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mcu: Store the stepper position in the mcu_stepper class 

Move the storage of the stepper location from the kinematic classes to
the low-level mcu_stepper class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-19 11:34:42 -05:00
parent 7cf914537b
commit 1e1364c3d4
4 changed files with 39 additions and 45 deletions
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15
klippy/cartesian.py
View File

@ -15,15 +15,15 @@ class CartKinematics:
for n in ['x', 'y', 'z']] for n in ['x', 'y', 'z']]
self.need_motor_enable = True self.need_motor_enable = True
self.limits = [(1.0, -1.0)] * 3 self.limits = [(1.0, -1.0)] * 3
self.stepper_pos = [0, 0, 0]
def build_config(self): def build_config(self):
for stepper in self.steppers[:2]: for stepper in self.steppers[:2]:
stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX
for stepper in self.steppers: for stepper in self.steppers:
stepper.build_config() stepper.build_config()
def set_position(self, newpos): def set_position(self, newpos):
self.stepper_pos = [int(newpos[i]*self.steppers[i].inv_step_dist + 0.5) for i in StepList:
for i in StepList] s = self.steppers[i]
s.mcu_stepper.set_position(int(newpos[i]*s.inv_step_dist + 0.5))
def get_max_speed(self): def get_max_speed(self):
max_xy_speed = min(s.max_velocity for s in self.steppers[:2]) max_xy_speed = min(s.max_velocity for s in self.steppers[:2])
max_xy_accel = min(s.max_accel for s in self.steppers[:2]) max_xy_accel = min(s.max_accel for s in self.steppers[:2])
@ -115,13 +115,12 @@ class CartKinematics:
continue continue
mcu_stepper = self.steppers[i].mcu_stepper mcu_stepper = self.steppers[i].mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time) mcu_time = mcu_stepper.print_to_mcu_time(move_time)
step_pos = mcu_stepper.commanded_position
inv_step_dist = self.steppers[i].inv_step_dist inv_step_dist = self.steppers[i].inv_step_dist
step_offset = step_pos - move.start_pos[i] * inv_step_dist
steps = move.axes_d[i] * inv_step_dist steps = move.axes_d[i] * inv_step_dist
move_step_d = move.move_d / abs(steps) move_step_d = move.move_d / abs(steps)
step_pos = self.stepper_pos[i]
step_offset = step_pos - move.start_pos[i] * inv_step_dist
# Acceleration steps # Acceleration steps
accel_multiplier = 2.0 * move_step_d * inv_accel accel_multiplier = 2.0 * move_step_d * inv_accel
if move.accel_r: if move.accel_r:
@ -132,7 +131,6 @@ class CartKinematics:
count = mcu_stepper.step_sqrt( count = mcu_stepper.step_sqrt(
mcu_time - accel_time_offset, accel_steps, step_offset mcu_time - accel_time_offset, accel_steps, step_offset
, accel_sqrt_offset, accel_multiplier) , accel_sqrt_offset, accel_multiplier)
step_pos += count
step_offset += count - accel_steps step_offset += count - accel_steps
mcu_time += move.accel_t mcu_time += move.accel_t
# Cruising steps # Cruising steps
@ -142,7 +140,6 @@ class CartKinematics:
cruise_steps = move.cruise_r * steps cruise_steps = move.cruise_r * steps
count = mcu_stepper.step_factor( count = mcu_stepper.step_factor(
mcu_time, cruise_steps, step_offset, cruise_multiplier) mcu_time, cruise_steps, step_offset, cruise_multiplier)
step_pos += count
step_offset += count - cruise_steps step_offset += count - cruise_steps
mcu_time += move.cruise_t mcu_time += move.cruise_t
# Deceleration steps # Deceleration steps
@ -154,5 +151,3 @@ class CartKinematics:
count = mcu_stepper.step_sqrt( count = mcu_stepper.step_sqrt(
mcu_time + decel_time_offset, decel_steps, step_offset mcu_time + decel_time_offset, decel_steps, step_offset
, decel_sqrt_offset, -accel_multiplier) , decel_sqrt_offset, -accel_multiplier)
step_pos += count
self.stepper_pos[i] = step_pos

36
klippy/delta.py
View File

@ -28,7 +28,7 @@ class DeltaKinematics:
(cos(210.)*radius, sin(210.)*radius), (cos(210.)*radius, sin(210.)*radius),
(cos(330.)*radius, sin(330.)*radius), (cos(330.)*radius, sin(330.)*radius),
(cos(90.)*radius, sin(90.)*radius)] (cos(90.)*radius, sin(90.)*radius)]
self.stepper_pos = self.cartesian_to_actuator([0., 0., 0.]) self.set_position([0., 0., 0.])
def build_config(self): def build_config(self):
for stepper in self.steppers: for stepper in self.steppers:
stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX
@ -77,11 +77,13 @@ class DeltaKinematics:
return matrix_sub(circumcenter, matrix_mul(normal, dist)) return matrix_sub(circumcenter, matrix_mul(normal, dist))
def set_position(self, newpos): def set_position(self, newpos):
self.stepper_pos = self.cartesian_to_actuator(newpos) pos = self.cartesian_to_actuator(newpos)
for i in StepList:
self.steppers[i].mcu_stepper.set_position(pos[i])
def get_homed_position(self, homing_state): def get_homed_position(self, homing_state):
pos = [(self.stepper_pos[i] + self.steppers[i].get_homed_offset()) pos = [(s.mcu_stepper.commanded_position + s.get_homed_offset())
* self.steppers[i].step_dist * s.step_dist
for i in StepList] for s in self.steppers]
return self.actuator_to_cartesian(pos) return self.actuator_to_cartesian(pos)
def home(self, homing_state): def home(self, homing_state):
# All axes are homed simultaneously # All axes are homed simultaneously
@ -138,13 +140,12 @@ class DeltaKinematics:
mcu_stepper = self.steppers[i].mcu_stepper mcu_stepper = self.steppers[i].mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time) mcu_time = mcu_stepper.print_to_mcu_time(move_time)
step_pos = mcu_stepper.commanded_position
inv_step_dist = self.steppers[i].inv_step_dist inv_step_dist = self.steppers[i].inv_step_dist
step_offset = step_pos - height * inv_step_dist
step_dist = self.steppers[i].step_dist step_dist = self.steppers[i].step_dist
steps = move.axes_d[2] * inv_step_dist steps = move.axes_d[2] * inv_step_dist
step_pos = self.stepper_pos[i]
step_offset = step_pos - height * inv_step_dist
# Acceleration steps # Acceleration steps
accel_multiplier = 2.0 * step_dist * inv_accel accel_multiplier = 2.0 * step_dist * inv_accel
if move.accel_r: if move.accel_r:
@ -155,7 +156,6 @@ class DeltaKinematics:
count = mcu_stepper.step_sqrt( count = mcu_stepper.step_sqrt(
mcu_time - accel_time_offset, accel_steps, step_offset mcu_time - accel_time_offset, accel_steps, step_offset
, accel_sqrt_offset, accel_multiplier) , accel_sqrt_offset, accel_multiplier)
step_pos += count
step_offset += count - accel_steps step_offset += count - accel_steps
mcu_time += move.accel_t mcu_time += move.accel_t
# Cruising steps # Cruising steps
@ -165,7 +165,6 @@ class DeltaKinematics:
cruise_steps = move.cruise_r * steps cruise_steps = move.cruise_r * steps
count = mcu_stepper.step_factor( count = mcu_stepper.step_factor(
mcu_time, cruise_steps, step_offset, cruise_multiplier) mcu_time, cruise_steps, step_offset, cruise_multiplier)
step_pos += count
step_offset += count - cruise_steps step_offset += count - cruise_steps
mcu_time += move.cruise_t mcu_time += move.cruise_t
# Deceleration steps # Deceleration steps
@ -177,8 +176,6 @@ class DeltaKinematics:
count = mcu_stepper.step_sqrt( count = mcu_stepper.step_sqrt(
mcu_time + decel_time_offset, decel_steps, step_offset mcu_time + decel_time_offset, decel_steps, step_offset
, decel_sqrt_offset, -accel_multiplier) , decel_sqrt_offset, -accel_multiplier)
step_pos += count
self.stepper_pos[i] = step_pos
def move(self, move_time, move): def move(self, move_time, move):
axes_d = move.axes_d axes_d = move.axes_d
if not axes_d[0] and not axes_d[1]: if not axes_d[0] and not axes_d[1]:
@ -250,54 +247,47 @@ class DeltaKinematics:
decel_down_d = move_d decel_down_d = move_d
# Generate steps # Generate steps
inv_step_dist = self.steppers[i].inv_step_dist
step_dist = self.steppers[i].step_dist
step_pos = self.stepper_pos[i]
height = step_pos*step_dist - closestz
mcu_stepper = self.steppers[i].mcu_stepper mcu_stepper = self.steppers[i].mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time) mcu_time = mcu_stepper.print_to_mcu_time(move_time)
step_pos = mcu_stepper.commanded_position
inv_step_dist = self.steppers[i].inv_step_dist
step_dist = self.steppers[i].step_dist
height = step_pos*step_dist - closestz
if accel_up_d > 0.: if accel_up_d > 0.:
count = mcu_stepper.step_delta_accel( count = mcu_stepper.step_delta_accel(
mcu_time - accel_time_offset, closest_d - accel_up_d, mcu_time - accel_time_offset, closest_d - accel_up_d,
step_dist, closest_d + accel_offset, step_dist, closest_d + accel_offset,
closest_height2, height, movez_r, accel_multiplier) closest_height2, height, movez_r, accel_multiplier)
step_pos += count
height += count * step_dist height += count * step_dist
if cruise_up_d > 0.: if cruise_up_d > 0.:
count = mcu_stepper.step_delta_const( count = mcu_stepper.step_delta_const(
mcu_time + accel_t, closest_d - cruise_up_d, mcu_time + accel_t, closest_d - cruise_up_d,
step_dist, closest_d - accel_d, step_dist, closest_d - accel_d,
closest_height2, height, movez_r, inv_cruise_v) closest_height2, height, movez_r, inv_cruise_v)
step_pos += count
height += count * step_dist height += count * step_dist
if decel_up_d > 0.: if decel_up_d > 0.:
count = mcu_stepper.step_delta_accel( count = mcu_stepper.step_delta_accel(
mcu_time + decel_time_offset, closest_d - decel_up_d, mcu_time + decel_time_offset, closest_d - decel_up_d,
step_dist, closest_d - decel_offset, step_dist, closest_d - decel_offset,
closest_height2, height, movez_r, -accel_multiplier) closest_height2, height, movez_r, -accel_multiplier)
step_pos += count
height += count * step_dist height += count * step_dist
if accel_down_d > 0.: if accel_down_d > 0.:
count = mcu_stepper.step_delta_accel( count = mcu_stepper.step_delta_accel(
mcu_time - accel_time_offset, closest_d - accel_down_d, mcu_time - accel_time_offset, closest_d - accel_down_d,
-step_dist, closest_d + accel_offset, -step_dist, closest_d + accel_offset,
closest_height2, height, movez_r, accel_multiplier) closest_height2, height, movez_r, accel_multiplier)
step_pos += count
height += count * step_dist height += count * step_dist
if cruise_down_d > 0.: if cruise_down_d > 0.:
count = mcu_stepper.step_delta_const( count = mcu_stepper.step_delta_const(
mcu_time + accel_t, closest_d - cruise_down_d, mcu_time + accel_t, closest_d - cruise_down_d,
-step_dist, closest_d - accel_d, -step_dist, closest_d - accel_d,
closest_height2, height, movez_r, inv_cruise_v) closest_height2, height, movez_r, inv_cruise_v)
step_pos += count
height += count * step_dist height += count * step_dist
if decel_down_d > 0.: if decel_down_d > 0.:
count = mcu_stepper.step_delta_accel( count = mcu_stepper.step_delta_accel(
mcu_time + decel_time_offset, closest_d - decel_down_d, mcu_time + decel_time_offset, closest_d - decel_down_d,
-step_dist, closest_d - decel_offset, -step_dist, closest_d - decel_offset,
closest_height2, height, movez_r, -accel_multiplier) closest_height2, height, movez_r, -accel_multiplier)
step_pos += count
self.stepper_pos[i] = step_pos
###################################################################### ######################################################################

10
klippy/extruder.py
View File

@ -12,7 +12,6 @@ class PrinterExtruder:
self.stepper = stepper.PrinterStepper(printer, config, 'extruder') self.stepper = stepper.PrinterStepper(printer, config, 'extruder')
self.pressure_advance = config.getfloat('pressure_advance', 0.) self.pressure_advance = config.getfloat('pressure_advance', 0.)
self.need_motor_enable = True self.need_motor_enable = True
self.stepper_pos = 0
self.extrude_pos = 0. self.extrude_pos = 0.
def build_config(self): def build_config(self):
self.heater.build_config() self.heater.build_config()
@ -95,12 +94,12 @@ class PrinterExtruder:
decel_d -= extra_decel_d decel_d -= extra_decel_d
# Prepare for steps # Prepare for steps
stepper_pos = self.stepper_pos
inv_step_dist = self.stepper.inv_step_dist inv_step_dist = self.stepper.inv_step_dist
step_dist = self.stepper.step_dist step_dist = self.stepper.step_dist
mcu_stepper = self.stepper.mcu_stepper mcu_stepper = self.stepper.mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time) mcu_time = mcu_stepper.print_to_mcu_time(move_time)
step_offset = stepper_pos - start_pos * inv_step_dist step_pos = mcu_stepper.commanded_position
step_offset = step_pos - start_pos * inv_step_dist
# Acceleration steps # Acceleration steps
accel_multiplier = 2.0 * step_dist * inv_accel accel_multiplier = 2.0 * step_dist * inv_accel
@ -112,7 +111,6 @@ class PrinterExtruder:
count = mcu_stepper.step_sqrt( count = mcu_stepper.step_sqrt(
mcu_time - accel_time_offset, accel_steps, step_offset mcu_time - accel_time_offset, accel_steps, step_offset
, accel_sqrt_offset, accel_multiplier) , accel_sqrt_offset, accel_multiplier)
stepper_pos += count
step_offset += count - accel_steps step_offset += count - accel_steps
mcu_time += accel_t mcu_time += accel_t
# Cruising steps # Cruising steps
@ -122,7 +120,6 @@ class PrinterExtruder:
cruise_steps = cruise_d * inv_step_dist cruise_steps = cruise_d * inv_step_dist
count = mcu_stepper.step_factor( count = mcu_stepper.step_factor(
mcu_time, cruise_steps, step_offset, cruise_multiplier) mcu_time, cruise_steps, step_offset, cruise_multiplier)
stepper_pos += count
step_offset += count - cruise_steps step_offset += count - cruise_steps
mcu_time += cruise_t mcu_time += cruise_t
# Deceleration steps # Deceleration steps
@ -134,7 +131,6 @@ class PrinterExtruder:
count = mcu_stepper.step_sqrt( count = mcu_stepper.step_sqrt(
mcu_time + decel_time_offset, decel_steps, step_offset mcu_time + decel_time_offset, decel_steps, step_offset
, decel_sqrt_offset, -accel_multiplier) , decel_sqrt_offset, -accel_multiplier)
stepper_pos += count
step_offset += count - decel_steps step_offset += count - decel_steps
mcu_time += decel_t mcu_time += decel_t
# Retraction steps # Retraction steps
@ -146,7 +142,5 @@ class PrinterExtruder:
count = mcu_stepper.step_sqrt( count = mcu_stepper.step_sqrt(
mcu_time - accel_time_offset, accel_steps, step_offset mcu_time - accel_time_offset, accel_steps, step_offset
, accel_sqrt_offset, accel_multiplier) , accel_sqrt_offset, accel_multiplier)
stepper_pos += count
self.stepper_pos = stepper_pos
self.extrude_pos = start_pos + accel_d + cruise_d + decel_d - retract_d self.extrude_pos = start_pos + accel_d + cruise_d + decel_d - retract_d

23
klippy/mcu.py
View File

@ -31,6 +31,7 @@ class MCU_stepper:
self._mcu_freq = mcu.get_mcu_freq() self._mcu_freq = mcu.get_mcu_freq()
min_stop_interval = int(min_stop_interval * self._mcu_freq) min_stop_interval = int(min_stop_interval * self._mcu_freq)
max_error = int(max_error * self._mcu_freq) max_error = int(max_error * self._mcu_freq)
self.commanded_position = 0
mcu.add_config_cmd( mcu.add_config_cmd(
"config_stepper oid=%d step_pin=%s dir_pin=%s" "config_stepper oid=%d step_pin=%s dir_pin=%s"
" min_stop_interval=%d invert_step=%d" % ( " min_stop_interval=%d invert_step=%d" % (
@ -51,6 +52,8 @@ class MCU_stepper:
return self._oid return self._oid
def get_invert_dir(self): def get_invert_dir(self):
return self._invert_dir return self._invert_dir
def set_position(self, pos):
self.commanded_position = pos
def note_stepper_stop(self): def note_stepper_stop(self):
self.ffi_lib.stepcompress_reset(self._stepqueue, 0) self.ffi_lib.stepcompress_reset(self._stepqueue, 0)
def reset_step_clock(self, mcu_time): def reset_step_clock(self, mcu_time):
@ -61,29 +64,41 @@ class MCU_stepper:
def step(self, mcu_time, sdir): def step(self, mcu_time, sdir):
clock = mcu_time * self._mcu_freq clock = mcu_time * self._mcu_freq
self.ffi_lib.stepcompress_push(self._stepqueue, clock, sdir) self.ffi_lib.stepcompress_push(self._stepqueue, clock, sdir)
if sdir:
self.commanded_position += 1
else:
self.commanded_position -= 1
def step_sqrt(self, mcu_time, steps, step_offset, sqrt_offset, factor): def step_sqrt(self, mcu_time, steps, step_offset, sqrt_offset, factor):
clock = mcu_time * self._mcu_freq clock = mcu_time * self._mcu_freq
mcu_freq2 = self._mcu_freq**2 mcu_freq2 = self._mcu_freq**2
return self.ffi_lib.stepcompress_push_sqrt( count = self.ffi_lib.stepcompress_push_sqrt(
self._stepqueue, steps, step_offset, clock self._stepqueue, steps, step_offset, clock
, sqrt_offset * mcu_freq2, factor * mcu_freq2) , sqrt_offset * mcu_freq2, factor * mcu_freq2)
self.commanded_position += count
return count
def step_factor(self, mcu_time, steps, step_offset, factor): def step_factor(self, mcu_time, steps, step_offset, factor):
clock = mcu_time * self._mcu_freq clock = mcu_time * self._mcu_freq
return self.ffi_lib.stepcompress_push_factor( count = self.ffi_lib.stepcompress_push_factor(
self._stepqueue, steps, step_offset, clock, factor * self._mcu_freq) self._stepqueue, steps, step_offset, clock, factor * self._mcu_freq)
self.commanded_position += count
return count
def step_delta_const(self, mcu_time, dist, step_dist, start_pos def step_delta_const(self, mcu_time, dist, step_dist, start_pos
, closest_height2, height, movez_r, inv_velocity): , closest_height2, height, movez_r, inv_velocity):
clock = mcu_time * self._mcu_freq clock = mcu_time * self._mcu_freq
return self.ffi_lib.stepcompress_push_delta_const( count = self.ffi_lib.stepcompress_push_delta_const(
self._stepqueue, clock, dist, step_dist, start_pos self._stepqueue, clock, dist, step_dist, start_pos
, closest_height2, height, movez_r, inv_velocity * self._mcu_freq) , closest_height2, height, movez_r, inv_velocity * self._mcu_freq)
self.commanded_position += count
return count
def step_delta_accel(self, mcu_time, dist, step_dist, start_pos def step_delta_accel(self, mcu_time, dist, step_dist, start_pos
, closest_height2, height, movez_r, accel_multiplier): , closest_height2, height, movez_r, accel_multiplier):
clock = mcu_time * self._mcu_freq clock = mcu_time * self._mcu_freq
mcu_freq2 = self._mcu_freq**2 mcu_freq2 = self._mcu_freq**2
return self.ffi_lib.stepcompress_push_delta_accel( count = self.ffi_lib.stepcompress_push_delta_accel(
self._stepqueue, clock, dist, step_dist, start_pos self._stepqueue, clock, dist, step_dist, start_pos
, closest_height2, height, movez_r, accel_multiplier * mcu_freq2) , closest_height2, height, movez_r, accel_multiplier * mcu_freq2)
self.commanded_position += count
return count
def get_errors(self): def get_errors(self):
return self.ffi_lib.stepcompress_get_errors(self._stepqueue) return self.ffi_lib.stepcompress_get_errors(self._stepqueue)