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>
Kevin O'Connor