From 93b9a85d19147ee57f6e79b1661e33df21aa1f20 Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Wed, 28 Apr 2021 20:49:37 -0400
Subject: [PATCH] endstop_phase: Add support for reporting phase information
via get_status()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
docs/Status_Reference.md | 14 +++++++++++
klippy/extras/endstop_phase.py | 46 +++++++++++++++++++++++-----------
2 files changed, 46 insertions(+), 14 deletions(-)
diff --git a/docs/Status_Reference.md b/docs/Status_Reference.md
index ab14b7f74..17a759f5b 100644
--- a/docs/Status_Reference.md
+++ b/docs/Status_Reference.md
@@ -36,6 +36,20 @@ The following information is available in the `display_status` object
`virtual_sdcard.progress` if no recent `M73` received).
- `message`: The message contained in the last `M117` G-Code command.
+# endstop_phase
+
+The following information is available in the
+[endstop_phase](Config_Reference.md#endstop_phase) object:
+- `last_home.<stepper name>.phase`: The phase of the stepper motor at
+ the end of the last home attempt.
+- `last_home.<stepper name>.phases`: The total number of phases
+ available on the stepper motor.
+- `last_home.<stepper name>.mcu_position`: The position (as tracked by
+ the micro-controller) of the stepper motor at the end of the last
+ home attempt. The position is the total number of steps taken in a
+ forward direction minus the total number of steps taken in the
+ reverse direction since the micro-controller was last restarted.
+
# fan
The following information is available in
diff --git a/klippy/extras/endstop_phase.py b/klippy/extras/endstop_phase.py
index a2b2b5485..ed6c59608 100644
--- a/klippy/extras/endstop_phase.py
+++ b/klippy/extras/endstop_phase.py
@@ -117,6 +117,7 @@ class EndstopPhases:
def __init__(self, config):
self.printer = config.get_printer()
self.tracking = {}
+ self.last_home_info = {}
# Register handlers
self.printer.register_event_handler("homing:home_rails_end",
self.handle_home_rails_end)
@@ -124,21 +125,30 @@ class EndstopPhases:
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):
+ def lookup_stepper(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)
+ return {"get_phase": None, "is_rail": False,
+ "phase_history": 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 {"get_phase": m.get_phase, "is_rail": False,
+ "phase_history": [0] * (m.get_microsteps() * 4)}
return None
- def update_rail(self, info, stepper):
+ 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
- get_phase, phase_history = info
+ if is_rail:
+ info["is_rail"] = True
+ get_phase = info["get_phase"]
if get_phase is None:
return
try:
@@ -146,16 +156,19 @@ class EndstopPhases:
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:
- 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)
+ is_rail = True
+ for stepper in rail.get_steppers():
+ self.update_stepper(stepper, is_rail)
+ is_rail = False
cmd_ENDSTOP_PHASE_CALIBRATE_help = "Calibrate stepper phase"
def cmd_ENDSTOP_PHASE_CALIBRATE(self, gcmd):
stepper_name = gcmd.get('STEPPER', None)
@@ -167,6 +180,8 @@ class EndstopPhases:
raise gcmd.error("Stats not available for stepper %s"
% (stepper_name,))
endstop_phase, phases = self.generate_stats(stepper_name, info)
+ if not info["is_rail"]:
+ return
configfile = self.printer.lookup_object('configfile')
section = 'endstop_phase %s' % (stepper_name,)
configfile.remove_section(section)
@@ -176,7 +191,7 @@ class EndstopPhases:
"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
+ phase_history = info["phase_history"]
wph = phase_history + phase_history
count = sum(phase_history)
phases = len(phase_history)
@@ -200,10 +215,13 @@ class EndstopPhases:
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:
+ for stepper_name in sorted(self.tracking.keys()):
+ info = self.tracking[stepper_name]
+ if info is None or not info["is_rail"]:
continue
self.generate_stats(stepper_name, info)
+ def get_status(self, eventtime):
+ return { 'last_home': dict(self.last_home_info) }
def load_config_prefix(config):
return EndstopPhase(config)