mirror of
https://github.com/Klipper3d/klipper.git
synced 2025-10-31 02:15:52 +01:00
f6dd97b784
There's no reason to distinguish between an EndstopError and a CommandError, so just use CommandError. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
209 lines
9.2 KiB
Python
209 lines
9.2 KiB
Python
# Endstop accuracy improvement via stepper phase tracking
|
|
#
|
|
# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import math, logging
|
|
|
|
TRINAMIC_DRIVERS = ["tmc2130", "tmc2208", "tmc2209", "tmc2660", "tmc5160"]
|
|
|
|
class EndstopPhase:
|
|
def __init__(self, config):
|
|
self.printer = config.get_printer()
|
|
self.name = config.get_name().split()[1]
|
|
# Register event handlers
|
|
self.printer.register_event_handler("klippy:connect",
|
|
self.handle_connect)
|
|
self.printer.register_event_handler("homing:home_rails_end",
|
|
self.handle_home_rails_end)
|
|
self.printer.load_object(config, "endstop_phase")
|
|
self.printer.load_object(config, "force_move")
|
|
# Read config
|
|
self.phases = config.getint('phases', None, minval=1)
|
|
self.endstop_phase = config.getint('endstop_phase', None, minval=0)
|
|
self.endstop_align_zero = config.getboolean('endstop_align_zero', False)
|
|
self.endstop_accuracy = config.getfloat('endstop_accuracy', None,
|
|
above=0.)
|
|
self.step_dist = self.endstop_phase_accuracy = None
|
|
def handle_connect(self):
|
|
# Determine number of stepper phases
|
|
for driver in TRINAMIC_DRIVERS:
|
|
driver_name = "%s %s" % (driver, self.name)
|
|
module = self.printer.lookup_object(driver_name, None)
|
|
if module is not None:
|
|
self.get_phase = module.get_phase
|
|
if self.phases is not None:
|
|
raise self.printer.config_error(
|
|
"endstop_phase phases set with tmc driver")
|
|
self.phases = module.get_microsteps() * 4
|
|
break
|
|
else:
|
|
self.get_phase = None
|
|
if self.phases is None:
|
|
raise self.printer.config_error(
|
|
"endstop_phase phases must be specified")
|
|
if self.endstop_phase is not None and self.endstop_phase >= self.phases:
|
|
raise self.printer.config_error(
|
|
"endstop_phase endstop_phase parameter not valid")
|
|
# Lookup stepper step_dist
|
|
force_move = self.printer.lookup_object("force_move")
|
|
self.step_dist = force_move.lookup_stepper(self.name).get_step_dist()
|
|
# Determine endstop accuracy
|
|
if self.endstop_accuracy is None:
|
|
self.endstop_phase_accuracy = self.phases//2 - 1
|
|
elif self.endstop_phase is not None:
|
|
self.endstop_phase_accuracy = int(
|
|
math.ceil(self.endstop_accuracy * .5 / self.step_dist))
|
|
else:
|
|
self.endstop_phase_accuracy = int(
|
|
math.ceil(self.endstop_accuracy / self.step_dist))
|
|
if self.endstop_phase_accuracy >= self.phases // 2:
|
|
raise config.error("Endstop for %s is not accurate enough for"
|
|
" stepper phase adjustment" % (self.name,))
|
|
if self.printer.get_start_args().get('debugoutput') is not None:
|
|
self.endstop_phase_accuracy = self.phases
|
|
self.phase_history = [0] * self.phases
|
|
def align_endstop(self, pos):
|
|
if not self.endstop_align_zero or self.endstop_phase is None:
|
|
return pos
|
|
# Adjust the endstop position so 0.0 is always at a full step
|
|
microsteps = self.phases // 4
|
|
half_microsteps = microsteps // 2
|
|
phase_offset = (((self.endstop_phase + half_microsteps) % microsteps)
|
|
- half_microsteps) * self.step_dist
|
|
full_step = microsteps * self.step_dist
|
|
return int(pos / full_step + .5) * full_step + phase_offset
|
|
def get_homed_offset(self, stepper):
|
|
if self.get_phase is not None:
|
|
try:
|
|
phase = self.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():
|
|
phase = (self.phases - 1) - phase
|
|
else:
|
|
phase = stepper.get_mcu_position() % self.phases
|
|
self.phase_history[phase] += 1
|
|
if self.endstop_phase is None:
|
|
logging.info("Setting %s endstop phase to %d", self.name, phase)
|
|
self.endstop_phase = phase
|
|
return 0.
|
|
delta = (phase - self.endstop_phase) % self.phases
|
|
if delta >= self.phases - self.endstop_phase_accuracy:
|
|
delta -= self.phases
|
|
elif delta > self.endstop_phase_accuracy:
|
|
raise self.printer.command_error(
|
|
"Endstop %s incorrect phase (got %d vs %d)" % (
|
|
self.name, phase, self.endstop_phase))
|
|
return delta * self.step_dist
|
|
def handle_home_rails_end(self, rails):
|
|
for rail in rails:
|
|
stepper = rail.get_steppers()[0]
|
|
if stepper.get_name() != self.name:
|
|
continue
|
|
orig_pos = rail.get_tag_position()
|
|
offset = self.get_homed_offset(stepper)
|
|
pos = self.align_endstop(orig_pos) + offset
|
|
if pos == orig_pos:
|
|
return False
|
|
rail.set_tag_position(pos)
|
|
return True
|
|
|
|
class EndstopPhases:
|
|
def __init__(self, config):
|
|
self.printer = config.get_printer()
|
|
self.tracking = {}
|
|
# Register handlers
|
|
self.printer.register_event_handler("homing:home_rails_end",
|
|
self.handle_home_rails_end)
|
|
self.gcode = self.printer.lookup_object('gcode')
|
|
self.gcode.register_command("ENDSTOP_PHASE_CALIBRATE",
|
|
self.cmd_ENDSTOP_PHASE_CALIBRATE,
|
|
desc=self.cmd_ENDSTOP_PHASE_CALIBRATE_help)
|
|
def lookup_rail(self, stepper, stepper_name):
|
|
mod_name = "endstop_phase %s" % (stepper_name,)
|
|
m = self.printer.lookup_object(mod_name, None)
|
|
if m is not None:
|
|
return (None, m.phase_history)
|
|
for driver in TRINAMIC_DRIVERS:
|
|
mod_name = "%s %s" % (driver, stepper_name)
|
|
m = self.printer.lookup_object(mod_name, None)
|
|
if m is not None:
|
|
return (m.get_phase, [0] * (m.get_microsteps() * 4))
|
|
return None
|
|
def update_rail(self, info, stepper):
|
|
if info is None:
|
|
return
|
|
get_phase, phase_history = info
|
|
if get_phase is None:
|
|
return
|
|
try:
|
|
phase = get_phase()
|
|
except:
|
|
logging.exception("Error in EndstopPhases get_phase")
|
|
return
|
|
phase_history[phase] += 1
|
|
def handle_home_rails_end(self, rails):
|
|
for rail in rails:
|
|
stepper = rail.get_steppers()[0]
|
|
stepper_name = stepper.get_name()
|
|
if stepper_name not in self.tracking:
|
|
info = self.lookup_rail(stepper, stepper_name)
|
|
self.tracking[stepper_name] = info
|
|
self.update_rail(self.tracking[stepper_name], stepper)
|
|
cmd_ENDSTOP_PHASE_CALIBRATE_help = "Calibrate stepper phase"
|
|
def cmd_ENDSTOP_PHASE_CALIBRATE(self, gcmd):
|
|
stepper_name = gcmd.get('STEPPER', None)
|
|
if stepper_name is None:
|
|
self.report_stats()
|
|
return
|
|
info = self.tracking.get(stepper_name)
|
|
if info is None:
|
|
raise gcmd.error("Stats not available for stepper %s"
|
|
% (stepper_name,))
|
|
endstop_phase = self.generate_stats(stepper_name, info)
|
|
configfile = self.printer.lookup_object('configfile')
|
|
section = 'endstop_phase %s' % stepper_name
|
|
configfile.remove_section(section)
|
|
configfile.set(section, "endstop_phase", endstop_phase)
|
|
gcmd.respond_info(
|
|
"The SAVE_CONFIG command will update the printer config\n"
|
|
"file with these parameters and restart the printer.")
|
|
def generate_stats(self, stepper_name, info):
|
|
get_phase, phase_history = info
|
|
wph = phase_history + phase_history
|
|
count = sum(phase_history)
|
|
phases = len(phase_history)
|
|
half_phases = phases // 2
|
|
res = []
|
|
for i in range(phases):
|
|
phase = i + half_phases
|
|
cost = sum([wph[j] * abs(j-phase) for j in range(i, i+phases)])
|
|
res.append((cost, phase))
|
|
res.sort()
|
|
best = res[0][1]
|
|
found = [j for j in range(best - half_phases, best + half_phases)
|
|
if wph[j]]
|
|
best_phase = best % phases
|
|
lo, hi = found[0] % phases, found[-1] % phases
|
|
self.gcode.respond_info("%s: endstop_phase=%d (range %d to %d)"
|
|
% (stepper_name, best_phase, lo, hi))
|
|
return best_phase
|
|
def report_stats(self):
|
|
if not self.tracking:
|
|
self.gcode.respond_info(
|
|
"No steppers found. (Be sure to home at least once.)")
|
|
return
|
|
for stepper_name, info in sorted(self.tracking.items()):
|
|
if info is None:
|
|
continue
|
|
self.generate_stats(stepper_name, info)
|
|
|
|
def load_config_prefix(config):
|
|
return EndstopPhase(config)
|
|
|
|
def load_config(config):
|
|
return EndstopPhases(config)
|