endstop_phase: Move endstop phase homing code to new "extras" module

Move the endstop phase tracking code from stepper.py to a new
extras/endstop_phase.py module.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

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

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