mirror of https://github.com/Desuuuu/klipper.git
274 lines
13 KiB
Python
274 lines
13 KiB
Python
# Printer stepper support
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#
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# Copyright (C) 2016-2018 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, collections
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import homing
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######################################################################
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# Stepper enable pins
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######################################################################
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# Tracking of shared stepper enable pins
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class StepperEnablePin:
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def __init__(self, mcu_enable, enable_count=0):
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self.mcu_enable = mcu_enable
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self.enable_count = enable_count
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def set_enable(self, print_time, enable):
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if enable:
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if not self.enable_count:
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self.mcu_enable.set_digital(print_time, 1)
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self.enable_count += 1
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else:
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self.enable_count -= 1
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if not self.enable_count:
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self.mcu_enable.set_digital(print_time, 0)
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def lookup_enable_pin(ppins, pin):
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if pin is None:
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return StepperEnablePin(None, 9999)
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pin_params = ppins.lookup_pin(pin, can_invert=True,
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share_type='stepper_enable')
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enable = pin_params.get('class')
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if enable is None:
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mcu_enable = pin_params['chip'].setup_pin('digital_out', pin_params)
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mcu_enable.setup_max_duration(0.)
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pin_params['class'] = enable = StepperEnablePin(mcu_enable)
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return enable
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######################################################################
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# Steppers
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######################################################################
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# Code storing the definitions for a stepper motor
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class PrinterStepper:
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def __init__(self, config):
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printer = config.get_printer()
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self.name = config.get_name()
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self.need_motor_enable = True
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# Stepper definition
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ppins = printer.lookup_object('pins')
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step_pin = config.get('step_pin')
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self.mcu_stepper = mcu_stepper = ppins.setup_pin('stepper', step_pin)
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dir_pin = config.get('dir_pin')
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dir_pin_params = ppins.lookup_pin(dir_pin, can_invert=True)
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mcu_stepper.setup_dir_pin(dir_pin_params)
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step_dist = config.getfloat('step_distance', above=0.)
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mcu_stepper.setup_step_distance(step_dist)
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self.enable = lookup_enable_pin(ppins, config.get('enable_pin', None))
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# Register STEPPER_BUZZ command
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force_move = printer.try_load_module(config, 'force_move')
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force_move.register_stepper(self)
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# Wrappers
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self.step_itersolve = mcu_stepper.step_itersolve
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self.setup_itersolve = mcu_stepper.setup_itersolve
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self.set_stepper_kinematics = mcu_stepper.set_stepper_kinematics
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self.set_ignore_move = mcu_stepper.set_ignore_move
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self.calc_position_from_coord = mcu_stepper.calc_position_from_coord
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self.set_position = mcu_stepper.set_position
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self.get_mcu_position = mcu_stepper.get_mcu_position
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self.get_commanded_position = mcu_stepper.get_commanded_position
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self.get_step_dist = mcu_stepper.get_step_dist
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def get_name(self, short=False):
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if short and self.name.startswith('stepper_'):
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return self.name[8:]
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return self.name
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def add_to_endstop(self, mcu_endstop):
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mcu_endstop.add_stepper(self.mcu_stepper)
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def _dist_to_time(self, dist, start_velocity, accel):
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# Calculate the time it takes to travel a distance with constant accel
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time_offset = start_velocity / accel
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return math.sqrt(2. * dist / accel + time_offset**2) - time_offset
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def set_max_jerk(self, max_halt_velocity, max_accel):
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# Calculate the firmware's maximum halt interval time
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step_dist = self.get_step_dist()
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last_step_time = self._dist_to_time(
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step_dist, max_halt_velocity, max_accel)
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second_last_step_time = self._dist_to_time(
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2. * step_dist, max_halt_velocity, max_accel)
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min_stop_interval = second_last_step_time - last_step_time
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self.mcu_stepper.setup_min_stop_interval(min_stop_interval)
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def motor_enable(self, print_time, enable=0):
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if self.need_motor_enable != (not enable):
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self.enable.set_enable(print_time, enable)
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self.need_motor_enable = not enable
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def is_motor_enabled(self):
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return not self.need_motor_enable
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######################################################################
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# Stepper controlled rails
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######################################################################
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# A motor control "rail" with one (or more) steppers and one (or more)
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# endstops.
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class PrinterRail:
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def __init__(self, config, need_position_minmax=True,
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default_position_endstop=None):
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# Primary stepper
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stepper = PrinterStepper(config)
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self.steppers = [stepper]
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self.name = stepper.get_name(short=True)
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self.step_itersolve = stepper.step_itersolve
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self.get_commanded_position = stepper.get_commanded_position
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self.is_motor_enabled = stepper.is_motor_enabled
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# Primary endstop and its position
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printer = config.get_printer()
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ppins = printer.lookup_object('pins')
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mcu_endstop = ppins.setup_pin('endstop', config.get('endstop_pin'))
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self.endstops = [(mcu_endstop, self.name)]
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stepper.add_to_endstop(mcu_endstop)
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if hasattr(mcu_endstop, "get_position_endstop"):
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self.position_endstop = mcu_endstop.get_position_endstop()
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elif default_position_endstop is None:
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self.position_endstop = config.getfloat('position_endstop')
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else:
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self.position_endstop = config.getfloat(
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'position_endstop', default_position_endstop)
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query_endstops = printer.try_load_module(config, 'query_endstops')
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query_endstops.register_endstop(mcu_endstop, self.name)
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# Axis range
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if need_position_minmax:
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self.position_min = config.getfloat('position_min', 0.)
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self.position_max = config.getfloat(
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'position_max', above=self.position_min)
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else:
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self.position_min = 0.
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self.position_max = self.position_endstop
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if (self.position_endstop < self.position_min
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or self.position_endstop > self.position_max):
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raise config.error(
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"position_endstop in section '%s' must be between"
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" position_min and position_max" % config.get_name())
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# Homing mechanics
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self.homing_speed = config.getfloat('homing_speed', 5.0, above=0.)
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self.second_homing_speed = config.getfloat('second_homing_speed', self.homing_speed/2., above=0.)
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self.homing_retract_dist = config.getfloat(
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'homing_retract_dist', 5., minval=0.)
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self.homing_positive_dir = config.getboolean(
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'homing_positive_dir', None)
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if self.homing_positive_dir is None:
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axis_len = self.position_max - self.position_min
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if self.position_endstop <= self.position_min + axis_len / 4.:
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self.homing_positive_dir = False
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elif self.position_endstop >= self.position_max - axis_len / 4.:
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self.homing_positive_dir = True
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else:
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raise config.error(
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"Unable to infer homing_positive_dir in section '%s'" % (
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config.get_name(),))
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# Endstop stepper phase position tracking
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self.homing_stepper_phases = config.getint(
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'homing_stepper_phases', None, minval=0)
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endstop_accuracy = config.getfloat(
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'homing_endstop_accuracy', None, above=0.)
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self.homing_endstop_accuracy = self.homing_endstop_phase = None
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if self.homing_stepper_phases:
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self.homing_step_dist = step_dist = stepper.get_step_dist()
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self.homing_endstop_phase = config.getint(
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'homing_endstop_phase', None, minval=0
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, maxval=self.homing_stepper_phases-1)
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if (self.homing_endstop_phase is not None
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and config.getboolean('homing_endstop_align_zero', False)):
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# Adjust the endstop position so 0.0 is always at a full step
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micro_steps = self.homing_stepper_phases // 4
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phase_offset = (
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((self.homing_endstop_phase + micro_steps // 2)
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% micro_steps) - micro_steps // 2) * step_dist
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full_step = micro_steps * step_dist
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es_pos = (int(self.position_endstop / full_step + .5)
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* full_step + phase_offset)
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if es_pos != self.position_endstop:
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logging.info("Changing %s endstop position to %.3f"
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" (from %.3f)", self.name,
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es_pos, self.position_endstop)
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self.position_endstop = es_pos
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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 * .5 / step_dist))
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else:
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self.homing_endstop_accuracy = int(math.ceil(
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endstop_accuracy / 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.name)
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self.homing_stepper_phases = None
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if mcu_endstop.get_mcu().is_fileoutput():
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self.homing_endstop_accuracy = self.homing_stepper_phases
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def get_homed_offset(self):
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if not self.homing_stepper_phases:
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return 0.
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pos = self.steppers[0].get_mcu_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", self.name, pos)
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self.homing_endstop_phase = pos
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return 0.
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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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raise homing.EndstopError(
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"Endstop %s incorrect phase (got %d vs %d)" % (
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self.name, pos, self.homing_endstop_phase))
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return delta * self.homing_step_dist
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def get_range(self):
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return self.position_min, self.position_max
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def get_homing_info(self):
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homing_info = collections.namedtuple('homing_info', [
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'speed', 'position_endstop', 'retract_dist', 'positive_dir', 'second_homing_speed'])(
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self.homing_speed, self.position_endstop,
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self.homing_retract_dist, self.homing_positive_dir, self.second_homing_speed)
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return homing_info
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def get_steppers(self):
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return list(self.steppers)
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def get_endstops(self):
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return list(self.endstops)
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def add_extra_stepper(self, config):
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stepper = PrinterStepper(config)
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self.steppers.append(stepper)
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self.step_itersolve = self.step_multi_itersolve
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mcu_endstop = self.endstops[0][0]
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endstop_pin = config.get('endstop_pin', None)
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if endstop_pin is not None:
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printer = config.get_printer()
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ppins = printer.lookup_object('pins')
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mcu_endstop = ppins.setup_pin('endstop', endstop_pin)
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name = stepper.get_name(short=True)
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self.endstops.append((mcu_endstop, name))
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query_endstops = printer.try_load_module(config, 'query_endstops')
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query_endstops.register_endstop(mcu_endstop, name)
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stepper.add_to_endstop(mcu_endstop)
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def add_to_endstop(self, mcu_endstop):
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for stepper in self.steppers:
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stepper.add_to_endstop(mcu_endstop)
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def step_multi_itersolve(self, cmove):
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for stepper in self.steppers:
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stepper.step_itersolve(cmove)
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def setup_itersolve(self, alloc_func, *params):
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for stepper in self.steppers:
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stepper.setup_itersolve(alloc_func, *params)
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def set_max_jerk(self, max_halt_velocity, max_accel):
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for stepper in self.steppers:
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stepper.set_max_jerk(max_halt_velocity, max_accel)
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def set_position(self, newpos):
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for stepper in self.steppers:
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stepper.set_position(newpos)
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def motor_enable(self, print_time, enable=0):
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for stepper in self.steppers:
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stepper.motor_enable(print_time, enable)
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# Wrapper for dual stepper motor support
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def LookupMultiRail(config):
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rail = PrinterRail(config)
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for i in range(1, 99):
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if not config.has_section(config.get_name() + str(i)):
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break
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rail.add_extra_stepper(config.getsection(config.get_name() + str(i)))
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return rail
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