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endstop_phase: Convert to using tmc mcu_phase_offset 

Now that the TMC drivers track the phase offset, use that to implement
endstop phase.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-08-06 00:38:49 -04:00
parent 06b8169f56
commit f759df3cd7
7 changed files with 26 additions and 33 deletions
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23
klippy/extras/endstop_phase.py
View File

@ -25,7 +25,7 @@ class PhaseCalc:
if module is not None:
self.tmc_module = module
if self.phases is None:
self.phases = module.get_microsteps() * 4
phase_offset, self.phases = module.get_phase_offset()
break
if self.phases is not None:
self.phase_history = [0] * self.phases
@ -34,18 +34,15 @@ class PhaseCalc:
return (int(float(driver_phase) / driver_phases * phases + .5) % phases)
def calc_phase(self, stepper):
mcu_pos = stepper.get_mcu_position()
if self.tmc_module is None:
phase = mcu_pos % self.phases
else:
try:
driver_phase, driver_phases = self.tmc_module.get_phase()
except Exception as e:
msg = "Unable to get stepper %s phase: %s" % (self.name, str(e))
logging.exception(msg)
raise self.printer.command_error(msg)
if stepper.is_dir_inverted():
driver_phase = (driver_phases - 1) - driver_phase
phase = self.convert_phase(driver_phase, driver_phases)
mcu_phase_offset = 0
if self.tmc_module is not None:
mcu_phase_offset, phases = self.tmc_module.get_phase_offset()
if mcu_phase_offset is None:
if self.printer.get_start_args().get('debugoutput') is None:
raise self.printer.command_error("Stepper %s phase unknown"
% (self.name,))
mcu_phase_offset = 0
phase = (mcu_pos + mcu_phase_offset) % self.phases
self.phase_history[phase] += 1
self.last_phase = phase
self.last_mcu_position = mcu_pos

21
klippy/extras/tmc.py
View File

@ -266,21 +266,22 @@ class TMCCommandHelper:
gcmd.respond_info("Run Current: %0.2fA Hold Current: %0.2fA"
% (prev_run_current, prev_hold_current))
# Stepper phase tracking
def get_microsteps(self):
return 256 >> self.fields.get_field("mres")
def get_phase(self):
def _get_phases(self):
return (256 >> self.fields.get_field("mres")) * 4
def get_phase_offset(self):
return self.mcu_phase_offset, self._get_phases()
def _query_phase(self):
field_name = "mscnt"
if self.fields.lookup_register(field_name, None) is None:
# TMC2660 uses MSTEP
field_name = "mstep"
reg = self.mcu_tmc.get_register(self.fields.lookup_register(field_name))
mscnt = self.fields.get_field(field_name, reg)
return 1023 - mscnt, 1024
return self.fields.get_field(field_name, reg)
def _handle_sync_mcu_pos(self, stepper):
if stepper.get_name() != self.stepper_name:
return
try:
driver_phase, driver_phases = self.get_phase()
driver_phase = self._query_phase()
except self.printer.command_error as e:
logging.info("Unable to obtain tmc %s phase", self.stepper_name)
self.mcu_phase_offset = None
@ -288,10 +289,10 @@ class TMCCommandHelper:
if enable_line.is_motor_enabled():
raise
return
if stepper.is_dir_inverted():
driver_phase = (driver_phases - 1) - driver_phase
phases = self.get_microsteps() * 4
phase = int(float(driver_phase) / driver_phases * phases + .5) % phases
if not stepper.is_dir_inverted():
driver_phase = 1023 - driver_phase
phases = self._get_phases()
phase = int(float(driver_phase) / 1024 * phases + .5) % phases
moff = (phase - stepper.get_mcu_position()) % phases
if self.mcu_phase_offset is not None and self.mcu_phase_offset != moff:
logging.warning("Stepper %s phase change (was %d now %d)",

3
klippy/extras/tmc2130.py
View File

@ -260,8 +260,7 @@ class TMC2130:
current_helper = TMCCurrentHelper(config, self.mcu_tmc)
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
cmdhelper.setup_register_dump(ReadRegisters)
self.get_microsteps = cmdhelper.get_microsteps
self.get_phase = cmdhelper.get_phase
self.get_phase_offset = cmdhelper.get_phase_offset
# Setup basic register values
tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
# Allow other registers to be set from the config

3
klippy/extras/tmc2208.py
View File

@ -192,8 +192,7 @@ class TMC2208:
current_helper = tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
cmdhelper.setup_register_dump(ReadRegisters, self.read_translate)
self.get_microsteps = cmdhelper.get_microsteps
self.get_phase = cmdhelper.get_phase
self.get_phase_offset = cmdhelper.get_phase_offset
# Setup basic register values
self.fields.set_field("mstep_reg_select", True)
self.fields.set_field("multistep_filt", True)

3
klippy/extras/tmc2209.py
View File

@ -68,8 +68,7 @@ class TMC2209:
current_helper = tmc2130.TMCCurrentHelper(config, self.mcu_tmc)
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
cmdhelper.setup_register_dump(ReadRegisters)
self.get_microsteps = cmdhelper.get_microsteps
self.get_phase = cmdhelper.get_phase
self.get_phase_offset = cmdhelper.get_phase_offset
# Setup basic register values
self.fields.set_field("pdn_disable", True)
self.fields.set_field("mstep_reg_select", True)

3
klippy/extras/tmc2660.py
View File

@ -229,8 +229,7 @@ class TMC2660:
current_helper = TMC2660CurrentHelper(config, self.mcu_tmc)
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
cmdhelper.setup_register_dump(ReadRegisters)
self.get_microsteps = cmdhelper.get_microsteps
self.get_phase = cmdhelper.get_phase
self.get_phase_offset = cmdhelper.get_phase_offset
# CHOPCONF
set_config_field = self.fields.set_config_field

3
klippy/extras/tmc5160.py
View File

@ -294,8 +294,7 @@ class TMC5160:
current_helper = TMC5160CurrentHelper(config, self.mcu_tmc)
cmdhelper = tmc.TMCCommandHelper(config, self.mcu_tmc, current_helper)
cmdhelper.setup_register_dump(ReadRegisters)
self.get_microsteps = cmdhelper.get_microsteps
self.get_phase = cmdhelper.get_phase
self.get_phase_offset = cmdhelper.get_phase_offset
# Setup basic register values
tmc.TMCStealthchopHelper(config, self.mcu_tmc, TMC_FREQUENCY)
# CHOPCONF