endstop_phase: Move endstop phase homing code to new "extras" module

Move the endstop phase tracking code from stepper.py to a new
extras/endstop_phase.py module.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 0 insertions, 57 deletions

diff --git a/klippy/stepper.py b/klippy/stepper.py
index dcbc9484..786ea2ee 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -162,63 +162,6 @@ class PrinterRail:
                 raise config.error(
                     "Unable to infer homing_positive_dir in section '%s'" % (
                         config.get_name(),))
-        # Endstop stepper phase position tracking
-        self.homing_stepper_phases = config.getint(
-            'homing_stepper_phases', None, minval=0)
-        endstop_accuracy = config.getfloat(
-            'homing_endstop_accuracy', None, above=0.)
-        self.homing_endstop_accuracy = self.homing_endstop_phase = None
-        if self.homing_stepper_phases:
-            self.homing_step_dist = step_dist = stepper.get_step_dist()
-            self.homing_endstop_phase = config.getint(
-                'homing_endstop_phase', None, minval=0
-                , maxval=self.homing_stepper_phases-1)
-            if (self.homing_endstop_phase is not None
-                and config.getboolean('homing_endstop_align_zero', False)):
-                # Adjust the endstop position so 0.0 is always at a full step
-                micro_steps = self.homing_stepper_phases // 4
-                phase_offset = (
-                    ((self.homing_endstop_phase + micro_steps // 2)
-                     % micro_steps) - micro_steps // 2) * step_dist
-                full_step = micro_steps * step_dist
-                es_pos = (int(self.position_endstop / full_step + .5)
-                          * full_step + phase_offset)
-                if es_pos != self.position_endstop:
-                    logging.info("Changing %s endstop position to %.3f"
-                                 " (from %.3f)", self.name,
-                                 es_pos, self.position_endstop)
-                    self.position_endstop = es_pos
-            if endstop_accuracy is None:
-                self.homing_endstop_accuracy = self.homing_stepper_phases//2 - 1
-            elif self.homing_endstop_phase is not None:
-                self.homing_endstop_accuracy = int(math.ceil(
-                    endstop_accuracy * .5 / step_dist))
-            else:
-                self.homing_endstop_accuracy = int(math.ceil(
-                    endstop_accuracy / step_dist))
-            if self.homing_endstop_accuracy >= self.homing_stepper_phases // 2:
-                logging.info("Endstop for %s is not accurate enough for stepper"
-                             " phase adjustment", self.name)
-                self.homing_stepper_phases = None
-            if mcu_endstop.get_mcu().is_fileoutput():
-                self.homing_endstop_accuracy = self.homing_stepper_phases
-    def get_homed_offset(self):
-        if not self.homing_stepper_phases:
-            return 0.
-        pos = self.steppers[0].get_mcu_position()
-        pos %= self.homing_stepper_phases
-        if self.homing_endstop_phase is None:
-            logging.info("Setting %s endstop phase to %d", self.name, pos)
-            self.homing_endstop_phase = pos
-            return 0.
-        delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
-        if delta >= self.homing_stepper_phases - self.homing_endstop_accuracy:
-            delta -= self.homing_stepper_phases
-        elif delta > self.homing_endstop_accuracy:
-            raise homing.EndstopError(
-                "Endstop %s incorrect phase (got %d vs %d)" % (
-                    self.name, pos, self.homing_endstop_phase))
-        return delta * self.homing_step_dist
     def get_range(self):
         return self.position_min, self.position_max
     def get_homing_info(self):