mcu: Store the stepper position in the mcu_stepper class
Move the storage of the stepper location from the kinematic classes to the low-level mcu_stepper class. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
7cf914537b
commit
1e1364c3d4
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@ -15,15 +15,15 @@ class CartKinematics:
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for n in ['x', 'y', 'z']]
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self.need_motor_enable = True
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self.limits = [(1.0, -1.0)] * 3
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self.stepper_pos = [0, 0, 0]
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def build_config(self):
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for stepper in self.steppers[:2]:
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stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX
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for stepper in self.steppers:
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stepper.build_config()
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def set_position(self, newpos):
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self.stepper_pos = [int(newpos[i]*self.steppers[i].inv_step_dist + 0.5)
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for i in StepList]
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for i in StepList:
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s = self.steppers[i]
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s.mcu_stepper.set_position(int(newpos[i]*s.inv_step_dist + 0.5))
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def get_max_speed(self):
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max_xy_speed = min(s.max_velocity for s in self.steppers[:2])
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max_xy_accel = min(s.max_accel for s in self.steppers[:2])
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@ -115,13 +115,12 @@ class CartKinematics:
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continue
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mcu_stepper = self.steppers[i].mcu_stepper
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mcu_time = mcu_stepper.print_to_mcu_time(move_time)
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step_pos = mcu_stepper.commanded_position
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inv_step_dist = self.steppers[i].inv_step_dist
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step_offset = step_pos - move.start_pos[i] * inv_step_dist
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steps = move.axes_d[i] * inv_step_dist
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move_step_d = move.move_d / abs(steps)
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step_pos = self.stepper_pos[i]
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step_offset = step_pos - move.start_pos[i] * inv_step_dist
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# Acceleration steps
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accel_multiplier = 2.0 * move_step_d * inv_accel
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if move.accel_r:
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@ -132,7 +131,6 @@ class CartKinematics:
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count = mcu_stepper.step_sqrt(
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mcu_time - accel_time_offset, accel_steps, step_offset
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, accel_sqrt_offset, accel_multiplier)
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step_pos += count
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step_offset += count - accel_steps
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mcu_time += move.accel_t
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# Cruising steps
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@ -142,7 +140,6 @@ class CartKinematics:
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cruise_steps = move.cruise_r * steps
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count = mcu_stepper.step_factor(
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mcu_time, cruise_steps, step_offset, cruise_multiplier)
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step_pos += count
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step_offset += count - cruise_steps
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mcu_time += move.cruise_t
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# Deceleration steps
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@ -154,5 +151,3 @@ class CartKinematics:
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count = mcu_stepper.step_sqrt(
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mcu_time + decel_time_offset, decel_steps, step_offset
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, decel_sqrt_offset, -accel_multiplier)
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step_pos += count
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self.stepper_pos[i] = step_pos
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@ -28,7 +28,7 @@ class DeltaKinematics:
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(cos(210.)*radius, sin(210.)*radius),
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(cos(330.)*radius, sin(330.)*radius),
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(cos(90.)*radius, sin(90.)*radius)]
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self.stepper_pos = self.cartesian_to_actuator([0., 0., 0.])
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self.set_position([0., 0., 0.])
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def build_config(self):
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for stepper in self.steppers:
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stepper.set_max_jerk(0.005 * stepper.max_accel) # XXX
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@ -77,11 +77,13 @@ class DeltaKinematics:
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return matrix_sub(circumcenter, matrix_mul(normal, dist))
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def set_position(self, newpos):
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self.stepper_pos = self.cartesian_to_actuator(newpos)
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pos = self.cartesian_to_actuator(newpos)
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for i in StepList:
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self.steppers[i].mcu_stepper.set_position(pos[i])
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def get_homed_position(self, homing_state):
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pos = [(self.stepper_pos[i] + self.steppers[i].get_homed_offset())
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* self.steppers[i].step_dist
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for i in StepList]
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pos = [(s.mcu_stepper.commanded_position + s.get_homed_offset())
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* s.step_dist
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for s in self.steppers]
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return self.actuator_to_cartesian(pos)
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def home(self, homing_state):
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# All axes are homed simultaneously
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@ -138,13 +140,12 @@ class DeltaKinematics:
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mcu_stepper = self.steppers[i].mcu_stepper
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mcu_time = mcu_stepper.print_to_mcu_time(move_time)
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step_pos = mcu_stepper.commanded_position
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inv_step_dist = self.steppers[i].inv_step_dist
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step_offset = step_pos - height * inv_step_dist
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step_dist = self.steppers[i].step_dist
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steps = move.axes_d[2] * inv_step_dist
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step_pos = self.stepper_pos[i]
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step_offset = step_pos - height * inv_step_dist
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# Acceleration steps
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accel_multiplier = 2.0 * step_dist * inv_accel
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if move.accel_r:
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@ -155,7 +156,6 @@ class DeltaKinematics:
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count = mcu_stepper.step_sqrt(
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mcu_time - accel_time_offset, accel_steps, step_offset
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, accel_sqrt_offset, accel_multiplier)
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step_pos += count
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step_offset += count - accel_steps
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mcu_time += move.accel_t
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# Cruising steps
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@ -165,7 +165,6 @@ class DeltaKinematics:
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cruise_steps = move.cruise_r * steps
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count = mcu_stepper.step_factor(
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mcu_time, cruise_steps, step_offset, cruise_multiplier)
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step_pos += count
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step_offset += count - cruise_steps
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mcu_time += move.cruise_t
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# Deceleration steps
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@ -177,8 +176,6 @@ class DeltaKinematics:
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count = mcu_stepper.step_sqrt(
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mcu_time + decel_time_offset, decel_steps, step_offset
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, decel_sqrt_offset, -accel_multiplier)
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step_pos += count
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self.stepper_pos[i] = step_pos
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def move(self, move_time, move):
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axes_d = move.axes_d
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if not axes_d[0] and not axes_d[1]:
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@ -250,54 +247,47 @@ class DeltaKinematics:
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decel_down_d = move_d
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# Generate steps
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inv_step_dist = self.steppers[i].inv_step_dist
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step_dist = self.steppers[i].step_dist
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step_pos = self.stepper_pos[i]
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height = step_pos*step_dist - closestz
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mcu_stepper = self.steppers[i].mcu_stepper
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mcu_time = mcu_stepper.print_to_mcu_time(move_time)
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step_pos = mcu_stepper.commanded_position
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inv_step_dist = self.steppers[i].inv_step_dist
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step_dist = self.steppers[i].step_dist
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height = step_pos*step_dist - closestz
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if accel_up_d > 0.:
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count = mcu_stepper.step_delta_accel(
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mcu_time - accel_time_offset, closest_d - accel_up_d,
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step_dist, closest_d + accel_offset,
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closest_height2, height, movez_r, accel_multiplier)
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step_pos += count
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height += count * step_dist
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if cruise_up_d > 0.:
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count = mcu_stepper.step_delta_const(
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mcu_time + accel_t, closest_d - cruise_up_d,
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step_dist, closest_d - accel_d,
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closest_height2, height, movez_r, inv_cruise_v)
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step_pos += count
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height += count * step_dist
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if decel_up_d > 0.:
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count = mcu_stepper.step_delta_accel(
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mcu_time + decel_time_offset, closest_d - decel_up_d,
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step_dist, closest_d - decel_offset,
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closest_height2, height, movez_r, -accel_multiplier)
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step_pos += count
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height += count * step_dist
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if accel_down_d > 0.:
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count = mcu_stepper.step_delta_accel(
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mcu_time - accel_time_offset, closest_d - accel_down_d,
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-step_dist, closest_d + accel_offset,
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closest_height2, height, movez_r, accel_multiplier)
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step_pos += count
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height += count * step_dist
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if cruise_down_d > 0.:
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count = mcu_stepper.step_delta_const(
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mcu_time + accel_t, closest_d - cruise_down_d,
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-step_dist, closest_d - accel_d,
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closest_height2, height, movez_r, inv_cruise_v)
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step_pos += count
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height += count * step_dist
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if decel_down_d > 0.:
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count = mcu_stepper.step_delta_accel(
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mcu_time + decel_time_offset, closest_d - decel_down_d,
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-step_dist, closest_d - decel_offset,
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closest_height2, height, movez_r, -accel_multiplier)
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step_pos += count
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self.stepper_pos[i] = step_pos
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######################################################################
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@ -12,7 +12,6 @@ class PrinterExtruder:
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self.stepper = stepper.PrinterStepper(printer, config, 'extruder')
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self.pressure_advance = config.getfloat('pressure_advance', 0.)
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self.need_motor_enable = True
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self.stepper_pos = 0
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self.extrude_pos = 0.
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def build_config(self):
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self.heater.build_config()
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@ -95,12 +94,12 @@ class PrinterExtruder:
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decel_d -= extra_decel_d
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# Prepare for steps
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stepper_pos = self.stepper_pos
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inv_step_dist = self.stepper.inv_step_dist
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step_dist = self.stepper.step_dist
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mcu_stepper = self.stepper.mcu_stepper
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mcu_time = mcu_stepper.print_to_mcu_time(move_time)
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step_offset = stepper_pos - start_pos * inv_step_dist
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step_pos = mcu_stepper.commanded_position
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step_offset = step_pos - start_pos * inv_step_dist
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# Acceleration steps
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accel_multiplier = 2.0 * step_dist * inv_accel
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@ -112,7 +111,6 @@ class PrinterExtruder:
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count = mcu_stepper.step_sqrt(
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mcu_time - accel_time_offset, accel_steps, step_offset
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, accel_sqrt_offset, accel_multiplier)
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stepper_pos += count
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step_offset += count - accel_steps
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mcu_time += accel_t
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# Cruising steps
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@ -122,7 +120,6 @@ class PrinterExtruder:
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cruise_steps = cruise_d * inv_step_dist
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count = mcu_stepper.step_factor(
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mcu_time, cruise_steps, step_offset, cruise_multiplier)
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stepper_pos += count
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step_offset += count - cruise_steps
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mcu_time += cruise_t
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# Deceleration steps
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@ -134,7 +131,6 @@ class PrinterExtruder:
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count = mcu_stepper.step_sqrt(
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mcu_time + decel_time_offset, decel_steps, step_offset
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, decel_sqrt_offset, -accel_multiplier)
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stepper_pos += count
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step_offset += count - decel_steps
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mcu_time += decel_t
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# Retraction steps
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@ -146,7 +142,5 @@ class PrinterExtruder:
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count = mcu_stepper.step_sqrt(
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mcu_time - accel_time_offset, accel_steps, step_offset
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, accel_sqrt_offset, accel_multiplier)
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stepper_pos += count
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self.stepper_pos = stepper_pos
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self.extrude_pos = start_pos + accel_d + cruise_d + decel_d - retract_d
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@ -31,6 +31,7 @@ class MCU_stepper:
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self._mcu_freq = mcu.get_mcu_freq()
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min_stop_interval = int(min_stop_interval * self._mcu_freq)
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max_error = int(max_error * self._mcu_freq)
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self.commanded_position = 0
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mcu.add_config_cmd(
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"config_stepper oid=%d step_pin=%s dir_pin=%s"
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" min_stop_interval=%d invert_step=%d" % (
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@ -51,6 +52,8 @@ class MCU_stepper:
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return self._oid
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def get_invert_dir(self):
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return self._invert_dir
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def set_position(self, pos):
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self.commanded_position = pos
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def note_stepper_stop(self):
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self.ffi_lib.stepcompress_reset(self._stepqueue, 0)
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def reset_step_clock(self, mcu_time):
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@ -61,29 +64,41 @@ class MCU_stepper:
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def step(self, mcu_time, sdir):
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clock = mcu_time * self._mcu_freq
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self.ffi_lib.stepcompress_push(self._stepqueue, clock, sdir)
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if sdir:
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self.commanded_position += 1
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else:
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self.commanded_position -= 1
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def step_sqrt(self, mcu_time, steps, step_offset, sqrt_offset, factor):
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clock = mcu_time * self._mcu_freq
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mcu_freq2 = self._mcu_freq**2
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return self.ffi_lib.stepcompress_push_sqrt(
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count = self.ffi_lib.stepcompress_push_sqrt(
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self._stepqueue, steps, step_offset, clock
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, sqrt_offset * mcu_freq2, factor * mcu_freq2)
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self.commanded_position += count
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return count
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def step_factor(self, mcu_time, steps, step_offset, factor):
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clock = mcu_time * self._mcu_freq
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return self.ffi_lib.stepcompress_push_factor(
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count = self.ffi_lib.stepcompress_push_factor(
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self._stepqueue, steps, step_offset, clock, factor * self._mcu_freq)
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self.commanded_position += count
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return count
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def step_delta_const(self, mcu_time, dist, step_dist, start_pos
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, closest_height2, height, movez_r, inv_velocity):
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clock = mcu_time * self._mcu_freq
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return self.ffi_lib.stepcompress_push_delta_const(
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count = self.ffi_lib.stepcompress_push_delta_const(
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self._stepqueue, clock, dist, step_dist, start_pos
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, closest_height2, height, movez_r, inv_velocity * self._mcu_freq)
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self.commanded_position += count
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return count
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def step_delta_accel(self, mcu_time, dist, step_dist, start_pos
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, closest_height2, height, movez_r, accel_multiplier):
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clock = mcu_time * self._mcu_freq
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mcu_freq2 = self._mcu_freq**2
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return self.ffi_lib.stepcompress_push_delta_accel(
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count = self.ffi_lib.stepcompress_push_delta_accel(
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self._stepqueue, clock, dist, step_dist, start_pos
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, closest_height2, height, movez_r, accel_multiplier * mcu_freq2)
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self.commanded_position += count
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return count
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def get_errors(self):
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return self.ffi_lib.stepcompress_get_errors(self._stepqueue)
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