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klippy: Eliminate high-level build_config phase 

Now that the mcu objects can be created prior to connecting to the
mcu, it is no longer necessary to separate the init and build_config
phases in the high-level code.  Move the mcu objection creation from
the build_config phase to the init phase and eliminate the
build_config phase.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-03-12 22:43:05 -04:00
parent 92649332ce
commit d21b9280f0
9 changed files with 47 additions and 81 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
klippy/cartesian.py
View File

@ -21,9 +21,6 @@ class CartKinematics:
self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
self.steppers[2].set_max_jerk(0., self.max_z_accel)
def build_config(self):
for stepper in self.steppers:
stepper.build_config()
def set_position(self, newpos):
for i in StepList:
s = self.steppers[i]

5
klippy/delta.py
View File

@ -50,6 +50,7 @@ class DeltaKinematics:
"Delta max build radius %.2fmm (moves slowed past %.2fmm and %.2fmm)"
% (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
math.sqrt(self.very_slow_xy2)))
self.set_position([0., 0., 0.])
def set_max_jerk(self, max_xy_halt_velocity, max_velocity, max_accel):
self.max_velocity = max_velocity
max_z_velocity = self.config.getfloat('max_z_velocity', max_velocity)
@ -57,10 +58,6 @@ class DeltaKinematics:
self.max_accel = max_accel
for stepper in self.steppers:
stepper.set_max_jerk(max_xy_halt_velocity, max_accel)
def build_config(self):
for stepper in self.steppers:
stepper.build_config()
self.set_position([0., 0., 0.])
def _cartesian_to_actuator(self, coord):
return [int((math.sqrt(self.arm_length2
- (self.towers[i][0] - coord[0])**2

3
klippy/extruder.py
View File

@ -33,10 +33,7 @@ class PrinterExtruder:
'max_extrude_only_velocity', max_velocity * self.max_extrude_ratio)
self.max_e_accel = self.config.getfloat(
'max_extrude_only_accel', max_accel * self.max_extrude_ratio)
def build_config(self):
self.heater.build_config()
self.stepper.set_max_jerk(9999999.9, 9999999.9)
self.stepper.build_config()
def motor_off(self, move_time):
self.stepper.motor_enable(move_time, 0)
self.need_motor_enable = True

11
klippy/fan.py
View File

@ -9,17 +9,12 @@ PWM_CYCLE_TIME = 0.010
class PrinterFan:
def __init__(self, printer, config):
self.printer = printer
self.config = config
self.mcu_fan = None
self.last_fan_value = 0.
self.last_fan_time = 0.
self.kick_start_time = config.getfloat('kick_start_time', 0.1)
def build_config(self):
pin = self.config.get('pin')
hard_pwm = self.config.getint('hard_pwm', 0)
self.mcu_fan = self.printer.mcu.create_pwm(
pin, PWM_CYCLE_TIME, hard_pwm, 0.)
pin = config.get('pin')
hard_pwm = config.getint('hard_pwm', 0)
self.mcu_fan = printer.mcu.create_pwm(pin, PWM_CYCLE_TIME, hard_pwm, 0.)
# External commands
def set_speed(self, print_time, value):
value = max(0., min(1., value))

39
klippy/heater.py
View File

@ -28,44 +28,39 @@ class error(Exception):
class PrinterHeater:
error = error
def __init__(self, printer, config):
self.printer = printer
self.config = config
self.mcu_pwm = self.mcu_adc = None
self.name = config.section
self.thermistor_c = config.getchoice('thermistor_type', Thermistors)
self.pullup_r = config.getfloat('pullup_resistor', 4700.)
self.min_extrude_temp = config.getfloat('min_extrude_temp', 170.)
self.min_temp = self.config.getfloat('min_temp')
self.max_temp = self.config.getfloat('max_temp')
self.max_power = max(0., min(1., self.config.getfloat('max_power', 1.)))
self.can_extrude = (self.min_extrude_temp <= 0.)
self.min_temp = config.getfloat('min_temp')
self.max_temp = config.getfloat('max_temp')
self.max_power = max(0., min(1., config.getfloat('max_power', 1.)))
self.can_extrude = (self.min_extrude_temp <= 0.
or printer.mcu.is_fileoutput())
self.lock = threading.Lock()
self.last_temp = 0.
self.last_temp_time = 0.
self.target_temp = 0.
self.control = None
# pwm caching
self.next_pwm_time = 0.
self.last_pwm_value = 0
def build_config(self):
algos = {'watermark': ControlBangBang, 'pid': ControlPID}
algo = self.config.getchoice('control', algos)
heater_pin = self.config.get('heater_pin')
thermistor_pin = self.config.get('thermistor_pin')
algo = config.getchoice('control', algos)
heater_pin = config.get('heater_pin')
thermistor_pin = config.get('thermistor_pin')
if algo is ControlBangBang and self.max_power == 1.:
self.mcu_pwm = self.printer.mcu.create_digital_out(
self.mcu_pwm = printer.mcu.create_digital_out(
heater_pin, MAX_HEAT_TIME)
else:
self.mcu_pwm = self.printer.mcu.create_pwm(
self.mcu_pwm = printer.mcu.create_pwm(
heater_pin, PWM_CYCLE_TIME, 0, MAX_HEAT_TIME)
self.mcu_adc = self.printer.mcu.create_adc(thermistor_pin)
self.mcu_adc = printer.mcu.create_adc(thermistor_pin)
min_adc = self.calc_adc(self.max_temp)
max_adc = self.calc_adc(self.min_temp)
self.mcu_adc.set_minmax(
SAMPLE_TIME, SAMPLE_COUNT, minval=min_adc, maxval=max_adc)
self.mcu_adc.set_adc_callback(REPORT_TIME, self.adc_callback)
self.control = algo(self, self.config)
if self.printer.mcu.is_fileoutput():
self.can_extrude = True
self.control = algo(self, config)
# pwm caching
self.next_pwm_time = 0.
self.last_pwm_value = 0
def set_pwm(self, read_time, value):
if value:
if self.target_temp <= 0.:
@ -80,7 +75,7 @@ class PrinterHeater:
self.next_pwm_time = pwm_time + 0.75 * MAX_HEAT_TIME
self.last_pwm_value = value
logging.debug("%s: pwm=%.3f@%.3f (from %.3f@%.3f [%.3f])" % (
self.config.section, value, pwm_time,
self.name, value, pwm_time,
self.last_temp, self.last_temp_time, self.target_temp))
self.mcu_pwm.set_pwm(pwm_time, value)
# Temperature calculation

18
klippy/klippy.py
View File

@ -138,22 +138,20 @@ class Printer:
if self.debugoutput is None:
ConfigLogger(self.fileconfig)
self.mcu = mcu.MCU(self, ConfigWrapper(self, 'mcu'))
if self.fileconfig.has_section('fan'):
self.objects['fan'] = fan.PrinterFan(
self, ConfigWrapper(self, 'fan'))
if self.debugoutput is not None:
self.mcu.connect_file(self.debugoutput, self.dictionary)
if self.fileconfig.has_section('extruder'):
self.objects['extruder'] = extruder.PrinterExtruder(
self, ConfigWrapper(self, 'extruder'))
if self.fileconfig.has_section('fan'):
self.objects['fan'] = fan.PrinterFan(
self, ConfigWrapper(self, 'fan'))
if self.fileconfig.has_section('heater_bed'):
self.objects['heater_bed'] = heater.PrinterHeater(
self, ConfigWrapper(self, 'heater_bed'))
self.objects['toolhead'] = toolhead.ToolHead(
self, ConfigWrapper(self, 'printer'))
def build_config(self):
for oname in sorted(self.objects.keys()):
self.objects[oname].build_config()
self.mcu.build_config()
def validate_config(self):
# Validate that there are no undefined parameters in the config file
valid_sections = dict([(s, 1) for s, o in self.all_config_options])
for section in self.fileconfig.sections():
section = section.lower()
@ -171,11 +169,7 @@ class Printer:
self.load_config()
if self.debugoutput is None:
self.reactor.update_timer(self.stats_timer, self.reactor.NOW)
else:
self.mcu.connect_file(self.debugoutput, self.dictionary)
self.mcu.connect()
self.build_config()
self.validate_config()
self.gcode.set_printer_ready(True)
self.state_message = message_ready
except ConfigParser.Error, e:

10
klippy/mcu.py
View File

@ -385,6 +385,7 @@ class MCU:
self._config_crc = None
self._init_callbacks = []
self._pin_map = config.get('pin_map', None)
self._custom = config.get('custom', '')
# Move command queuing
ffi_main, self.ffi_lib = chelper.get_ffi()
self._max_stepper_error = config.getfloat('max_stepper_error', 0.000025)
@ -427,6 +428,8 @@ class MCU:
self.register_msg(self.handle_shutdown, 'shutdown')
self.register_msg(self.handle_shutdown, 'is_shutdown')
self.register_msg(self.handle_mcu_stats, 'stats')
self._build_config()
self._send_config()
def connect_file(self, debugoutput, dictionary, pace=False):
self._is_fileoutput = True
self.serial.connect_file(debugoutput, dictionary)
@ -468,8 +471,7 @@ class MCU:
return self._is_fileoutput
# Configuration phase
def _add_custom(self):
data = self._config.get('custom', '')
for line in data.split('\n'):
for line in self._custom.split('\n'):
line = line.strip()
cpos = line.find('#')
if cpos >= 0:
@ -477,7 +479,7 @@ class MCU:
if not line:
continue
self.add_config_cmd(line)
def build_config(self):
def _build_config(self):
# Build config commands
for oid in self._oids:
oid.build_config()
@ -501,8 +503,6 @@ class MCU:
# Calculate config CRC
self._config_crc = zlib.crc32('\n'.join(self._config_cmds)) & 0xffffffff
self.add_config_cmd("finalize_config crc=%d" % (self._config_crc,))
self._send_config()
def _send_config(self):
msg = self.create_command("get_config")
if self._is_fileoutput:

37
klippy/stepper.py
View File

@ -8,10 +8,7 @@ import homing
class PrinterStepper:
def __init__(self, printer, config, name):
self.printer = printer
self.config = config
self.name = name
self.mcu_stepper = self.mcu_enable = self.mcu_endstop = None
self.step_dist = config.getfloat('step_distance')
self.inv_step_dist = 1. / self.step_dist
@ -36,32 +33,29 @@ class PrinterStepper:
endstop_accuracy * self.inv_step_dist))
if self.homing_endstop_accuracy >= self.homing_stepper_phases/2:
logging.info("Endstop for %s is not accurate enough for stepper"
" phase adjustment" % (self.config.section,))
" phase adjustment" % (name,))
self.homing_stepper_phases = None
self.position_min = self.position_endstop = self.position_max = None
if config.get('endstop_pin', None) is not None:
endstop_pin = config.get('endstop_pin', None)
step_pin = config.get('step_pin')
dir_pin = config.get('dir_pin')
mcu = printer.mcu
self.mcu_stepper = mcu.create_stepper(step_pin, dir_pin)
enable_pin = config.get('enable_pin', None)
if enable_pin is not None:
self.mcu_enable = mcu.create_digital_out(enable_pin, 0)
if endstop_pin is not None:
self.mcu_endstop = mcu.create_endstop(endstop_pin, self.mcu_stepper)
self.position_min = config.getfloat('position_min', 0.)
self.position_endstop = config.getfloat('position_endstop')
self.position_max = config.getfloat('position_max', 0.)
self.need_motor_enable = True
def set_max_jerk(self, max_halt_velocity, max_accel):
jc = max_halt_velocity / max_accel
inv_max_step_accel = self.step_dist / max_accel
self.min_stop_interval = (math.sqrt(3.*inv_max_step_accel + jc**2)
- math.sqrt(inv_max_step_accel + jc**2))
def build_config(self):
step_pin = self.config.get('step_pin')
dir_pin = self.config.get('dir_pin')
mcu = self.printer.mcu
self.mcu_stepper = mcu.create_stepper(step_pin, dir_pin)
self.mcu_stepper.set_min_stop_interval(self.min_stop_interval)
enable_pin = self.config.get('enable_pin', None)
if enable_pin is not None:
self.mcu_enable = mcu.create_digital_out(enable_pin, 0)
endstop_pin = self.config.get('endstop_pin', None)
if endstop_pin is not None:
self.mcu_endstop = mcu.create_endstop(endstop_pin, self.mcu_stepper)
min_stop_interval = (math.sqrt(3.*inv_max_step_accel + jc**2)
- math.sqrt(inv_max_step_accel + jc**2))
self.mcu_stepper.set_min_stop_interval(min_stop_interval)
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)
@ -85,8 +79,7 @@ class PrinterStepper:
pos = self.mcu_stepper.get_mcu_position()
pos %= self.homing_stepper_phases
if self.homing_endstop_phase is None:
logging.info("Setting %s endstop phase to %d" % (
self.config.section, pos))
logging.info("Setting %s endstop phase to %d" % (self.name, pos))
self.homing_endstop_phase = pos
return 0
delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases

2
klippy/toolhead.py
View File

@ -210,13 +210,11 @@ class ToolHead:
self.motor_off_time = config.getfloat('motor_off_time', 60.000)
self.motor_off_timer = self.reactor.register_timer(
self._motor_off_handler)
def build_config(self):
# Determine the maximum velocity a cartesian axis could have
# before cornering. The 8. was determined experimentally.
xy_halt = math.sqrt(8. * self.junction_deviation * self.max_accel)
self.kin.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
self.extruder.set_max_jerk(xy_halt, self.max_speed, self.max_accel)
self.kin.build_config()
# Print time tracking
def update_move_time(self, movetime):
self.print_time += movetime