104 lines
4.5 KiB
Python
104 lines
4.5 KiB
Python
 
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# Measure lost XY steps on a CoreXY printer by re-homing.
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#
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# Homing resets Klipper's idea of the position, so the toolhead position
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# after G28 is always the endstop position and cannot show lost steps. The
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# stepper drivers' step counters (MCU positions) are not reset by homing:
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# when no steps were lost, the endstop triggers at the same step count as
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# last time; every lost step shows up as a difference. This module records
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# the step counts at each X and Y endstop trigger and reports the drift in
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# mm against a stored reference.
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#
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# Install: copy to ~/klipper/klippy/extras/xy_drift.py and add [xy_drift]
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#
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# Commands:
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# XY_DRIFT_STORE use the last X and Y homing as the reference
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# XY_DRIFT_QUERY print the drift of the last homing against the reference
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#
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# Status (printer.xy_drift):
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# ref_set a reference is stored (cleared by a Klipper restart,
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# which also resets the step counters)
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# homed_x, homed_y the axis was homed since the reference was stored
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# x, y drift in mm of the last homing against the reference
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# (positive = Klipper had moved further than the head did)
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import logging
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class XYDrift:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.sx = self.sy = None
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self.last = {} # axis -> kinematic position (mm) at the trigger
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self.ref = {}
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self.since_ref = set()
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self.printer.register_event_handler('klippy:connect',
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self._handle_connect)
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self.printer.register_event_handler('homing:home_rails_end',
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self._handle_home_rails_end)
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gcode = self.printer.lookup_object('gcode')
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gcode.register_command('XY_DRIFT_STORE', self.cmd_STORE,
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desc="Store the last XY homing as drift reference")
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gcode.register_command('XY_DRIFT_QUERY', self.cmd_QUERY,
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desc="Report XY drift against the reference")
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def _handle_connect(self):
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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steppers = {s.get_name(): s for s in kin.get_steppers()}
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self.sx = steppers.get('stepper_x')
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self.sy = steppers.get('stepper_y')
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if self.sx is None or self.sy is None:
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raise self.printer.config_error(
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"xy_drift needs stepper_x and stepper_y (CoreXY)")
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def _handle_home_rails_end(self, homing_state, rails):
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# This event also comes from other modules (Beacon sends it with no
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# rails and a state that raises on get_trigger_position), so only
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# handle X/Y homing and never let an error escape: an exception
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# here shuts Klipper down.
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try:
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names = [rail.get_name() for rail in rails]
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axes = [axis for axis, st in (('x', self.sx), ('y', self.sy))
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if st is not None and st.get_name() in names]
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if not axes:
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return
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a = (homing_state.get_trigger_position(self.sx.get_name())
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* self.sx.get_step_dist())
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b = (homing_state.get_trigger_position(self.sy.get_name())
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* self.sy.get_step_dist())
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except Exception:
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logging.exception("xy_drift: could not read trigger positions")
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return
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# CoreXY: x = (a + b) / 2, y = (a - b) / 2
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pos = {'x': 0.5 * (a + b), 'y': 0.5 * (a - b)}
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for axis in axes:
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self.last[axis] = pos[axis]
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self.since_ref.add(axis)
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def _drift(self, axis):
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if axis in self.ref and axis in self.last:
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return round(self.last[axis] - self.ref[axis], 4)
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return 0.
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def cmd_STORE(self, gcmd):
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if 'x' not in self.last or 'y' not in self.last:
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raise gcmd.error("XY_DRIFT_STORE: home X and Y first")
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self.ref = dict(self.last)
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self.since_ref = set()
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gcmd.respond_info("XY_DRIFT: reference stored")
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def cmd_QUERY(self, gcmd):
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if not self.ref:
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gcmd.respond_info("XY_DRIFT: no reference stored")
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return
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gcmd.respond_info("XY_DRIFT: X=%.3f mm Y=%.3f mm" % (
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self._drift('x'), self._drift('y')))
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def get_status(self, eventtime):
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return {'ref_set': bool(self.ref),
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'homed_x': 'x' in self.since_ref,
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'homed_y': 'y' in self.since_ref,
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'x': self._drift('x'), 'y': self._drift('y')}
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def load_config(config):
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return XYDrift(config)
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