mirror of https://github.com/Desuuuu/klipper.git
endstop_phase: Add support for detecting phase via TMC stepper drivers
The Trinamic stepper motor drivers are capable of reporting the stepper phase - add support for using that capability to the enddstop_phases module. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -329,9 +329,11 @@
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# of endstop switches.
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#[endstop_phase stepper_z]
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#phases:
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# Set this to the number of phases of the given stepper motor driver
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# (which is the number of micro-steps multiplied by four). This
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# parameter must be provided.
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# This specifies the number of phases of the given stepper motor
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# driver (which is the number of micro-steps multiplied by four).
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# This setting is automatically determined if one uses TMC2130,
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# TMC2208, or TMC2224 drivers with run-time configuration.
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# Otherwise, this parameter must be provided.
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#endstop_accuracy: 0.200
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# Sets the expected accuracy (in mm) of the endstop. This represents
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# the maximum error distance the endstop may trigger (eg, if an
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@ -6,17 +6,30 @@
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import math, logging
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import homing
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TRINAMIC_DRIVERS = ["tmc2130", "tmc2208"]
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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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stepper_config = config.getsection(self.name)
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self.step_dist = step_dist = stepper_config.getfloat('step_distance')
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self.phases = config.getint('phases', minval=1)
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# Determine number of stepper phases
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for driver in TRINAMIC_DRIVERS:
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driver_name = "%s %s" % (driver, self.name)
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if config.has_section(driver_name):
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module = self.printer.try_load_module(config, driver_name)
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self.get_phase = module.get_phase
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self.phases = module.get_microsteps() * 4
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break
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else:
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self.get_phase = None
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self.phases = config.getint('phases', minval=1)
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# Determine endstop phase position
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self.endstop_phase = config.getint('endstop_phase', None,
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minval=0, maxval=self.phases-1)
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self.endstop_align_zero = config.getboolean('endstop_align_zero', False)
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# Determine endstop accuracy
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stepper_config = config.getsection(self.name)
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self.step_dist = step_dist = stepper_config.getfloat('step_distance')
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endstop_accuracy = config.getfloat('endstop_accuracy', None, above=0.)
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if endstop_accuracy is None:
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self.endstop_accuracy = self.phases//2 - 1
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@ -44,8 +57,15 @@ 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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pos = stepper.get_mcu_position()
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phase = pos % self.phases
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if self.get_phase is not None:
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try:
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phase = 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 homing.EndstopError(msg)
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else:
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phase = stepper.get_mcu_position() % self.phases
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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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@ -137,6 +137,10 @@ class TMC2130:
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data = [(reg | 0x80) & 0xff, (val >> 24) & 0xff, (val >> 16) & 0xff,
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(val >> 8) & 0xff, val & 0xff]
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self.spi_send_cmd.send([self.oid, data])
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def get_microsteps(self):
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return 256 >> self.mres
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def get_phase(self):
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return (self.get_register("MSCNT") & 0x3ff) >> self.mres
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cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
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def cmd_DUMP_TMC(self, params):
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self.printer.lookup_object('toolhead').get_last_move_time()
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@ -219,6 +219,10 @@ class TMC2208:
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return
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raise self.printer.config_error(
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"Unable to write tmc2208 '%s' register %s" % (self.name, reg_name))
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def get_microsteps(self):
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return 256 >> self.mres
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def get_phase(self):
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return (self.get_register("MSCNT") & 0x3ff) >> self.mres
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cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
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def cmd_DUMP_TMC(self, params):
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self.printer.lookup_object('toolhead').get_last_move_time()
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