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>
Kevin O'Connor