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stepper_enable: Unify explicit stepper enable/disable code

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There were several slightly different implementations of explicit
stepper motor enabling/disabling in the force_move, stepper_enable,
and manual_stepper modules.  Introduce a new set_motors_enable()
method and use this in all implementations.  This simplifies the code
and reduces the chance of obscure timing issues.

This fixes a manual_stepper error introduced in commit 9399e738.  That
commit changed the manual_stepper class to no longer explicitly flush
and clear all steps after each move, which broke the expectations of
manual_stepper's custom enable code.  Using the more robust
implementation in stepper_enable fixes that issue.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2025-09-01 13:34:59 -04:00
parent 77d4cdbae4
commit 1f14e950e7
4 changed files with 39 additions and 50 deletions
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33
klippy/extras/force_move.py
View File

@ -1,6 +1,6 @@
# Utility for manually moving a stepper for diagnostic purposes
#
# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2018-2025 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
@ -10,7 +10,6 @@ BUZZ_DISTANCE = 1.
BUZZ_VELOCITY = BUZZ_DISTANCE / .250
BUZZ_RADIANS_DISTANCE = math.radians(1.)
BUZZ_RADIANS_VELOCITY = BUZZ_RADIANS_DISTANCE / .250
STALL_TIME = 0.100
# Calculate a move's accel_t, cruise_t, and cruise_v
def calc_move_time(dist, speed, accel):
@ -56,24 +55,16 @@ class ForceMove:
raise self.printer.config_error("Unknown stepper %s" % (name,))
return self.steppers[name]
def _force_enable(self, stepper):
toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time()
stepper_name = stepper.get_name()
stepper_enable = self.printer.lookup_object('stepper_enable')
enable = stepper_enable.lookup_enable(stepper.get_name())
was_enable = enable.is_motor_enabled()
if not was_enable:
enable.motor_enable(print_time)
toolhead.dwell(STALL_TIME)
return was_enable
def _restore_enable(self, stepper, was_enable):
if not was_enable:
toolhead = self.printer.lookup_object('toolhead')
toolhead.dwell(STALL_TIME)
print_time = toolhead.get_last_move_time()
stepper_enable = self.printer.lookup_object('stepper_enable')
enable = stepper_enable.lookup_enable(stepper.get_name())
enable.motor_disable(print_time)
toolhead.dwell(STALL_TIME)
did_enable = stepper_enable.set_motors_enable([stepper_name], True)
return did_enable
def _restore_enable(self, stepper, did_enable):
if not did_enable:
return
stepper_name = stepper.get_name()
stepper_enable = self.printer.lookup_object('stepper_enable')
stepper_enable.set_motors_enable([stepper_name], False)
def manual_move(self, stepper, dist, speed, accel=0.):
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
@ -100,7 +91,7 @@ class ForceMove:
def cmd_STEPPER_BUZZ(self, gcmd):
stepper = self._lookup_stepper(gcmd)
logging.info("Stepper buzz %s", stepper.get_name())
was_enable = self._force_enable(stepper)
did_enable = self._force_enable(stepper)
toolhead = self.printer.lookup_object('toolhead')
dist, speed = BUZZ_DISTANCE, BUZZ_VELOCITY
if stepper.units_in_radians():
@ -110,7 +101,7 @@ class ForceMove:
toolhead.dwell(.050)
self.manual_move(stepper, -dist, speed)
toolhead.dwell(.450)
self._restore_enable(stepper, was_enable)
self._restore_enable(stepper, did_enable)
cmd_FORCE_MOVE_help = "Manually move a stepper; invalidates kinematics"
def cmd_FORCE_MOVE(self, gcmd):
stepper = self._lookup_stepper(gcmd)

10
klippy/extras/manual_stepper.py
View File

@ -50,15 +50,9 @@ class ManualStepper:
self.next_cmd_time = print_time
def do_enable(self, enable):
self.sync_print_time()
stepper_names = [s.get_name() for s in self.steppers]
stepper_enable = self.printer.lookup_object('stepper_enable')
if enable:
for s in self.steppers:
se = stepper_enable.lookup_enable(s.get_name())
se.motor_enable(self.next_cmd_time)
else:
for s in self.steppers:
se = stepper_enable.lookup_enable(s.get_name())
se.motor_disable(self.next_cmd_time)
stepper_enable.set_motors_enable(stepper_names, enable)
self.sync_print_time()
def do_set_position(self, setpos):
toolhead = self.printer.lookup_object('toolhead')

44
klippy/extras/stepper_enable.py
View File

@ -88,30 +88,30 @@ class PrinterStepperEnable:
name = mcu_stepper.get_name()
enable = setup_enable_pin(self.printer, config.get('enable_pin', None))
self.enable_lines[name] = EnableTracking(mcu_stepper, enable)
def set_motors_enable(self, stepper_names, enable):
toolhead = self.printer.lookup_object('toolhead')
toolhead.dwell(DISABLE_STALL_TIME)
print_time = toolhead.get_last_move_time()
did_change = False
for stepper_name in stepper_names:
el = self.enable_lines[stepper_name]
was_enabled = el.is_motor_enabled()
if enable:
el.motor_enable(print_time)
else:
el.motor_disable(print_time)
if was_enabled != el.is_motor_enabled():
did_change = True
toolhead.dwell(DISABLE_STALL_TIME)
return did_change
def motor_off(self):
self.set_motors_enable(self.get_steppers(), False)
toolhead = self.printer.lookup_object('toolhead')
toolhead.dwell(DISABLE_STALL_TIME)
print_time = toolhead.get_last_move_time()
for el in self.enable_lines.values():
el.motor_disable(print_time)
toolhead.get_kinematics().clear_homing_state("xyz")
self.printer.send_event("stepper_enable:motor_off", print_time)
toolhead.dwell(DISABLE_STALL_TIME)
def motor_debug_enable(self, stepper, enable):
toolhead = self.printer.lookup_object('toolhead')
toolhead.dwell(DISABLE_STALL_TIME)
print_time = toolhead.get_last_move_time()
el = self.enable_lines[stepper]
if enable:
el.motor_enable(print_time)
logging.info("%s has been manually enabled", stepper)
else:
el.motor_disable(print_time)
logging.info("%s has been manually disabled", stepper)
toolhead.dwell(DISABLE_STALL_TIME)
self.printer.send_event("stepper_enable:motor_off")
def get_status(self, eventtime):
steppers = { name: et.is_motor_enabled()
for (name, et) in self.enable_lines.items() }
for (name, et) in self.enable_lines.items() }
return {'steppers': steppers}
def _handle_request_restart(self, print_time):
self.motor_off()
@ -126,7 +126,11 @@ class PrinterStepperEnable:
% (stepper_name,))
return
stepper_enable = gcmd.get_int('ENABLE', 1)
self.motor_debug_enable(stepper_name, stepper_enable)
self.set_motors_enable([stepper_name], stepper_enable)
if stepper_enable:
logging.info("%s has been manually enabled", stepper_name)
else:
logging.info("%s has been manually disabled", stepper_name)
def lookup_enable(self, name):
if name not in self.enable_lines:
raise self.printer.config_error("Unknown stepper '%s'" % (name,))

2
klippy/extras/z_tilt.py
View File

@ -79,7 +79,7 @@ class ZAdjustStatus:
self.applied = False
def get_status(self, eventtime):
return {'applied': self.applied}
def _motor_off(self, print_time):
def _motor_off(self):
self.reset()
class RetryHelper: