Make sure schedule_digital_out and schedule_pwm_out commands always go
out with a value that is in range for the particular command.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Make sure the ADC range sent to the MCU can be encoded into a 16bit
integer. Otherwise, if the provided min_temp/max_temp was outside the
range of possible values it could result in a spurious mcu shutdown.
In particular, the AD595 could not properly encode a min_temp of zero.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Extend the look-ahead mechanism to work between moves that contain Z
movement. This improves Klipper's handling of g-code produced in
"vase mode".
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow the kinematic classes to query the max velocity, max accel, and
max halt velocity from the toolhead class instead of having the
toolhead class call into the kinematic classes with those values.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit d0932009 changed the way command handling was performed, and
commit 95950949 fixed a defect in that commit. Unfortunately, the fix
was incomplete.
If multiple commands were sent to Klippy without waiting for an "ok"
response from Klippy, then it was possible for those additional
commands to be queued and processed after subsequent commands. This
would result in commands being processed out of order.
Fix this by only reregistering the input fd in the greenlet that
performs the unregistration of the fd.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Invert the if conditional in queue_append() and change the order of
reads in minmax_point() - gcc on the rpi seems to do generate better
code this way.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The RaspberryPi processor implements 'double to int32' conversions
much faster than 'double to int64' conversions. Rework the code so
that steps stored in the queue are always a small offset from the last
sent step time. (In the unlikely event that a step is far from the
last step time, then the queue is flushed to maintain this invariant.)
This simplifies the step compression code as well - it no longer needs
to check for integer overflows.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create an insertion "cursor" for adding items to the step compression
queue. This makes the calling code simpler and it makes it easier to
update the queue memory management in the future.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The homing operation can be cpu intensive for the host software. Add
a small (250ms) delay before homing so that the host has additional
time to process the command before it is due on the mcu. This is
intended to work around some reports of "timer too close" errors
during Z homing on RPi2 hosts and printers with high precision Z
positioning.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Adjust the configured homing speed so that it always results in a
speed that is an even number of mcu ticks per step. This ensures that
the code can always get good step compression during homing, which is
important as the entire homing operation must be able to fit within
the mcu's move queue. This fixes some "move queue empty" mcu shutdown
errors that could occur when the Z step distance was an unusual size.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow external code to obtain the mcu object that controls a pin setup
with setup_pin(). Also, don't bother defining print_to_mcu_time() and
system_to_mcu_time() on each pin object as they can be obtained via
the new get_mcu() method.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit 9d75c3b0 changed the order of allocation for mcu oid integer
ids. However, the stepper oids must always be allocated before
endstop oids so that corexy can register multiple steppers on a single
endstop.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Preface the internal functions to make it more clear which functions
are interfaces to external code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's no longer necessary to use the TICKS() hack as the config
commands are now all generated after the mcu speed is known.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Support an "ad5206" config section so that one can configure the
digipots found on Reprap "RAMBo" boards.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow digital and PWM output pins to be setup via new config
sections. This makes it easier to setup pin configurations.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The MCU() class needs to track the stepqueues so that it can
initialize the steppersync object. Track the stepqueues directly
instead of via the list of steppers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Track the oid count separately from the configurable object count -
this way it is possible to have internal objects that don't require an
oid in the mcu.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's not necessary to register and execute "init callbacks" when
configuring the mcu. Instead, have each mcu object produce its init
messages in the build_config() callback.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow multiple chips to provide pin mappings (not just the main mcu
chip). Move the pin parsing from the mcu.py code to pins.py and
support mapping from pin descriptions to their corresponding chips and
parameters.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Store pertinent information from the software startup in a dictionary
that the various printer components can access instead of in
individual variables in the Printer() class. This makes it easier to
add future command-line options.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Store the underlying temperature and resistance values instead of the
Steinhart-Hart coefficents obtained from them. This makes it easier
to add new thermistors.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Keep the homing code separate from the main stepper class. This makes
it easier to verify the correct config parameters are provided.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of limiting the amount of non-acked messages to 50ms, limit
the amount to one round-trip-time. This should make it less likely
that the mcu will be overloaded and it should make retransmits faster.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The first message always has a sync byte with it, so its size should
be one larger. Also, the idle_time should always be the minimum time
that the message could be received, so it should always be reset to
eventtime on a retransmit.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If a nak message causes a retransmission then also accept a second nak
message as long as it is for a sequence greater than the first nak.
This should allow faster retransmits when there are multiple
transmission errors in a small time period.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Track the sequence number of the message last retransmitted (not the
sequence number of the next message to be transmitted). This fixes a
small possibility of a valid nak not being honored.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If a retransmit is triggered by a nak, then it is not necessary to
increase the rto. The next retransmit time should be based on the
expected reception of the first retransmitted message, not the last.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Wait for any pending moves to be fully handled before exiting. Make
sure the wait is done inside the "self.is_processing_data" check to
avoid infinite recursion. Don't keep reading from the file while
waiting to exit.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The existing clock synchronization code has two flaws: intermittent
transmission latency during get_status requests can cause the
estimated clock to be too low, and the estimated clock calculation did
not take into account possible clock drift between samples. The
former could potentially lead to "Timer too close" errors and the
latter could potentially lead to "Move queue empty" errors.
Rework the code to avoid the above problems. It's not necessary to
estimate the micro-controller clock as an excellent estimate is
reported by the micro-controller (via the CLOCK_FREQ constant).
Account for a small drift from the reported value, and check on each
sample if the drift exceeds the expected limits. With a good starting
estimated clock, only the offset needs to be calculated. Use previous
offsets (and the estimated clock) in calculation of new offsets to
avoid intermittent latency from badly skewing the results. Finally,
add an additional time offset of one millisecond to account for any
minor inaccuracies.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Some systems point python to python3 instead of python2 - explicitly
request python2 to avoid conflicts.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Make sure the heater.target_temp is set during the auto-tune test so
that the heater.set_pwm() command will allow the heater to be turned
on.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The endstop_position is intended to support different values for each
stepper so that the individual tower heights can be configured.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit d0932009 introduced an error that could cause lost input in
cases where the sender did not wait for an "ok" message before sending
the next command.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't modify dictionaries while iterating them and be careful to use
// when doing an integer divide.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create add_printer_objects() functions in the fan, heater, extruder,
and toolhead modules. Create the necessary printer component objects
from this call instead of placing the code directly in klippy.py.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The atmega328 is basically the same as the atmega168 - it just adds
some additional memory. Allow the chip to be selected during the
build.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of assuming the maximum PWM value is 255, export a constant
from the firmware to the host with the maximum value.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
On a retract move (which are common during "wipe" operations), treat
the move as if it were an extrude only move. It's valid for a retract
move to reverse more filament then it would be practical to push.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
When the log file does a rollover, start the top of the log with
critical system information (eg, software versions).
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The set_printer_ready() can be called from a background thread on a
shutdown event, so don't try to lookup the printer components in that
case. Simplify build_handlers() so that it no longer tests for
components being available - test for component availability in the
command handlers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Always call the regular .parse() method for each message type during
dump() - add a new .format_params() method for dumping a verbose
representation of the parsed message. This allows the new
format_params() to also be used with data already parsed.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
No need to recommend users disable "SD card support" in octoprint -
instead, just ignore the M21 command.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Always log the last synchronized clock during a shutdown event, and
use debug level for normal reports.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Advice users to issue a FIRMWARE_RESTART command on a printer shutdown
event, and remove support for CLEAR_SHUTDOWN. A full mcu reset is
preferable and it simplifies the interface.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Extend the FIRMWARE_RESTART command so that it can use the firmware
"reset" command instead of the "arduino" mechanism.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add the new item at the same time as checking if there is space in the
queue.
Also, update the default optimization level of c_helper.so to O2 to
improve the compiled code layout.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Calculate where a tower must reverse direction during a move in the C
code instead of the delta.py kinematic code. This simplifies the
python code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The delta code calculates a "virtual tower" along the line of
movement. Rework the variable names and comments to make it clear
that this is occurring.
It is not necessary to pass the start_pos variable to the C code as it
is simple to update the start_pos at the start of each movement.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's not necessary to have separate C delta kinematic functions for
constant acceleration and constant velocity as constant velocity can
be obtained by using a constant acceleration of zero.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update the C delta kinematic code to take velocity and acceleration
directly in step distances and clock ticks. This simplifies the
mcu.py python code as it only needs to do unit and axis conversion.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's not necessary to have separate C functions for constant
acceleration and constant velocity as constant velocity can be
obtained by using a constant acceleration of zero.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update the C code to take velocity and acceleration directly in step
distances and clock ticks. This simplifies the mcu.py python code as
it only needs to do unit and axis conversion.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update the set_position() method to convert from millimeters to
absolute step position.
Also, update PrinterStepper.get_homed_offset() and
mcu_stepper.get_commanded_position() to return millimeters.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that the kinematic classes call the mcu_stepper with millimeters
and seconds it is no longer necessary for them to directly access the
stepper's position in absolute steps. Rename
mcu_stepper.commanded_position to mcu_stepper._commanded_pos to make
clear it is not a variable intended to be externally accessed.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rework the parameters of step_delta_const() and step_delta_accel() so
that they take velocity and acceleration directly in millimeters and
seconds. This simplifies the delta.py kinematic code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rename step_sqrt/step_factor to step_accel/step_const and have them
directly take the velocity and acceleration in millimeters and
seconds. This simplifies the kinematic classes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Extend the endstop code so that more than one stepper can be halted
during endstop homing. Some kinematic setups (eg, corexy) require an
endstop to support this.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If the reactor isn't running then implement pause using the system
sleep command. This simplifies the users of pause().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Increase the default motor_off_time from 1 minute to 10 minutes. The
small value is a common source of confusion.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The est_clock calculation code requires timestamps on status messages
to never be prior to the reception of the message. The eventtime of
handle_message() is taken before the read() and there is a small
possibility that it could be inaccurate enough to corrupt the
est_clock calculation. Take a new timestamp when storing receive_time
to prevent this. This fix prevents some firmware "Move queue empty"
shutdowns.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
sqrt() of a negative number in the C code returns NaN. This value
results in behavior that is difficult to debug. Always return 0.0
instead as this results in better behavior that is easier to track
down. Also, on some code paths, safe_sqrt is called on numbers that
are multiplied by very large amounts (eg, 16000000**2) and thus
distinguishing between large and small negative numbers is difficult.
For now, report in the log if the value is below -0.001.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The code disables lookahead between two extruding moves with
significantly different extrude ratios. Unfortunately, it was
possible for very tiny moves to show different extrude ratios just due
to how the slicer implements rounding when it produces the gcode.
Allow lookahead to be enabled between moves with extrude ratios that
are different if they don't noticeably produce more or less extrusion.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Be less likely to raise a "Move exceeds maximum extrusion cross
section" error on very short moves. It's okay to extrude a little
extra plastic on moves shorter than the nozzle diameter.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Catch and ignore any exceptions when trying to shutdown the printer in
toolhead.force_shutdown() - there's a good chance an exception will be
raised as this method is often called after an invalid internal state
is found.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The previous calculation was only valid if the stepper is always
commanded to a position that is an exact multiple of the
step_distance. The safety check was programmed with a value too large
for other commanded positions, which could result in "No next step"
errors. Fix by changing the calculation to use the worst case
scenario.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't force a firmware shutdown on a simple gcode parse error.
Instead, report the error back to the user and otherwise ignore the
command.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Fix a corner case where a residual in the PID could cause a non-zero
pwm request even when the target_temp is zero. (Which could lead to a
firmware "Missed scheduling of next pwm event" shutdown.)
Simplify the logic for suppressing duplicate pwm updates and make sure
a zero target_temp always results in a zero pwm update on the
following set_pwm calculation.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rename the thermistor_type and thermistor_pin config variables to
sensor_type and sensor_pin. This is in preparation for support of
sensors beyond thermistors.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
When using a sensor that isn't a thermisistor, the maximum and minimum
adc values may be swapped - handle that case.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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>
Create a separate callback for setting the min_stop_interval.
Also, move the setting of the stepper max_error from the stepper
configs to the mcu config and rename it to max_stepper_error.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create a build_config() method on each oid object and call it just
after connecting to the MCU. Move code that requires a connected
state from the oid init to its new build_config method.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Introduce a TICKS() macro during config parsing that will translate
time in seconds to time in clock ticks.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use map_pins() to obtain the pin mapping - don't export
mcu_to_pins(). The functionality of mcu_to_pins() can be obtained by
calling map_pins() with name=None.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the logic to calculate and report the stepper's current position
from endstop.c to stepper.c. This localizes the stepper code into
stepper.c.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add initial support for micro-controller resets via the Arduino reset
mechanism. Also, automatically attempt a firmware restart if the
printer CRC does not match.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't report a CRC mismatch if a shutdown or other failure occurs
during config - instead report the appropriate details.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Not all hardware has PWM support and there is no compelling reason to
use hardware PWM for fans. Change the default to use software PWM.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Store a full 64bit uptime in the mcu and query it at the start of each
connection. This ensures the host's 64bit clock is always in synch
with the mcu's clock.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Change the mcu PWM value from an integer (0-255) to a float (0. - 1.).
Add support for limiting the maximum power (as measured over a
sufficiently long duration) to a particular heater.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of defaulting the pressure advance lookahead time to be the
same as the pressure_advance variable, allow it to be configured.
Default the new config setting (pressure_advance_lookahead_time) to
10ms.
Also, make the setting more accurate if a future move is accelerating
in the middle of the lookahead window.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Simplify the mechanism for limiting stepper speed (introduced in
commit bdfdf7ef) - split the extreme end of the build envelope into
two zones and use the same speeds for all moves that traverse any part
of one of those zones.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit c24b7a7e reworked the way lookahead was done and it introduced
a bug when a full acceleration move is immiedietly followed by a full
deceleration move. In that situation, depending on when the lookahead
queue was flushed, it was possible to call move.move() without calling
move.set_junction(). This resulted in a "Move instance has no
attribute 'accel_t'" internal error.
Simplify and fix the logic for checking full accel moves followed by
full decel moves.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
There's no reason for the user to specify position_max - it can be
inferred on deltas from the endstop positions.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Some XY moves at the extreme end of the build envelope could cause
excessive axis stepper movement. Check for any moves that could
possibly result in a stepper movement of more than 3 times the XY
movement and cap the move's acceleration and speed.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Calculate and store the maximum xy2 value for the given z level each
time the head moves to a new z level. This simplifies the boundary
check for common XY moves.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Report in the log the host CPU type and count. This helps distinguish
between different rpi versions when debugging the log from a problem
report.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If the user requests a restart and the machine appears to be otherwise
functioning normally, then attempt to stop the heaters and fans prior
to restarting the host. This prevents the firmware from going into a
shutdown state when the heater is on and the host restarts.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Change the lookahead queue so that it attempts to buffer at least
buffer_time_high amount of moves when first starting a print. This
helps ensure the buffer is normally always full.
If the buffer falls below buffer_time_low then it is either due to the
end of a print or because octoprint/klippy is unable to keep up.
Change the code so that in this case the lookahead queue will attempt
to gather buffer_time_high amount of moves before restarting movement.
Update the default buffer_time_low to 1 second and buffer_time_high to
2 seconds. With the above changes a smaller buffer_time_high and a
larger buffer_time_low are more practical.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use a minimum time window as a heuristic for determining when to try
to lazily flush the lookahead buffer. In the common case this will
result in more moves processed for each flush and thus reduce the
overall cost of the lookahead processing.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Do a better job of calculating the maximum halt velocity for the
stepper motors. The maximum cornering velocity is related to both the
maximum acceleration and the junction_deviation, so both should be in
the formula. Tests show that "math.sqrt(8. * self.junction_deviation
* self.max_accel)" very closely fits the maximum on cartesian robots.
This fixes potential "no next step" shutdowns that could occur on
some print moves.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The normal system clock can have sudden jumps if the system clock is
changed. Use the system monotonic clock to avoid these sudden changes
in time.
It appears the Raspbian OS (which is used by OctoPi) is setup to
update the system clock upon network connectivity. This could cause
sudden system clock changes which could lead to Klippy processing
errors. Using the monotonic clock eliminates these issues.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update the lookahead code to track both normal toolhead acceleration
as well as a pseudo acceleration to the point of deceleration. This
reduces the top speed of small zig-zag moves and it reduces printer
vibration during these moves.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It is not necessary to track the do_calc_junction flag as it can just
as easily be determined at the top of the calc_junction() method.
This simplifies the code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
When calculating the extruder lookahead, determine how far to
lookahead by the amount of elapsed time each move takes. This makes
the extruder lookahead code more flexible as it is no longer limited
to the next immediate cornering moves.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of calculating min/max_corner_v in the toolhead class,
calculate it in the extruder class. This keeps the extruder specific
code together.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
When testing via a gcode input file, it's easier to debug problems if
the program exits upon the first exception.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Make sure max_corner_v2 is fully calculated before proactively
flushing moves from the lookahead queue. Without this, some moves
would do unnecessary pressure advance during cornering.
Also, handle the min/max_corner_v2 calculations correctly in the rare
case where a move that does only acceleration is immediately followed
by a move that does only deceleration.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The junction speeds are tracked in velocity squared - introduce the
common suffix "_v2" to track that instead of using a prefix of
"junction_".
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Continue to resend the pwm value even if the last value was zero -
this extends the debugging info.
Also, add the target temperature to the pwm debugging.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Fix a bug causing timers to be delayed when pause() is called from a
fd event. The eventtime needs to be reloaded when an old greenlet is
reactivated.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Check for msgproto.error and warn the user about version firmware
version mismatch. Raise msgproto.error when extracting firmware
constants.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use a base of 256 instead of 65536 when calculating the sum of the
square of the clock differences in the stats. This makes the
calculation more accurate. Export the new base via DECL_CONSTANT for
the host to access. Use DIV_ROUND_UP() when adjusting for the base to
ensure no lost ticks. Do the division after multiplication in the
common case where the time between stats_task() invocations is less
than 64K ticks.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of requiring the user enter velocity and accel parameters for
extrude only moves, calculate sane defaults from the printer's maximum
velocity and accel.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's possible for a printer with very fine resolution to require a
large number of steps for a homing operation. Instead of storing all
of those steps in memory, periodically flush the queue should more
than 64K steps be present. This keeps a reasonable limit on the
amount of ram needed to store steps.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The serialqueue_flush_ready() code was used to flush queue_step
commands during a homing operation. It's no longer necessary now that
moves during a homing operation use the normal message priority
system.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The endstop homing system requires all queue_step commands be in the
MCU's 'move queue' before endstop checking starts. Use the normal
message priority system to request that stepper queue_step commands
are received prior to the start of the end_stop_home command. This
simplifies the code and removes the need for special serial queue
flushing.
This also fixes a bug in homing operations that take longer than 2^31
clock ticks.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add a is_kinematic_move flag to the Move class and clear it on extrude
only moves. Don't call the kinematic check_move() or move() methods
for extrude only moves.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Change the default compression error window (max_error) from 50us to
25us - it's common for stepper motor drivers to have 30us for their
"pwm fixed off time" and it would be good for the steps to be
scheduled within that time.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Revert 4a16053c and avoid integer overflows in the addfactor
calculation by exiting the loop early if count > 0x200. This provides
stronger protection against overflows.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Log the constants reported by the MCU and log the number of move items
allocated after configuration.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit a217c0f3 changed the way the "addfactor" was calculated.
Unfortunately, it was possible for the updated method to cause an
integer overflow and have a negative addfactor. Fix this by
explicitly casting the addfactor calculation to uint32_t.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Some motors have very small step distances and they can generate over
a million steps during a homing operation. Increase the maximum count
to ten million to avoid triggering the internal sanity check.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't assume the hardware ADC has 10bit resultion - instead have the
firmware define a constant and read that constant in the host.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add a DECL_CONSTANT macro to allow the firmware to define constants
that are to be exported to the host during the "identify" phase. This
replaces the existing hardcoded mechanism of scanning the Kconfig
header file for certain constants.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It is possible to restart the host software with a RESTART command
after manually resetting the micro-controller.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of splitting the available "add range" in half, try for add
values closer to the higher end of the range. This heuristic seems to
result in better choices.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Change the min/maxadd variables to use an inclusive range instead of
exclusive. This better matches min/maxinterval.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Make it clear which variables refer to the best verified point found
so far, and which variables deal with the next (not yet verified)
point.
Also, remove checked_count as bestcount serves the same purpose.
Also, allow minmax_point to be inlined.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The arduino style serial port interfaces can reset the MCU when the
serial port is opened. Clearing the HUPCL flag makes this less
likely.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If a speed is never specified then default to 25mm/s (up from 1 mm/s).
If a user accidentally issues a move without setting the speed, the
default speed shouldn't be so slow that it takes minutes to finish the
move.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Most moves are on the XY plane - avoid a few multiplications in the
inner loop in this case. When there is a Z move, it is almost always
entirely a Z move - avoid the sqrt() call in the inner loop in this
case.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Taking the inverse of the XY move distance can lead to extremely large
values when the XY distance is very small. This can lead to
saturation of the double precision variables and incorrect results.
Rework the delta kinematic math to avoid using this inverse. Pass the
closestxy_d value directly to the C functions so that the C code can
calculate its intermediate constants.
After this change the move_z special case is no longer necessary as
the regular delta functions now work with movexy_r=0 and movez_r=1.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The head may be far away from an axis at the start of a home, and that
axis must then traverse more than just the distance from zero height
to the endstop position. Add in additional distance to account for
this.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
On a delta printer, z moves require the mcu to support the greatest
number of steps per second. However, z moves are rare, so it makes
sense to limit the velocity of z moves separately from the velocity of
normal xy moves.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Change the config file so the maximum accel and velocity are specified
in the "printer" section instead of the individual "stepper" sections.
The underlying code limits the velocity and accel of the toolhead
relative to the print object, so it makes sense to configure the
system that was as well.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add a "restart" gcode command that will cause the host "klippy"
software to reload its config and restart.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Support human readable commands (eg, "help"). Add a "help" command to
list these extended commands.
Also, add support for declaring command aliases, command help, and
command availability next to the handlers themselves.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit 1e1364c3 moved the storage of the stepper position to the
mcu_stepper class. The initializing of that position needs to be
pushed back until after the mcu_stepper class is instantiated.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The set_printer_ready() method can be called from a background thread.
Have the main Printer class call a new dump_debug() method in the main
thread on a shutdown event.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Check that all options specified in the config file are valid. This
catches possible typos and spelling errors in variable names that have
a default.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add helper function that ensures a config option is one of several
choices. This helps ensure that a proper error is raised if an
invalid choice is made.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of writing error messages to stderr, route them into the
python code and use the standard python logging system.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use the greenlet mechanism to wait for the response directly in the
send_with_response() method. This simplifies the calling code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use the greenlet mechanism to wait for the connection to come up in
the serial connect() method. This simplifies the calling code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Setup the reactor and run the MCU connection code as a timer within
the reactor. The connection code will make use of reactor greenlets
so that it can wait for events during the connection phase.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for greenlets - a mechanism for tasks that can pause while
still allowing regular reactor events to occur.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Wake the background thread up when exiting - as this makes the exit
complete faster (and have more predictable timing).
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't expose the ADC initialization to the gcode and heater code -
instead, register a callback within the MCU_adc class and call it
directly from the MCU class after configuration completes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of checking the endstop trigger directly after a retract move,
verify some distance is traveled during the following homing
operation. This reduces the amount of synchronization between mcu and
host during homing.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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>
Should a homing move complete without hitting the endstop, then
disable motors, disable the endstop checking, and report the error to
the user.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow an EndstopError to be raised without a destination position.
Introduce EndstopMoveError wrapper so that current callers can
continue to pass in a move destination.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Change the scheduling of the final homed position (which takes into
account the stepper phases) so that it is scheduled from the kinematic
classes instead of from the toolhead class.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create the Homing class in the gcode handler instead of in the
kinematic classes. This will make it easier to pass error messages
back to the user.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create the QueryEndstops in the gcode handler instead of in the
kinematic classes. This simplifies the gcode handler as it can
directly register its response callback.
Also, store the stepper name in the stepper class. Also, propagate
the print_time of the query request to the mcu_endstop class.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Automatically reset the next step time to zero on a stepper_stop()
call. This makes the host code simpler as it no longer needs to
schedule an explicit reset_step_clock command on the step after a
homing operation.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commits f0cefebf and 8f331f08 changed the way the code determined what
steps to take on fractional steps. Unfortunately, it was possible in
some situations for the C code to round differently from the python
code which could result in warnings and lost steps.
Change the code so that all fractional step handling is done in the C
code. Implementing the step rounding logic in one location avoids any
conflicts.
In order to efficiently handle the step rounding in the C code, the C
code has also been extended to directly send the "set_next_step_dir"
command.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move flush() and check_expand() code to a new location so that the
stepcompress_push_X() functions can flush.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Writing to the debug log can cause an unbounded delay due to disk IO.
This is particularly so on embedded machines such as the Raspberry Pi
that run on SD cards. These log writing delays can cause problems for
the main processing threads.
The new "queuelogger" code forwards all the main thread log messages
to a queue, and a background thread writes the log messages from the
queue to the destination file. This eliminates the IO delay from the
main threads.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Invert the default meaning of the stepper direction pin. Instead of
treating a low value as position motion, treat a high value as
positive motion. This matches what other firmwares do, and it matches
what common stepper motor drivers document.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
A pullup setting on an input pin (ie, '^') should enable the hardware
pullup resistor, but it should not invert the trigger level (ie, it
should remain trigger on high). Those that need to change the trigger
level (ie, trigger on low) must now do that explicitly (ie, '^!').
This makes the code match what other firmwares do.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Only disable the extruder if the last measured temperature is below
the minimum extrude temperature setting. Verifying the target
temperature is not necessary, and it can incorrectly prevent some
valid moves. It's not uncommon for scripts to retract filament
immiedietly after setting the extruder temperature to zero.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Due to the lookahead, small changes in the direction of the toolhead
cause minor changes in toolhead velocity. These "cornering" velocity
changes cause the current extruder code to trigger pressure advance
and its associated pressure retract. This causes the extruder to
rapidly "jerk" the filament.
This code change updates the extruder to detect velocity changes due
solely to cornering and avoid pressure advance.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Due to minor differences in the extrude ratio, the last end velocity
of the filament may not exactly match the next move's start velocity
of the filament. Implement more precise calculations for pressure
advance to take this into account.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Avoid mixing the travel distance of the head (and its associated
velocity and acceleration) with the distance the filament moves.
Instead, use the filament travel distance.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Calculate the next "cornering" minimum and maximum for each move. The
"cornering minimum" is the lowest speed the head will reach
immediately after this move (with no interleaving acceleration or
cruising). The "cornering maximum" is the maximum speed the head will
reach after the cornering minimum (with no interleaving deceleration
or cruising).
These cornering calculations will be helpful in the extruder "pressure
advance" code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Take into account the maximum possible start speed of a move when
calculating junction_start_max. This simplifies the lookahead logic.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update the stepcompress C code to check for integer overflow so that
the python code does not need to. The new checks also handle the
possibility of a single move lasting long enough to cause an overflow.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use a non-zero qm->min_clock value to indicate that the command uses
the move queue and to also store the clock of when that move queue
item will be released.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The existing code calculates the number of steps in a move and then
spreads them out evenly throughout that move. Change the code so that
step timing is based on where the head is commanded to be relative to
the stepper step locations. This makes the timing more accurate - in
particular the stepper velocities will be more accurate during
cornering introduced by the lookahead code. It also results in
slightly smoother stepper motion which results in better step
compression.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The existing code calculates the number of steps in a move and then
spreads them out evenly throughout that move. Change the code so that
step timing is based on where the head is commanded to be relative to
the axis step locations. This makes the timing more accurate - in
particular the axis velocities will be more accurate during cornering
introduced by the lookahead code. It also results in slightly
smoother stepper motion which results in better step compression.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't use step_dist for the "distance along the line of movement per
step" as it's too similar to the stepper.step_dist variable. Use the
name "move_step_d" instead.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Store the start position (in addition to the existing end position) in
the Move class. The start position can be useful to the kinematic
classes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rename get_homed_position() to get_homed_offset() and return the
endstop position delta in steps instead of an absolute position
relative to position_endstop. The conversion to absolute positions
can be dependent on the type of kinematics in use, so is inappropriate
to do in the low level stepper.py code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If the printer is commanded to an invalid location, reset the current
position to the last successfully commanded position.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow a config file to specify 'min_extrude_temp: 0' to disable the
minimum extrude temperature test. This makes it easier to perform
testing on the avr simulator.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit 0685802c changed the query endstop timeout to use host time
instead of the mcu clock. However, it is possible for an endstop
homing request to be in the future which makes using the host time
inappropriate. Revert back to using the mcu clock to determine when
to send an endstop query.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's theoretically possible for floating point truncation to cause a
math formula to return a small negative number instead of 0. If
sqrt() is called on this small negative number it could cause a
crash. Check for this case and return 0.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit 47f30331 converted compress_bisect_add() to use "best reach"
instead of "best add". However, that change caused
compress_bisect_add() to behave poorly when passed in invalid data
(negative times). Change the code to better handle invalid data.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow the config file to specify the minimum temperature for the
extruder and check for that temperature prior to moving the extruder
motor.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Introduce a check_move() method in the extruder and cartesian
kinematic classes. This allows the lower level classes to verify the
contents of the move prior to queing that move.
The speed and acceleration handling for special Z and extrude only
moves are also moved from the generic toolhead class to the low-level
classes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Search for the maximum reachable value instead of the maximum "add".
The maximum reachable value encompasses both the maximum count and a
closest step time to the last requested step time. This allows for
more "add=0" sequences to be generated which the mcu can optimize for.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
When doing serial file output debugging, write the config commands as
they are often useful to inspect.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for enhancing the precision of endstop switches by also
inspecting the phase of the stepper motor when the endstop triggers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rework the code so that the kinematic class (currently just
cartesian.py) has more control over the homing process.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add a config option to define an amount of additional filament to feed
into the extruder during acceleration and deceleration of the
extruder. This can help ensure plastic is deposited in the correct
places during a print.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Only skip acceleration between moves if both moves perform a similar
amount of extrusion. This ensures the extruder has sufficient time to
accelerate to and from each extrude move.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow the owner of the stepper object to cacluate the maximum step
jerk velocity. This is used to ensure there is no communication error
between mcu and host.
Disable checking of jerk velocity for extruder stepper motors.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Store the baud rate the MCU is configured for in the "identify" data
and use that rate when calculating the baudadjust parameter.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The test to check if the queue only needed to be moved was not correct
and it could lead to a segfault if clean_queue() was called instead of
actually increasing the queue size.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Check for an invalid count and report an error if found. This
prevents some segfaults when count goes negative.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Create a new python file (extruder.py) to control the extruder heater
and stepper motors. This separates the extruder control logic from
the cartesian robot code - making it easier to customize both the
kinematic control of the robot as well as the extruder.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
All users of max_step_velocity and max_step_accel end up multiplying
by step_dist anyway, so it's easier to store max_velocity and
max_accel.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Explicitly check for when the move_queue is empty and only call
move.calc_junction() when there is a previous move. This avoids the
need to create a dummy "sentinal" move object and it simplifies the
code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Remove the lookahead.py file and move its code directly into
toolhead.py. The MoveQueue() class is small and tightly coupled to
the toolhead code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Separate out the low-level stepper motor kinematics handling from the
ToolHead class into its own class.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Perform all acceleration calculations and lookahead checks in
millimeters using the cartesian coordinate system of the request. The
conversion to step coordinates is now done at the time of the step
timing creation.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
At high step speeds, it is possible to exit the inner scan due to
integer truncation. Always update minadd or maxadd so that the outer
loop always terminates.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This adds basic support for running on the Atmel SAM3x8e
micro-controllers that are found in the Arudino Due boards.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The Arduino Due uses a 1200 baud connection to signal an erase
sequence, so avoid it during normal serial resets.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor