mirror of https://github.com/Desuuuu/klipper.git
307 lines
13 KiB
Python
307 lines
13 KiB
Python
# Code to configure miscellaneous chips
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#
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# Copyright (C) 2017 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import pins, mcu
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######################################################################
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# Statically configured output pins
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######################################################################
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class PrinterStaticDigitalOut:
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def __init__(self, printer, config):
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pin_list = [pin.strip() for pin in config.get('pins').split(',')]
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for pin_desc in pin_list:
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mcu_pin = pins.setup_pin(printer, 'digital_out', pin_desc)
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mcu_pin.setup_static()
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class PrinterStaticPWM:
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def __init__(self, printer, config):
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mcu_pwm = pins.setup_pin(printer, 'pwm', config.get('pin'))
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mcu_pwm.setup_max_duration(0.)
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hard_pwm = config.getint('hard_pwm', None, minval=1)
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if hard_pwm is None:
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mcu_pwm.setup_cycle_time(config.getfloat(
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'cycle_time', 0.100, above=0.))
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else:
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mcu_pwm.setup_hard_pwm(hard_pwm)
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scale = config.getfloat('scale', 1., above=0.)
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value = config.getfloat('value', minval=0., maxval=scale)
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mcu_pwm.setup_static_pwm(value / scale)
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######################################################################
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# Servos
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######################################################################
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SERVO_MIN_TIME = 0.100
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SERVO_SIGNAL_PERIOD = 0.020
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class PrinterServo:
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def __init__(self, printer, config):
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self.printer = printer
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self.mcu_servo = pins.setup_pin(printer, 'pwm', config.get('pin'))
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self.mcu_servo.setup_max_duration(0.)
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self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
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self.min_width = config.getfloat(
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'minimum_pulse_width', .001, above=0., below=SERVO_SIGNAL_PERIOD)
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self.max_width = config.getfloat(
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'maximum_pulse_width', .002
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, above=self.min_width, below=SERVO_SIGNAL_PERIOD)
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self.max_angle = config.getfloat('maximum_servo_angle', 180.)
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self.angle_to_width = (self.max_width - self.min_width) / self.max_angle
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self.width_to_value = 1. / SERVO_SIGNAL_PERIOD
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self.last_value = self.last_value_time = 0.
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self.gcode = printer.objects['gcode']
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self.gcode.register_command("SET_SERVO", self.cmd_SET_SERVO,
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desc=self.cmd_SET_SERVO_help)
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def set_pwm(self, print_time, value):
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if value == self.last_value:
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return
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print_time = max(self.last_value_time + SERVO_MIN_TIME, print_time)
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self.mcu_servo.set_pwm(print_time, value)
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self.last_value = value
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self.last_value_time = print_time
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def set_angle(self, print_time, angle):
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angle = max(0., min(self.max_angle, angle))
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width = self.min_width + angle * self.angle_to_width
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self.set_pwm(print_time, width * self.width_to_value)
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def set_pulse_width(self, print_time, width):
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width = max(self.min_width, min(self.max_width, width))
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self.set_pwm(print_time, width * self.width_to_value)
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cmd_SET_SERVO_help = "Set servo angle"
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def cmd_SET_SERVO(self, params):
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servo_name = self.gcode.get_str('SERVO', params)
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servo = self.printer.objects.get('servo ' + servo_name)
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if servo is not self:
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if servo is None:
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raise self.gcode.error("Servo not configured")
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return servo.cmd_SET_SERVO(params)
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print_time = self.printer.objects['toolhead'].get_last_move_time()
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if 'WIDTH' in params:
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self.set_pulse_width(print_time,
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self.gcode.get_float('WIDTH', params))
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else:
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self.set_angle(print_time, self.gcode.get_float('ANGLE', params))
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######################################################################
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# AD5206 digipot
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######################################################################
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class ad5206:
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def __init__(self, printer, config):
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enable_pin_params = pins.get_printer_pins(printer).parse_pin_desc(
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config.get('enable_pin'))
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self.mcu = enable_pin_params['chip']
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self.pin = enable_pin_params['pin']
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self.mcu.add_config_object(self)
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scale = config.getfloat('scale', 1., above=0.)
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self.channels = [None] * 6
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for i in range(len(self.channels)):
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val = config.getfloat('channel_%d' % (i+1,), None,
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minval=0., maxval=scale)
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if val is not None:
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self.channels[i] = int(val * 256. / scale + .5)
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def build_config(self):
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for i, val in enumerate(self.channels):
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if val is not None:
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self.mcu.add_config_cmd(
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"send_spi_message pin=%s msg=%02x%02x" % (self.pin, i, val))
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######################################################################
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# Replicape board
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######################################################################
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REPLICAPE_MAX_CURRENT = 3.84
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REPLICAPE_SHIFT_REGISTER_BUS = 1
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REPLICAPE_SHIFT_REGISTER_DEVICE = 1
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REPLICAPE_PCA9685_BUS = 2
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REPLICAPE_PCA9685_ADDRESS = 0x70
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REPLICAPE_PCA9685_CYCLE_TIME = .001
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class pca9685_pwm:
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def __init__(self, replicape, channel, pin_params):
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self._replicape = replicape
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self._channel = channel
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if pin_params['type'] not in ['digital_out', 'pwm']:
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raise pins.error("Pin type not supported on replicape")
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self._mcu = replicape.host_mcu
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self._mcu.add_config_object(self)
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self._bus = REPLICAPE_PCA9685_BUS
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self._address = REPLICAPE_PCA9685_ADDRESS
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self._cycle_time = REPLICAPE_PCA9685_CYCLE_TIME
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self._max_duration = 2.
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self._oid = None
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self._invert = pin_params['invert']
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self._shutdown_value = float(self._invert)
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self._last_clock = 0
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self._pwm_max = 0.
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self._cmd_queue = self._mcu.alloc_command_queue()
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self._set_cmd = None
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self._static_value = None
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def get_mcu(self):
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return self._mcu
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def setup_max_duration(self, max_duration):
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self._max_duration = max_duration
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def setup_cycle_time(self, cycle_time):
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pass
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def setup_hard_pwm(self, hard_cycle_ticks):
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if hard_cycle_ticks:
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raise pins.error("pca9685 does not support hard_pwm parameter")
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def setup_static_pwm(self, value):
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if self._invert:
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value = 1. - value
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self._static_value = max(0., min(1., value))
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def setup_shutdown_value(self, value):
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if self._invert:
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value = 1. - value
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self._shutdown_value = max(0., min(1., value))
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if self._shutdown_value:
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self._replicape.note_enable_on_shutdown()
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def build_config(self):
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self._pwm_max = self._mcu.get_constant_float("PCA9685_MAX")
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cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time)
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if self._static_value is not None:
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value = int(self._static_value * self._pwm_max + 0.5)
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self._mcu.add_config_cmd(
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"set_pca9685_out bus=%d addr=%d channel=%d"
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" cycle_ticks=%d value=%d" % (
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self._bus, self._address, self._channel,
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cycle_ticks, value))
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return
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self._oid = self._mcu.create_oid()
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self._mcu.add_config_cmd(
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"config_pca9685 oid=%d bus=%d addr=%d channel=%d cycle_ticks=%d"
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" value=%d default_value=%d max_duration=%d" % (
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self._oid, self._bus, self._address, self._channel, cycle_ticks,
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self._invert * self._pwm_max,
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self._shutdown_value * self._pwm_max,
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self._mcu.seconds_to_clock(self._max_duration)))
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self._set_cmd = self._mcu.lookup_command(
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"schedule_pca9685_out oid=%c clock=%u value=%hu")
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def set_pwm(self, print_time, value):
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clock = self._mcu.print_time_to_clock(print_time)
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if self._invert:
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value = 1. - value
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value = int(max(0., min(1., value)) * self._pwm_max + 0.5)
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self._replicape.note_enable(print_time, self._channel, not not value)
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msg = self._set_cmd.encode(self._oid, clock, value)
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self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
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, cq=self._cmd_queue)
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self._last_clock = clock
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def set_digital(self, print_time, value):
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if value:
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self.set_pwm(print_time, 1.)
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else:
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self.set_pwm(print_time, 0.)
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class ReplicapeDACEnable:
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def __init__(self, replicape, channel, pin_params):
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if pin_params['type'] != 'digital_out':
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raise pins.error("Replicape virtual enable pin must be digital_out")
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if pin_params['invert']:
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raise pins.error("Replicape virtual enable pin can not be inverted")
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self.mcu = replicape.host_mcu
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self.value = replicape.stepper_dacs[channel]
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self.pwm = pca9685_pwm(replicape, channel, pin_params)
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def get_mcu(self):
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return self.mcu
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def setup_max_duration(self, max_duration):
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self.pwm.setup_max_duration(max_duration)
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def set_digital(self, print_time, value):
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if value:
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self.pwm.set_pwm(print_time, self.value)
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else:
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self.pwm.set_pwm(print_time, 0.)
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ReplicapeStepConfig = {
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'disable': None,
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'1': (1<<7)|(1<<5), '2': (1<<7)|(1<<5)|(1<<6), 'spread2': (1<<5),
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'4': (1<<7)|(1<<5)|(1<<4), '16': (1<<7)|(1<<5)|(1<<6)|(1<<4),
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'spread4': (1<<5)|(1<<4), 'spread16': (1<<7), 'stealth4': (1<<7)|(1<<6),
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'stealth16': 0
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}
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class Replicape:
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def __init__(self, printer, config):
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pins.get_printer_pins(printer).register_chip('replicape', self)
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revisions = {'B3': 'B3'}
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config.getchoice('revision', revisions)
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self.host_mcu = mcu.get_printer_mcu(printer, config.get('host_mcu'))
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# Setup enable pin
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self.mcu_enable = pins.setup_pin(
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printer, 'digital_out', config.get('enable_pin', '!P9_41'))
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self.mcu_enable.setup_max_duration(0.)
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self.enabled_channels = {}
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# Setup power pins
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self.pins = {
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"power_e": (pca9685_pwm, 5), "power_h": (pca9685_pwm, 3),
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"power_hotbed": (pca9685_pwm, 4),
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"power_fan0": (pca9685_pwm, 7), "power_fan1": (pca9685_pwm, 8),
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"power_fan2": (pca9685_pwm, 9), "power_fan3": (pca9685_pwm, 10) }
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# Setup stepper config
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self.stepper_dacs = {}
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shift_registers = [1] * 5
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for port, name in enumerate('xyzeh'):
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prefix = 'stepper_%s_' % (name,)
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sc = config.getchoice(
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prefix + 'microstep_mode', ReplicapeStepConfig, 'disable')
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if sc is None:
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continue
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if config.getboolean(prefix + 'chopper_off_time_high', False):
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sc |= 1<<3
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if config.getboolean(prefix + 'chopper_hysteresis_high', False):
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sc |= 1<<2
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if config.getboolean(prefix + 'chopper_blank_time_high', True):
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sc |= 1<<1
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shift_registers[port] = sc
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channel = port + 11
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cur = config.getfloat(
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prefix + 'current', above=0., maxval=REPLICAPE_MAX_CURRENT)
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self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT
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self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel)
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shift_registers.reverse()
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self.host_mcu.add_config_cmd("send_spi bus=%d dev=%d msg=%s" % (
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REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
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"".join(["%02x" % (x,) for x in shift_registers])))
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def note_enable_on_shutdown(self):
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self.mcu_enable.setup_shutdown_value(1)
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def note_enable(self, print_time, channel, is_enable):
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if is_enable:
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is_off = not self.enabled_channels
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self.enabled_channels[channel] = 1
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if is_off:
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self.mcu_enable.set_digital(print_time, 1)
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elif channel in self.enabled_channels:
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del self.enabled_channels[channel]
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if not self.enabled_channels:
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self.mcu_enable.set_digital(print_time, 0)
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def setup_pin(self, pin_params):
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pin = pin_params['pin']
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if pin not in self.pins:
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raise pins.error("Unknown replicape pin %s" % (pin,))
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pclass, channel = self.pins[pin]
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return pclass(self, channel, pin_params)
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######################################################################
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# Setup
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######################################################################
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def add_printer_objects(printer, config):
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if config.has_section('replicape'):
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printer.add_object('replicape', Replicape(
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printer, config.getsection('replicape')))
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for s in config.get_prefix_sections('static_digital_output '):
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printer.add_object(s.section, PrinterStaticDigitalOut(printer, s))
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for s in config.get_prefix_sections('static_pwm_output '):
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printer.add_object(s.section, PrinterStaticPWM(printer, s))
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for s in config.get_prefix_sections('servo '):
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printer.add_object(s.section, PrinterServo(printer, s))
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for s in config.get_prefix_sections('ad5206 '):
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printer.add_object(s.section, ad5206(printer, s))
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