diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 35 |
1 files changed, 35 insertions, 0 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index 7c8438fc..c15d194c 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -21,6 +21,23 @@ class PrinterStepper: self.homing_positive_dir = config.getboolean( 'homing_positive_dir', False) self.homing_retract_dist = config.getfloat('homing_retract_dist', 5.) + self.homing_stepper_phases = config.getint('homing_stepper_phases') + self.homing_endstop_phase = config.getint('homing_endstop_phase') + endstop_accuracy = config.getfloat('homing_endstop_accuracy') + self.homing_endstop_accuracy = None + if self.homing_stepper_phases: + 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 * self.inv_step_dist / 2.)) + else: + self.homing_endstop_accuracy = int(math.ceil( + endstop_accuracy * self.inv_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.config.section,)) + self.homing_stepper_phases = None self.position_min = config.getfloat('position_min', 0.) self.position_endstop = config.getfloat('position_endstop') self.position_max = config.getfloat('position_max') @@ -68,3 +85,21 @@ class PrinterStepper: move_clock = int(self.mcu_endstop.get_print_clock(move_time)) self.mcu_endstop.home(move_clock, int(self.clock_ticks / hz)) return self.mcu_endstop + def get_homed_position(self): + if not self.homing_stepper_phases: + return self.position_endstop + pos = self.mcu_endstop.get_last_position() + pos %= self.homing_stepper_phases + if self.homing_endstop_phase is None: + logging.info("Setting %s endstop phase to %d" % ( + self.config.section, pos)) + self.homing_endstop_phase = pos + return self.position_endstop + 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: + logging.error("Endstop %s incorrect phase (got %d vs %d)" % ( + self.config.section, pos, self.homing_endstop_phase)) + return self.position_endstop + return self.position_endstop + delta * self.step_dist |