stepper: Support stepper phase adjustments when homing
Add support for enhancing the precision of endstop switches by also inspecting the phase of the stepper motor when the endstop triggers. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -11,7 +11,7 @@
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# available pin and board names.)
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# Pin names may be preceded by an '!' to indicate that a reverse
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# polarity should be used (eg, trigger on low instead of high). Input
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# pins may be prceded by an '^' to indicate that a hardware pull-up
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# pins may be preceded by a '^' to indicate that a hardware pull-up
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# resistor should be enabled for the pin.
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@ -38,6 +38,26 @@ homing_retract_dist: 5.0
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# Distance to backoff (in mm) before homing a second time during homing
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homing_positive_dir: False
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# If true, homes in a positive direction (away from zero)
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homing_stepper_phases: 0
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# One may optionally set this to the number of phases of the stepper
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# motor driver (which is the number of micro-steps multiplied by
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# four). When set, the phase of the stepper driver will be used
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# during homing to improve the accuracy of the endstop switch.
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homing_endstop_accuracy: 0.200
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# Sets the expected accuracy (in mm) of the endstop. This represents
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# the maximum error distance the endstop may trigger (eg, if an
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# endstop may occasionally trigger 100um early or up to 100um late
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# then set this to 0.200 for 200um). This setting is used with
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# homing_stepper_phases and is only useful if that parameter is also
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# configured.
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#homing_endstop_phase: 0
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# This specifies the phase of the stepper motor driver to expect
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# when hitting the endstop. This setting is only meaningful if
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# homing_stepper_phases is also set. Only set this value if one is
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# sure the stepper motor driver is reset every time the mcu is
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# reset. If this is not set, but homing_stepper_phases is set, then
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# the stepper phase will be detected on the first home and that
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# phase will be used on all subsequent homes.
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position_min: -0.25
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# Minimum valid distance (in mm) the user may command the stepper to
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# move to (not currently enforced)
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@ -12,6 +12,8 @@ max_velocity: 500
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max_accel: 3000
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endstop_pin: ^PB6
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homing_speed: 50.0
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homing_stepper_phases: 32
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homing_endstop_accuracy: .200
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position_min: -0.25
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position_endstop: 0.0
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position_max: 200
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@ -25,6 +27,8 @@ max_velocity: 500
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max_accel: 3000
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endstop_pin: ^PB5
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homing_speed: 50.0
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homing_stepper_phases: 32
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homing_endstop_accuracy: .200
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position_min: -0.25
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position_endstop: 0.0
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position_max: 250
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@ -39,6 +43,8 @@ max_accel: 30
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endstop_pin: ^PB4
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homing_speed: 4.0
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homing_retract_dist: 2.0
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homing_stepper_phases: 32
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homing_endstop_accuracy: .050
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position_min: 0.1
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position_endstop: 0.7
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position_max: 200
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@ -33,6 +33,8 @@ class CartKinematics:
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accel_factor = min([self.steppers[i].max_accel / abs(axes_d[i])
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for i in StepList if axes_d[i]])
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return velocity_factor * move_d, accel_factor * move_d
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def get_homed_position(self):
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return [s.get_homed_position() for s in self.steppers]
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def home(self, toolhead, axes):
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# Each axis is homed independently and in order
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homing_state = homing.Homing(toolhead, axes)
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@ -40,6 +40,8 @@ class MCU_stepper:
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max_error, self._step_cmd.msgid, self._oid)
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def get_oid(self):
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return self._oid
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def get_invert_dir(self):
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return self._invert_dir
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def note_stepper_stop(self):
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self._sdir = -1
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self._last_move_clock = -2**29
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@ -88,6 +90,7 @@ class MCU_endstop:
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, self._oid)
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self._query_cmd = mcu.lookup_command("end_stop_query oid=%c")
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self._homing = False
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self._last_position = 0
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self._next_query_clock = 0
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mcu_freq = self._mcu.get_mcu_freq()
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self._retry_query_ticks = mcu_freq * self.RETRY_QUERY
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@ -104,6 +107,7 @@ class MCU_endstop:
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self._stepper.note_stepper_stop()
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def _handle_end_stop_state(self, params):
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logging.debug("end_stop_state %s" % (params,))
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self._last_position = params['pos']
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self._homing = params['homing'] != 0
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def is_homing(self):
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if not self._homing:
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@ -116,6 +120,10 @@ class MCU_endstop:
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msg = self._query_cmd.encode(self._oid)
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self._mcu.send(msg, cq=self._cmd_queue)
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return self._homing
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def get_last_position(self):
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if self._stepper.get_invert_dir():
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return -self._last_position
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return self._last_position
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def get_print_clock(self, print_time):
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return self._mcu.get_print_clock(print_time)
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@ -21,6 +21,23 @@ class PrinterStepper:
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self.homing_positive_dir = config.getboolean(
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'homing_positive_dir', False)
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self.homing_retract_dist = config.getfloat('homing_retract_dist', 5.)
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self.homing_stepper_phases = config.getint('homing_stepper_phases')
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self.homing_endstop_phase = config.getint('homing_endstop_phase')
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endstop_accuracy = config.getfloat('homing_endstop_accuracy')
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self.homing_endstop_accuracy = None
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if self.homing_stepper_phases:
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if endstop_accuracy is None:
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self.homing_endstop_accuracy = self.homing_stepper_phases//2 - 1
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elif self.homing_endstop_phase is not None:
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self.homing_endstop_accuracy = int(math.ceil(
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endstop_accuracy * self.inv_step_dist / 2.))
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else:
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self.homing_endstop_accuracy = int(math.ceil(
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endstop_accuracy * self.inv_step_dist))
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if self.homing_endstop_accuracy >= self.homing_stepper_phases/2:
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logging.info("Endstop for %s is not accurate enough for stepper"
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" phase adjustment" % (self.config.section,))
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self.homing_stepper_phases = None
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self.position_min = config.getfloat('position_min', 0.)
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self.position_endstop = config.getfloat('position_endstop')
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self.position_max = config.getfloat('position_max')
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@ -68,3 +85,21 @@ class PrinterStepper:
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move_clock = int(self.mcu_endstop.get_print_clock(move_time))
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self.mcu_endstop.home(move_clock, int(self.clock_ticks / hz))
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return self.mcu_endstop
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def get_homed_position(self):
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if not self.homing_stepper_phases:
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return self.position_endstop
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pos = self.mcu_endstop.get_last_position()
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pos %= self.homing_stepper_phases
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if self.homing_endstop_phase is None:
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logging.info("Setting %s endstop phase to %d" % (
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self.config.section, pos))
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self.homing_endstop_phase = pos
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return self.position_endstop
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delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
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if delta >= self.homing_stepper_phases - self.homing_endstop_accuracy:
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delta -= self.homing_stepper_phases
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elif delta > self.homing_endstop_accuracy:
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logging.error("Endstop %s incorrect phase (got %d vs %d)" % (
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self.config.section, pos, self.homing_endstop_phase))
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return self.position_endstop
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return self.position_endstop + delta * self.step_dist
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@ -254,7 +254,15 @@ class ToolHead:
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move = Move(self, newpos, move_d, axes_d, speed, self.max_xy_accel)
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self.move_queue.add_move(move)
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def home(self, axes):
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return self.kin.home(self, axes)
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homing = self.kin.home(self, axes)
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def axes_update(axes):
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pos = self.get_position()
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homepos = self.kin.get_homed_position()
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for axis in axes:
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pos[axis] = homepos[axis]
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self.set_position(pos)
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homing.plan_axes_update(axes_update)
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return homing
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def dwell(self, delay):
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self.get_last_move_time()
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self.update_move_time(delay)
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