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extruder: Add a SET_EXTRUDER_ROTATION_DISTANCE command

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Support altering the extruder distance using the higher-level
rotation_distance.  This is in preparation for removal of the
SET_EXTRUDER_STEP_DISTANCE command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2022-01-29 14:13:26 -05:00
parent 6d7c03365a
commit 189188e3ca
5 changed files with 55 additions and 23 deletions
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3
klippy/extras/endstop_phase.py
View File

@@ -54,7 +54,8 @@ class EndstopPhase:
self.name = config.get_name().split()[1]
# Obtain step_distance and microsteps from stepper config section
sconfig = config.getsection(self.name)
self.step_dist = stepper.parse_step_distance(sconfig)
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

5
klippy/extras/tmc.py
View File

@@ -520,8 +520,9 @@ def TMCStealthchopHelper(config, mcu_tmc, tmc_freq):
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)
sconfig = config.getsection(stepper_name)
rotation_dist, steps_per_rotation = stepper.parse_step_distance(sconfig)
step_dist = rotation_dist / steps_per_rotation
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)))

31
klippy/kinematics/extruder.py
View File

@@ -28,6 +28,9 @@ class ExtruderStepper:
gcode.register_mux_command("SET_PRESSURE_ADVANCE", "EXTRUDER",
self.name, self.cmd_SET_PRESSURE_ADVANCE,
desc=self.cmd_SET_PRESSURE_ADVANCE_help)
gcode.register_mux_command("SET_EXTRUDER_ROTATION_DISTANCE", "EXTRUDER",
self.name, self.cmd_SET_E_ROTATION_DISTANCE,
desc=self.cmd_SET_E_ROTATION_DISTANCE_help)
gcode.register_mux_command("SET_EXTRUDER_STEP_DISTANCE", "EXTRUDER",
self.name, self.cmd_SET_E_STEP_DISTANCE,
desc=self.cmd_SET_E_STEP_DISTANCE_help)
@@ -86,19 +89,29 @@ class ExtruderStepper:
% (pressure_advance, smooth_time))
self.printer.set_rollover_info(self.name, "%s: %s" % (self.name, msg))
gcmd.respond_info(msg, log=False)
cmd_SET_E_ROTATION_DISTANCE_help = "Set extruder rotation distance"
def cmd_SET_E_ROTATION_DISTANCE(self, gcmd):
rotation_dist = gcmd.get_float('DISTANCE', None, above=0.)
if rotation_dist is not None:
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
self.stepper.set_rotation_distance(rotation_dist)
else:
rotation_dist, spr = self.stepper.get_rotation_distance()
gcmd.respond_info("Extruder '%s' rotation distance set to %0.6f"
% (self.name, rotation_dist))
cmd_SET_E_STEP_DISTANCE_help = "Set extruder step distance"
def cmd_SET_E_STEP_DISTANCE(self, gcmd):
toolhead = self.printer.lookup_object('toolhead')
dist = gcmd.get_float('DISTANCE', None, above=0.)
if dist is None:
step_dist = gcmd.get_float('DISTANCE', None, above=0.)
if step_dist is not None:
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
rd, steps_per_rotation = self.stepper.get_rotation_distance()
self.stepper.set_rotation_distance(step_dist * steps_per_rotation)
else:
step_dist = self.stepper.get_step_dist()
gcmd.respond_info("Extruder '%s' step distance is %0.6f"
% (self.name, step_dist))
return
toolhead.flush_step_generation()
self.stepper.set_step_dist(dist)
gcmd.respond_info("Extruder '%s' step distance set to %0.6f"
% (self.name, dist))
% (self.name, step_dist))
cmd_SYNC_STEPPER_TO_EXTRUDER_help = "Set extruder stepper"
def cmd_SYNC_STEPPER_TO_EXTRUDER(self, gcmd):
ename = gcmd.get('EXTRUDER')

22
klippy/stepper.py
View File

@@ -18,12 +18,15 @@ MIN_BOTH_EDGE_DURATION = 0.000000200
# Interface to low-level mcu and chelper code
class MCU_stepper:
def __init__(self, name, step_pin_params, dir_pin_params, step_dist,
def __init__(self, name, step_pin_params, dir_pin_params,
rotation_dist, steps_per_rotation,
step_pulse_duration=None, units_in_radians=False):
self._name = name
self._step_dist = step_dist
self._rotation_dist = rotation_dist
self._steps_per_rotation = steps_per_rotation
self._step_pulse_duration = step_pulse_duration
self._units_in_radians = units_in_radians
self._step_dist = rotation_dist / steps_per_rotation
self._mcu = step_pin_params['chip']
self._oid = oid = self._mcu.create_oid()
self._mcu.register_config_callback(self._build_config)
@@ -103,9 +106,12 @@ class MCU_stepper:
return self._oid
def get_step_dist(self):
return self._step_dist
def set_step_dist(self, dist):
def get_rotation_distance(self):
return self._rotation_dist, self._steps_per_rotation
def set_rotation_distance(self, rotation_dist):
mcu_pos = self.get_mcu_position()
self._step_dist = dist
self._rotation_dist = rotation_dist
self._step_dist = rotation_dist / self._steps_per_rotation
self.set_stepper_kinematics(self._stepper_kinematics)
self._set_mcu_position(mcu_pos)
def is_dir_inverted(self):
@@ -222,10 +228,12 @@ def PrinterStepper(config, units_in_radians=False):
step_pin_params = ppins.lookup_pin(step_pin, can_invert=True)
dir_pin = config.get('dir_pin')
dir_pin_params = ppins.lookup_pin(dir_pin, can_invert=True)
step_dist = parse_step_distance(config, units_in_radians, True)
rotation_dist, steps_per_rotation = parse_step_distance(
config, units_in_radians, True)
step_pulse_duration = config.getfloat('step_pulse_duration', None,
minval=0., maxval=.001)
mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params, step_dist,
mcu_stepper = MCU_stepper(name, step_pin_params, dir_pin_params,
rotation_dist, steps_per_rotation,
step_pulse_duration, units_in_radians)
# Register with helper modules
for mname in ['stepper_enable', 'force_move', 'motion_report']:
@@ -263,7 +271,7 @@ def parse_step_distance(config, units_in_radians=None, note_valid=False):
raise config.error("full_steps_per_rotation invalid in section '%s'"
% (config.get_name(),))
gearing = parse_gear_ratio(config, note_valid)
return rotation_dist / (full_steps * microsteps * gearing)
return rotation_dist, full_steps * microsteps * gearing
######################################################################