diff options
| -rw-r--r-- | klippy/extras/endstop_phase.py | 62 |
1 files changed, 39 insertions, 23 deletions
diff --git a/klippy/extras/endstop_phase.py b/klippy/extras/endstop_phase.py index 2a5be62e..90f00238 100644 --- a/klippy/extras/endstop_phase.py +++ b/klippy/extras/endstop_phase.py @@ -12,42 +12,58 @@ class EndstopPhase: def __init__(self, config): self.printer = config.get_printer() self.name = config.get_name().split()[1] + # Register event handlers + self.printer.register_event_handler("klippy:connect", + self.handle_connect) + self.printer.register_event_handler("homing:homed_rails", + self.handle_homed_rails) + self.printer.try_load_module(config, "endstop_phase") + self.printer.try_load_module(config, "force_move") + # Read config + self.phases = config.getint('phases', None, minval=1) + self.endstop_phase = config.getint('endstop_phase', None, minval=0) + self.endstop_align_zero = config.getboolean('endstop_align_zero', False) + self.endstop_accuracy = config.getfloat('endstop_accuracy', None, + above=0.) + self.step_dist = self.endstop_phase_accuracy = None + def handle_connect(self): # Determine number of stepper phases for driver in TRINAMIC_DRIVERS: driver_name = "%s %s" % (driver, self.name) - if config.has_section(driver_name): - module = self.printer.try_load_module(config, driver_name) + module = self.printer.lookup_object(driver_name, None) + if module is not None: self.get_phase = module.get_phase + if self.phases is not None: + raise self.printer.config_error( + "endstop_phase phases set with tmc driver") self.phases = module.get_microsteps() * 4 break else: self.get_phase = None - self.phases = config.getint('phases', minval=1) - # Determine endstop phase position - self.endstop_phase = config.getint('endstop_phase', None, - minval=0, maxval=self.phases-1) - self.endstop_align_zero = config.getboolean('endstop_align_zero', False) + if self.phases is None: + raise self.printer.config_error( + "endstop_phase phases must be specified") + if self.endstop_phase is not None and self.endstop_phase >= self.phases: + raise self.printer.config_error( + "endstop_phase endstop_phase parameter not valid") + # Lookup stepper step_dist + force_move = self.printer.lookup_object("force_move") + self.step_dist = force_move.lookup_stepper(self.name).get_step_dist() # Determine endstop accuracy - stepper_config = config.getsection(self.name) - self.step_dist = step_dist = stepper_config.getfloat('step_distance') - endstop_accuracy = config.getfloat('endstop_accuracy', None, above=0.) - if endstop_accuracy is None: - self.endstop_accuracy = self.phases//2 - 1 + if self.endstop_accuracy is None: + self.endstop_phase_accuracy = self.phases//2 - 1 elif self.endstop_phase is not None: - self.endstop_accuracy = int( - math.ceil(endstop_accuracy * .5 / step_dist)) + self.endstop_phase_accuracy = int( + math.ceil(self.endstop_accuracy * .5 / self.step_dist)) else: - self.endstop_accuracy = int(math.ceil(endstop_accuracy / step_dist)) - if self.endstop_accuracy >= self.phases // 2: + self.endstop_phase_accuracy = int( + math.ceil(self.endstop_accuracy / self.step_dist)) + if self.endstop_phase_accuracy >= self.phases // 2: raise config.error("Endstop for %s is not accurate enough for" " stepper phase adjustment" % (self.name,)) if self.printer.get_start_args().get('debugoutput') is not None: - self.endstop_accuracy = self.phases + self.endstop_phase_accuracy = self.phases self.phase_history = [0] * self.phases - # Register event handler - self.printer.register_event_handler( - "homing:homed_rails", self.handle_homed_rails) - self.printer.try_load_module(config, "endstop_phase") def align_endstop(self, pos): if not self.endstop_align_zero or self.endstop_phase is None: return pos @@ -76,9 +92,9 @@ class EndstopPhase: self.endstop_phase = phase return 0. delta = (phase - self.endstop_phase) % self.phases - if delta >= self.phases - self.endstop_accuracy: + if delta >= self.phases - self.endstop_phase_accuracy: delta -= self.phases - elif delta > self.endstop_accuracy: + elif delta > self.endstop_phase_accuracy: raise homing.EndstopError( "Endstop %s incorrect phase (got %d vs %d)" % ( self.name, phase, self.endstop_phase)) |