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										 |  |  | # Printer stepper support | 
					
						
							|  |  |  | # | 
					
						
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										 |  |  | # Copyright (C) 2016-2018  Kevin O'Connor <kevin@koconnor.net> | 
					
						
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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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										 |  |  | # Tracking of shared stepper enable pins | 
					
						
							|  |  |  | class StepperEnablePin: | 
					
						
							|  |  |  |     def __init__(self, mcu_enable, enable_count=0): | 
					
						
							|  |  |  |         self.mcu_enable = mcu_enable | 
					
						
							|  |  |  |         self.enable_count = enable_count | 
					
						
							|  |  |  |     def set_enable(self, print_time, enable): | 
					
						
							|  |  |  |         if enable: | 
					
						
							|  |  |  |             if not self.enable_count: | 
					
						
							|  |  |  |                 self.mcu_enable.set_digital(print_time, 1) | 
					
						
							|  |  |  |             self.enable_count += 1 | 
					
						
							|  |  |  |         else: | 
					
						
							|  |  |  |             self.enable_count -= 1 | 
					
						
							|  |  |  |             if not self.enable_count: | 
					
						
							|  |  |  |                 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: | 
					
						
							|  |  |  |         return StepperEnablePin(None, 9999) | 
					
						
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										 |  |  |     pin_params = ppins.lookup_pin(pin, can_invert=True, | 
					
						
							|  |  |  |                                   share_type='stepper_enable') | 
					
						
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										 |  |  |     enable = pin_params.get('class') | 
					
						
							|  |  |  |     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.) | 
					
						
							|  |  |  |         pin_params['class'] = enable = StepperEnablePin(mcu_enable) | 
					
						
							|  |  |  |     return enable | 
					
						
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										 |  |  | 
 | 
					
						
							|  |  |  | ###################################################################### | 
					
						
							|  |  |  | # Steppers | 
					
						
							|  |  |  | ###################################################################### | 
					
						
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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): | 
					
						
							|  |  |  |         printer = config.get_printer() | 
					
						
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										 |  |  |         self.name = config.get_name() | 
					
						
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										 |  |  |         self.need_motor_enable = True | 
					
						
							|  |  |  |         # Stepper definition | 
					
						
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										 |  |  |         ppins = printer.lookup_object('pins') | 
					
						
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										 |  |  |         step_pin = config.get('step_pin') | 
					
						
							|  |  |  |         self.mcu_stepper = mcu_stepper = ppins.setup_pin('stepper', step_pin) | 
					
						
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										 |  |  |         dir_pin = config.get('dir_pin') | 
					
						
							|  |  |  |         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') | 
					
						
							|  |  |  |         force_move.register_stepper(self) | 
					
						
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										 |  |  |         # Wrappers | 
					
						
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										 |  |  |         self.step_itersolve = mcu_stepper.step_itersolve | 
					
						
							|  |  |  |         self.setup_itersolve = mcu_stepper.setup_itersolve | 
					
						
							|  |  |  |         self.set_stepper_kinematics = mcu_stepper.set_stepper_kinematics | 
					
						
							|  |  |  |         self.set_ignore_move = mcu_stepper.set_ignore_move | 
					
						
							|  |  |  |         self.calc_position_from_coord = mcu_stepper.calc_position_from_coord | 
					
						
							|  |  |  |         self.set_position = mcu_stepper.set_position | 
					
						
							|  |  |  |         self.get_commanded_position = mcu_stepper.get_commanded_position | 
					
						
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										 |  |  |         self.set_commanded_position = mcu_stepper.set_commanded_position | 
					
						
							|  |  |  |         self.get_mcu_position = mcu_stepper.get_mcu_position | 
					
						
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										 |  |  |         self.get_step_dist = mcu_stepper.get_step_dist | 
					
						
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										 |  |  |     def get_name(self, short=False): | 
					
						
							|  |  |  |         if short and self.name.startswith('stepper_'): | 
					
						
							|  |  |  |             return self.name[8:] | 
					
						
							|  |  |  |         return self.name | 
					
						
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										 |  |  |     def add_to_endstop(self, mcu_endstop): | 
					
						
							|  |  |  |         mcu_endstop.add_stepper(self.mcu_stepper) | 
					
						
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										 |  |  |     def _dist_to_time(self, dist, start_velocity, accel): | 
					
						
							|  |  |  |         # Calculate the time it takes to travel a distance with constant accel | 
					
						
							|  |  |  |         time_offset = start_velocity / accel | 
					
						
							|  |  |  |         return math.sqrt(2. * dist / accel + time_offset**2) - time_offset | 
					
						
							|  |  |  |     def set_max_jerk(self, max_halt_velocity, max_accel): | 
					
						
							|  |  |  |         # 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): | 
					
						
							|  |  |  |             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): | 
					
						
							|  |  |  |         return not self.need_motor_enable | 
					
						
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										 |  |  | 
 | 
					
						
							|  |  |  | ###################################################################### | 
					
						
							|  |  |  | # Stepper controlled rails | 
					
						
							|  |  |  | ###################################################################### | 
					
						
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							|  |  |  | # A motor control "rail" with one (or more) steppers and one (or more) | 
					
						
							|  |  |  | # endstops. | 
					
						
							|  |  |  | 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 | 
					
						
							|  |  |  |         stepper = PrinterStepper(config) | 
					
						
							|  |  |  |         self.steppers = [stepper] | 
					
						
							|  |  |  |         self.name = stepper.get_name(short=True) | 
					
						
							|  |  |  |         self.step_itersolve = stepper.step_itersolve | 
					
						
							|  |  |  |         self.get_commanded_position = stepper.get_commanded_position | 
					
						
							|  |  |  |         self.is_motor_enabled = stepper.is_motor_enabled | 
					
						
							|  |  |  |         # Primary endstop and its position | 
					
						
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										 |  |  |         printer = config.get_printer() | 
					
						
							|  |  |  |         ppins = printer.lookup_object('pins') | 
					
						
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										 |  |  |         mcu_endstop = ppins.setup_pin('endstop', config.get('endstop_pin')) | 
					
						
							|  |  |  |         self.endstops = [(mcu_endstop, self.name)] | 
					
						
							|  |  |  |         stepper.add_to_endstop(mcu_endstop) | 
					
						
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										 |  |  |         if hasattr(mcu_endstop, "get_position_endstop"): | 
					
						
							|  |  |  |             self.position_endstop = mcu_endstop.get_position_endstop() | 
					
						
							|  |  |  |         elif default_position_endstop is None: | 
					
						
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										 |  |  |             self.position_endstop = config.getfloat('position_endstop') | 
					
						
							|  |  |  |         else: | 
					
						
							|  |  |  |             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') | 
					
						
							|  |  |  |         query_endstops.register_endstop(mcu_endstop, self.name) | 
					
						
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										 |  |  |         # Axis range | 
					
						
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										 |  |  |         if need_position_minmax: | 
					
						
							|  |  |  |             self.position_min = config.getfloat('position_min', 0.) | 
					
						
							|  |  |  |             self.position_max = config.getfloat( | 
					
						
							|  |  |  |                 'position_max', above=self.position_min) | 
					
						
							|  |  |  |         else: | 
					
						
							|  |  |  |             self.position_min = 0. | 
					
						
							|  |  |  |             self.position_max = self.position_endstop | 
					
						
							|  |  |  |         if (self.position_endstop < self.position_min | 
					
						
							|  |  |  |             or self.position_endstop > self.position_max): | 
					
						
							|  |  |  |             raise config.error( | 
					
						
							|  |  |  |                 "position_endstop in section '%s' must be between" | 
					
						
							|  |  |  |                 " 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( | 
					
						
							|  |  |  |             'homing_positive_dir', None) | 
					
						
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										 |  |  |         if self.homing_positive_dir is None: | 
					
						
							|  |  |  |             axis_len = self.position_max - self.position_min | 
					
						
							|  |  |  |             if self.position_endstop <= self.position_min + axis_len / 4.: | 
					
						
							|  |  |  |                 self.homing_positive_dir = False | 
					
						
							|  |  |  |             elif self.position_endstop >= self.position_max - axis_len / 4.: | 
					
						
							|  |  |  |                 self.homing_positive_dir = True | 
					
						
							|  |  |  |             else: | 
					
						
							|  |  |  |                 raise config.error( | 
					
						
							|  |  |  |                     "Unable to infer homing_positive_dir in section '%s'" % ( | 
					
						
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										 |  |  |                         config.get_name(),)) | 
					
						
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										 |  |  |     def get_range(self): | 
					
						
							|  |  |  |         return self.position_min, self.position_max | 
					
						
							|  |  |  |     def get_homing_info(self): | 
					
						
							|  |  |  |         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 | 
					
						
							|  |  |  |     def get_steppers(self): | 
					
						
							|  |  |  |         return list(self.steppers) | 
					
						
							|  |  |  |     def get_endstops(self): | 
					
						
							|  |  |  |         return list(self.endstops) | 
					
						
							|  |  |  |     def add_extra_stepper(self, config): | 
					
						
							|  |  |  |         stepper = PrinterStepper(config) | 
					
						
							|  |  |  |         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] | 
					
						
							|  |  |  |         endstop_pin = config.get('endstop_pin', None) | 
					
						
							|  |  |  |         if endstop_pin is not None: | 
					
						
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										 |  |  |             printer = config.get_printer() | 
					
						
							|  |  |  |             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) | 
					
						
							|  |  |  |             self.endstops.append((mcu_endstop, name)) | 
					
						
							|  |  |  |             query_endstops = printer.try_load_module(config, 'query_endstops') | 
					
						
							|  |  |  |             query_endstops.register_endstop(mcu_endstop, name) | 
					
						
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										 |  |  |         stepper.add_to_endstop(mcu_endstop) | 
					
						
							|  |  |  |     def add_to_endstop(self, mcu_endstop): | 
					
						
							|  |  |  |         for stepper in self.steppers: | 
					
						
							|  |  |  |             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: | 
					
						
							|  |  |  |             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: | 
					
						
							|  |  |  |             stepper.set_max_jerk(max_halt_velocity, max_accel) | 
					
						
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										 |  |  |     def set_commanded_position(self, pos): | 
					
						
							|  |  |  |         for stepper in self.steppers: | 
					
						
							|  |  |  |             stepper.set_commanded_position(pos) | 
					
						
							|  |  |  |     def set_position(self, coord): | 
					
						
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										 |  |  |         for stepper in self.steppers: | 
					
						
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										 |  |  |             stepper.set_position(coord) | 
					
						
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										 |  |  |     def motor_enable(self, print_time, enable=0): | 
					
						
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										 |  |  |         for stepper in self.steppers: | 
					
						
							|  |  |  |             stepper.motor_enable(print_time, enable) | 
					
						
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										 |  |  | 
 | 
					
						
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										 |  |  | # Wrapper for dual stepper motor support | 
					
						
							|  |  |  | def LookupMultiRail(config): | 
					
						
							|  |  |  |     rail = PrinterRail(config) | 
					
						
							|  |  |  |     for i in range(1, 99): | 
					
						
							|  |  |  |         if not config.has_section(config.get_name() + str(i)): | 
					
						
							|  |  |  |             break | 
					
						
							|  |  |  |         rail.add_extra_stepper(config.getsection(config.get_name() + str(i))) | 
					
						
							|  |  |  |     return rail |