Change the config file so that the delta arm length is specified
per-tower. This makes it possible to support advanced calibration.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use the formulas for trilateration (instead of the circumcenter
formulas) when calculating the position of the nozzle from the
position of the carriages. The trilateration formula is more general
and it allows each tower to have a different arm length.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's valid to consider the stepper at a position that is not on a step
interval - only the "mcu position" needs to be an integer.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add a new config option 'homing_endstop_align_zero' to enable the
alignment of the endstop to a stepper full step. It's possible one
may wish to specify a homing_endstop_phase while not aligning the
endstop.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the homing logic out of toolhead.py and into homing.py. This
simplifies the toolhead logic and centralizes the homing code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Reset the last step clock during the init phase and after each home -
this simplifies the runtime code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Make sure to always call MCU_endstop.home_wait() if
MCU_endstop.home_start() is invoked. Rename
MCU_stepper.note_homing_triggered() to note_homing_end() and make sure
it is always called if MCU_stepper.note_homing_start() is invoked.
With these changes, MCU_endstop.home_finalize() is no longer needed.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The homing code wants the list of endstops to enable during a homing
operation - it's confusing to pass the steppers.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that commands can be registered dynamically, move the code for
SET_SERVO from gcode.py to the PrinterServo() class in chipmisc.py.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Translate caught exceptions into a gcode.error() exception. This way
there is one standard place to invoke respond_error(). Also, always
reset the last_position on a handled error.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit e05c6354 changed the internal step compress queue from 64bit
integers to 32bit integers. However, that commit broke the proactive
flushing of moves that could produce more than 64K steps. This could
lead to large memory allocations and cpu slow downs on printers that
had a very large Z axis - possibly leading to a "Timer too close" mcu
shutdown. Correct the code so that it properly generates a 64bit
flush clock.
Also, be sure to only expand / memmove the queue when there is no room
for a new element at the end.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of adding 250ms to each homing operation add a time relative
to the number of estimated steps that are to be generated. This
scales the delay to really large axes without adding a delay for
normal users.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow multiple steppers to be defined for a single cartesian axis.
This adds support for dual-z setups.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add wrappers around mcu_endstop and mcu_stepper so that the kinematic
classes do not need to directly access these low-level classes.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update the graphstats.py graphing script so that it works with recent
stats changes - the stats can now contain groups that end with a ':'
and the print_time is no longer reset to zero on a new print.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The Beaglebone hardware prevents the PRU from updating the pinmux
board settings. As a result, the PRU can't directly change the pin
direction or change the pullup resistor settings. Warn the Beaglebone
users of this limitation.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Make sure the ADC module gets loaded during startup - it's normally
loaded by the cape manager eeprom, but there's no harm in requesting
it explicitly.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Only open the watchdog device after the console has been opened. The
machine should not reboot in the unlikely event the console can't be
opened.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If an MCU signals a shutdown from the background thread, notify the
main thread and handle the shutdown there. Dispatch shutdown handling
from the main Printer() class instead of from the Toolhead class.
This simplifies the shutdown logic.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor