endstop_phase: Add support for reporting phase information via get_status()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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703418de01
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@ -36,6 +36,20 @@ The following information is available in the `display_status` object
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`virtual_sdcard.progress` if no recent `M73` received).
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`virtual_sdcard.progress` if no recent `M73` received).
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- `message`: The message contained in the last `M117` G-Code command.
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- `message`: The message contained in the last `M117` G-Code command.
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# endstop_phase
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The following information is available in the
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[endstop_phase](Config_Reference.md#endstop_phase) object:
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- `last_home.<stepper name>.phase`: The phase of the stepper motor at
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the end of the last home attempt.
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- `last_home.<stepper name>.phases`: The total number of phases
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available on the stepper motor.
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- `last_home.<stepper name>.mcu_position`: The position (as tracked by
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the micro-controller) of the stepper motor at the end of the last
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home attempt. The position is the total number of steps taken in a
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forward direction minus the total number of steps taken in the
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reverse direction since the micro-controller was last restarted.
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# fan
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# fan
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The following information is available in
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The following information is available in
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@ -117,6 +117,7 @@ class EndstopPhases:
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def __init__(self, config):
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def __init__(self, config):
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self.printer = config.get_printer()
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self.printer = config.get_printer()
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self.tracking = {}
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self.tracking = {}
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self.last_home_info = {}
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# Register handlers
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# Register handlers
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self.printer.register_event_handler("homing:home_rails_end",
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self.printer.register_event_handler("homing:home_rails_end",
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self.handle_home_rails_end)
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self.handle_home_rails_end)
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@ -124,21 +125,30 @@ class EndstopPhases:
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self.gcode.register_command("ENDSTOP_PHASE_CALIBRATE",
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self.gcode.register_command("ENDSTOP_PHASE_CALIBRATE",
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self.cmd_ENDSTOP_PHASE_CALIBRATE,
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self.cmd_ENDSTOP_PHASE_CALIBRATE,
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desc=self.cmd_ENDSTOP_PHASE_CALIBRATE_help)
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desc=self.cmd_ENDSTOP_PHASE_CALIBRATE_help)
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def lookup_rail(self, stepper, stepper_name):
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def lookup_stepper(self, stepper, stepper_name):
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mod_name = "endstop_phase %s" % (stepper_name,)
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mod_name = "endstop_phase %s" % (stepper_name,)
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m = self.printer.lookup_object(mod_name, None)
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m = self.printer.lookup_object(mod_name, None)
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if m is not None:
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if m is not None:
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return (None, m.phase_history)
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return {"get_phase": None, "is_rail": False,
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"phase_history": m.phase_history}
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for driver in TRINAMIC_DRIVERS:
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for driver in TRINAMIC_DRIVERS:
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mod_name = "%s %s" % (driver, stepper_name)
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mod_name = "%s %s" % (driver, stepper_name)
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m = self.printer.lookup_object(mod_name, None)
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m = self.printer.lookup_object(mod_name, None)
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if m is not None:
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if m is not None:
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return (m.get_phase, [0] * (m.get_microsteps() * 4))
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return {"get_phase": m.get_phase, "is_rail": False,
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"phase_history": [0] * (m.get_microsteps() * 4)}
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return None
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return None
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def update_rail(self, info, stepper):
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def update_stepper(self, stepper, is_rail):
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stepper_name = stepper.get_name()
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if stepper_name not in self.tracking:
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info = self.lookup_stepper(stepper, stepper_name)
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self.tracking[stepper_name] = info
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info = self.tracking[stepper_name]
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if info is None:
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if info is None:
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return
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return
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get_phase, phase_history = info
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if is_rail:
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info["is_rail"] = True
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get_phase = info["get_phase"]
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if get_phase is None:
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if get_phase is None:
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return
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return
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try:
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try:
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@ -146,16 +156,19 @@ class EndstopPhases:
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except:
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except:
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logging.exception("Error in EndstopPhases get_phase")
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logging.exception("Error in EndstopPhases get_phase")
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return
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return
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phase_history = info["phase_history"]
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phase = convert_phase(driver_phase, driver_phases, len(phase_history))
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phase = convert_phase(driver_phase, driver_phases, len(phase_history))
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phase_history[phase] += 1
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phase_history[phase] += 1
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self.last_home_info[stepper.get_name()] = {
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'phase': phase, 'phases': len(phase_history),
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'mcu_position': stepper.get_mcu_position()
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}
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def handle_home_rails_end(self, homing_state, rails):
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def handle_home_rails_end(self, homing_state, rails):
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for rail in rails:
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for rail in rails:
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stepper = rail.get_steppers()[0]
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is_rail = True
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stepper_name = stepper.get_name()
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for stepper in rail.get_steppers():
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if stepper_name not in self.tracking:
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self.update_stepper(stepper, is_rail)
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info = self.lookup_rail(stepper, stepper_name)
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is_rail = False
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self.tracking[stepper_name] = info
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self.update_rail(self.tracking[stepper_name], stepper)
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cmd_ENDSTOP_PHASE_CALIBRATE_help = "Calibrate stepper phase"
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cmd_ENDSTOP_PHASE_CALIBRATE_help = "Calibrate stepper phase"
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def cmd_ENDSTOP_PHASE_CALIBRATE(self, gcmd):
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def cmd_ENDSTOP_PHASE_CALIBRATE(self, gcmd):
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stepper_name = gcmd.get('STEPPER', None)
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stepper_name = gcmd.get('STEPPER', None)
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@ -167,6 +180,8 @@ class EndstopPhases:
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raise gcmd.error("Stats not available for stepper %s"
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raise gcmd.error("Stats not available for stepper %s"
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% (stepper_name,))
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% (stepper_name,))
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endstop_phase, phases = self.generate_stats(stepper_name, info)
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endstop_phase, phases = self.generate_stats(stepper_name, info)
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if not info["is_rail"]:
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return
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configfile = self.printer.lookup_object('configfile')
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configfile = self.printer.lookup_object('configfile')
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section = 'endstop_phase %s' % (stepper_name,)
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section = 'endstop_phase %s' % (stepper_name,)
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configfile.remove_section(section)
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configfile.remove_section(section)
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@ -176,7 +191,7 @@ class EndstopPhases:
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"The SAVE_CONFIG command will update the printer config\n"
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"The SAVE_CONFIG command will update the printer config\n"
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"file with these parameters and restart the printer.")
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"file with these parameters and restart the printer.")
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def generate_stats(self, stepper_name, info):
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def generate_stats(self, stepper_name, info):
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get_phase, phase_history = info
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phase_history = info["phase_history"]
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wph = phase_history + phase_history
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wph = phase_history + phase_history
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count = sum(phase_history)
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count = sum(phase_history)
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phases = len(phase_history)
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phases = len(phase_history)
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@ -200,10 +215,13 @@ class EndstopPhases:
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self.gcode.respond_info(
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self.gcode.respond_info(
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"No steppers found. (Be sure to home at least once.)")
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"No steppers found. (Be sure to home at least once.)")
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return
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return
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for stepper_name, info in sorted(self.tracking.items()):
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for stepper_name in sorted(self.tracking.keys()):
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if info is None:
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info = self.tracking[stepper_name]
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if info is None or not info["is_rail"]:
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continue
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continue
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self.generate_stats(stepper_name, info)
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self.generate_stats(stepper_name, info)
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def get_status(self, eventtime):
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return { 'last_home': dict(self.last_home_info) }
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def load_config_prefix(config):
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def load_config_prefix(config):
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return EndstopPhase(config)
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return EndstopPhase(config)
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