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