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			127 lines
		
	
	
		
			5.1 KiB
		
	
	
	
		
			Python
		
	
	
	
	
	
			
		
		
	
	
			127 lines
		
	
	
		
			5.1 KiB
		
	
	
	
		
			Python
		
	
	
	
	
	
# Support for enable pins on stepper motor drivers
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#
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# Copyright (C) 2019  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 logging
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DISABLE_STALL_TIME = 0.100
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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):
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        self.mcu_enable = mcu_enable
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        self.enable_count = enable_count
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        self.is_dedicated = True
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    def set_enable(self, print_time):
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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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    def set_disable(self, print_time):
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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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# Enable line tracking for each stepper motor
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class EnableTracking:
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    def __init__(self, printer, stepper, pin):
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        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:
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            # No enable line (stepper always enabled)
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            self.enable = StepperEnablePin(None, 9999)
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            self.enable.is_dedicated = False
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            return
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        ppins = printer.lookup_object('pins')
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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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        self.enable = pin_params.get('class')
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        if self.enable is not None:
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            # Shared enable line
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            self.enable.is_dedicated = False
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            return
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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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        self.enable = pin_params['class'] = StepperEnablePin(mcu_enable, 0)
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    def register_state_callback(self, callback):
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        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:
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                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:
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                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):
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        return self.is_enabled
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    def has_dedicated_enable(self):
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        return self.enable.is_dedicated
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# Global stepper enable line tracking
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class PrinterStepperEnable:
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    def __init__(self, config):
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        self.printer = config.get_printer()
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        self.enable_lines = {}
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        self.printer.register_event_handler("gcode:request_restart",
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                                            self._handle_request_restart)
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        # Register M18/M84 commands
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        gcode = self.printer.lookup_object('gcode')
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        gcode.register_command("M18", self.cmd_M18)
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        gcode.register_command("M84", self.cmd_M18)
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        gcode.register_command("SET_STEPPER_ENABLE",
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                               self.cmd_SET_STEPPER_ENABLE,
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                               desc=self.cmd_SET_STEPPER_ENABLE_help)
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    def register_stepper(self, stepper, pin):
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        name = stepper.get_name()
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        self.enable_lines[name] = EnableTracking(self.printer, stepper, pin)
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    def motor_off(self):
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        toolhead = self.printer.lookup_object('toolhead')
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        toolhead.dwell(DISABLE_STALL_TIME)
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        print_time = toolhead.get_last_move_time()
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        for el in self.enable_lines.values():
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            el.motor_disable(print_time)
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        self.printer.send_event("stepper_enable:motor_off", print_time)
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        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')
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        toolhead.dwell(DISABLE_STALL_TIME)
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        print_time = toolhead.get_last_move_time()
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        el = self.enable_lines[stepper]
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        if enable:
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            el.motor_enable(print_time)
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            logging.info("%s has been manually enabled", stepper)
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        else:
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            el.motor_disable(print_time)
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            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):
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        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):
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        stepper_name = gcmd.get('STEPPER', None)
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        if stepper_name not in self.enable_lines:
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            gcmd.respond_info('SET_STEPPER_ENABLE: Invalid stepper "%s"'
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                              % (stepper_name,))
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            return
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        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:
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            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)
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