klipper/klippy/extras/stepper_enable.py

# Support for enable pins on stepper motor drivers
#
# Copyright (C) 2019-2025  Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging

DISABLE_STALL_TIME = 0.100

# Tracking of shared stepper enable pins
class StepperEnablePin:
    def __init__(self, mcu_enable, enable_count):
        self.mcu_enable = mcu_enable
        self.enable_count = enable_count
        self.is_dedicated = True
    def set_enable(self, print_time):
        if not self.enable_count:
            self.mcu_enable.set_digital(print_time, 1)
        self.enable_count += 1
    def set_disable(self, print_time):
        self.enable_count -= 1
        if not self.enable_count:
            self.mcu_enable.set_digital(print_time, 0)

def setup_enable_pin(printer, pin):
    if pin is None:
        # No enable line (stepper always enabled)
        enable = StepperEnablePin(None, 9999)
        enable.is_dedicated = False
        return enable
    ppins = printer.lookup_object('pins')
    pin_params = ppins.lookup_pin(pin, can_invert=True,
                                  share_type='stepper_enable')
    enable = pin_params.get('class')
    if enable is not None:
        # Shared enable line
        enable.is_dedicated = False
        return enable
    mcu_enable = pin_params['chip'].setup_pin('digital_out', pin_params)
    mcu_enable.setup_max_duration(0.)
    enable = pin_params['class'] = StepperEnablePin(mcu_enable, 0)
    return enable

# Enable line tracking for each stepper motor
class EnableTracking:
    def __init__(self, stepper, enable):
        self.stepper = stepper
        self.enable = enable
        self.callbacks = []
        self.is_enabled = False
        self.stepper.add_active_callback(self.motor_enable)
    def register_state_callback(self, callback):
        self.callbacks.append(callback)
    def motor_enable(self, print_time):
        if not self.is_enabled:
            for cb in self.callbacks:
                cb(print_time, True)
            self.enable.set_enable(print_time)
            self.is_enabled = True
    def motor_disable(self, print_time):
        if self.is_enabled:
            # Enable stepper on future stepper movement
            for cb in self.callbacks:
                cb(print_time, False)
            self.enable.set_disable(print_time)
            self.is_enabled = False
            self.stepper.add_active_callback(self.motor_enable)
    def is_motor_enabled(self):
        return self.is_enabled
    def has_dedicated_enable(self):
        return self.enable.is_dedicated

# Global stepper enable line tracking
class PrinterStepperEnable:
    def __init__(self, config):
        self.printer = config.get_printer()
        self.enable_lines = {}
        self.printer.register_event_handler("gcode:request_restart",
                                            self._handle_request_restart)
        # Register M18/M84 commands
        gcode = self.printer.lookup_object('gcode')
        gcode.register_command("M18", self.cmd_M18)
        gcode.register_command("M84", self.cmd_M18)
        gcode.register_command("SET_STEPPER_ENABLE",
                               self.cmd_SET_STEPPER_ENABLE,
                               desc=self.cmd_SET_STEPPER_ENABLE_help)
    def register_stepper(self, config, mcu_stepper):
        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')
        # Flush steps to ensure all auto enable callbacks invoked
        toolhead.flush_step_generation()
        print_time = None
        did_change = False
        for stepper_name in stepper_names:
            el = self.enable_lines[stepper_name]
            if el.is_motor_enabled() == enable:
                continue
            if print_time is None:
                # Dwell for sufficient delay from any previous auto enable
                if not enable:
                    toolhead.dwell(DISABLE_STALL_TIME)
                print_time = toolhead.get_last_move_time()
            if enable:
                el.motor_enable(print_time)
            else:
                el.motor_disable(print_time)
            did_change = True
        # Dwell to ensure sufficient delay prior to a future auto enable
        if did_change and not enable:
            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.get_kinematics().clear_homing_state("xyz")
        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() }
        return {'steppers': steppers}
    def _handle_request_restart(self, print_time):
        self.motor_off()
    def cmd_M18(self, gcmd):
        # Turn off motors
        self.motor_off()
    cmd_SET_STEPPER_ENABLE_help = "Enable/disable individual stepper by name"
    def cmd_SET_STEPPER_ENABLE(self, gcmd):
        stepper_name = gcmd.get('STEPPER', None)
        if stepper_name not in self.enable_lines:
            gcmd.respond_info('SET_STEPPER_ENABLE: Invalid stepper "%s"'
                              % (stepper_name,))
            return
        stepper_enable = gcmd.get_int('ENABLE', 1)
        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,))
        return self.enable_lines[name]
    def get_steppers(self):
        return list(self.enable_lines.keys())

def load_config(config):
    return PrinterStepperEnable(config)