Allow using stallguard instead of toolhead sensor

The TMC2209 has stallguard which can be used for sensorless homing of
steppers.

Rather than just ramming the filament into the extruder and watching
for skipping, instead, use the stallguard feature to be a little more
delicate.

Author: whi-tw

Klipper_Files/Extra module/ercf.py

@@ -104,6 +104,7 @@ 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 +213,8 @@ 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 +962,13 @@ def _load_to_end_of_bowden(self, length):
             return
 
     def _home_to_extruder(self, length, step):
+        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 +989,47 @@ 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