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										 |  |  | # Support for enable pins on stepper motor drivers | 
					
						
							|  |  |  | # | 
					
						
							|  |  |  | # Copyright (C) 2019  Kevin O'Connor <kevin@koconnor.net> | 
					
						
							|  |  |  | # | 
					
						
							|  |  |  | # This file may be distributed under the terms of the GNU GPLv3 license. | 
					
						
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										 |  |  | import logging | 
					
						
							|  |  |  | 
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							|  |  |  | DISABLE_STALL_TIME = 0.100 | 
					
						
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										 |  |  | 
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										 |  |  | # Tracking of shared stepper enable pins | 
					
						
							|  |  |  | class StepperEnablePin: | 
					
						
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										 |  |  |     def __init__(self, mcu_enable, enable_count): | 
					
						
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										 |  |  |         self.mcu_enable = mcu_enable | 
					
						
							|  |  |  |         self.enable_count = enable_count | 
					
						
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										 |  |  |         self.is_dedicated = True | 
					
						
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										 |  |  |     def set_enable(self, print_time): | 
					
						
							|  |  |  |         if not self.enable_count: | 
					
						
							|  |  |  |             self.mcu_enable.set_digital(print_time, 1) | 
					
						
							|  |  |  |         self.enable_count += 1 | 
					
						
							|  |  |  |     def set_disable(self, print_time): | 
					
						
							|  |  |  |         self.enable_count -= 1 | 
					
						
							|  |  |  |         if not self.enable_count: | 
					
						
							|  |  |  |             self.mcu_enable.set_digital(print_time, 0) | 
					
						
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							|  |  |  | # Enable line tracking for each stepper motor | 
					
						
							|  |  |  | class EnableTracking: | 
					
						
							|  |  |  |     def __init__(self, printer, stepper, pin): | 
					
						
							|  |  |  |         self.stepper = stepper | 
					
						
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										 |  |  |         self.callbacks = [] | 
					
						
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										 |  |  |         self.is_enabled = False | 
					
						
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										 |  |  |         self.stepper.add_active_callback(self.motor_enable) | 
					
						
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										 |  |  |         if pin is None: | 
					
						
							|  |  |  |             # No enable line (stepper always enabled) | 
					
						
							|  |  |  |             self.enable = StepperEnablePin(None, 9999) | 
					
						
							|  |  |  |             self.enable.is_dedicated = False | 
					
						
							|  |  |  |             return | 
					
						
							|  |  |  |         ppins = printer.lookup_object('pins') | 
					
						
							|  |  |  |         pin_params = ppins.lookup_pin(pin, can_invert=True, | 
					
						
							|  |  |  |                                       share_type='stepper_enable') | 
					
						
							|  |  |  |         self.enable = pin_params.get('class') | 
					
						
							|  |  |  |         if self.enable is not None: | 
					
						
							|  |  |  |             # Shared enable line | 
					
						
							|  |  |  |             self.enable.is_dedicated = False | 
					
						
							|  |  |  |             return | 
					
						
							|  |  |  |         mcu_enable = pin_params['chip'].setup_pin('digital_out', pin_params) | 
					
						
							|  |  |  |         mcu_enable.setup_max_duration(0.) | 
					
						
							|  |  |  |         self.enable = pin_params['class'] = StepperEnablePin(mcu_enable, 0) | 
					
						
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										 |  |  |     def register_state_callback(self, callback): | 
					
						
							|  |  |  |         self.callbacks.append(callback) | 
					
						
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										 |  |  |     def motor_enable(self, print_time): | 
					
						
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										 |  |  |         if not self.is_enabled: | 
					
						
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										 |  |  |             for cb in self.callbacks: | 
					
						
							|  |  |  |                 cb(print_time, True) | 
					
						
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										 |  |  |             self.enable.set_enable(print_time) | 
					
						
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										 |  |  |             self.is_enabled = True | 
					
						
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										 |  |  |     def motor_disable(self, print_time): | 
					
						
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										 |  |  |         if self.is_enabled: | 
					
						
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										 |  |  |             # Enable stepper on future stepper movement | 
					
						
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										 |  |  |             for cb in self.callbacks: | 
					
						
							|  |  |  |                 cb(print_time, False) | 
					
						
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										 |  |  |             self.enable.set_disable(print_time) | 
					
						
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										 |  |  |             self.is_enabled = False | 
					
						
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										 |  |  |             self.stepper.add_active_callback(self.motor_enable) | 
					
						
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										 |  |  |     def is_motor_enabled(self): | 
					
						
							|  |  |  |         return self.is_enabled | 
					
						
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										 |  |  |     def has_dedicated_enable(self): | 
					
						
							|  |  |  |         return self.enable.is_dedicated | 
					
						
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										 |  |  | 
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										 |  |  | # Global stepper enable line tracking | 
					
						
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										 |  |  | class PrinterStepperEnable: | 
					
						
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										 |  |  |     def __init__(self, config): | 
					
						
							|  |  |  |         self.printer = config.get_printer() | 
					
						
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										 |  |  |         self.enable_lines = {} | 
					
						
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										 |  |  |         self.printer.register_event_handler("gcode:request_restart", | 
					
						
							|  |  |  |                                             self._handle_request_restart) | 
					
						
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										 |  |  |         # Register M18/M84 commands | 
					
						
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										 |  |  |         gcode = self.printer.lookup_object('gcode') | 
					
						
							|  |  |  |         gcode.register_command("M18", self.cmd_M18) | 
					
						
							|  |  |  |         gcode.register_command("M84", self.cmd_M18) | 
					
						
							|  |  |  |         gcode.register_command("SET_STEPPER_ENABLE", | 
					
						
							|  |  |  |                                self.cmd_SET_STEPPER_ENABLE, | 
					
						
							|  |  |  |                                desc=self.cmd_SET_STEPPER_ENABLE_help) | 
					
						
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										 |  |  |     def register_stepper(self, stepper, pin): | 
					
						
							|  |  |  |         name = stepper.get_name() | 
					
						
							|  |  |  |         self.enable_lines[name] = EnableTracking(self.printer, stepper, pin) | 
					
						
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										 |  |  |     def motor_off(self): | 
					
						
							|  |  |  |         toolhead = self.printer.lookup_object('toolhead') | 
					
						
							|  |  |  |         toolhead.dwell(DISABLE_STALL_TIME) | 
					
						
							|  |  |  |         print_time = toolhead.get_last_move_time() | 
					
						
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										 |  |  |         for el in self.enable_lines.values(): | 
					
						
							|  |  |  |             el.motor_disable(print_time) | 
					
						
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										 |  |  |         self.printer.send_event("stepper_enable:motor_off", print_time) | 
					
						
							|  |  |  |         toolhead.dwell(DISABLE_STALL_TIME) | 
					
						
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										 |  |  |     def motor_debug_enable(self, stepper, enable): | 
					
						
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										 |  |  |         toolhead = self.printer.lookup_object('toolhead') | 
					
						
							|  |  |  |         toolhead.dwell(DISABLE_STALL_TIME) | 
					
						
							|  |  |  |         print_time = toolhead.get_last_move_time() | 
					
						
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										 |  |  |         el = self.enable_lines[stepper] | 
					
						
							|  |  |  |         if enable: | 
					
						
							|  |  |  |             el.motor_enable(print_time) | 
					
						
							|  |  |  |             logging.info("%s has been manually enabled", stepper) | 
					
						
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										 |  |  |         else: | 
					
						
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										 |  |  |             el.motor_disable(print_time) | 
					
						
							|  |  |  |             logging.info("%s has been manually disabled", stepper) | 
					
						
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										 |  |  |         toolhead.dwell(DISABLE_STALL_TIME) | 
					
						
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										 |  |  |     def _handle_request_restart(self, print_time): | 
					
						
							|  |  |  |         self.motor_off() | 
					
						
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										 |  |  |     def cmd_M18(self, gcmd): | 
					
						
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										 |  |  |         # Turn off motors | 
					
						
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										 |  |  |         self.motor_off() | 
					
						
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										 |  |  |     cmd_SET_STEPPER_ENABLE_help = "Enable/disable individual stepper by name" | 
					
						
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										 |  |  |     def cmd_SET_STEPPER_ENABLE(self, gcmd): | 
					
						
							|  |  |  |         stepper_name = gcmd.get('STEPPER', None) | 
					
						
							|  |  |  |         if stepper_name not in self.enable_lines: | 
					
						
							|  |  |  |             gcmd.respond_info('SET_STEPPER_ENABLE: Invalid stepper "%s"' | 
					
						
							|  |  |  |                               % (stepper_name,)) | 
					
						
							|  |  |  |             return | 
					
						
							|  |  |  |         stepper_enable = gcmd.get_int('ENABLE', 1) | 
					
						
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										 |  |  |         self.motor_debug_enable(stepper_name, stepper_enable) | 
					
						
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										 |  |  |     def lookup_enable(self, name): | 
					
						
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										 |  |  |         if name not in self.enable_lines: | 
					
						
							|  |  |  |             raise self.printer.config_error("Unknown stepper '%s'" % (name,)) | 
					
						
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										 |  |  |         return self.enable_lines[name] | 
					
						
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							|  |  |  | def load_config(config): | 
					
						
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										 |  |  |     return PrinterStepperEnable(config) |