Commit Graph

735 Commits

Author SHA1 Message Date
Kevin O'Connor 593741919f mcu: Update file purpose comment
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-19 17:25:42 -04:00
Kevin O'Connor 9d0fcca8a9 serialhdl: Reduce calculations done while holding the lock
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-19 17:25:42 -04:00
Kevin O'Connor 857eb01bfa homing: Move query_endstop() code from kinematic classes to homing.py
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-19 17:25:42 -04:00
Kevin O'Connor a100f174f9 mcu: Pass print_time directly to MCU calls
Now that the print_time is always synchronized with the mcu_time,
there is no longer a need to track mcu_time as a separate quantity.
Eliminate references to mcu_time from the code and pass print_time
directly in its place.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-19 17:25:42 -04:00
Kevin O'Connor 5dfe4e1eb9 toolhead: Synchronize print_time to main mcu's time
Instead of starting the print_time at zero, start it at the estimated
time of the main mcu's clock.  This simplifies the code and it ensures
that print_time never goes backwards.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-19 17:25:38 -04:00
Kevin O'Connor b9586bad18 mcu: Use is_fileoutput() externally
Use mcu.is_fileoutput() instead of looking up the "debugoutput" flag
in the start args.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-19 17:22:29 -04:00
Kevin O'Connor f1c2f789b6 klippy: Do not start stats timer until after connect completes
Generating stats during connect leads to potential use of not yet
initialized variables.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-19 17:22:29 -04:00
Kevin O'Connor 123719bf92 stepper: Fix bug causing 'enable_pin' to be required
Make sure to initialize mcu_enable to None so that it is initialized
if no 'enable_pin' config value is provided.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-19 17:20:41 -04:00
Kevin O'Connor 14810d7e80 stepcompress: Return number of steps traveled from stepcompress_push()
Return the same information from stepcompress_push() that is returned
from stepcompress_push_const() and stpcompress_push_delta().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-13 09:24:27 -04:00
Kevin O'Connor 52156d2c41 pins: Don't pass mcu_freq to update_command()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-13 09:16:58 -04:00
Kevin O'Connor 2a6a9eb52f pru: Avoid calling "slp" instruction on pru0
If pru0 waits in sleep mode then a full beaglebone reboot is needed to
reprogram the pru0 firmware.  For now, avoid using the "slp"
instruction as a workaround.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-11 13:12:18 -04:00
Kevin O'Connor bf85c61b48 corexy: Fix max_xy_halt_velocity calculation on corexy
On corexy, the stepper velocity of a diagonal move could be greater
than the maximum printer velocity.  Account for that when setting the
maximum xy halt velocity in the mcu stepper config.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-09 14:45:10 -04:00
Kevin O'Connor dba488f30a extruder: Remove unused set_max_jerk() call
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-08 19:34:30 -04:00
Kevin O'Connor d618affd63 pru: Batch outgoing writes
Allow pru0 to gather multiple outgoing message blocks into a single
rpmsg.  This can reduce communication overhead.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-08 11:50:21 -04:00
Kevin O'Connor 121c747cc8 pru: Fix race condition in clearing of irq flags
Each irq flag must only be cleared after it has been serviced.  This
fixes a race condition that could cause incoming commands to be
delayed for extended period.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-08 11:50:21 -04:00
Kevin O'Connor 91b9634198 serialqueue: Fix off-by-one error in retransmit sequence number tracking
Commit 4655a6bf allowed naks to be honored if receive_seq was greater
than the last retransmitted sequence.  However, receive_seq is the
receiver's next sequence number, so a nak should only be processed if
it is one greater than that.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-08 11:50:21 -04:00
Kevin O'Connor 7d17002b33 fan: Allow heater_fan to work with heater_bed
Fix order of init error preventing heater_fan from being used with
heater_bed.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-07 11:19:27 -04:00
Kevin O'Connor 477b3941a6 console: Add support for SUPPRESS command
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-07 11:19:27 -04:00
Kevin O'Connor 36dd7e7609 console: Add support for a FLOOD command
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-07 11:19:27 -04:00
Kevin O'Connor 167a65d826 util: Fix reporting of git version of klippy code
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-07 11:19:27 -04:00
Kevin O'Connor c9cd8cea66 mcu: Limit value range of PWM and digital outputs prior to transmission
Make sure schedule_digital_out and schedule_pwm_out commands always go
out with a value that is in range for the particular command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-06 12:04:05 -04:00
Kevin O'Connor dfdcbece53 mcu: Improve error descriptions in Common_MCU_errors
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-06 12:03:49 -04:00
Kevin O'Connor 5b62f15c6d extruder: Provide more details on extruder errors
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-05 22:12:15 -04:00
Kevin O'Connor 09e32d1b84 mcu: Provide some further help on common MCU shutdown errors
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-05 22:12:15 -04:00
Kevin O'Connor 68fc6abf74 avr: Check that FLASH_DEVICE is set on "make flash" command
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-05 22:12:15 -04:00
Kevin O'Connor ff56c0fb74 extruder: Fix typo in init
Commit 7a81bfc4 broke extrude only moves due to a typo in the commit.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-05 22:12:15 -04:00
Kevin O'Connor 36de6118c1 mcu: Limit ADC min/max range to a 16bit integer
Make sure the ADC range sent to the MCU can be encoded into a 16bit
integer.  Otherwise, if the provided min_temp/max_temp was outside the
range of possible values it could result in a spurious mcu shutdown.
In particular, the AD595 could not properly encode a min_temp of zero.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-05 18:22:21 -04:00
Kevin O'Connor 7083a33ecd pru: Support config_reset command to manually reset mcu
Add support for resetting the MCU via a software only mechanism.  This
is useful on the PRU.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-03 23:16:38 -04:00
Kevin O'Connor 7b7f57e01c pru: Only sleep the pru0 if the incoming queue is fully empty
It's possible for multiple blocks to be pending on the incoming
"rpmsg" stream.  Don't sleep unless the input is confirmed to be
empty.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-03 23:15:49 -04:00
Kevin O'Connor 8d0ef49e8f toolhead: Permit look-ahead between Z moves
Extend the look-ahead mechanism to work between moves that contain Z
movement.  This improves Klipper's handling of g-code produced in
"vase mode".

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-03 15:46:48 -04:00
Kevin O'Connor 7a81bfc4a4 toolhead: Eliminate set_max_jerk() from kinematic classes
Allow the kinematic classes to query the max velocity, max accel, and
max halt velocity from the toolhead class instead of having the
toolhead class call into the kinematic classes with those values.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-03 15:45:04 -04:00
Kevin O'Connor 0d13834293 gcode: Fix error that could cause commands to be processed out of order
Commit d0932009 changed the way command handling was performed, and
commit 95950949 fixed a defect in that commit.  Unfortunately, the fix
was incomplete.

If multiple commands were sent to Klippy without waiting for an "ok"
response from Klippy, then it was possible for those additional
commands to be queued and processed after subsequent commands.  This
would result in commands being processed out of order.

Fix this by only reregistering the input fd in the greenlet that
performs the unregistration of the fd.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-02 12:05:51 -04:00
Kevin O'Connor ac53806e04 gcode: Add an ECHO command for debugging purposes
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-02 12:05:51 -04:00
Kevin O'Connor 026b9c336c stepcompress: Minor performance tweaks for rpi
Invert the if conditional in queue_append() and change the order of
reads in minmax_point() - gcc on the rpi seems to do generate better
code this way.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-31 10:17:01 -04:00
Kevin O'Connor 60c77fff06 docs: Update Code_Overview.md - step compress queue no longer 64 bit
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-31 10:07:17 -04:00
Kevin O'Connor 588ecbe868 stepcompress: Use addition instead of multiplication on queue add
Replace multiplication with addition where possible.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-31 02:15:32 -04:00
Kevin O'Connor e05c635489 stepcompreses: Change the step queue to use 32bit integers
The RaspberryPi processor implements 'double to int32' conversions
much faster than 'double to int64' conversions.  Rework the code so
that steps stored in the queue are always a small offset from the last
sent step time.  (In the unlikely event that a step is far from the
last step time, then the queue is flushed to maintain this invariant.)

This simplifies the step compression code as well - it no longer needs
to check for integer overflows.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-31 00:27:43 -04:00
Kevin O'Connor f5cc355044 stepcompress: Refactor queue insertion to use a cursor
Create an insertion "cursor" for adding items to the step compression
queue.  This makes the calling code simpler and it makes it easier to
update the queue memory management in the future.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-31 00:15:03 -04:00
Kevin O'Connor 78f4c25a14 homing: Add a small delay before each homing operation
The homing operation can be cpu intensive for the host software.  Add
a small (250ms) delay before homing so that the host has additional
time to process the command before it is due on the mcu.  This is
intended to work around some reports of "timer too close" errors
during Z homing on RPi2 hosts and printers with high precision Z
positioning.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-29 18:02:36 -04:00
Kevin O'Connor 002dc0dfaf stepper: Adjust homing_speed so that it's an even number of ticks per step
Adjust the configured homing speed so that it always results in a
speed that is an even number of mcu ticks per step.  This ensures that
the code can always get good step compression during homing, which is
important as the entire homing operation must be able to fit within
the mcu's move queue.  This fixes some "move queue empty" mcu shutdown
errors that could occur when the Z step distance was an unusual size.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-29 18:00:17 -04:00
Kevin O'Connor 68d6788413 mcu: Add get_mcu() call to the mcu oid objects
Allow external code to obtain the mcu object that controls a pin setup
with setup_pin().  Also, don't bother defining print_to_mcu_time() and
system_to_mcu_time() on each pin object as they can be obtained via
the new get_mcu() method.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-29 17:59:27 -04:00
Kevin O'Connor c7c551369f mcu: Fix bug causing corexy to not work (introduced in 9d75c3b0)
Commit 9d75c3b0 changed the order of allocation for mcu oid integer
ids.  However, the stepper oids must always be allocated before
endstop oids so that corexy can register multiple steppers on a single
endstop.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-29 17:59:15 -04:00
Kevin O'Connor 0c2919b534 klippy: Move restart logic into Printer() class
Move the restart logic out of main() and into Printer.run().  This
simplifies the code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-26 18:27:21 -04:00
Kevin O'Connor d8c75fc608 klippy: Rename internal functions so that they are prefaced with "_"
Preface the internal functions to make it more clear which functions
are interfaces to external code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-26 18:27:21 -04:00
Kevin O'Connor a42cb4fecf toolhead: Avoid directly accessing the printer.mcu field
Lookup the mcu object from the printer objects and store it locally in
the toolhead class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-26 18:27:21 -04:00
Kevin O'Connor 68ba3d5106 mcu: Drop support for TICKS() expansion in mcu config commands
It's no longer necessary to use the TICKS() hack as the config
commands are now all generated after the mcu speed is known.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-26 18:27:21 -04:00
Kevin O'Connor 80dc1dfcc1 docs: Remove documentation for "custom" command blocks
It should no longer be necessary to configure "custom" commands during
mcu setup.  The ad5206 and static_digital_output config sections
should provide similar functionality.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-26 18:27:21 -04:00
Kevin O'Connor 931811ab59 chipmisc: Add support for configuring ad5206 digipots
Support an "ad5206" config section so that one can configure the
digipots found on Reprap "RAMBo" boards.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-26 18:27:21 -04:00
Kevin O'Connor 9d75c3b0ca chipmisc: Add support for statically configured output pins
Allow digital and PWM output pins to be setup via new config
sections.  This makes it easier to setup pin configurations.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-26 18:27:20 -04:00
Kevin O'Connor 6ab8567d51 mcu: Track stepqueues separately from steppers
The MCU() class needs to track the stepqueues so that it can
initialize the steppersync object.  Track the stepqueues directly
instead of via the list of steppers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-25 20:45:54 -04:00