def update_stepper(self, stepper, is_rail):
stepper_name = stepper.get_name()
if stepper_name not in self.tracking:
info = self.lookup_stepper(stepper, stepper_name)
self.tracking[stepper_name] = info
info = self.tracking[stepper_name]
if info is None:
return
if is_rail:
info["is_rail"] = True
get_phase = info["get_phase"]
if get_phase is None:
return
try:
driver_phase, driver_phases = get_phase()
except:
logging.exception("Error in EndstopPhases get_phase")
return
phase_history = info["phase_history"]
phase = convert_phase(driver_phase, driver_phases, len(phase_history))
phase_history[phase] += 1
self.last_home_info[stepper.get_name()] = {
'phase': phase,
'phases': len(phase_history),
'mcu_position': stepper.get_mcu_position()
}
def handle_home_rails_end(self, homing_state, rails):
for rail in rails:
is_primary = True
for stepper in rail.get_steppers():
sname = stepper.get_name()
trig_mcu_pos = homing_state.get_trigger_position(sname)
self.update_stepper(stepper, trig_mcu_pos, is_primary)
is_primary = False
def handle_home_rails_end(self, homing_state, 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)
def handle_home_rails_end(self, homing_state, rails):
for rail in rails:
stepper = rail.get_steppers()[0]
if stepper.get_name() == self.name:
trig_mcu_pos = homing_state.get_trigger_position(self.name)
align = self.align_endstop(rail)
offset = self.get_homed_offset(stepper, trig_mcu_pos)
homing_state.set_stepper_adjustment(self.name, align + offset)
return
def handle_home_rails_end(self, homing_state, rails):
kin_spos = homing_state.get_stepper_trigger_positions()
orig_pos = kin_spos.get(self.name)
if orig_pos is None:
return
for rail in rails:
stepper = rail.get_steppers()[0]
if stepper.get_name() == self.name:
offset = self.get_homed_offset(stepper)
kin_spos[self.name] = self.align_endstop(orig_pos) + offset
return
def handle_home_rails_end(self, homing_state, 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
def _handle_sync_mcu_pos(self, stepper):
if stepper.get_name() != self.stepper_name:
return
try:
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
enable_line = self.stepper_enable.lookup_enable(self.stepper_name)
if enable_line.is_motor_enabled():
raise
return
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)",
self.stepper_name, self.mcu_phase_offset, moff)
self.mcu_phase_offset = moff
def update_stepper(self, stepper, trig_mcu_pos, is_primary):
stepper_name = stepper.get_name()
phase_calc = self.tracking.get(stepper_name)
if phase_calc is None:
# Check if stepper has an endstop_phase config section defined
mod_name = "endstop_phase %s" % (stepper_name, )
m = self.printer.lookup_object(mod_name, None)
if m is not None:
phase_calc = m.phase_calc
else:
# Create new PhaseCalc tracker
phase_calc = PhaseCalc(self.printer, stepper_name)
phase_calc.stats_only = True
phase_calc.lookup_tmc()
self.tracking[stepper_name] = phase_calc
if phase_calc.phase_history is None:
return
if is_primary:
phase_calc.is_primary = True
if phase_calc.stats_only:
phase_calc.calc_phase(stepper, trig_mcu_pos)