endstop_phase: Unify phase conversion code
Introduce a new PhaseCalc class and use that for both homing and ENDSTOP_PHASE_CALIBRATE. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
4596a244e3
commit
be4fb7f128
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@ -8,23 +8,65 @@ import stepper
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TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2660", "tmc5160"]
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def convert_phase(driver_phase, driver_phases, phases):
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return (int(float(driver_phase) / driver_phases * phases + .5) % phases)
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# Calculate the trigger phase of a stepper motor
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class PhaseCalc:
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def __init__(self, printer, name, phases=None):
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self.printer = printer
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self.name = name
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self.phases = phases
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self.tmc_module = None
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# Statistics tracking for ENDSTOP_PHASE_CALIBRATE
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self.phase_history = self.last_phase = self.last_mcu_position = None
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self.is_primary = self.stats_only = False
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def lookup_tmc(self):
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for driver in TRINAMIC_DRIVERS:
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driver_name = "%s %s" % (driver, self.name)
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module = self.printer.lookup_object(driver_name, None)
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if module is not None:
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self.tmc_module = module
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if self.phases is None:
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self.phases = module.get_microsteps() * 4
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break
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if self.phases is not None:
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self.phase_history = [0] * self.phases
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def convert_phase(self, driver_phase, driver_phases):
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phases = self.phases
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return (int(float(driver_phase) / driver_phases * phases + .5) % phases)
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def calc_phase(self, stepper):
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mcu_pos = stepper.get_mcu_position()
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if self.tmc_module is None:
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phase = mcu_pos % self.phases
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else:
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try:
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driver_phase, driver_phases = self.tmc_module.get_phase()
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except Exception as e:
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msg = "Unable to get stepper %s phase: %s" % (self.name, str(e))
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logging.exception(msg)
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raise self.printer.command_error(msg)
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if stepper.is_dir_inverted():
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driver_phase = (driver_phases - 1) - driver_phase
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phase = self.convert_phase(driver_phase, driver_phases)
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self.phase_history[phase] += 1
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self.last_phase = phase
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self.last_mcu_position = mcu_pos
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return phase
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# Adjusted endstop trigger positions
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class EndstopPhase:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.name = config.get_name().split()[1]
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# Register event handlers
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self.printer.register_event_handler("klippy:connect",
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self.handle_connect)
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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.printer.load_object(config, "endstop_phase")
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# Obtain step_distance and microsteps from stepper config section
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sconfig = config.getsection(self.name)
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self.step_dist = stepper.parse_step_distance(sconfig)
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self.phases = sconfig.getint("microsteps", note_valid=False) * 4
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self.phase_calc = PhaseCalc(self.printer, self.name, self.phases)
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# Register event handlers
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self.printer.register_event_handler("klippy:connect",
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self.phase_calc.lookup_tmc)
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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.printer.load_object(config, "endstop_phase")
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# Read config
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self.endstop_phase = None
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trigger_phase = config.get('trigger_phase', None)
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@ -37,7 +79,7 @@ class EndstopPhase:
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if p >= ps:
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raise config.error("Invalid trigger_phase '%s'"
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% (trigger_phase,))
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self.endstop_phase = convert_phase(p, ps, self.phases)
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self.endstop_phase = self.phase_calc.convert_phase(p, ps)
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self.endstop_align_zero = config.getboolean('endstop_align_zero', False)
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self.endstop_accuracy = config.getfloat('endstop_accuracy', None,
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above=0.)
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@ -55,16 +97,6 @@ class EndstopPhase:
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" stepper phase adjustment" % (self.name,))
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if self.printer.get_start_args().get('debugoutput') is not None:
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self.endstop_phase_accuracy = self.phases
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self.phase_history = [0] * self.phases
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self.get_phase = None
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def handle_connect(self):
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# Check for trinamic driver with get_phase() method
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for driver in TRINAMIC_DRIVERS:
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driver_name = "%s %s" % (driver, self.name)
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module = self.printer.lookup_object(driver_name, None)
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if module is not None:
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self.get_phase = module.get_phase
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break
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def align_endstop(self, pos):
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if not self.endstop_align_zero or self.endstop_phase is None:
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return pos
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@ -76,19 +108,7 @@ class EndstopPhase:
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full_step = microsteps * self.step_dist
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return int(pos / full_step + .5) * full_step + phase_offset
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def get_homed_offset(self, stepper):
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if self.get_phase is not None:
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try:
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driver_phase, driver_phases = self.get_phase()
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except Exception as e:
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msg = "Unable to get stepper %s phase: %s" % (self.name, str(e))
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logging.exception(msg)
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raise self.printer.command_error(msg)
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if stepper.is_dir_inverted():
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driver_phase = (driver_phases - 1) - driver_phase
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phase = convert_phase(driver_phase, driver_phases, self.phases)
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else:
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phase = stepper.get_mcu_position() % self.phases
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self.phase_history[phase] += 1
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phase = self.phase_calc.calc_phase(stepper)
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if self.endstop_phase is None:
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logging.info("Setting %s endstop phase to %d", self.name, phase)
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self.endstop_phase = phase
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@ -113,11 +133,11 @@ class EndstopPhase:
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kin_spos[self.name] = self.align_endstop(orig_pos) + offset
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return
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# Support for ENDSTOP_PHASE_CALIBRATE command
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class EndstopPhases:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.tracking = {}
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self.last_home_info = {}
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# Register handlers
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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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@ -125,62 +145,45 @@ class EndstopPhases:
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self.gcode.register_command("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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def lookup_stepper(self, stepper, 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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if m is not None:
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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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mod_name = "%s %s" % (driver, stepper_name)
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def update_stepper(self, stepper, is_primary):
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stepper_name = stepper.get_name()
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phase_calc = self.tracking.get(stepper_name)
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if phase_calc is None:
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# Check if stepper has an endstop_phase config section defined
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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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if m is not None:
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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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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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phase_calc = m.phase_calc
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else:
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# Create new PhaseCalc tracker
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phase_calc = PhaseCalc(self.printer, stepper_name)
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phase_calc.stats_only = True
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phase_calc.lookup_tmc()
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self.tracking[stepper_name] = phase_calc
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if phase_calc.phase_history is None:
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return
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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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return
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try:
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driver_phase, driver_phases = get_phase()
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except:
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logging.exception("Error in EndstopPhases get_phase")
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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_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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if is_primary:
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phase_calc.is_primary = True
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if phase_calc.stats_only:
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phase_calc.calc_phase(stepper)
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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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is_rail = True
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is_primary = True
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for stepper in rail.get_steppers():
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self.update_stepper(stepper, is_rail)
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is_rail = False
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self.update_stepper(stepper, is_primary)
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is_primary = False
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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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stepper_name = gcmd.get('STEPPER', None)
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if stepper_name is None:
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self.report_stats()
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return
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info = self.tracking.get(stepper_name)
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if info is None:
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phase_calc = self.tracking.get(stepper_name)
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if phase_calc is None or phase_calc.phase_history is None:
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raise gcmd.error("Stats not available for stepper %s"
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% (stepper_name,))
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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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endstop_phase, phases = self.generate_stats(stepper_name, phase_calc)
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if not phase_calc.is_primary:
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return
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configfile = self.printer.lookup_object('configfile')
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section = 'endstop_phase %s' % (stepper_name,)
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@ -190,8 +193,8 @@ class EndstopPhases:
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gcmd.respond_info(
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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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def generate_stats(self, stepper_name, info):
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phase_history = info["phase_history"]
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def generate_stats(self, stepper_name, phase_calc):
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phase_history = phase_calc.phase_history
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wph = phase_history + phase_history
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count = sum(phase_history)
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phases = len(phase_history)
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@ -216,12 +219,16 @@ class EndstopPhases:
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"No steppers found. (Be sure to home at least once.)")
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return
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for stepper_name in sorted(self.tracking.keys()):
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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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phase_calc = self.tracking[stepper_name]
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if phase_calc is None or not phase_calc.is_primary:
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continue
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self.generate_stats(stepper_name, info)
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self.generate_stats(stepper_name, phase_calc)
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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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lh = { name: {'phase': pc.last_phase, 'phases': pc.phases,
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'mcu_position': pc.last_mcu_position}
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for name, pc in self.tracking.items()
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if pc.phase_history is not None }
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return { 'last_home': lh }
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def load_config_prefix(config):
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return EndstopPhase(config)
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