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endstop_phase: Fix endstop_phase on trinamic drivers that aren't inverted 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-06-06 18:14:45 -04:00 committed by KevinOConnor
parent 0b02d7a1f2
commit 80194a7e18
4 changed files with 6 additions and 1 deletions
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2
klippy/extras/endstop_phase.py
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@ -66,6 +66,8 @@ class EndstopPhase:
msg = "Unable to get stepper %s phase: %s" % (self.name, str(e)) msg = "Unable to get stepper %s phase: %s" % (self.name, str(e))
logging.exception(msg) logging.exception(msg)
raise homing.EndstopError(msg) raise homing.EndstopError(msg)
if stepper.is_dir_inverted():
phase = (self.phases - 1) - phase
else: else:
phase = stepper.get_mcu_position() % self.phases phase = stepper.get_mcu_position() % self.phases
self.phase_history[phase] += 1 self.phase_history[phase] += 1

2
klippy/extras/tmc.py
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@ -227,7 +227,7 @@ class TMCMicrostepHelper:
field_name = "MSTEP" field_name = "MSTEP"
reg = self.mcu_tmc.get_register(self.fields.lookup_register(field_name)) reg = self.mcu_tmc.get_register(self.fields.lookup_register(field_name))
mscnt = self.fields.get_field(field_name, reg) mscnt = self.fields.get_field(field_name, reg)
return mscnt >> self.fields.get_field("MRES") return (1023 - mscnt) >> self.fields.get_field("MRES")
# Helper to configure "stealthchop" mode # Helper to configure "stealthchop" mode
def TMCStealthchopHelper(config, mcu_tmc, tmc_freq): def TMCStealthchopHelper(config, mcu_tmc, tmc_freq):

2
klippy/mcu.py
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@ -70,6 +70,8 @@ class MCU_stepper:
return self._oid return self._oid
def get_step_dist(self): def get_step_dist(self):
return self._step_dist return self._step_dist
def is_dir_inverted(self):
return self._invert_dir
def calc_position_from_coord(self, coord): def calc_position_from_coord(self, coord):
return self._ffi_lib.itersolve_calc_position_from_coord( return self._ffi_lib.itersolve_calc_position_from_coord(
self._stepper_kinematics, coord[0], coord[1], coord[2]) self._stepper_kinematics, coord[0], coord[1], coord[2])

1
klippy/stepper.py
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@ -73,6 +73,7 @@ class PrinterStepper:
self.set_commanded_position = mcu_stepper.set_commanded_position self.set_commanded_position = mcu_stepper.set_commanded_position
self.get_mcu_position = mcu_stepper.get_mcu_position self.get_mcu_position = mcu_stepper.get_mcu_position
self.get_step_dist = mcu_stepper.get_step_dist self.get_step_dist = mcu_stepper.get_step_dist
self.is_dir_inverted = mcu_stepper.is_dir_inverted
def get_name(self, short=False): def get_name(self, short=False):
if short and self.name.startswith('stepper_'): if short and self.name.startswith('stepper_'):
return self.name[8:] return self.name[8:]