = self.phases
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self.phase_history = [0] * self.phases
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self.get_phase = None
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def handle_connect(self):
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# Check for trinamic driver with get_phase() method
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for driver in TRINAMIC_DRIVERS:
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driver_name = "%s %s" % (driver, self.name)
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module = self.printer.lookup_object(driver_name, None)
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if module is not None:
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self.get_phase = module.get_phase
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break
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def align_endstop(self, pos):
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if not self.endstop_align_zero or self.endstop_phase is None:
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return pos
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@ -76,13 +78,14 @@ class EndstopPhase:
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def get_homed_offset(self, stepper):
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if self.get_phase is not None:
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try:
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phase = self.get_phase()
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driver_phase, driver_phases = self.get_phase()
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except Exception as e:
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msg = "Unable to get stepper %s phase: %s" % (self.name, str(e))
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logging.exception(msg)
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raise self.printer.command_error(msg)
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if stepper.is_dir_inverted():
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phase = (self.phases - 1) - phase
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driver_phase = (driver_phases - 1) - driver_phase
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phase = convert_phase(driver_phase, driver_phases, self.phases)
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else:
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phase = stepper.get_mcu_position() % self.phases
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self.phase_history[phase] += 1
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@ -140,10 +143,11 @@ class EndstopPhases:
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if get_phase is None:
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return
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try:
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phase = get_phase()
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driver_phase, driver_phases = get_phase()
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except:
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logging.exception("Error in EndstopPhases get_phase")
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return
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phase = convert_phase(driver_phase, driver_phases, len(phase_history))
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phase_history[phase] += 1
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def handle_home_rails_end(self, rails):
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for rail in rails:
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@ -163,11 +167,12 @@ class EndstopPhases:
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if info is None:
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raise gcmd.error("Stats not available for stepper %s"
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% (stepper_name,))
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endstop_phase = self.generate_stats(stepper_name, info)
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endstop_phase, phases = self.generate_stats(stepper_name, info)
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configfile = self.printer.lookup_object('configfile')
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section = 'endstop_phase %s' % stepper_name
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section = 'endstop_phase %s' % (stepper_name,)
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configfile.remove_section(section)
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configfile.set(section, "endstop_phase", endstop_phase)
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configfile.set(section, "trigger_phase",
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"%s/%s" % (endstop_phase, phases))
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gcmd.respond_info(
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"The SAVE_CONFIG command will update the printer config\n"
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"file with these parameters and restart the printer.")
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@ -188,9 +193,9 @@ class EndstopPhases:
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if wph[j]]
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best_phase = best % phases
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lo, hi = found[0] % phases, found[-1] % phases
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self.gcode.respond_info("%s: endstop_phase=%d (range %d to %d)"
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% (stepper_name, best_phase, lo, hi))
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return best_phase
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self.gcode.respond_info("%s: trigger_phase=%d/%d (range %d to %d)"
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% (stepper_name, best_phase, phases, lo, hi))
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return best_phase, phases
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def report_stats(self):
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if not self.tracking:
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self.gcode.respond_info(
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@ -283,7 +283,7 @@ class TMCMicrostepHelper:
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field_name = "MSTEP"
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reg = self.mcu_tmc.get_register(self.fields.lookup_register(field_name))
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mscnt = self.fields.get_field(field_name, reg)
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return (1023 - mscnt) >> self.fields.get_field("MRES")
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return 1023 - mscnt, 1024
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# Helper to configure "stealthchop" mode
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def TMCStealthchopHelper(config, mcu_tmc, tmc_freq):
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