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homing: Merge home_prepare()/home_finalize() into move_begin/move_end events

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Collapse the "homing:move_begin", "homing:move_end", home_prepare(),
and home_finalize() into two new events: "homing:homing_move_begin"
and "homing:homing_move_end".  This simplifies the homing code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-02-12 13:03:42 -05:00 • committed by KevinOConnor
parent b23346a521
commit feb15eaf2e
7 changed files with 63 additions and 74 deletions
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69
klippy/extras/tmc.py
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@ -182,12 +182,30 @@ class TMCCommandHelper:
# TMC virtual pins
######################################################################
# Endstop wrapper that enables "sensorless homing"
class TMCVirtualEndstop:
def __init__(self, mcu_tmc, mcu_endstop):
# Helper class for "sensorless homing"
class TMCVirtualPinHelper:
def __init__(self, config, mcu_tmc, diag_pin):
self.printer = config.get_printer()
self.mcu_tmc = mcu_tmc
self.fields = mcu_tmc.get_fields()
self.mcu_endstop = mcu_endstop
self.diag_pin = diag_pin
self.mcu_endstop = None
self.en_pwm = False
self.pwmthrs = 0
# Register virtual_endstop pin
name_parts = config.get_name().split()
ppins = self.printer.lookup_object("pins")
ppins.register_chip("%s_%s" % (name_parts[0], name_parts[-1]), self)
def setup_pin(self, pin_type, pin_params):
# Validate pin
ppins = self.printer.lookup_object('pins')
if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
raise ppins.error("tmc virtual endstop only useful as endstop")
if pin_params['invert'] or pin_params['pullup']:
raise ppins.error("Can not pullup/invert tmc virtual pin")
if self.diag_pin is None:
raise ppins.error("tmc virtual endstop requires diag pin config")
# Setup for sensorless homing
reg = self.fields.lookup_register("en_pwm_mode", None)
if reg is None:
self.en_pwm = not self.fields.get_field("en_spreadCycle")
@ -195,15 +213,15 @@ class TMCVirtualEndstop:
else:
self.en_pwm = self.fields.get_field("en_pwm_mode")
self.pwmthrs = 0
# Wrappers
self.get_mcu = self.mcu_endstop.get_mcu
self.add_stepper = self.mcu_endstop.add_stepper
self.get_steppers = self.mcu_endstop.get_steppers
self.home_start = self.mcu_endstop.home_start
self.home_wait = self.mcu_endstop.home_wait
self.query_endstop = self.mcu_endstop.query_endstop
self.TimeoutError = self.mcu_endstop.TimeoutError
def home_prepare(self):
self.printer.register_event_handler("homing:homing_move_begin",
self.handle_homing_move_begin)
self.printer.register_event_handler("homing:homing_move_end",
self.handle_homing_move_end)
self.mcu_endstop = ppins.setup_pin('endstop', self.diag_pin)
return self.mcu_endstop
def handle_homing_move_begin(self, endstops):
if self.mcu_endstop not in endstops:
return
reg = self.fields.lookup_register("en_pwm_mode", None)
if reg is None:
# On "stallguard4" drivers, "stealthchop" must be enabled
@ -215,8 +233,9 @@ class TMCVirtualEndstop:
val = self.fields.set_field("diag1_stall", 1)
self.mcu_tmc.set_register("GCONF", val)
self.mcu_tmc.set_register("TCOOLTHRS", 0xfffff)
self.mcu_endstop.home_prepare()
def home_finalize(self):
def handle_homing_move_end(self, endstops):
if self.mcu_endstop not in endstops:
return
reg = self.fields.lookup_register("en_pwm_mode", None)
if reg is None:
self.mcu_tmc.set_register("TPWMTHRS", self.pwmthrs)
@ -226,26 +245,6 @@ class TMCVirtualEndstop:
val = self.fields.set_field("diag1_stall", 0)
self.mcu_tmc.set_register("GCONF", val)
self.mcu_tmc.set_register("TCOOLTHRS", 0)
self.mcu_endstop.home_finalize()
class TMCVirtualPinHelper:
def __init__(self, config, mcu_tmc, diag_pin):
self.printer = config.get_printer()
self.mcu_tmc = mcu_tmc
self.diag_pin = diag_pin
name_parts = config.get_name().split()
ppins = self.printer.lookup_object("pins")
ppins.register_chip("%s_%s" % (name_parts[0], name_parts[-1]), self)
def setup_pin(self, pin_type, pin_params):
ppins = self.printer.lookup_object('pins')
if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
raise ppins.error("tmc virtual endstop only useful as endstop")
if pin_params['invert'] or pin_params['pullup']:
raise ppins.error("Can not pullup/invert tmc virtual pin")
if self.diag_pin is None:
raise ppins.error("tmc virtual endstop requires diag pin config")
mcu_endstop = ppins.setup_pin('endstop', self.diag_pin)
return TMCVirtualEndstop(self.mcu_tmc, mcu_endstop)
######################################################################