pru: Add documentation and install scripts for running on the PRU
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
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# This file contains an example configuration for a Beaglebone PRU
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# micro-controller attached to a CRAMPS board.
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# THIS FILE HAS NOT BEEN TESTED - PROCEED WITH CAUTION!
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# See the example.cfg file for a description of available parameters.
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[stepper_x]
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step_pin: P8_13
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dir_pin: P8_12
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enable_pin: !P9_14
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step_distance: .0125
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endstop_pin: ^P8_8
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homing_speed: 50
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position_endstop: 0
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position_max: 200
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[stepper_y]
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step_pin: P8_15
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dir_pin: P8_14
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enable_pin: !P9_14
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step_distance: .0125
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endstop_pin: ^P8_10
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homing_speed: 50
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position_endstop: 0
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position_max: 200
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[stepper_z]
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step_pin: P8_19
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dir_pin: P8_18
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enable_pin: !P9_14
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step_distance: 0.00025
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endstop_pin: ^P9_13
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homing_speed: 5
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position_endstop: 0
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position_max: 200
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[extruder]
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step_pin: P9_16
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dir_pin: P9_12
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enable_pin: !P9_14
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step_distance: .002
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nozzle_diameter: 0.400
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filament_diameter: 1.750
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heater_pin: P9_15
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sensor_type: EPCOS 100K B57560G104F
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sensor_pin: P9_36
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control: pid
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pid_Kp: 22.2
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pid_Ki: 1.08
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pid_Kd: 114
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min_temp: 0
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max_temp: 250
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[heater_bed]
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heater_pin: P8_11
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sensor_type: EPCOS 100K B57560G104F
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sensor_pin: P9_33
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control: watermark
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min_temp: 0
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max_temp: 130
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[fan]
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pin: P9_41
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[mcu]
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serial: /dev/rpmsg_30
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pin_map: beaglebone
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[printer]
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kinematics: cartesian
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max_velocity: 300
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max_accel: 3000
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max_z_velocity: 5
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max_z_accel: 100
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# This file contains an example configuration for the Beaglebone PRU
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# micro-controller.
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# THIS FILE HAS NOT BEEN TESTED - PROCEED WITH CAUTION!
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# See the example.cfg file for a description of available parameters.
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[stepper_x]
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step_pin: P8_17
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dir_pin: P8_26
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enable_pin: !P9_41
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step_distance: .0125
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endstop_pin: ^P9_25
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homing_speed: 50
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position_endstop: 0
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position_max: 200
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[stepper_y]
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step_pin: P8_12
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dir_pin: P8_19
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enable_pin: !P9_41
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step_distance: .0125
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endstop_pin: ^P9_23
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homing_speed: 50
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position_endstop: 0
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position_max: 200
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[stepper_z]
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step_pin: P8_13
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dir_pin: P8_14
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enable_pin: !P9_41
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step_distance: 0.00025
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endstop_pin: ^P9_13
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homing_speed: 5
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position_endstop: 0
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position_max: 200
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# XXX - Extruder heater hooked up to i2c mosfet
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#[extruder]
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#step_pin: P9_12
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#dir_pin: P8_15
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#enable_pin: !P9_41
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#step_distance: .002
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#nozzle_diameter: 0.400
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#filament_diameter: 1.750
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#heater_pin: ?
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#sensor_type: EPCOS 100K B57560G104F
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#sensor_pin: P9_39
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#control: pid
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#pid_Kp: 22.2
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#pid_Ki: 1.08
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#pid_Kd: 114
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#min_temp: 0
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#max_temp: 250
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# XXX - Bed heater hooked up to i2c mosfet
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#[heater_bed]
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#heater_pin: ?
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#sensor_type: EPCOS 100K B57560G104F
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#sensor_pin: P9_40
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#control: watermark
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#min_temp: 0
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#max_temp: 130
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# XXX - Fan power hooked up to i2c mosfet
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#[fan]
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#pin: ?
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[mcu]
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serial: /dev/rpmsg_30
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pin_map: beaglebone
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[printer]
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kinematics: cartesian
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max_velocity: 300
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max_accel: 3000
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max_z_velocity: 5
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max_z_accel: 100
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This document describes the process of running Klipper on a Beaglebone
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PRU. The PRU support is experimental.
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Building an OS image
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====================
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Start by installing the
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[latest Jessie IoT](https://beagleboard.org/latest-images) image
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(2017-03-19 or later). One may run the image from either a micro-SD
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card or from builtin eMMC. If using the eMMC, install it to eMMC now
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by following the instructions from the above link.
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Then ssh into the beaglebone machine (ssh debian@beaglebone --
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password is "temppwd") and install Klipper by running the following
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commands:
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```
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git clone https://github.com/KevinOConnor/klipper
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./klipper/scripts/install-beaglebone.sh
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```
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Install Octoprint
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=================
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One may then install Octoprint:
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```
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git clone https://github.com/foosel/OctoPrint.git
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cd OctoPrint/
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virtualenv venv
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./venv/bin/python setup.py install
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```
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And setup OctoPrint to start at bootup:
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```
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sudo cp ~/OctoPrint/scripts/octoprint.init /etc/init.d/octoprint
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sudo chmod +x /etc/init.d/octoprint
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sudo cp ~/OctoPrint/scripts/octoprint.default /etc/default/octoprint
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sudo update-rc.d octoprint defaults
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```
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It is necessary to modify OctoPrint's **/etc/default/octoprint**
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configuration file. One must change the OCTOPRINT_USER user to
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"debian", uncomment the BASEDIR, CONFIGFILE, and DAEMON settings and
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change the references from "/home/pi/" to "/home/debian/":
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```
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sudo nano /etc/default/octoprint
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```
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Then start the Octoprint service:
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```
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sudo systemctl start octoprint
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```
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Make sure the octoprint web server is accessible - it should be at:
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[http://beaglebone:5000/](http://beaglebone:5000/)
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Building the micro-controller code
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==================================
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To compile the Klipper micro-controller code, start by configuring it
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for the "Beaglebone PRU":
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```
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cd ~/klipper/
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make menuconfig
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```
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To build and install the new micro-controller code, run:
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```
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sudo service klipper stop
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make flash
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sudo service klipper start
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```
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Remaining configuration
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=======================
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Complete the installation by configuring Klipper and Octoprint
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following the instructions in
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[the main installation document](Installation.md#Configuring_Klipper).
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#!/bin/bash
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# This script installs Klipper on a Beaglebone running Debian Jessie
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# for use with its PRU micro-controller.
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# Step 1: Do main install
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install_main()
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{
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# Run the octopi script - raspbian is close enough to debian for
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# this to work.
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${SRCDIR}/scripts/install-octopi.sh
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}
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# Step 2: Install additional system packages
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install_packages()
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{
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# Install desired packages
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PKGLIST="gcc-pru"
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report_status "Installing beaglebone packages..."
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sudo apt-get install --yes ${PKGLIST}
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}
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# Step 3: Install startup script
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install_script()
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{
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report_status "Installing pru start script..."
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sudo cp "${SRCDIR}/scripts/klipper-pru-start.sh" /etc/init.d/klipper_pru
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sudo update-rc.d klipper_pru defaults
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}
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# Step 4: Install pru udev rule
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install_udev()
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{
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report_status "Installing pru udev rule..."
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sudo /bin/sh -c "cat > /etc/udev/rules.d/pru.rules" <<EOF
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KERNEL=="rpmsg_pru30", MODE="0666"
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EOF
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}
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# Helper functions
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report_status()
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{
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echo -e "\n\n###### $1"
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}
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verify_ready()
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{
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if [ "$EUID" -eq 0 ]; then
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echo "This script must not run as root"
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exit -1
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fi
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}
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# Force script to exit if an error occurs
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set -e
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# Find SRCDIR from the pathname of this script
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SRCDIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )"/.. && pwd )"
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# Run installation steps defined above
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verify_ready
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install_main
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install_packages
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install_script
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install_udev
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#!/bin/sh
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# System startup script to start the PRU firmware
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### BEGIN INIT INFO
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# Provides: klipper_pru
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# Required-Start: $local_fs
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# Required-Stop:
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# Default-Start: 3 4 5
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# Default-Stop: 0 1 2 6
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# Short-Description: Klipper_PRU daemon
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# Description: Starts the PRU for Klipper.
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### END INIT INFO
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PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
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DESC="klipper_pru startup"
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NAME="klipper_pru"
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. /lib/lsb/init-functions
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case "$1" in
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start) log_daemon_msg "Starting klipper_pru" $NAME
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# Enable ADC module
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echo 'BB-ADC' > /sys/devices/platform/bone_capemgr/slots
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# Start PRU firmware
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if [ ! -c /dev/rpmsg_pru30 ]; then
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rmmod -f pru_rproc
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modprobe pru_rproc
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fi
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;;
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stop|restart|reload|force-reload|status)
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;;
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*) log_action_msg "Usage: /etc/init.d/klipper_pru {start|stop|status|restart|reload|force-reload}"
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exit 2
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;;
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esac
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exit 0
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