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")
# Obtain step_distance and microsteps from stepper config section
sconfig = config.getsection(self.name)
self.step_dist = stepper.parse_step_distance(sconfig)
self.phases = sconfig.getint("microsteps", note_valid=False) * 4
# Read config
self.endstop_phase = None
trigger_phase = config.get('trigger_phase', None)
if trigger_phase is not None:
try:
p, ps = [int(v.strip()) for v in trigger_phase.split('/')]
except:
raise config.error("Unable to parse trigger_phase '%s'" %
(trigger_phase, ))
if p >= ps:
raise config.error("Invalid trigger_phase '%s'" %
(trigger_phase, ))
self.endstop_phase = convert_phase(p, ps, self.phases)
self.endstop_align_zero = config.getboolean('endstop_align_zero',
False)
self.endstop_accuracy = config.getfloat('endstop_accuracy',
None,
above=0.)
# 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
self.get_phase = None
def TMCStealthchopHelper(config, mcu_tmc, tmc_freq):
fields = mcu_tmc.get_fields()
en_pwm_mode = False
velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
if velocity:
stepper_name = " ".join(config.get_name().split()[1:])
stepper_config = config.getsection(stepper_name)
step_dist = stepper.parse_step_distance(stepper_config)
step_dist_256 = step_dist / (1 << fields.get_field("MRES"))
threshold = int(tmc_freq * step_dist_256 / velocity + .5)
fields.set_field("TPWMTHRS", max(0, min(0xfffff, threshold)))
en_pwm_mode = True
reg = fields.lookup_register("en_pwm_mode", None)
if reg is not None:
fields.set_field("en_pwm_mode", en_pwm_mode)
else:
# TMC2208 uses en_spreadCycle
fields.set_field("en_spreadCycle", not en_pwm_mode)
def __init__(self, config):
self.printer = config.get_printer()
self.name = config.get_name().split()[1]
# Obtain step_distance and microsteps from stepper config section
sconfig = config.getsection(self.name)
rotation_dist, steps_per_rotation = stepper.parse_step_distance(
sconfig)
self.step_dist = rotation_dist / steps_per_rotation
self.phases = sconfig.getint("microsteps", note_valid=False) * 4
self.phase_calc = PhaseCalc(self.printer, self.name, self.phases)
# Register event handlers
self.printer.register_event_handler("klippy:connect",
self.phase_calc.lookup_tmc)
self.printer.register_event_handler("homing:home_rails_end",
self.handle_home_rails_end)
self.printer.load_object(config, "endstop_phase")
# Read config
self.endstop_phase = None
trigger_phase = config.get('trigger_phase', None)
if trigger_phase is not None:
p, ps = config.getintlist('trigger_phase', sep='/', count=2)
if p >= ps:
raise config.error("Invalid trigger_phase '%s'" %
(trigger_phase, ))
self.endstop_phase = self.phase_calc.convert_phase(p, ps)
self.endstop_align_zero = config.getboolean('endstop_align_zero',
False)
self.endstop_accuracy = config.getfloat('endstop_accuracy',
None,
above=0.)
# 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
