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endstop_phase: Move endstop phase homing code to new "extras" module
Move the endstop phase tracking code from stepper.py to a new extras/endstop_phase.py module. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor
parent
216905ceca
commit
a2df01b88e
5 changed files with 114 additions and 89 deletions
75
klippy/extras/endstop_phase.py
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75
klippy/extras/endstop_phase.py
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@ -0,0 +1,75 @@
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# Endstop accuracy improvement via stepper phase tracking
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#
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# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
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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 homing
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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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self.name = config.get_name().split()[1]
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stepper_config = config.getsection(self.name)
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self.step_dist = step_dist = stepper_config.getfloat('step_distance')
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self.phases = config.getint('phases', minval=1)
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self.endstop_phase = config.getint('endstop_phase', None,
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minval=0, maxval=self.phases-1)
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self.endstop_align_zero = config.getboolean('endstop_align_zero', False)
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# Determine endstop accuracy
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endstop_accuracy = config.getfloat('endstop_accuracy', None, above=0.)
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if endstop_accuracy is None:
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self.endstop_accuracy = self.phases//2 - 1
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elif self.endstop_phase is not None:
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self.endstop_accuracy = int(
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math.ceil(endstop_accuracy * .5 / step_dist))
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else:
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self.endstop_accuracy = int(math.ceil(endstop_accuracy / step_dist))
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if self.endstop_accuracy >= self.phases // 2:
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raise config.error("Endstop for %s is not accurate enough for"
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" stepper phase adjustment" % (self.name,))
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if self.printer.get_start_args().get('debugoutput') is not None:
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self.endstop_accuracy = self.phases
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# Register event handler
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self.printer.register_event_handler(
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"homing:homed_rails", self.handle_homed_rails)
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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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# Adjust the endstop position so 0.0 is always at a full step
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microsteps = self.phases // 4
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half_microsteps = microsteps // 2
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phase_offset = (((self.endstop_phase + half_microsteps) % microsteps)
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- half_microsteps) * self.step_dist
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full_step = microsteps * self.step_dist
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return int(pos / full_step + .5) * full_step + phase_offset
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def get_homed_offset(self, stepper):
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pos = stepper.get_mcu_position()
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phase = pos % self.phases
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if self.endstop_phase is None:
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logging.info("Setting %s endstop phase to %d", self.name, phase)
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self.endstop_phase = phase
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return 0.
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delta = (phase - self.endstop_phase) % self.phases
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if delta >= self.phases - self.endstop_accuracy:
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delta -= self.phases
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elif delta > self.endstop_accuracy:
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raise homing.EndstopError(
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"Endstop %s incorrect phase (got %d vs %d)" % (
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self.name, phase, self.endstop_phase))
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return delta * self.step_dist
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def handle_homed_rails(self, homing_state, rails):
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for rail in rails:
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stepper = rail.get_steppers()[0]
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if stepper.get_name() != self.name:
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continue
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orig_pos = rail.get_commanded_position()
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offset = self.get_homed_offset(stepper)
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pos = self.align_endstop(orig_pos) + offset
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if pos == orig_pos:
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return False
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rail.set_commanded_position(pos)
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return True
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def load_config_prefix(config):
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return EndstopPhase(config)
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@ -124,14 +124,14 @@ class Homing:
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self.toolhead.set_position(forcepos)
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self.homing_move(movepos, endstops, second_homing_speed,
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verify_movement=self.verify_retract)
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# Apply homing offsets
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for rail in rails:
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cp = rail.get_commanded_position()
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rail.set_commanded_position(cp + rail.get_homed_offset())
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adjustpos = self.toolhead.get_kinematics().calc_position()
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for axis in homing_axes:
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movepos[axis] = adjustpos[axis]
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self.toolhead.set_position(movepos)
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# Signal home operation complete
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ret = self.printer.send_event("homing:homed_rails", self, rails)
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if any(ret):
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# Apply any homing offsets
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adjustpos = self.toolhead.get_kinematics().calc_position()
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for axis in homing_axes:
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movepos[axis] = adjustpos[axis]
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self.toolhead.set_position(movepos)
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def home_axes(self, axes):
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self.changed_axes = axes
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try:
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@ -162,63 +162,6 @@ class PrinterRail:
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raise config.error(
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"Unable to infer homing_positive_dir in section '%s'" % (
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config.get_name(),))
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# Endstop stepper phase position tracking
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self.homing_stepper_phases = config.getint(
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'homing_stepper_phases', None, minval=0)
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endstop_accuracy = config.getfloat(
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'homing_endstop_accuracy', None, above=0.)
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self.homing_endstop_accuracy = self.homing_endstop_phase = None
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if self.homing_stepper_phases:
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self.homing_step_dist = step_dist = stepper.get_step_dist()
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self.homing_endstop_phase = config.getint(
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'homing_endstop_phase', None, minval=0
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, maxval=self.homing_stepper_phases-1)
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if (self.homing_endstop_phase is not None
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and config.getboolean('homing_endstop_align_zero', False)):
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# Adjust the endstop position so 0.0 is always at a full step
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micro_steps = self.homing_stepper_phases // 4
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phase_offset = (
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((self.homing_endstop_phase + micro_steps // 2)
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% micro_steps) - micro_steps // 2) * step_dist
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full_step = micro_steps * step_dist
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es_pos = (int(self.position_endstop / full_step + .5)
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* full_step + phase_offset)
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if es_pos != self.position_endstop:
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logging.info("Changing %s endstop position to %.3f"
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" (from %.3f)", self.name,
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es_pos, self.position_endstop)
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self.position_endstop = es_pos
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if endstop_accuracy is None:
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self.homing_endstop_accuracy = self.homing_stepper_phases//2 - 1
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elif self.homing_endstop_phase is not None:
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self.homing_endstop_accuracy = int(math.ceil(
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endstop_accuracy * .5 / step_dist))
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else:
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self.homing_endstop_accuracy = int(math.ceil(
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endstop_accuracy / step_dist))
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if self.homing_endstop_accuracy >= self.homing_stepper_phases // 2:
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logging.info("Endstop for %s is not accurate enough for stepper"
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" phase adjustment", self.name)
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self.homing_stepper_phases = None
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if mcu_endstop.get_mcu().is_fileoutput():
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self.homing_endstop_accuracy = self.homing_stepper_phases
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def get_homed_offset(self):
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if not self.homing_stepper_phases:
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return 0.
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pos = self.steppers[0].get_mcu_position()
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pos %= self.homing_stepper_phases
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if self.homing_endstop_phase is None:
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logging.info("Setting %s endstop phase to %d", self.name, pos)
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self.homing_endstop_phase = pos
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return 0.
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delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
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if delta >= self.homing_stepper_phases - self.homing_endstop_accuracy:
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delta -= self.homing_stepper_phases
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elif delta > self.homing_endstop_accuracy:
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raise homing.EndstopError(
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"Endstop %s incorrect phase (got %d vs %d)" % (
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self.name, pos, self.homing_endstop_phase))
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return delta * self.homing_step_dist
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def get_range(self):
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return self.position_min, self.position_max
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def get_homing_info(self):
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