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stepper: Check if the motor needs to be enabled in the kinematic classes 

Check for motor enable in the kinematic classes so it doesn't need to
be checked on every move.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-11-14 13:40:35 -05:00
parent 9ad8153d33
commit 5a1ec817d4
4 changed files with 55 additions and 29 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
klippy/cartesian.py
View File

@ -13,6 +13,7 @@ class CartKinematics:
steppers = ['stepper_x', 'stepper_y', 'stepper_z'] steppers = ['stepper_x', 'stepper_y', 'stepper_z']
self.steppers = [stepper.PrinterStepper(printer, config.getsection(n)) self.steppers = [stepper.PrinterStepper(printer, config.getsection(n))
for n in steppers] for n in steppers]
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] self.stepper_pos = [0, 0, 0]
def build_config(self): def build_config(self):
@ -64,6 +65,14 @@ class CartKinematics:
self.limits = [(1.0, -1.0)] * 3 self.limits = [(1.0, -1.0)] * 3
for stepper in self.steppers: for stepper in self.steppers:
stepper.motor_enable(move_time, 0) stepper.motor_enable(move_time, 0)
self.need_motor_enable = True
def check_motor_enable(self, move_time, move):
need_motor_enable = False
for i in StepList:
if move.axes_d[i]:
self.steppers[i].motor_enable(move_time, 1)
need_motor_enable |= self.steppers[i].need_motor_enable
self.need_motor_enable = need_motor_enable
def query_endstops(self, move_time): def query_endstops(self, move_time):
return homing.QueryEndstops(["x", "y", "z"], self.steppers) return homing.QueryEndstops(["x", "y", "z"], self.steppers)
def check_endstops(self, move): def check_endstops(self, move):
@ -94,12 +103,15 @@ class CartKinematics:
for i in StepList if axes_d[i]]) for i in StepList if axes_d[i]])
move.limit_speed(velocity_factor * move_d, accel_factor * move_d) move.limit_speed(velocity_factor * move_d, accel_factor * move_d)
def move(self, move_time, move): def move(self, move_time, move):
if self.need_motor_enable:
self.check_motor_enable(move_time, move)
inv_accel = 1. / move.accel inv_accel = 1. / move.accel
inv_cruise_v = 1. / move.cruise_v inv_cruise_v = 1. / move.cruise_v
for i in StepList: for i in StepList:
if not move.axes_d[i]: if not move.axes_d[i]:
continue continue
mcu_time, so = self.steppers[i].prep_move(move_time) mcu_stepper = self.steppers[i].mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
inv_step_dist = self.steppers[i].inv_step_dist inv_step_dist = self.steppers[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)
@ -114,7 +126,7 @@ class CartKinematics:
accel_time_offset = move.start_v * inv_accel accel_time_offset = move.start_v * inv_accel
accel_sqrt_offset = accel_time_offset**2 accel_sqrt_offset = accel_time_offset**2
accel_steps = move.accel_r * steps accel_steps = move.accel_r * steps
count = so.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_pos += count
@ -125,7 +137,7 @@ class CartKinematics:
#t = pos/cruise_v #t = pos/cruise_v
cruise_multiplier = move_step_d * inv_cruise_v cruise_multiplier = move_step_d * inv_cruise_v
cruise_steps = move.cruise_r * steps cruise_steps = move.cruise_r * steps
count = so.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_pos += count
step_offset += count - cruise_steps step_offset += count - cruise_steps
@ -136,7 +148,7 @@ class CartKinematics:
decel_time_offset = move.cruise_v * inv_accel decel_time_offset = move.cruise_v * inv_accel
decel_sqrt_offset = decel_time_offset**2 decel_sqrt_offset = decel_time_offset**2
decel_steps = move.decel_r * steps decel_steps = move.decel_r * steps
count = so.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 step_pos += count

34
klippy/delta.py
View File

@ -13,6 +13,7 @@ class DeltaKinematics:
steppers = ['stepper_a', 'stepper_b', 'stepper_c'] steppers = ['stepper_a', 'stepper_b', 'stepper_c']
self.steppers = [stepper.PrinterStepper(printer, config.getsection(n)) self.steppers = [stepper.PrinterStepper(printer, config.getsection(n))
for n in steppers] for n in steppers]
self.need_motor_enable = True
radius = config.getfloat('delta_radius') radius = config.getfloat('delta_radius')
arm_length = config.getfloat('delta_arm_length') arm_length = config.getfloat('delta_arm_length')
self.arm_length2 = arm_length**2 self.arm_length2 = arm_length**2
@ -105,6 +106,11 @@ class DeltaKinematics:
self.limit_xy2 = -1. self.limit_xy2 = -1.
for stepper in self.steppers: for stepper in self.steppers:
stepper.motor_enable(move_time, 0) stepper.motor_enable(move_time, 0)
self.need_motor_enable = True
def check_motor_enable(self, move_time):
for i in StepList:
self.steppers[i].motor_enable(move_time, 1)
self.need_motor_enable = False
def query_endstops(self, move_time): def query_endstops(self, move_time):
return homing.QueryEndstops(["a", "b", "c"], self.steppers) return homing.QueryEndstops(["a", "b", "c"], self.steppers)
def check_move(self, move): def check_move(self, move):
@ -120,6 +126,8 @@ class DeltaKinematics:
def move_z(self, move_time, move): def move_z(self, move_time, move):
if not move.axes_d[2]: if not move.axes_d[2]:
return return
if self.need_motor_enable:
self.check_motor_enable(move_time)
inv_accel = 1. / move.accel inv_accel = 1. / move.accel
inv_cruise_v = 1. / move.cruise_v inv_cruise_v = 1. / move.cruise_v
for i in StepList: for i in StepList:
@ -128,7 +136,8 @@ class DeltaKinematics:
tower_d2 = towerx_d**2 + towery_d**2 tower_d2 = towerx_d**2 + towery_d**2
height = math.sqrt(self.arm_length2 - tower_d2) + move.start_pos[2] height = math.sqrt(self.arm_length2 - tower_d2) + move.start_pos[2]
mcu_time, so = self.steppers[i].prep_move(move_time) mcu_stepper = self.steppers[i].mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
inv_step_dist = self.steppers[i].inv_step_dist inv_step_dist = self.steppers[i].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
@ -143,7 +152,7 @@ class DeltaKinematics:
accel_time_offset = move.start_v * inv_accel accel_time_offset = move.start_v * inv_accel
accel_sqrt_offset = accel_time_offset**2 accel_sqrt_offset = accel_time_offset**2
accel_steps = move.accel_r * steps accel_steps = move.accel_r * steps
count = so.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_pos += count
@ -154,7 +163,7 @@ class DeltaKinematics:
#t = pos/cruise_v #t = pos/cruise_v
cruise_multiplier = step_dist * inv_cruise_v cruise_multiplier = step_dist * inv_cruise_v
cruise_steps = move.cruise_r * steps cruise_steps = move.cruise_r * steps
count = so.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_pos += count
step_offset += count - cruise_steps step_offset += count - cruise_steps
@ -165,7 +174,7 @@ class DeltaKinematics:
decel_time_offset = move.cruise_v * inv_accel decel_time_offset = move.cruise_v * inv_accel
decel_sqrt_offset = decel_time_offset**2 decel_sqrt_offset = decel_time_offset**2
decel_steps = move.decel_r * steps decel_steps = move.decel_r * steps
count = so.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 step_pos += count
@ -175,6 +184,8 @@ class DeltaKinematics:
if not axes_d[0] and not axes_d[1]: if not axes_d[0] and not axes_d[1]:
self.move_z(move_time, move) self.move_z(move_time, move)
return return
if self.need_motor_enable:
self.check_motor_enable(move_time)
move_d = move.move_d move_d = move.move_d
movez_r = 0. movez_r = 0.
inv_movexy_d = 1. / move_d inv_movexy_d = 1. / move_d
@ -243,44 +254,45 @@ class DeltaKinematics:
step_dist = self.steppers[i].step_dist step_dist = self.steppers[i].step_dist
step_pos = self.stepper_pos[i] step_pos = self.stepper_pos[i]
height = step_pos*step_dist - closestz height = step_pos*step_dist - closestz
mcu_time, so = self.steppers[i].prep_move(move_time) mcu_stepper = self.steppers[i].mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
if accel_up_d > 0.: if accel_up_d > 0.:
count = so.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 step_pos += count
height += count * step_dist height += count * step_dist
if cruise_up_d > 0.: if cruise_up_d > 0.:
count = so.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 step_pos += count
height += count * step_dist height += count * step_dist
if decel_up_d > 0.: if decel_up_d > 0.:
count = so.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 step_pos += count
height += count * step_dist height += count * step_dist
if accel_down_d > 0.: if accel_down_d > 0.:
count = so.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 step_pos += count
height += count * step_dist height += count * step_dist
if cruise_down_d > 0.: if cruise_down_d > 0.:
count = so.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 step_pos += count
height += count * step_dist height += count * step_dist
if decel_down_d > 0.: if decel_down_d > 0.:
count = so.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)

16
klippy/extruder.py
View File

@ -11,6 +11,7 @@ class PrinterExtruder:
self.heater = heater.PrinterHeater(printer, config) self.heater = heater.PrinterHeater(printer, config)
self.stepper = stepper.PrinterStepper(printer, config) self.stepper = stepper.PrinterStepper(printer, config)
self.pressure_advance = config.getfloat('pressure_advance', 0.) self.pressure_advance = config.getfloat('pressure_advance', 0.)
self.need_motor_enable = True
self.stepper_pos = 0 self.stepper_pos = 0
self.extrude_pos = 0. self.extrude_pos = 0.
def build_config(self): def build_config(self):
@ -19,6 +20,7 @@ class PrinterExtruder:
self.stepper.build_config() self.stepper.build_config()
def motor_off(self, move_time): def motor_off(self, move_time):
self.stepper.motor_enable(move_time, 0) self.stepper.motor_enable(move_time, 0)
self.need_motor_enable = True
def check_move(self, move): def check_move(self, move):
if not self.heater.can_extrude: if not self.heater.can_extrude:
raise homing.EndstopError(move.end_pos, "Extrude below minimum temp") raise homing.EndstopError(move.end_pos, "Extrude below minimum temp")
@ -28,6 +30,9 @@ class PrinterExtruder:
# Extrude only move - limit accel and velocity # Extrude only move - limit accel and velocity
move.limit_speed(self.stepper.max_velocity, self.stepper.max_accel) move.limit_speed(self.stepper.max_velocity, self.stepper.max_accel)
def move(self, move_time, move): def move(self, move_time, move):
if self.need_motor_enable:
self.stepper.motor_enable(move_time, 1)
self.need_motor_enable = False
axis_d = move.axes_d[3] axis_d = move.axes_d[3]
extrude_r = axis_d / move.move_d extrude_r = axis_d / move.move_d
inv_accel = 1. / (move.accel * extrude_r) inv_accel = 1. / (move.accel * extrude_r)
@ -92,7 +97,8 @@ class PrinterExtruder:
stepper_pos = self.stepper_pos 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_time, so = self.stepper.prep_move(move_time) mcu_stepper = self.stepper.mcu_stepper
mcu_time = mcu_stepper.print_to_mcu_time(move_time)
step_offset = stepper_pos - start_pos * inv_step_dist step_offset = stepper_pos - start_pos * inv_step_dist
# Acceleration steps # Acceleration steps
@ -102,7 +108,7 @@ class PrinterExtruder:
accel_time_offset = start_v * inv_accel accel_time_offset = start_v * inv_accel
accel_sqrt_offset = accel_time_offset**2 accel_sqrt_offset = accel_time_offset**2
accel_steps = accel_d * inv_step_dist accel_steps = accel_d * inv_step_dist
count = so.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 stepper_pos += count
@ -113,7 +119,7 @@ class PrinterExtruder:
#t = pos/cruise_v #t = pos/cruise_v
cruise_multiplier = step_dist / cruise_v cruise_multiplier = step_dist / cruise_v
cruise_steps = cruise_d * inv_step_dist cruise_steps = cruise_d * inv_step_dist
count = so.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 stepper_pos += count
step_offset += count - cruise_steps step_offset += count - cruise_steps
@ -124,7 +130,7 @@ class PrinterExtruder:
decel_time_offset = decel_v * inv_accel decel_time_offset = decel_v * inv_accel
decel_sqrt_offset = decel_time_offset**2 decel_sqrt_offset = decel_time_offset**2
decel_steps = decel_d * inv_step_dist decel_steps = decel_d * inv_step_dist
count = so.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 stepper_pos += count
@ -136,7 +142,7 @@ class PrinterExtruder:
accel_time_offset = retract_v * inv_accel accel_time_offset = retract_v * inv_accel
accel_sqrt_offset = accel_time_offset**2 accel_sqrt_offset = accel_time_offset**2
accel_steps = -retract_d * inv_step_dist accel_steps = -retract_d * inv_step_dist
count = so.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 stepper_pos += count

14
klippy/stepper.py
View File

@ -64,18 +64,14 @@ class PrinterStepper:
if endstop_pin is not None: if endstop_pin is not None:
self.mcu_endstop = mcu.create_endstop(endstop_pin, self.mcu_stepper) self.mcu_endstop = mcu.create_endstop(endstop_pin, self.mcu_stepper)
def motor_enable(self, move_time, enable=0): def motor_enable(self, move_time, enable=0):
if enable and self.need_motor_enable:
mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
self.mcu_stepper.reset_step_clock(mcu_time)
if (self.mcu_enable is not None if (self.mcu_enable is not None
and self.mcu_enable.get_last_setting() != enable): and self.mcu_enable.get_last_setting() != enable):
mcu_time = self.mcu_enable.print_to_mcu_time(move_time) mcu_time = self.mcu_enable.print_to_mcu_time(move_time)
self.mcu_enable.set_digital(mcu_time, enable) self.mcu_enable.set_digital(mcu_time, enable)
self.need_motor_enable = True self.need_motor_enable = not enable
def prep_move(self, move_time):
mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
if self.need_motor_enable:
self.mcu_stepper.reset_step_clock(mcu_time)
self.motor_enable(move_time, 1)
self.need_motor_enable = False
return (mcu_time, self.mcu_stepper)
def enable_endstop_checking(self, move_time, step_time): def enable_endstop_checking(self, move_time, step_time):
mcu_time = self.mcu_endstop.print_to_mcu_time(move_time) mcu_time = self.mcu_endstop.print_to_mcu_time(move_time)
self.mcu_endstop.home(mcu_time, step_time) self.mcu_endstop.home(mcu_time, step_time)
@ -86,7 +82,7 @@ class PrinterStepper:
self.mcu_endstop.query_endstop() self.mcu_endstop.query_endstop()
return self.mcu_endstop return self.mcu_endstop
def get_homed_offset(self): def get_homed_offset(self):
if not self.homing_stepper_phases: if not self.homing_stepper_phases or self.need_motor_enable:
return 0 return 0
pos = self.mcu_endstop.get_last_position() pos = self.mcu_endstop.get_last_position()
pos %= self.homing_stepper_phases pos %= self.homing_stepper_phases