diff --git a/config/example-extras.cfg b/config/example-extras.cfg
index e3424eece..5140a1bf1 100644
--- a/config/example-extras.cfg
+++ b/config/example-extras.cfg
@@ -322,33 +322,34 @@
# axis is triggered.
-# Stepper phase adjusted endstops. The following additional parameters
-# may be added to a stepper axis definition to improve the accuracy of
-# endstop switches.
-#[stepper_z]
-#homing_stepper_phases:
-# One may set this to the number of phases of the stepper motor
-# driver (which is the number of micro-steps multiplied by
-# four). This parameter must be provided if using stepper phase
-# adjustments.
-#homing_endstop_accuracy: 0.200
+# Stepper phase adjusted endstops. To use this feature, define a
+# config section with an "endstop_phase" prefix followed by the name
+# of the corresponding stepper config section (for example,
+# "[endstop_phase stepper_z]"). This feature can improve the accuracy
+# of endstop switches.
+#[endstop_phase stepper_z]
+#phases:
+# Set this to the number of phases of the given stepper motor driver
+# (which is the number of micro-steps multiplied by four). This
+# parameter must be provided.
+#endstop_accuracy: 0.200
# Sets the expected accuracy (in mm) of the endstop. This represents
# the maximum error distance the endstop may trigger (eg, if an
# endstop may occasionally trigger 100um early or up to 100um late
# then set this to 0.200 for 200um). The default is
-# homing_stepper_phases*step_distance.
-#homing_endstop_phase:
+# phases*step_distance.
+#endstop_phase:
# This specifies the phase of the stepper motor driver to expect
# when hitting the endstop. Only set this value if one is sure the
# stepper motor driver is reset every time the mcu is reset. If this
# is not set, then the stepper phase will be detected on the first
# home and that phase will be used on all subsequent homes.
-#homing_endstop_align_zero: False
-# If true then the code will arrange for the zero position on the
-# axis to occur at a full step on the stepper motor. (If used on the
-# Z axis and the print layer height is a multiple of a full step
-# distance then every layer will occur on a full step.) The default
-# is False.
+#endstop_align_zero: False
+# If true then the position_endstop of the axis will effectively be
+# modified so that the zero position for the axis occurs at a full
+# step on the stepper motor. (If used on the Z axis and the print
+# layer height is a multiple of a full step distance then every
+# layer will occur on a full step.) The default is False.
# Heater cooling fans (one may define any number of sections with a
diff --git a/config/printer-makergear-m2-2012.cfg b/config/printer-makergear-m2-2012.cfg
index 67df15375..52bdfeecb 100644
--- a/config/printer-makergear-m2-2012.cfg
+++ b/config/printer-makergear-m2-2012.cfg
@@ -12,8 +12,10 @@ endstop_pin: ^!PB6
position_endstop: 0.0
position_max: 200
homing_speed: 50
-homing_stepper_phases: 32
-homing_endstop_accuracy: .200
+
+[endstop_phase stepper_x]
+phases: 32
+endstop_accuracy: .200
[stepper_y]
step_pin: PC1
@@ -24,8 +26,10 @@ endstop_pin: ^!PB5
position_endstop: 0.0
position_max: 250
homing_speed: 50
-homing_stepper_phases: 32
-homing_endstop_accuracy: .200
+
+[endstop_phase stepper_y]
+phases: 32
+endstop_accuracy: .200
[stepper_z]
step_pin: PC2
@@ -37,8 +41,10 @@ position_min: 0.1
position_endstop: 0.7
position_max: 200
homing_retract_dist: 2.0
-homing_stepper_phases: 32
-homing_endstop_accuracy: .070
+
+[endstop_phase stepper_z]
+phases: 32
+endstop_accuracy: .070
[extruder]
step_pin: PC3
diff --git a/klippy/extras/endstop_phase.py b/klippy/extras/endstop_phase.py
new file mode 100644
index 000000000..d3deba7ce
--- /dev/null
+++ b/klippy/extras/endstop_phase.py
@@ -0,0 +1,75 @@
+# 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
+import homing
+
+class EndstopPhase:
+ def __init__(self, config):
+ self.printer = config.get_printer()
+ self.name = config.get_name().split()[1]
+ stepper_config = config.getsection(self.name)
+ self.step_dist = step_dist = stepper_config.getfloat('step_distance')
+ self.phases = config.getint('phases', minval=1)
+ self.endstop_phase = config.getint('endstop_phase', None,
+ minval=0, maxval=self.phases-1)
+ self.endstop_align_zero = config.getboolean('endstop_align_zero', False)
+ # Determine endstop accuracy
+ endstop_accuracy = config.getfloat('endstop_accuracy', None, above=0.)
+ if endstop_accuracy is None:
+ self.endstop_accuracy = self.phases//2 - 1
+ elif self.endstop_phase is not None:
+ self.endstop_accuracy = int(
+ math.ceil(endstop_accuracy * .5 / step_dist))
+ else:
+ self.endstop_accuracy = int(math.ceil(endstop_accuracy / step_dist))
+ if self.endstop_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_accuracy = self.phases
+ # Register event handler
+ self.printer.register_event_handler(
+ "homing:homed_rails", self.handle_homed_rails)
+ 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):
+ pos = stepper.get_mcu_position()
+ phase = pos % self.phases
+ 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_accuracy:
+ delta -= self.phases
+ elif delta > self.endstop_accuracy:
+ raise homing.EndstopError(
+ "Endstop %s incorrect phase (got %d vs %d)" % (
+ self.name, phase, self.endstop_phase))
+ return delta * self.step_dist
+ def handle_homed_rails(self, homing_state, rails):
+ for rail in rails:
+ stepper = rail.get_steppers()[0]
+ if stepper.get_name() != self.name:
+ continue
+ orig_pos = rail.get_commanded_position()
+ offset = self.get_homed_offset(stepper)
+ pos = self.align_endstop(orig_pos) + offset
+ if pos == orig_pos:
+ return False
+ rail.set_commanded_position(pos)
+ return True
+
+def load_config_prefix(config):
+ return EndstopPhase(config)
diff --git a/klippy/homing.py b/klippy/homing.py
index f40994a09..30e62f2d7 100644
--- a/klippy/homing.py
+++ b/klippy/homing.py
@@ -124,14 +124,14 @@ class Homing:
self.toolhead.set_position(forcepos)
self.homing_move(movepos, endstops, second_homing_speed,
verify_movement=self.verify_retract)
- # Apply homing offsets
- for rail in rails:
- cp = rail.get_commanded_position()
- rail.set_commanded_position(cp + rail.get_homed_offset())
- adjustpos = self.toolhead.get_kinematics().calc_position()
- for axis in homing_axes:
- movepos[axis] = adjustpos[axis]
- self.toolhead.set_position(movepos)
+ # Signal home operation complete
+ ret = self.printer.send_event("homing:homed_rails", self, rails)
+ if any(ret):
+ # Apply any homing offsets
+ adjustpos = self.toolhead.get_kinematics().calc_position()
+ for axis in homing_axes:
+ movepos[axis] = adjustpos[axis]
+ self.toolhead.set_position(movepos)
def home_axes(self, axes):
self.changed_axes = axes
try:
diff --git a/klippy/stepper.py b/klippy/stepper.py
index dcbc94840..786ea2eed 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -162,63 +162,6 @@ class PrinterRail:
raise config.error(
"Unable to infer homing_positive_dir in section '%s'" % (
config.get_name(),))
- # Endstop stepper phase position tracking
- self.homing_stepper_phases = config.getint(
- 'homing_stepper_phases', None, minval=0)
- endstop_accuracy = config.getfloat(
- 'homing_endstop_accuracy', None, above=0.)
- self.homing_endstop_accuracy = self.homing_endstop_phase = None
- if self.homing_stepper_phases:
- self.homing_step_dist = step_dist = stepper.get_step_dist()
- self.homing_endstop_phase = config.getint(
- 'homing_endstop_phase', None, minval=0
- , maxval=self.homing_stepper_phases-1)
- if (self.homing_endstop_phase is not None
- and config.getboolean('homing_endstop_align_zero', False)):
- # Adjust the endstop position so 0.0 is always at a full step
- micro_steps = self.homing_stepper_phases // 4
- phase_offset = (
- ((self.homing_endstop_phase + micro_steps // 2)
- % micro_steps) - micro_steps // 2) * step_dist
- full_step = micro_steps * step_dist
- es_pos = (int(self.position_endstop / full_step + .5)
- * full_step + phase_offset)
- if es_pos != self.position_endstop:
- logging.info("Changing %s endstop position to %.3f"
- " (from %.3f)", self.name,
- es_pos, self.position_endstop)
- self.position_endstop = es_pos
- if endstop_accuracy is None:
- self.homing_endstop_accuracy = self.homing_stepper_phases//2 - 1
- elif self.homing_endstop_phase is not None:
- self.homing_endstop_accuracy = int(math.ceil(
- endstop_accuracy * .5 / step_dist))
- else:
- self.homing_endstop_accuracy = int(math.ceil(
- endstop_accuracy / step_dist))
- if self.homing_endstop_accuracy >= self.homing_stepper_phases // 2:
- logging.info("Endstop for %s is not accurate enough for stepper"
- " phase adjustment", self.name)
- self.homing_stepper_phases = None
- if mcu_endstop.get_mcu().is_fileoutput():
- self.homing_endstop_accuracy = self.homing_stepper_phases
- def get_homed_offset(self):
- if not self.homing_stepper_phases:
- return 0.
- pos = self.steppers[0].get_mcu_position()
- pos %= self.homing_stepper_phases
- if self.homing_endstop_phase is None:
- logging.info("Setting %s endstop phase to %d", self.name, pos)
- self.homing_endstop_phase = pos
- return 0.
- delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
- if delta >= self.homing_stepper_phases - self.homing_endstop_accuracy:
- delta -= self.homing_stepper_phases
- elif delta > self.homing_endstop_accuracy:
- raise homing.EndstopError(
- "Endstop %s incorrect phase (got %d vs %d)" % (
- self.name, pos, self.homing_endstop_phase))
- return delta * self.homing_step_dist
def get_range(self):
return self.position_min, self.position_max
def get_homing_info(self):