1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
|
# Endstop accuracy improvement via stepper phase tracking
#
# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import stepper
TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2240", "tmc2660", "tmc5160"]
# Calculate the trigger phase of a stepper motor
class PhaseCalc:
def __init__(self, printer, name, phases=None):
self.printer = printer
self.name = name
self.phases = phases
self.tmc_module = None
# Statistics tracking for ENDSTOP_PHASE_CALIBRATE
self.phase_history = self.last_phase = self.last_mcu_position = None
self.is_primary = self.stats_only = False
def lookup_tmc(self):
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.tmc_module = module
if self.phases is None:
phase_offset, self.phases = module.get_phase_offset()
break
if self.phases is not None:
self.phase_history = [0] * self.phases
def convert_phase(self, driver_phase, driver_phases):
phases = self.phases
return int(float(driver_phase) / driver_phases * phases + 0.5) % phases
def calc_phase(self, stepper, trig_mcu_pos):
mcu_phase_offset = 0
if self.tmc_module is not None:
mcu_phase_offset, phases = self.tmc_module.get_phase_offset()
if mcu_phase_offset is None:
if self.printer.get_start_args().get("debugoutput") is None:
raise self.printer.command_error(
"Stepper %s phase unknown" % (self.name,)
)
mcu_phase_offset = 0
phase = (trig_mcu_pos + mcu_phase_offset) % self.phases
self.phase_history[phase] += 1
self.last_phase = phase
self.last_mcu_position = trig_mcu_pos
return phase
# Adjusted endstop trigger positions
class EndstopPhase:
def __init__(self, config):
self.printer = config.get_printer()
self.name = " ".join(config.get_name().split()[1:])
# Obtain step_distance and microsteps from stepper config section
sconfig = config.getsection(self.name)
rotation_dist, steps_per_rotation = stepper.parse_step_distance(sconfig)
self.step_dist = rotation_dist / steps_per_rotation
self.phases = sconfig.getint("microsteps", note_valid=False) * 4
self.phase_calc = PhaseCalc(self.printer, self.name, self.phases)
# Register event handlers
self.printer.register_event_handler(
"klippy:connect", self.phase_calc.lookup_tmc
)
self.printer.register_event_handler(
"homing:home_rails_end", self.handle_home_rails_end
)
self.printer.load_object(config, "endstop_phase")
# Read config
self.endstop_phase = None
trigger_phase = config.get("trigger_phase", None)
if trigger_phase is not None:
p, ps = config.getintlist("trigger_phase", sep="/", count=2)
if p >= ps:
raise config.error("Invalid trigger_phase '%s'" % (trigger_phase,))
self.endstop_phase = self.phase_calc.convert_phase(p, ps)
self.endstop_align_zero = config.getboolean("endstop_align_zero", False)
self.endstop_accuracy = config.getfloat("endstop_accuracy", None, above=0.0)
# 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 * 0.5 / 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
def align_endstop(self, rail):
if not self.endstop_align_zero or self.endstop_phase is None:
return 0.0
# 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
pe = rail.get_homing_info().position_endstop
return int(pe / full_step + 0.5) * full_step - pe + phase_offset
def get_homed_offset(self, stepper, trig_mcu_pos):
phase = self.phase_calc.calc_phase(stepper, trig_mcu_pos)
if self.endstop_phase is None:
logging.info("Setting %s endstop phase to %d", self.name, phase)
self.endstop_phase = phase
return 0.0
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 self.printer.command_error(
"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, homing_state, rails):
for rail in rails:
stepper = rail.get_endstops()[0][0].get_steppers()[0]
if stepper.get_name() == self.name:
trig_mcu_pos = homing_state.get_trigger_position(self.name)
align = self.align_endstop(rail)
offset = self.get_homed_offset(stepper, trig_mcu_pos)
homing_state.set_stepper_adjustment(self.name, align + offset)
return
# Support for ENDSTOP_PHASE_CALIBRATE command
class EndstopPhases:
def __init__(self, config):
self.printer = config.get_printer()
self.tracking = {}
# Register handlers
self.printer.register_event_handler(
"homing:home_rails_end", self.handle_home_rails_end
)
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,
)
def update_stepper(self, stepper, trig_mcu_pos, is_primary):
stepper_name = stepper.get_name()
phase_calc = self.tracking.get(stepper_name)
if phase_calc is None:
# Check if stepper has an endstop_phase config section defined
mod_name = "endstop_phase %s" % (stepper_name,)
m = self.printer.lookup_object(mod_name, None)
if m is not None:
phase_calc = m.phase_calc
else:
# Create new PhaseCalc tracker
phase_calc = PhaseCalc(self.printer, stepper_name)
phase_calc.stats_only = True
phase_calc.lookup_tmc()
self.tracking[stepper_name] = phase_calc
if phase_calc.phase_history is None:
return
if is_primary:
phase_calc.is_primary = True
if phase_calc.stats_only:
phase_calc.calc_phase(stepper, trig_mcu_pos)
def handle_home_rails_end(self, homing_state, rails):
for rail in rails:
is_primary = True
for stepper in rail.get_steppers():
sname = stepper.get_name()
trig_mcu_pos = homing_state.get_trigger_position(sname)
self.update_stepper(stepper, trig_mcu_pos, is_primary)
is_primary = False
cmd_ENDSTOP_PHASE_CALIBRATE_help = "Calibrate stepper phase"
def cmd_ENDSTOP_PHASE_CALIBRATE(self, gcmd):
stepper_name = gcmd.get("STEPPER", None)
if stepper_name is None:
self.report_stats()
return
phase_calc = self.tracking.get(stepper_name)
if phase_calc is None or phase_calc.phase_history is None:
raise gcmd.error("Stats not available for stepper %s" % (stepper_name,))
endstop_phase, phases = self.generate_stats(stepper_name, phase_calc)
if not phase_calc.is_primary:
return
configfile = self.printer.lookup_object("configfile")
section = "endstop_phase %s" % (stepper_name,)
configfile.remove_section(section)
configfile.set(section, "trigger_phase", "%s/%s" % (endstop_phase, phases))
gcmd.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, phase_calc):
phase_history = phase_calc.phase_history
wph = phase_history + 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: trigger_phase=%d/%d (range %d to %d)"
% (stepper_name, best_phase, phases, lo, hi)
)
return best_phase, phases
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 in sorted(self.tracking.keys()):
phase_calc = self.tracking[stepper_name]
if phase_calc is None or not phase_calc.is_primary:
continue
self.generate_stats(stepper_name, phase_calc)
def get_status(self, eventtime):
lh = {
name: {
"phase": pc.last_phase,
"phases": pc.phases,
"mcu_position": pc.last_mcu_position,
}
for name, pc in self.tracking.items()
if pc.phase_history is not None
}
return {"last_home": lh}
def load_config_prefix(config):
return EndstopPhase(config)
def load_config(config):
return EndstopPhases(config)
|
