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endstop_phase: Query the stepper step_distance from the stepper object 

Don't obtain the step_distance from the config, instead obtain
step_distance from the instantiated stepper object.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-01-05 19:21:53 -05:00
parent 67b2852249
commit 68e59528a4
1 changed files with 39 additions and 23 deletions
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62
klippy/extras/endstop_phase.py
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@ -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))