mirror of
https://github.com/Klipper3d/klipper.git
synced 2025-11-03 20:05:49 +01:00
266 lines
12 KiB
Python
266 lines
12 KiB
Python
# Printer stepper support
|
|
#
|
|
# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import math, logging, collections
|
|
import homing
|
|
|
|
|
|
######################################################################
|
|
# Stepper enable pins
|
|
######################################################################
|
|
|
|
# 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)
|
|
|
|
def lookup_enable_pin(ppins, pin):
|
|
if pin is None:
|
|
return StepperEnablePin(None, 9999)
|
|
pin_params = ppins.lookup_pin('digital_out', pin, 'stepper_enable')
|
|
enable = pin_params.get('class')
|
|
if enable is None:
|
|
mcu_enable = pin_params['chip'].setup_pin(pin_params)
|
|
mcu_enable.setup_max_duration(0.)
|
|
pin_params['class'] = enable = StepperEnablePin(mcu_enable)
|
|
return enable
|
|
|
|
|
|
######################################################################
|
|
# Steppers
|
|
######################################################################
|
|
|
|
# Code storing the definitions for a stepper motor
|
|
class PrinterStepper:
|
|
def __init__(self, config):
|
|
printer = config.get_printer()
|
|
self.name = config.get_name()
|
|
self.need_motor_enable = True
|
|
# Stepper definition
|
|
ppins = printer.lookup_object('pins')
|
|
self.mcu_stepper = ppins.setup_pin('stepper', config.get('step_pin'))
|
|
dir_pin_params = ppins.lookup_pin('digital_out', config.get('dir_pin'))
|
|
self.mcu_stepper.setup_dir_pin(dir_pin_params)
|
|
step_dist = config.getfloat('step_distance', above=0.)
|
|
self.mcu_stepper.setup_step_distance(step_dist)
|
|
self.enable = lookup_enable_pin(ppins, config.get('enable_pin', None))
|
|
# Register STEPPER_BUZZ command
|
|
stepper_buzz = printer.try_load_module(config, 'stepper_buzz')
|
|
stepper_buzz.register_stepper(self, config.get_name())
|
|
# Wrappers
|
|
self.step_itersolve = self.mcu_stepper.step_itersolve
|
|
self.setup_itersolve = self.mcu_stepper.setup_itersolve
|
|
self.set_stepper_kinematics = self.mcu_stepper.set_stepper_kinematics
|
|
self.set_ignore_move = self.mcu_stepper.set_ignore_move
|
|
self.set_position = self.mcu_stepper.set_position
|
|
self.get_mcu_position = self.mcu_stepper.get_mcu_position
|
|
self.get_commanded_position = self.mcu_stepper.get_commanded_position
|
|
self.get_step_dist = self.mcu_stepper.get_step_dist
|
|
def get_name(self, short=False):
|
|
if short and self.name.startswith('stepper_'):
|
|
return self.name[8:]
|
|
return self.name
|
|
def add_to_endstop(self, mcu_endstop):
|
|
mcu_endstop.add_stepper(self.mcu_stepper)
|
|
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
|
|
step_dist = self.get_step_dist()
|
|
last_step_time = self._dist_to_time(
|
|
step_dist, max_halt_velocity, max_accel)
|
|
second_last_step_time = self._dist_to_time(
|
|
2. * step_dist, max_halt_velocity, max_accel)
|
|
min_stop_interval = second_last_step_time - last_step_time
|
|
self.mcu_stepper.setup_min_stop_interval(min_stop_interval)
|
|
def motor_enable(self, print_time, enable=0):
|
|
if self.need_motor_enable != (not enable):
|
|
self.enable.set_enable(print_time, enable)
|
|
self.need_motor_enable = not enable
|
|
def is_motor_enabled(self):
|
|
return not self.need_motor_enable
|
|
|
|
|
|
######################################################################
|
|
# Stepper controlled rails
|
|
######################################################################
|
|
|
|
# A motor control "rail" with one (or more) steppers and one (or more)
|
|
# endstops.
|
|
class PrinterRail:
|
|
def __init__(self, config, need_position_minmax=True,
|
|
default_position_endstop=None):
|
|
# 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
|
|
printer = config.get_printer()
|
|
ppins = printer.lookup_object('pins')
|
|
mcu_endstop = ppins.setup_pin('endstop', config.get('endstop_pin'))
|
|
self.endstops = [(mcu_endstop, self.name)]
|
|
stepper.add_to_endstop(mcu_endstop)
|
|
if default_position_endstop is None:
|
|
self.position_endstop = config.getfloat('position_endstop')
|
|
else:
|
|
self.position_endstop = config.getfloat(
|
|
'position_endstop', default_position_endstop)
|
|
query_endstops = printer.try_load_module(config, 'query_endstops')
|
|
query_endstops.register_endstop(mcu_endstop, self.name)
|
|
# Axis range
|
|
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())
|
|
# Homing mechanics
|
|
self.homing_speed = config.getfloat('homing_speed', 5.0, above=0.)
|
|
self.homing_retract_dist = config.getfloat(
|
|
'homing_retract_dist', 5., minval=0.)
|
|
self.homing_positive_dir = config.getboolean('homing_positive_dir', None)
|
|
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'" % (
|
|
config.get_name(),))
|
|
# Endstop stepper phase position tracking
|
|
self.homing_stepper_phases = config.getint(
|
|
'homing_stepper_phases', None, minval=0)
|
|
endstop_accuracy = config.getfloat(
|
|
'homing_endstop_accuracy', None, above=0.)
|
|
self.homing_endstop_accuracy = self.homing_endstop_phase = None
|
|
if self.homing_stepper_phases:
|
|
self.homing_step_dist = step_dist = stepper.get_step_dist()
|
|
self.homing_endstop_phase = config.getint(
|
|
'homing_endstop_phase', None, minval=0
|
|
, maxval=self.homing_stepper_phases-1)
|
|
if (self.homing_endstop_phase is not None
|
|
and config.getboolean('homing_endstop_align_zero', False)):
|
|
# Adjust the endstop position so 0.0 is always at a full step
|
|
micro_steps = self.homing_stepper_phases // 4
|
|
phase_offset = (
|
|
((self.homing_endstop_phase + micro_steps // 2) % micro_steps)
|
|
- micro_steps // 2) * step_dist
|
|
full_step = micro_steps * step_dist
|
|
es_pos = (int(self.position_endstop / full_step + .5) * full_step
|
|
+ phase_offset)
|
|
if es_pos != self.position_endstop:
|
|
logging.info("Changing %s endstop position to %.3f"
|
|
" (from %.3f)", self.name,
|
|
es_pos, self.position_endstop)
|
|
self.position_endstop = es_pos
|
|
if endstop_accuracy is None:
|
|
self.homing_endstop_accuracy = self.homing_stepper_phases//2 - 1
|
|
elif self.homing_endstop_phase is not None:
|
|
self.homing_endstop_accuracy = int(math.ceil(
|
|
endstop_accuracy * .5 / step_dist))
|
|
else:
|
|
self.homing_endstop_accuracy = int(math.ceil(
|
|
endstop_accuracy / step_dist))
|
|
if self.homing_endstop_accuracy >= self.homing_stepper_phases // 2:
|
|
logging.info("Endstop for %s is not accurate enough for stepper"
|
|
" phase adjustment", self.name)
|
|
self.homing_stepper_phases = None
|
|
if mcu_endstop.get_mcu().is_fileoutput():
|
|
self.homing_endstop_accuracy = self.homing_stepper_phases
|
|
def get_homed_offset(self):
|
|
if not self.homing_stepper_phases:
|
|
return 0.
|
|
pos = self.steppers[0].get_mcu_position()
|
|
pos %= self.homing_stepper_phases
|
|
if self.homing_endstop_phase is None:
|
|
logging.info("Setting %s endstop phase to %d", self.name, pos)
|
|
self.homing_endstop_phase = pos
|
|
return 0.
|
|
delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
|
|
if delta >= self.homing_stepper_phases - self.homing_endstop_accuracy:
|
|
delta -= self.homing_stepper_phases
|
|
elif delta > self.homing_endstop_accuracy:
|
|
raise homing.EndstopError(
|
|
"Endstop %s incorrect phase (got %d vs %d)" % (
|
|
self.name, pos, self.homing_endstop_phase))
|
|
return delta * self.homing_step_dist
|
|
def get_range(self):
|
|
return self.position_min, self.position_max
|
|
def get_homing_info(self):
|
|
homing_info = collections.namedtuple('homing_info', [
|
|
'speed', 'position_endstop', 'retract_dist', 'positive_dir'])(
|
|
self.homing_speed, self.position_endstop,
|
|
self.homing_retract_dist, self.homing_positive_dir)
|
|
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)
|
|
self.step_itersolve = self.step_multi_itersolve
|
|
mcu_endstop = self.endstops[0][0]
|
|
endstop_pin = config.get('endstop_pin', None)
|
|
if endstop_pin is not None:
|
|
printer = config.get_printer()
|
|
ppins = printer.lookup_object('pins')
|
|
mcu_endstop = ppins.setup_pin('endstop', endstop_pin)
|
|
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)
|
|
stepper.add_to_endstop(mcu_endstop)
|
|
def add_to_endstop(self, mcu_endstop):
|
|
for stepper in self.steppers:
|
|
stepper.add_to_endstop(mcu_endstop)
|
|
def step_multi_itersolve(self, cmove):
|
|
for stepper in self.steppers:
|
|
stepper.step_itersolve(cmove)
|
|
def setup_itersolve(self, alloc_func, *params):
|
|
for stepper in self.steppers:
|
|
stepper.setup_itersolve(alloc_func, *params)
|
|
def set_max_jerk(self, max_halt_velocity, max_accel):
|
|
for stepper in self.steppers:
|
|
stepper.set_max_jerk(max_halt_velocity, max_accel)
|
|
def set_position(self, newpos):
|
|
for stepper in self.steppers:
|
|
stepper.set_position(newpos)
|
|
def motor_enable(self, print_time, enable=0):
|
|
for stepper in self.steppers:
|
|
stepper.motor_enable(print_time, enable)
|
|
|
|
# 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
|