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endstop_phase: Convert to using tmc mcu_phase_offset

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Now that the TMC drivers track the phase offset, use that to implement
endstop phase.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-08-06 00:38:49 -04:00
parent 06b8169f56
commit f759df3cd7
7 changed files with 26 additions and 33 deletions
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23
klippy/extras/endstop_phase.py
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@ -25,7 +25,7 @@ class PhaseCalc:
if module is not None:
self.tmc_module = module
if self.phases is None:
self.phases = module.get_microsteps() * 4
phase_offset, self.phases = module.get_phase_offset()
break
if self.phases is not None:
self.phase_history = [0] * self.phases
@ -34,18 +34,15 @@ class PhaseCalc:
return (int(float(driver_phase) / driver_phases * phases + .5) % phases)
def calc_phase(self, stepper):
mcu_pos = stepper.get_mcu_position()
if self.tmc_module is None:
phase = mcu_pos % self.phases
else:
try:
driver_phase, driver_phases = self.tmc_module.get_phase()
except Exception as e:
msg = "Unable to get stepper %s phase: %s" % (self.name, str(e))
logging.exception(msg)
raise self.printer.command_error(msg)
if stepper.is_dir_inverted():
driver_phase = (driver_phases - 1) - driver_phase
phase = self.convert_phase(driver_phase, driver_phases)
mcu_phase_offset = 0
if self.tmc_module is not None:
mcu_phase_offset, phases = self.tmc_module.get_phase_offset()
if mcu_phase_offset is None:
if self.printer.get_start_args().get('debugoutput') is None:
raise self.printer.command_error("Stepper %s phase unknown"
% (self.name,))
mcu_phase_offset = 0
phase = (mcu_pos + mcu_phase_offset) % self.phases
self.phase_history[phase] += 1
self.last_phase = phase
self.last_mcu_position = mcu_pos