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endstop_phase: Add support for detecting phase via TMC stepper drivers

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The Trinamic stepper motor drivers are capable of reporting the
stepper phase - add support for using that capability to the
enddstop_phases module.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-10-10 19:48:35 -04:00
parent a2df01b88e
commit def524bdf4
4 changed files with 38 additions and 8 deletions
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30
klippy/extras/endstop_phase.py
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@ -6,17 +6,30 @@
import math, logging
import homing
TRINAMIC_DRIVERS = ["tmc2130", "tmc2208"]
class EndstopPhase:
def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name().split()[1]
stepper_config = config.getsection(self.name)
self.step_dist = step_dist = stepper_config.getfloat('step_distance')
self.phases = config.getint('phases', minval=1)
# Determine number of stepper phases
for driver in TRINAMIC_DRIVERS:
driver_name = "%s %s" % (driver, self.name)
if config.has_section(driver_name):
module = self.printer.try_load_module(config, driver_name)
self.get_phase = module.get_phase
self.phases = module.get_microsteps() * 4
break
else:
self.get_phase = None
self.phases = config.getint('phases', minval=1)
# Determine endstop phase position
self.endstop_phase = config.getint('endstop_phase', None,
minval=0, maxval=self.phases-1)
self.endstop_align_zero = config.getboolean('endstop_align_zero', False)
# Determine endstop accuracy
stepper_config = config.getsection(self.name)
self.step_dist = step_dist = stepper_config.getfloat('step_distance')
endstop_accuracy = config.getfloat('endstop_accuracy', None, above=0.)
if endstop_accuracy is None:
self.endstop_accuracy = self.phases//2 - 1
@ -44,8 +57,15 @@ class EndstopPhase:
full_step = microsteps * self.step_dist
return int(pos / full_step + .5) * full_step + phase_offset
def get_homed_offset(self, stepper):
pos = stepper.get_mcu_position()
phase = pos % self.phases
if self.get_phase is not None:
try:
phase = self.get_phase()
except Exception as e:
msg = "Unable to get stepper %s phase: %s" % (self.name, str(e))
logging.exception(msg)
raise homing.EndstopError(msg)
else:
phase = stepper.get_mcu_position() % self.phases
if self.endstop_phase is None:
logging.info("Setting %s endstop phase to %d", self.name, phase)
self.endstop_phase = phase