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| author | Kevin O'Connor <kevin@koconnor.net> | 2019-06-06 18:14:45 -0400 |
|---|---|---|
| committer | KevinOConnor <kevin@koconnor.net> | 2019-06-21 22:56:16 -0400 |
| commit | 80194a7e1823c2d70708767e6cdbec2780aa90b8 (patch) | |
| tree | ee36d0ab052d91283c3cdec7e456103088de9a4a | |
| parent | 0b02d7a1f236ae3b2c1cb2c8a4ce16e1788bc100 (diff) | |
| download | kutter-80194a7e1823c2d70708767e6cdbec2780aa90b8.tar.gz kutter-80194a7e1823c2d70708767e6cdbec2780aa90b8.tar.xz kutter-80194a7e1823c2d70708767e6cdbec2780aa90b8.zip | |
endstop_phase: Fix endstop_phase on trinamic drivers that aren't inverted
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | klippy/extras/endstop_phase.py | 2 | ||||
| -rw-r--r-- | klippy/extras/tmc.py | 2 | ||||
| -rw-r--r-- | klippy/mcu.py | 2 | ||||
| -rw-r--r-- | klippy/stepper.py | 1 |
4 files changed, 6 insertions, 1 deletions
diff --git a/klippy/extras/endstop_phase.py b/klippy/extras/endstop_phase.py index 20ddd340..c0408262 100644 --- a/klippy/extras/endstop_phase.py +++ b/klippy/extras/endstop_phase.py @@ -66,6 +66,8 @@ class EndstopPhase: msg = "Unable to get stepper %s phase: %s" % (self.name, str(e)) logging.exception(msg) raise homing.EndstopError(msg) + if stepper.is_dir_inverted(): + phase = (self.phases - 1) - phase else: phase = stepper.get_mcu_position() % self.phases self.phase_history[phase] += 1 diff --git a/klippy/extras/tmc.py b/klippy/extras/tmc.py index f3dcdb92..d0c88f58 100644 --- a/klippy/extras/tmc.py +++ b/klippy/extras/tmc.py @@ -227,7 +227,7 @@ class TMCMicrostepHelper: field_name = "MSTEP" reg = self.mcu_tmc.get_register(self.fields.lookup_register(field_name)) mscnt = self.fields.get_field(field_name, reg) - return mscnt >> self.fields.get_field("MRES") + return (1023 - mscnt) >> self.fields.get_field("MRES") # Helper to configure "stealthchop" mode def TMCStealthchopHelper(config, mcu_tmc, tmc_freq): diff --git a/klippy/mcu.py b/klippy/mcu.py index 15148a86..bc5e046b 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -70,6 +70,8 @@ class MCU_stepper: return self._oid def get_step_dist(self): return self._step_dist + def is_dir_inverted(self): + return self._invert_dir def calc_position_from_coord(self, coord): return self._ffi_lib.itersolve_calc_position_from_coord( self._stepper_kinematics, coord[0], coord[1], coord[2]) diff --git a/klippy/stepper.py b/klippy/stepper.py index 786ea2ee..29b525a9 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -73,6 +73,7 @@ class PrinterStepper: self.set_commanded_position = mcu_stepper.set_commanded_position self.get_mcu_position = mcu_stepper.get_mcu_position self.get_step_dist = mcu_stepper.get_step_dist + self.is_dir_inverted = mcu_stepper.is_dir_inverted def get_name(self, short=False): if short and self.name.startswith('stepper_'): return self.name[8:] |