If the stepper changes direction then the average velocity since the
last step pulse isn't a good indicator of the next step pulse.
Instead, reset the bounds checking to use a low starting guess.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The queue_append system predates the iterative solver - it was useful
when many different kinematic functions directly added steps to the
step compression queues. With the iterative solver being the only
source of step generation, it is simpler to directly add steps from
the iterative solver code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use new mcu.lookup_query_command() for all commands that query
information from the micro-controller.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Convert standard queries to use the acknowledgments of the sent
command to determine if the response was received or not. This also
controls command retransmissions (should the response have been lost).
The tmc_uart.py will continue to use the old mechanism as the tmcuart
responses are not sent synchronously with the query command.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add ability for the host code to get a notification when the ack for a
command sent to the micro-controller is received. This is in
preparation for improved detection of message loss between mcu and
host.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's not valid to set the TPWMTHRS in a "klippy:connect" event handler
because the TMCVirtualPinHelper and TMCCommandHelper classes were
expecting that field to be set during the config reading phase.
Revert "tmc: Fix typo preventing stealthchop threshold from being set"
This reverts commit 7d76067ff9.
Revert "tmc: Query the stepper step_distance from the stepper object"
This reverts commit 67b2852249.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Change home_wait() to return if the homing operation completed
succesfully or not. This simplifies the callers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update the endstop code to return its trigger completion object during
home_start(). Update the toolhead class to take a completion object
(instead of creating its own). This reduces the number of
intermediate callbacks needed during a homing operation.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's simpler to query the "printing" status from the idle_timeout
module on an event than it is to track changes to the printing status.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Introduce min_event_systime and rework the previous start_time,
last_event_time, and event_running flags into this one state tracking
variable.
This also makes a minor change to the behavior of the event_delay - it
is now calculated from the time the command completes execution
(instead of from when the event is first detected). This may make a
difference if there is a long running g-code command occurring during
the detection event.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rather than inherit from the BaseSensor, filament sensor implementatons
may instantiate the RunoutHelper and update the filament state via its
note_filament_present method.
Signed-off-by: Eric Callahan <arksine.code@gmail.com>
Add support for notifying the low-level probing handlers that a
multiple probe sequence is occurring. This is in preparation for the
bltouch code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Collapse the "homing:move_begin", "homing:move_end", home_prepare(),
and home_finalize() into two new events: "homing:homing_move_begin"
and "homing:homing_move_end". This simplifies the homing code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
When overriding a g-code command, allow the caller to obtain the
previous command handler. Use this feature in homing_override and
safe_z_home.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't obtain the step_distance from the config, instead obtain
step_distance from the instantiated stepper object.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't obtain the step_distance from the config, instead obtain
step_distance from the instantiated stepper object.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
In the rare case where the step generation code finds an interval of
zero, it was possible for an integer division of a negative number to
cause an incorrect result. Fix that by using the idiv_up() and
idiv_down() helpers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
There have been several reports that increasing the delay from 37us to
40us eliminates screen corruption on some clone hd44780 displays.
Increase the timeout value so that the standard code works on these
displays.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The caller can now determine which steppers are connected to cartesian
Z movement via the new stepper.is_active_axis() method. It is
therefore no longer necessary for the kinematic code to identify these
steppers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move interpolation checks to _init_mesh_params() so they can be done whle the config is being parsed. Do not allow a probe_count higher than 6 for lagrange interpolation, as this typically leads to oscillation.
Signed-off-by: Eric Callahan <arksine.code@gmail.com>
Don't force probing when BED_MESH_MAP is executed, output the existing mesh. If the user wants to probe each time before a map they can do so with a gcode_macro.
Signed-off-by: Eric Callahan <arksine.code@gmail.com>
Renamed some variables in set_mesh() previous called "mesh_min" and "mesh_max" to alleviate confusion with the config options.
Renamed several attributes for clarity. The "calibrate" attribute is now bmc, "probe_params" is now "mesh_params", "probed_z_table" is now "probed_matrix", "mesh_z_table" is now "mesh_matrix".
Signed-off-by: Eric Callahan <arksine.code@gmail.com>
Points are now logged after the printer is ready. The formatting is improved, printing out the point index, and its corresponding automatic and manual points.
BED_MESH_OUTPUT now includes a PGP parameter, if PGP=1 the generated points are printed to the terminal.
Signed-off-by: Eric Callahan <arksine.code@gmail.com>
Rename min_point, max_point, and bed_radius to mesh_min, mesh_max, and mesh_radius respectively. Add "mesh_origin" option, that allows round beds to specificy the center of the mesh.
Signed-off-by: Eric Callahan <arksine.code@gmail.com>
Fix typo that resulted in _get_extended_params() being called for all
commands. Allow "extended" g-code commands to contain numbers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Some kinematics do not result in a constant step rate during homing
operations. Calculate the endstop checking rate using the total
distance traveled on the axis divided by the axis step distance.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The STEPPER_BUZZ command needs to know if the axis is using radians
instead of millimeters so that it can move a more appropriate
distance.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add a mechanism for obtaining the print_time via a callback instead of
by flushing the look-ahead queue.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The print_time parameter of heater.set_temp() is not currently used
and it isn't necessary to flush the look-ahead queue just get the
print_time. Remove the parameter from heater.set_temp() to avoid
flushing the look-ahead queue.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If a null move is added as the first move on the trapezoid motion
queue then it could have a very large move->move_t value. This could
cause numerical stability issues with some advanced kinematic
formulas. Place a limit on the move_t value to avoid this.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This reverts commit 1b92af6078.
The standard "uc1701" lcd_type can now be used in place of the custom
"st7567" lcd_type.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If the queuelogger was holding the lock when the process is forked
then any attempt to log from the background process would result in a
deadlock. Attempt a workaround by disabling the queuelogger at the
start of the background process.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Provide a list of available heater and sensor names to
gcode macro templates through the printer.heater.available_heaters
and printer.heater.available_sensors variables
Signed-off-by: Simon Kühling <mail@simonkuehling.de>
The builtin Tn command is not sufficiently flexible to control some
multi-extruder printers. Remove the command and encourage users to
define individual gcode_macros for each Tn instance.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The M206 command isn't particularly standardized and isn't issued by
default from 3rd party software in their standard configurations.
Encourage users to use the more powerful SET_GCODE_OFFSET command.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Implement the pressure advance calculations while performing the
definitive integral calculations. This simplifies both the
extruder.py and kin_extruder.c code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The probe object may not have be instantiated when the
screws_tilt_adjust object is instantiated. Just remove the check.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The S parameter is not a standard and was not commonly used. The P
parameter (delay specified in milliseconds) is the commonly accepted
g-code mechanism for dwelling.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for an optional uc1701 rst_pin. Use the same reset pin
code handling with the SSD1306 code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
There is concern that some lcd boards that emulate the hd44780 don't
support text updates that wrap the two text framebuffers. Update the
code to treat the two text areas as two separate framebuffers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Large increases in fan speed can suffer from acceleration lag, so this
change kick starts the fan for a change of 50% or more in the same way
that starting the fan from 0% does.
Signed-off-by: Justin Schuh <code@justinschuh.com>
If an M25 is in a gcode file that is being printed from virtual SD, it
would cause a permanent hang. Detect that case and don't wait for
those M25 commands.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that the extruder lookahead method is no longer used it can be
removed from the toolhead and extruder classes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Support averaging the extruder position over a time range to "smooth
out" the velocity changes that occur during pressure advance.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Support calculating the definitive integral of a cartesian axis
position over a time range of the movement queue.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for kinematic functions that calculate step times based on
a range of the motion queue. This requires adding additional pause
times when fully flushing the motion queue.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for generating steps from kinematic functions that
calculate step times based on a range of the motion queue. It
requires scanning for step generation during the lead up to stepper
activity (when the stepper would nominally be idle). And it requires
scanning for step generation just after a stepper has nominally become
idle.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use sentinels to make list traversal code simpler. Also add in null
moves so that there are no time gaps in the list.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update code that modifies the low-level kinematics handlers to first
call toolhead.flush_step_generation().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Don't transition to the normal movement state if there aren't any
moves actually ready to be processed.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that the only caller to set_commanded_position() is
set_position(), remove the set_commanded_position() method and pass
the set_position() call directly to the itersolve.c code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that the homing code does not call set_commanded_position(), it is
no longer necessary to save/restore the position in the bltouch code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that the homing code does not use get_commanded_position(), it is
no longer necessary to alter the low-level commanded position after a
homing move.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Rename calc_position() to calc_tag_position() and have it calculate
the value of the position from the last stepper set_tag_position()
call. This enables the calc_tag_position() code to be more flexible
as it can be run with arbitrary positions.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that the tmc drivers perform automatic soft stepper enabling,
there is no need to be able to list multiple pins in the enable_pin
config setting.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Automatically detect if the stepper has a dedicated enable line. If
it does not, then automatically enable virtual enable support.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that the PrinterStepper and MCU_stepper classes have been merged,
there is no need for the add_to_endstop() method.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the enable line tracking out of the main stepper.py code. This
simplifies the main kinematic code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Directly disable all the stepper motors on a global motor_off() from
the StepperEnable() class in stepper_enable.py. This simplifies the
toolhead and kinematic classes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Minor rework of the loop to reduce the chance that numerical stability
could cause an infinite loop.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
No longer allow the primary extruder to be named "extruder0". This
avoids internal and external confusion between the printer objects and
config section names.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Do not apply max_extrude_cross_section check, and do apply
extrude_only_xxx checks to Z only moves that also extrude. Some
printer start scripts will prime the extruder while moving the Z.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Calculate the ratio of axis distance to total move distance (axis_d /
move_d) and store in a new member variable axes_r. This avoids
needing to recalculate the value in other code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Only track a single acceleration movement in a 'struct move' instance.
Break the classic trapezoid movement (accel, cruise, decel) into three
separate movements. This simplifies the calculation logic.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Load all items from the look-ahead queue into the trapezoid velocity
queue, and then flush that queue by time. This prevents the host cpu
from being starved on very long moves (which may require a large
number of steps to be generated). It also improves the overall
performance.
With the batch flushing logic in place, it is no longer necessary to
split homing moves up.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that all callers use the trapq system to queue moves, it is no
longer necessary to individually allocate and fill a 'struct move'.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Eliminate the old gen_steps() call now that all callers have been
converted to the newer trapq based generate_steps().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that all kinematics use the trapq system, there is no need to call
into the kinematics on each g-code move.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Support associating a stepper_kinematics with a trapq. Support
generating steps from a time range on the given trapq.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for building a list of moves in the trapq.c code. Update
the toolhead code so that moves generated from the look-ahead code are
added to that list.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If the kinematic position calculation function had an error in it (if
it produces sudden position changes) then it could lead to an infinite
loop in itersolve_gen_steps().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Break up the connect phase into two phases - mcu_identify and connect.
The first phase will contact all the micro-controllers and obtain the
"identify" data dictionaries for them. Once all the micro-controllers
have been contacted, then they can be configured. This fixes an issue
with FIRMWARE_RESTART not working correctly on multi-mcu setups that
use restart_method=command.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Wait in the M25 command handler until the work_handler() background
timer fully exits. This ensures that subsequent g-code commands (such
as M27 or M24) will correctly report a paused state.
Reported by @foosel.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The initial clock measurement wasn't properly implementing a small
delay between clock queries. Fix the pause() call so there is a small
delay between queries.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Some print start scripts may extrude at a position slightly higher
than the first z layer height. Tweak the backwards z test to reduce
the chance of the tuning test ending prematurely.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
PR #1970 introduced a new parameter, controlling the default behavior of the safe_z_home-module. To avoid unexpected changes, the default of the move_to_previous is now defaulted to False.
Signed-off-by: Nils Friedchen <Nils.Friedchen@googlemail.com>
If '[stepper_x]' and/or '[stepper_y]' have a 'position_min' that is
non-zero, and '[safe_z_home] home_xy_position' is '0,0'; then the 'G28'
command will _not_ move to '0,0'; but stay at 'position_min' during the
Z endstop test.
This fix corrects this issue.
Signed-off-by: Jason S. McMullan <jason.mcmullan@gmail.com>
Below off_below the fan will be turned off. When configured correctly this
can prevent stalling, which may lead to overheating and failed fans. To
simplify calibration and use of this setting, off_below is applied in the
input duty cycle domain, prior to any scaling due to e.g. max_power.
Signed-off-by: Nicholas Seckar <nseckar@gmail.com>
When reducing the maximum speed due to the max_accel_to_decel setting,
move velocity limits must still be propagated. Otherwise, the
trapezoid move planner may produce moves with velocity jumps.
Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor
David Smith
Denis Ignatenko
FanDjango
Christian S
Arksine
FanDjango
Simo Apell
Daniel Kucera
Simon Kühling
Petri Honkala
Matt Baker
Justin Schuh
Florian Heilmann
Geoff Shannon
Master92
Jason S. McMullan
Nicholas Seckar
Julien Lirochon
Piotr Usewicz