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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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21
klippy/extras/tmc.py
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@ -266,21 +266,22 @@ class TMCCommandHelper:
gcmd.respond_info("Run Current: %0.2fA Hold Current: %0.2fA"
% (prev_run_current, prev_hold_current))
# Stepper phase tracking
def get_microsteps(self):
return 256 >> self.fields.get_field("mres")
def get_phase(self):
def _get_phases(self):
return (256 >> self.fields.get_field("mres")) * 4
def get_phase_offset(self):
return self.mcu_phase_offset, self._get_phases()
def _query_phase(self):
field_name = "mscnt"
if self.fields.lookup_register(field_name, None) is None:
# TMC2660 uses MSTEP
field_name = "mstep"
reg = self.mcu_tmc.get_register(self.fields.lookup_register(field_name))
mscnt = self.fields.get_field(field_name, reg)
return 1023 - mscnt, 1024
return self.fields.get_field(field_name, reg)
def _handle_sync_mcu_pos(self, stepper):
if stepper.get_name() != self.stepper_name:
return
try:
driver_phase, driver_phases = self.get_phase()
driver_phase = self._query_phase()
except self.printer.command_error as e:
logging.info("Unable to obtain tmc %s phase", self.stepper_name)
self.mcu_phase_offset = None
@ -288,10 +289,10 @@ class TMCCommandHelper:
if enable_line.is_motor_enabled():
raise
return
if stepper.is_dir_inverted():
driver_phase = (driver_phases - 1) - driver_phase
phases = self.get_microsteps() * 4
phase = int(float(driver_phase) / driver_phases * phases + .5) % phases
if not stepper.is_dir_inverted():
driver_phase = 1023 - driver_phase
phases = self._get_phases()
phase = int(float(driver_phase) / 1024 * phases + .5) % phases
moff = (phase - stepper.get_mcu_position()) % phases
if self.mcu_phase_offset is not None and self.mcu_phase_offset != moff:
logging.warning("Stepper %s phase change (was %d now %d)",