EtteGit · whi-tw · Sep 8, 2022 · Sep 8, 2022
diff --git a/Klipper_Files/Extra module/ercf.py b/Klipper_Files/Extra module/ercf.py
@@ -3,13 +3,14 @@
 # Copyright (C) 2021  Ette
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
+import copy
 import logging
 import math
-from random import randint
-from . import pulse_counter
-from . import force_move
-import copy
 import time
+from random import randint
+
+from . import force_move, pulse_counter
+
 
 class EncoderCounter:
 
@@ -104,6 +105,7 @@ def __init__(self, config):
         self.enable_clog_detection = config.getint('enable_clog_detection', 1)
         self.enable_endless_spool = config.getint('enable_endless_spool', 0)
         self.endless_spool_groups = config.getintlist('endless_spool_groups')
+        self.toolhead_use_stallguard = config.getint('toolhead_use_stallguard', 0)
 
         if self.enable_endless_spool == 1 and len(self.endless_spool_groups) != len(self.selector_offsets):
             raise config.error(
@@ -212,6 +214,8 @@ def __init__(self, config):
         self.gcode.register_command('ERCF_SELECT_TOOL',
                     self.cmd_ERCF_SELECT_TOOL,
                     desc = self.cmd_ERCF_SELECT_TOOL_help)    
+        self.gcode.register_command('_ERCF_HOME_FILAMENT_TO_EXTRUDER',
+                                    self.cmd__ERCF_HOME_FILAMENT_TO_EXTRUDER)
 
     def handle_connect(self):
         self.toolhead = self.printer.lookup_object('toolhead')
@@ -959,6 +963,15 @@ def _load_to_end_of_bowden(self, length):
             return
 
     def _home_to_extruder(self, length, step):
+        if self.is_paused:
+            return
+        if not self.toolhead_use_stallguard:
+            return self._home_to_extruder_without_stallguard(length, step)
+
+        return self._home_to_extruder_with_stallguard(length)
+
+
+    def _home_to_extruder_without_stallguard(self, length, step):
         self._servo_down()
 
         self._log_debug("Homing to extruder with %1.fmm moves" % (step))
@@ -979,6 +992,47 @@ def _home_to_extruder(self, length, step):
         self._log_info("Failed to reach extruder after moving %.1fmm, pausing" % length)
         self._pause()
 
+    def _home_to_extruder_with_stallguard(self, max_length):
+        self._servo_down()
+        self.toolhead.dwell(0.2)
+        self.toolhead.wait_moves()
+
+        self._log_debug("Homing to extruder with stallguard, up to %.1fmm" % max_length)
+
+        self.gear_stepper.do_set_position(0.)
+
+        pre_move_position = self._counter.get_distance()
+        self.gear_stepper.do_homing_move(max_length, 5, self.gear_stepper_accel, True, True)
+        self.toolhead.dwell(0.2)
+        self.toolhead.wait_moves()
+        post_move_position = self._counter.get_distance()
+        distance_moved = post_move_position - pre_move_position
+        if distance_moved >= max_length:
+            self._log_info("Failed to reach extruder after moving %.1fmm, pausing" % distance_moved)
+            self._pause()
+        else:
+            self._log_debug("Extruder reached after %.1fmm" % distance_moved)
+            return post_move_position
+
+
+    def cmd__ERCF_HOME_FILAMENT_TO_EXTRUDER(self, params):
+        """Test command to home the filament to the extruder from
+           the end of the fast moves down the reverse bowden.
+
+           Intended to be used for calibrating the stallguard threshold.
+        """
+        return_after = params.get_int('RETURN_AFTER', 0, minval=0, maxval=1)
+        self.toolhead.wait_moves() 
+        pre_home_position = self._counter.get_distance()
+        position = self._home_to_extruder(self.extruder_homing_max, self.extruder_homing_step)
+        dist_moved = position - pre_home_position
+        self._log_info("Filament homed to extruder, moved %.1fmm" % dist_moved)
+        if return_after:
+            self.gear_stepper.do_set_position(0.)
+            self.gear_stepper.do_move(-dist_moved, 5, self.gear_stepper_accel)
+            self._log_debug("Returning to original position after homing")
+        self._servo_up()
+
     def _load_to_nozzle(self):
         if (self.is_paused):
             return

diff --git a/Klipper_Files/ercf_hardware.cfg b/Klipper_Files/ercf_hardware.cfg
@@ -3,6 +3,23 @@
 [mcu ercf]
 serial: /dev/serial/by-id/usb-Klipper_samd21g18a_F6EE357D3432585020312E3545150FFF-if00
 
+[tmc2209 manual_stepper gear_stepper]
+# Adapt accordingly to your setup and desires
+# The default values are tested with the BOM NEMA14 motor
+# Please adapt those values to the motor you are using
+# Example : for NEMA17 motors, you'll usually set the stealthchop_threshold to 0
+# and use higher current
+uart_pin: ercf:PA8
+uart_address: 0
+interpolate: True
+run_current: 0.40
+hold_current: 0.3
+sense_resistor: 0.150
+stealthchop_threshold: 500 
+# Uncomment the lines below if you want to use sensorless homing for the toolhead
+# diag_pin: ^ercf:PA7      # Set to MCU pin connected to TMC DIAG pin
+# driver_SGTHRS: 75        # 255 is most sensitive value, 0 is least sensitive. NEEDS TO BE TUNED.
+
 # Carrot Feeder 5mm D-cut shaft
 # Example for an SKR 1.4 Board (E1 on the XY mcu)
 [manual_stepper gear_stepper]
@@ -17,20 +34,8 @@ velocity: 35
 accel: 150
 #Right now no pin is used for the endstop, but we need to define one for klipper. So just use a random, not used pin
 endstop_pin: ^ercf:PA7
-
-[tmc2209 manual_stepper gear_stepper]
-# Adapt accordingly to your setup and desires
-# The default values are tested with the BOM NEMA14 motor
-# Please adapt those values to the motor you are using
-# Example : for NEMA17 motors, you'll usually set the stealthchop_threshold to 0
-# and use higher current
-uart_pin: ercf:PA8
-uart_address: 0
-interpolate: True
-run_current: 0.40
-hold_current: 0.3
-sense_resistor: 0.150
-stealthchop_threshold: 500 
+# comment the line above and uncomment the line below if using stallguard for homing to the extruder
+# endstop_pin: tmc2209_gear_stepper:virtual_endstop
 
 # Carrot Feeder selector
 # Example for an SKR 1.4 Board (Z1 on the XY mcu)

diff --git a/Klipper_Files/ercf_parameters.cfg b/Klipper_Files/ercf_parameters.cfg
@@ -54,6 +54,7 @@ num_moves: 2 # Number of moves to make when loading or unloading
 
 # Features
 sensorless_selector: 0                                                             # 0 = use an endstop, 1 = use sensorless homing
+toolhead_use_stallguard: 0                                                         # 0 = use 'collision' homing, 1 = use stallguard for homing
 enable_clog_detection: 0                                                           # 0 = do not use clog detection, 1 = use clog detection
 enable_endless_spool: 0                                                            # 0 = do not use endless spool, 1 = use endless spool
 # if endless spool is turned on, you must define a list of EndlessSpool groups here, one entry for each tool in your ERCF