mirror of https://github.com/Desuuuu/klipper.git
endstop_phase: Fix endstop_phase on trinamic drivers that aren't inverted
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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0b02d7a1f2
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80194a7e18
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@ -66,6 +66,8 @@ class EndstopPhase:
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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 homing.EndstopError(msg)
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if stepper.is_dir_inverted():
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phase = (self.phases - 1) - phase
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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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@ -227,7 +227,7 @@ class TMCMicrostepHelper:
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field_name = "MSTEP"
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reg = self.mcu_tmc.get_register(self.fields.lookup_register(field_name))
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mscnt = self.fields.get_field(field_name, reg)
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return mscnt >> self.fields.get_field("MRES")
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return (1023 - mscnt) >> self.fields.get_field("MRES")
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# Helper to configure "stealthchop" mode
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def TMCStealthchopHelper(config, mcu_tmc, tmc_freq):
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@ -70,6 +70,8 @@ class MCU_stepper:
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return self._oid
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def get_step_dist(self):
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return self._step_dist
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def is_dir_inverted(self):
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return self._invert_dir
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def calc_position_from_coord(self, coord):
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return self._ffi_lib.itersolve_calc_position_from_coord(
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self._stepper_kinematics, coord[0], coord[1], coord[2])
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@ -73,6 +73,7 @@ class PrinterStepper:
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self.set_commanded_position = mcu_stepper.set_commanded_position
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self.get_mcu_position = mcu_stepper.get_mcu_position
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self.get_step_dist = mcu_stepper.get_step_dist
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self.is_dir_inverted = mcu_stepper.is_dir_inverted
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def get_name(self, short=False):
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if short and self.name.startswith('stepper_'):
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return self.name[8:]
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