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endstop: Support halting more than one stepper on trigger 

Extend the endstop code so that more than one stepper can be halted
during endstop homing.  Some kinematic setups (eg, corexy) require an
endstop to support this.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-03-05 15:30:04 -05:00
parent fff73c7735
commit 57f279677f
3 changed files with 54 additions and 19 deletions
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30
klippy/mcu.py
View File

@ -151,10 +151,10 @@ class MCU_stepper:
class MCU_endstop:
error = error
RETRY_QUERY = 1.000
def __init__(self, mcu, pin, stepper):
def __init__(self, mcu, pin):
self._mcu = mcu
self._oid = mcu.create_oid(self)
self._stepper = stepper
self._steppers = []
self._pin, self._pullup, self._invert = parse_pin_extras(
pin, can_pullup=True)
self._cmd_queue = mcu.alloc_command_queue()
@ -164,18 +164,27 @@ class MCU_endstop:
self._next_query_clock = self._home_timeout_clock = 0
self._retry_query_ticks = 0
self._last_state = {}
mcu.add_init_callback(self._init_callback)
self.print_to_mcu_time = mcu.print_to_mcu_time
def add_stepper(self, stepper):
self._steppers.append(stepper)
def build_config(self):
self._mcu_freq = self._mcu.get_mcu_freq()
self._mcu.add_config_cmd(
"config_end_stop oid=%d pin=%s pull_up=%d stepper_oid=%d" % (
self._oid, self._pin, self._pullup, self._stepper.get_oid()))
"config_end_stop oid=%d pin=%s pull_up=%d stepper_count=%d" % (
self._oid, self._pin, self._pullup, len(self._steppers)))
self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY)
self._home_cmd = self._mcu.lookup_command(
"end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c")
self._query_cmd = self._mcu.lookup_command("end_stop_query oid=%c")
self._mcu.register_msg(self._handle_end_stop_state, "end_stop_state"
, self._oid)
def _init_callback(self):
set_cmd = self._mcu.lookup_command(
"end_stop_set_stepper oid=%c pos=%c stepper_oid=%c")
for i, s in enumerate(self._steppers):
msg = set_cmd.encode(self._oid, i, s.get_oid())
self._mcu.send(msg, cq=self._cmd_queue)
def home_start(self, mcu_time, rest_time):
clock = int(mcu_time * self._mcu_freq)
rest_ticks = int(rest_time * self._mcu_freq)
@ -185,9 +194,11 @@ class MCU_endstop:
msg = self._home_cmd.encode(
self._oid, clock, rest_ticks, 1 ^ self._invert)
self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
self._stepper.note_homing_start(clock)
for s in self._steppers:
s.note_homing_start(clock)
def home_finalize(self, mcu_time):
self._stepper.note_homing_finalized()
for s in self._steppers:
s.note_homing_finalized()
self._home_timeout_clock = int(mcu_time * self._mcu_freq)
def home_wait(self):
eventtime = self._mcu.monotonic()
@ -205,7 +216,8 @@ class MCU_endstop:
if not self._homing:
return False
if not self._last_state.get('homing', 0):
self._stepper.note_homing_triggered()
for s in self._steppers:
s.note_homing_triggered()
self._homing = False
return False
if (self._mcu.serial.get_clock(last_sent_time)
@ -558,8 +570,8 @@ class MCU:
# Wrappers for mcu object creation
def create_stepper(self, step_pin, dir_pin):
return MCU_stepper(self, step_pin, dir_pin)
def create_endstop(self, pin, stepper):
return MCU_endstop(self, pin, stepper)
def create_endstop(self, pin):
return MCU_endstop(self, pin)
def create_digital_out(self, pin, max_duration=2.):
return MCU_digital_out(self, pin, max_duration)
def create_pwm(self, pin, cycle_time, hard_cycle_ticks=0, max_duration=2.):

3
klippy/stepper.py
View File

@ -47,7 +47,8 @@ class PrinterStepper:
if enable_pin is not None:
self.mcu_enable = mcu.create_digital_out(enable_pin, 0)
if endstop_pin is not None:
self.mcu_endstop = mcu.create_endstop(endstop_pin, self.mcu_stepper)
self.mcu_endstop = mcu.create_endstop(endstop_pin)
self.mcu_endstop.add_stepper(self.mcu_stepper)
self.position_min = config.getfloat('position_min', 0.)
self.position_endstop = config.getfloat('position_endstop')
self.position_max = config.getfloat('position_max', 0.)

40
src/endstop.c
View File

@ -14,13 +14,23 @@
struct end_stop {
struct timer time;
uint32_t rest_time;
struct stepper *stepper;
struct gpio_in pin;
uint8_t flags;
uint8_t flags, stepper_count;
struct stepper *steppers[0];
};
enum { ESF_PIN_HIGH=1<<0, ESF_HOMING=1<<1, ESF_REPORT=1<<2 };
static void noinline
stop_steppers(struct end_stop *e)
{
e->flags = ESF_REPORT;
uint8_t count = e->stepper_count;
while (count--)
if (e->steppers[count])
stepper_stop(e->steppers[count]);
}
// Timer callback for an end stop
static uint_fast8_t
end_stop_event(struct timer *t)
@ -32,23 +42,35 @@ end_stop_event(struct timer *t)
e->time.waketime += e->rest_time;
return SF_RESCHEDULE;
}
// Stop stepper
e->flags = ESF_REPORT;
stepper_stop(e->stepper);
stop_steppers(e);
return SF_DONE;
}
void
command_config_end_stop(uint32_t *args)
{
struct end_stop *e = oid_alloc(args[0], command_config_end_stop, sizeof(*e));
struct stepper *s = stepper_oid_lookup(args[3]);
uint8_t stepper_count = args[3];
struct end_stop *e = oid_alloc(
args[0], command_config_end_stop
, sizeof(*e) + sizeof(e->steppers[0]) * stepper_count);
e->time.func = end_stop_event;
e->stepper = s;
e->pin = gpio_in_setup(args[1], args[2]);
e->stepper_count = stepper_count;
}
DECL_COMMAND(command_config_end_stop,
"config_end_stop oid=%c pin=%c pull_up=%c stepper_oid=%c");
"config_end_stop oid=%c pin=%c pull_up=%c stepper_count=%c");
void
command_end_stop_set_stepper(uint32_t *args)
{
struct end_stop *e = oid_lookup(args[0], command_config_end_stop);
uint8_t pos = args[1];
if (pos >= e->stepper_count)
shutdown("Set stepper past maximum stepper count");
e->steppers[pos] = stepper_oid_lookup(args[2]);
}
DECL_COMMAND(command_end_stop_set_stepper,
"end_stop_set_stepper oid=%c pos=%c stepper_oid=%c");
// Home an axis
void