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# Endstop accuracy improvement via stepper phase tracking
#
# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import homing
TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2660", "tmc5160"]
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:home_rails_end",
self.handle_home_rails_end)
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)
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
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
if self.endstop_accuracy is None:
self.endstop_phase_accuracy = self.phases//2 - 1
elif self.endstop_phase is not None:
self.endstop_phase_accuracy = int(
math.ceil(self.endstop_accuracy * .5 / self.step_dist))
else:
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_phase_accuracy = self.phases
self.phase_history = [0] * self.phases
def align_endstop(self, pos):
if not self.endstop_align_zero or self.endstop_phase is None:
return pos
# Adjust the endstop position so 0.0 is always at a full step
microsteps = self.phases // 4
half_microsteps = microsteps // 2
phase_offset = (((self.endstop_phase + half_microsteps) % microsteps)
- half_microsteps) * self.step_dist
full_step = microsteps * self.step_dist
return int(pos / full_step + .5) * full_step + phase_offset
def get_homed_offset(self, stepper):
if self.get_phase is not None:
try:
phase = self.get_phase()
except Exception as e:
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
if self.endstop_phase is None:
logging.info("Setting %s endstop phase to %d", self.name, phase)
self.endstop_phase = phase
return 0.
delta = (phase - self.endstop_phase) % self.phases
if delta >= self.phases - self.endstop_phase_accuracy:
delta -= self.phases
elif delta > self.endstop_phase_accuracy:
raise homing.EndstopError(
"Endstop %s incorrect phase (got %d vs %d)" % (
self.name, phase, self.endstop_phase))
return delta * self.step_dist
def handle_home_rails_end(self, rails):
for rail in rails:
stepper = rail.get_steppers()[0]
if stepper.get_name() != self.name:
continue
orig_pos = rail.get_tag_position()
offset = self.get_homed_offset(stepper)
pos = self.align_endstop(orig_pos) + offset
if pos == orig_pos:
return False
rail.set_tag_position(pos)
return True
class EndstopPhases:
def __init__(self, config):
self.printer = config.get_printer()
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command("ENDSTOP_PHASE_CALIBRATE",
self.cmd_ENDSTOP_PHASE_CALIBRATE,
desc=self.cmd_ENDSTOP_PHASE_CALIBRATE_help)
self.tracking = {}
# Register event handler
self.printer.register_event_handler(
"homing:home_rails_end", self.handle_home_rails_end)
def lookup_rail(self, stepper, stepper_name):
mod_name = "endstop_phase %s" % (stepper_name,)
m = self.printer.lookup_object(mod_name, None)
if m is not None:
return (None, m.phase_history)
for driver in TRINAMIC_DRIVERS:
mod_name = "%s %s" % (driver, stepper_name)
m = self.printer.lookup_object(mod_name, None)
if m is not None:
return (m.get_phase, [0] * (m.get_microsteps() * 4))
return None
def update_rail(self, info, stepper):
if info is None:
return
get_phase, phase_history = info
if get_phase is None:
return
try:
phase = get_phase()
except:
logging.exception("Error in EndstopPhases get_phase")
return
phase_history[phase] += 1
def handle_home_rails_end(self, rails):
for rail in rails:
stepper = rail.get_steppers()[0]
stepper_name = stepper.get_name()
if stepper_name not in self.tracking:
info = self.lookup_rail(stepper, stepper_name)
self.tracking[stepper_name] = info
self.update_rail(self.tracking[stepper_name], stepper)
cmd_ENDSTOP_PHASE_CALIBRATE_help = "Calibrate stepper phase"
def cmd_ENDSTOP_PHASE_CALIBRATE(self, params):
stepper_name = self.gcode.get_str('STEPPER', params, None)
if stepper_name is None:
self.report_stats()
return
info = self.tracking.get(stepper_name)
if info is None:
raise self.gcode.error("Stats not available for stepper %s" % (
stepper_name,))
endstop_phase = self.generate_stats(stepper_name, info)
configfile = self.printer.lookup_object('configfile')
section = 'endstop_phase %s' % stepper_name
configfile.remove_section(section)
configfile.set(section, "endstop_phase", endstop_phase)
self.gcode.respond_info(
"The SAVE_CONFIG command will update the printer config\n"
"file with these parameters and restart the printer.")
def generate_stats(self, stepper_name, info):
get_phase, phase_history = info
wph = phase_history + phase_history
count = sum(phase_history)
phases = len(phase_history)
half_phases = phases // 2
res = []
for i in range(phases):
phase = i + half_phases
cost = sum([wph[j] * abs(j-phase) for j in range(i, i+phases)])
res.append((cost, phase))
res.sort()
best = res[0][1]
found = [j for j in range(best - half_phases, best + half_phases)
if wph[j]]
best_phase = best % phases
lo, hi = found[0] % phases, found[-1] % phases
self.gcode.respond_info("%s: endstop_phase=%d (range %d to %d)" % (
stepper_name, best_phase, lo, hi))
return best_phase
def report_stats(self):
if not self.tracking:
self.gcode.respond_info(
"No steppers found. (Be sure to home at least once.)")
return
for stepper_name, info in sorted(self.tracking.items()):
if info is None:
continue
self.generate_stats(stepper_name, info)
def load_config_prefix(config):
return EndstopPhase(config)
def load_config(config):
return EndstopPhases(config)
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