mirror of https://github.com/Desuuuu/klipper.git
106 lines
5.1 KiB
Python
106 lines
5.1 KiB
Python
# Printer stepper support
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#
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# Copyright (C) 2016 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 math, logging
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class PrinterStepper:
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def __init__(self, printer, config):
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self.printer = printer
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self.config = config
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self.mcu_stepper = self.mcu_enable = self.mcu_endstop = None
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self.step_dist = config.getfloat('step_distance')
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self.inv_step_dist = 1. / self.step_dist
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self.max_velocity = config.getfloat('max_velocity')
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self.max_accel = config.getfloat('max_accel')
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self.max_jerk = 0.
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self.homing_speed = config.getfloat('homing_speed', 5.0)
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self.homing_positive_dir = config.getboolean(
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'homing_positive_dir', False)
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self.homing_retract_dist = config.getfloat('homing_retract_dist', 5.)
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self.homing_stepper_phases = config.getint('homing_stepper_phases')
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self.homing_endstop_phase = config.getint('homing_endstop_phase')
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endstop_accuracy = config.getfloat('homing_endstop_accuracy')
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self.homing_endstop_accuracy = None
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if self.homing_stepper_phases:
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if endstop_accuracy is None:
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self.homing_endstop_accuracy = self.homing_stepper_phases//2 - 1
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elif self.homing_endstop_phase is not None:
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self.homing_endstop_accuracy = int(math.ceil(
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endstop_accuracy * self.inv_step_dist / 2.))
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else:
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self.homing_endstop_accuracy = int(math.ceil(
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endstop_accuracy * self.inv_step_dist))
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if self.homing_endstop_accuracy >= self.homing_stepper_phases/2:
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logging.info("Endstop for %s is not accurate enough for stepper"
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" phase adjustment" % (self.config.section,))
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self.homing_stepper_phases = None
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self.position_min = config.getfloat('position_min', 0.)
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self.position_endstop = config.getfloat('position_endstop')
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self.position_max = config.getfloat('position_max')
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self.clock_ticks = None
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self.need_motor_enable = True
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def set_max_jerk(self, max_jerk):
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self.max_jerk = max_jerk
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def build_config(self):
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self.clock_ticks = self.printer.mcu.get_mcu_freq()
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max_error = self.config.getfloat('max_error', 0.000050)
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max_error = int(max_error * self.clock_ticks)
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step_pin = self.config.get('step_pin')
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dir_pin = self.config.get('dir_pin')
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jc = self.max_jerk / self.max_accel
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inv_max_step_accel = self.step_dist / self.max_accel
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min_stop_interval = int((math.sqrt(3.*inv_max_step_accel + jc**2)
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- math.sqrt(inv_max_step_accel + jc**2))
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* self.clock_ticks) - max_error
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min_stop_interval = max(0, min_stop_interval)
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mcu = self.printer.mcu
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self.mcu_stepper = mcu.create_stepper(
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step_pin, dir_pin, min_stop_interval, max_error)
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enable_pin = self.config.get('enable_pin')
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if enable_pin is not None:
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self.mcu_enable = mcu.create_digital_out(enable_pin, 0)
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endstop_pin = self.config.get('endstop_pin')
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if endstop_pin is not None:
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self.mcu_endstop = mcu.create_endstop(endstop_pin, self.mcu_stepper)
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def motor_enable(self, move_time, enable=0):
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if (self.mcu_enable is not None
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and self.mcu_enable.get_last_setting() != enable):
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mc = int(self.mcu_enable.get_print_clock(move_time))
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self.mcu_enable.set_digital(mc + 1, enable)
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self.need_motor_enable = True
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def prep_move(self, sdir, move_time):
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move_clock = self.mcu_stepper.get_print_clock(move_time)
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self.mcu_stepper.set_next_step_dir(sdir, int(move_clock))
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if self.need_motor_enable:
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self.motor_enable(move_time, 1)
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self.need_motor_enable = False
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return (move_clock, self.clock_ticks, self.mcu_stepper)
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def enable_endstop_checking(self, move_time, hz):
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move_clock = int(self.mcu_endstop.get_print_clock(move_time))
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self.mcu_endstop.home(move_clock, int(self.clock_ticks / hz))
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return self.mcu_endstop
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def get_homed_position(self):
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if not self.homing_stepper_phases:
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return self.position_endstop
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pos = self.mcu_endstop.get_last_position()
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pos %= self.homing_stepper_phases
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if self.homing_endstop_phase is None:
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logging.info("Setting %s endstop phase to %d" % (
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self.config.section, pos))
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self.homing_endstop_phase = pos
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return self.position_endstop
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delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
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if delta >= self.homing_stepper_phases - self.homing_endstop_accuracy:
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delta -= self.homing_stepper_phases
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elif delta > self.homing_endstop_accuracy:
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logging.error("Endstop %s incorrect phase (got %d vs %d)" % (
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self.config.section, pos, self.homing_endstop_phase))
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return self.position_endstop
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return self.position_endstop + delta * self.step_dist
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