Commit Graph

202 Commits

Author SHA1 Message Date
Kevin O'Connor eb73b5d0b0 stepper_buzz: Convert to iterative solver
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-20 09:26:10 -04:00
Kevin O'Connor ca0d0135dc delta: Convert delta kinematics to use iterative solver
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-20 09:26:10 -04:00
Kevin O'Connor ba3428822d stepcompress: Allow stepcompress_alloc() to be called early
Don't require an mcu connection to allocate the stepcompress object.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-20 09:26:10 -04:00
cruwaller 26378c2564 mcu: config_reset_cmd typo fixed
Signed-off-by: Petri Honkala <cruwaller@gmail.com>
2018-06-01 09:49:55 -04:00
Kevin O'Connor ff9543eee2 clocksync: Simplify is_active() check
In some rare circumstances it was possible for the host software to
become so busy that it does not transmit a get_clock request for
several seconds.  (In particular, this could occur with some complex
calls to coordinate_descent.)  If that happened, it was possible for
the code to incorrectly report a "Timeout with MCU" error.  Rework the
is_active() check to prevent that.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-05-31 18:20:30 -04:00
Kevin O'Connor 879c45db19 mcu: Do not automatically restart MCU with new config if it is shutdown
Normally, the MCU is restarted on a config change.  However, that
should not be done automatically if the MCU is in a shutdown state.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-05-29 10:57:29 -04:00
Kevin O'Connor ee4f37fe0c stepper: Add STEPPER_BUZZ command
Add a new command that can help diagnose stepper motor connectivity.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-05-24 09:49:17 -04:00
Kevin O'Connor 3025638b9b z_tilt: Add support for Z_TILT_ADJUST
Add new module to support independent adjustments to multiple Z
steppers to account for bed tilt.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-05-22 22:23:44 -04:00
Kevin O'Connor 4eeb43b191 pins: Remove module level get_printer_pins() and setup_pin() functions
Most callers did a lookup of the pins module via
printer.lookup_object("pins").  Use that as the standard method and
remove these less frequently used methods.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-04-04 12:26:39 -04:00
Kevin O'Connor bb8926d67a klippy: Automatically clear rollover_info on each restart
Automatically clear the information printed at the start of each log
file rollover on a klippy internal restart.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-04-03 13:18:52 -04:00
Kevin O'Connor b139a8561f serialhdl: Add a wrapper around the results of lookup_command()
Add a lookup_command() method to the SerialReader class that provides
a wrapper that stores the serial and commandqueue references.  This
makes it easier to run the send() method.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-02-27 21:06:16 -05:00
Dave Bacon 5abea041b4 mcu: Fix PWM static start value setup
config_setup uses ._start_value instead of ._static_value which isn't defined.

Signed-off-by: Dave Bacon <drb.github@mrbacon.com>
2018-02-10 13:00:22 -05:00
Kevin O'Connor 0a5b07f9da klippy: Allow any stats producer to determine when stats are needed
Instead of using the toolhead class to determine if stats should be
reported, allow every printer object with a stats() callback to
determine if stats are needed.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-02-05 13:52:05 -05:00
Kevin O'Connor 21df21b7af fan: Clarify hardware_pwm and allow cycle_time to be set on software pwm
Specify hardware pwm cycle times using the same method as software pwm
(in seconds, not clock ticks).  Allow the fan code to be configured
with an explicit cycle time even when using software pwm.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-01-29 13:08:15 -05:00
Kevin O'Connor 077a56c2ca mcu: Default the restart method to 'command' on non-serial ports
If the mcu supports command restarts and it does not appear to use a
real serial port, then default the restart method to 'command'.  This
is a better default on boards with native USB support.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-01-29 10:25:25 -05:00
Kevin O'Connor e38c7df064 probe: Support activate/deactivate scripts on each probe
Allow a set of g-code scripts to be run on each probe invocation.
This may be useful for probes that need to be setup before they are
useful (eg, with servo actuated probes).

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-01-28 12:19:26 -05:00
Kevin O'Connor ce9db609ad probe: Initial support for Z-Probe hardware
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-01-28 12:19:26 -05:00
Kevin O'Connor d3665699f1 klippy: Support generic printer_state() and stats() callbacks
Instead of hardcoding which objects are called on state transitions,
allow any "printer object" to be invoked if it has a printer_state()
method.  Convert connect, ready, shutdown, and disconnect callbacks to
this mechanism.

Similarly, allow all printer objects to provide a stats() callback.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-01-28 12:19:26 -05:00
Kevin O'Connor 81013ba5c8 klippy: Add access methods and avoid peeking into the printer classes
Add get_reactor(), lookup_object(), lookup_module_objects(), and
set_rollover_info() to the main Printer class so that callers do not
need to peek into the class' members.  Similarly, add get_printer()
and get_name() methods to the ConfigWrapper class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-01-28 12:19:26 -05:00
Kevin O'Connor 3833669c3a pins: Check if the same pin is referenced via different aliases
Change the update_command() call to use a new PinResolver class.  In
that new class, verify that the same pin isn't referenced in two
different parts of the config using different aliases for the pin.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-01-10 19:26:06 -05:00
Kevin O'Connor ed80b92b59 mcu: Setup static values via setup_start_value() call
Add an "is_static" setting to setup_start_value() and remove the
setup_static() method.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-01-08 21:21:30 -05:00
Kevin O'Connor ed9dee4602 mcu: Only report an MCU timeout once
Don't flood the log with timeout messages.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-01-08 10:55:37 -05:00
Kevin O'Connor d778ae1846 build: Add gcc and binutils version to mcu data dictionary
Store the gcc and binutils versions used in the compilation of the
firmware in the firmware data dictionary.  Forward that information to
the log so it is available during debugging.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-21 20:32:10 -05:00
Kevin O'Connor 68d03e4a3e mcu: Allow both shutdown and startup values to be set for output pins
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-18 20:45:00 -05:00
Kevin O'Connor e0c947e188 mcu: Store MCU_stepper commanded_pos as a float
It's valid to consider the stepper at a position that is not on a step
interval - only the "mcu position" needs to be an integer.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-07 18:14:50 -05:00
Kevin O'Connor 1d6af72de5 mcu: Remove unneeded MCU_digital_out.get_last_setting() method
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-06 19:13:54 -05:00
Kevin O'Connor 2a8dd5c51f mcu: Reset the stepper step clock on init - not after each motor on
Reset the last step clock during the init phase and after each home -
this simplifies the runtime code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-06 19:13:54 -05:00
Kevin O'Connor c78f66b8e8 mcu: Be sure all moves are completed before raising a home timeout
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-06 19:13:54 -05:00
Kevin O'Connor b340fdcc4a homing: Make sure to clean up homing state even if homing fails
Make sure to always call MCU_endstop.home_wait() if
MCU_endstop.home_start() is invoked.  Rename
MCU_stepper.note_homing_triggered() to note_homing_end() and make sure
it is always called if MCU_stepper.note_homing_start() is invoked.

With these changes, MCU_endstop.home_finalize() is no longer needed.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-06 19:13:53 -05:00
Kevin O'Connor 7785d3a87d homing: Pass list of endstops (not steppers) to the homing code
The homing code wants the list of endstops to enable during a homing
operation - it's confusing to pass the steppers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-06 18:49:14 -05:00
Kevin O'Connor 31db4cc772 mcu: Make sure steppers added to an endstop are on the same mcu
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-06 18:35:51 -05:00
Kevin O'Connor 7932de11a7 mcu: Make sure all endstop objects are disabled on a reconnect
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-06 18:35:51 -05:00
Kevin O'Connor 38643f52c9 stepper: Add get_endstops() / set_position wrappers
Add wrappers around mcu_endstop and mcu_stepper so that the kinematic
classes do not need to directly access these low-level classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-11-18 17:36:45 -05:00
Kevin O'Connor 07a69df62f mcu: Fix command restart
Fix omission in commit f8750b14 that broke restarts via Klipper
command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-10-12 21:43:33 -04:00
Kevin O'Connor f8750b142f klippy: Rework shutdown handling
If an MCU signals a shutdown from the background thread, notify the
main thread and handle the shutdown there.  Dispatch shutdown handling
from the main Printer() class instead of from the Toolhead class.
This simplifies the shutdown logic.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-10-12 16:28:53 -04:00
Kevin O'Connor db97f36631 gpiocmds: Allow the start value for a pin to differ from the default_value
Allow the start value to be different from the default/shutdown value
for the pin.  This will be useful for "heater fans" that should
startup in the off state, and transition to full on in a shutdown
state.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-10-12 11:59:27 -04:00
Kevin O'Connor 3b9b4e4d6f endstop: Eliminate end_stop_set_oversample command
Pass the sample_ticks and sample_count parameters directly in the
end_stop_home command instead.  This simplifies the code.

Also, simplify calculation of next wakeup time in
end_stop_oversample_event().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-10-12 11:59:27 -04:00
Kevin O'Connor ece1f71c64 endstop: Support oversampling of the endstop
Some printers can show occasional noise on the endstop pin.  Support
sampling the endstop pin multiple times to attempt to filter out this
noise.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-10-01 19:15:55 -04:00
Kevin O'Connor f658819862 clocksync: Add support for dumping internal state for debugging
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-27 13:13:38 -04:00
Kevin O'Connor 8f8951b4c1 serialhdl: Make dump_debug() output atomic
Build a single (very large) logging message with the debug state.
This prevents the output from being fragmented.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-27 12:38:20 -04:00
Kevin O'Connor 387cab27bd mcu: Separate restart_microcontroller() into multiple functions
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-20 16:04:41 -04:00
Kevin O'Connor d851882278 linux: Initial support for running Klipper in a Linux real-time process
Add support for compiling the Klipper micro-controller code as a
real-time process capable of running on standard Linux systems.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-20 12:55:28 -04:00
Kevin O'Connor 3ccecc568d mcu: Initial support for multiple micro-controllers
Add initial support for controlling multiple independent
micro-controllers from a single Klippy host instance.  Add basic
support for synchronizing the clocks of the additional mcus to the
main mcu's clock.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-20 12:45:00 -04:00
Kevin O'Connor cee200e509 mcu: Move code around in MCU class to keep like code together
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-19 17:27:18 -04:00
Kevin O'Connor f1b315e04f mcu: Move print_time to clock conversion code to clocksync.py
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-19 17:27:18 -04:00
Kevin O'Connor 94bcd9735a mcu: Add mcu wrapper functions and avoid direct acccess to mcu variables
Don't directly access any of the mcu class variables externally from
the class.  Add wrapper functions for those external callers that need
access to some internal state.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-19 17:25:43 -04:00
Kevin O'Connor f662445766 stepcompress: Implement print time to clock conversion in C code
Implement the conversion from print_time to the local mcu's clock
within the C code.  This simplifies the python code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-19 17:25:43 -04:00
Kevin O'Connor 008be18f41 clocksync: Don't export get_last_clock()
Everywhere the data in get_last_clock() is used can be done just as
easily with estimated_print_time().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-19 17:25:43 -04:00
Kevin O'Connor 13812aa1c9 clocksync: Move clock synchronization code into new file
Move the low-level clock synchronization code from serialhdl.py to a
new file clocksync.py.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-19 17:25:42 -04:00
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 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 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 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 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 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 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 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 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
Kevin O'Connor c727ed3592 mcu: Track oids separately from objects requiring a build_config() callback
Track the oid count separately from the configurable object count -
this way it is possible to have internal objects that don't require an
oid in the mcu.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-25 20:44:51 -04:00
Kevin O'Connor c72ca983ba mcu: Eliminate "init callback" phase during connect
It's not necessary to register and execute "init callbacks" when
configuring the mcu.  Instead, have each mcu object produce its init
messages in the build_config() callback.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-25 20:41:09 -04:00
Kevin O'Connor ec7990796a pins: Support registering arbitrary chips that supply configurable pins
Allow multiple chips to provide pin mappings (not just the main mcu
chip).  Move the pin parsing from the mcu.py code to pins.py and
support mapping from pin descriptions to their corresponding chips and
parameters.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-25 20:38:55 -04:00
Kevin O'Connor 268834e4ae klippy: Store printer startup parameters in new "start_args" dictionary
Store pertinent information from the software startup in a dictionary
that the various printer components can access instead of in
individual variables in the Printer() class.  This makes it easier to
add future command-line options.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-25 19:27:05 -04:00
Kevin O'Connor 118fd21cb8 irq: Support sleeping when mcu is idle
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-17 15:02:43 -04:00
Kevin O'Connor 519e81d0fa mcu: Support converting from a system time to an mcu time
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-17 11:35:48 -04:00
Kevin O'Connor 1bc3e0a678 klippy: Use newer "except XYZError as e" python syntax
Use the newer syntax for python exceptions.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-10 00:08:06 -04:00
Kevin O'Connor c9b44b5bb6 serialhdl: Support working with pseudo serial devices
Support working with devices that aren't really serial ports and thus
do not have a baud rate.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-05-15 15:15:52 -04:00
Kevin O'Connor 5c4cc0d646 pwmcmds: Export the maximum PWM value
Instead of assuming the maximum PWM value is 255, export a constant
from the firmware to the host with the maximum value.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-05-15 14:02:59 -04:00
Kevin O'Connor 31ca2331d2 queuelogger: Add critical information to each logfile on rollover
When the log file does a rollover, start the top of the log with
critical system information (eg, software versions).

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-05-01 14:48:44 -04:00
Kevin O'Connor 2cb935c300 mcu: No need to log mcu_stats debugging
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-14 10:43:14 -04:00
Kevin O'Connor 7a386cff7d mcu: Change "Synchronizing mcu clock" logging to debug
Always log the last synchronized clock during a shutdown event, and
use debug level for normal reports.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-14 10:06:11 -04:00
Kevin O'Connor 8920479f85 klippy: Remove CLEAR_SHUTDOWN command
Advice users to issue a FIRMWARE_RESTART command on a printer shutdown
event, and remove support for CLEAR_SHUTDOWN.  A full mcu reset is
preferable and it simplifies the interface.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-13 14:53:41 -04:00
Kevin O'Connor 4c25eae9b4 mcu: Make sure a FIRMWARE_RESTART actually resets the mcu
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-13 14:29:18 -04:00
Kevin O'Connor daff83ee9a hub-ctrl: Add support for micro-controller reset via RPi usb power toggling
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-13 13:20:13 -04:00
Kevin O'Connor 9f9e3e61d6 mcu: Support reset command
Extend the FIRMWARE_RESTART command so that it can use the firmware
"reset" command instead of the "arduino" mechanism.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-13 13:20:13 -04:00
Kevin O'Connor 7b03b04c78 klippy: Support minimum/maximum value checks on configuration variables
Verify that numeric parameters are in a sane range when reading the
config.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-11 11:42:55 -04:00
Kevin O'Connor b915a2ad7d delta: Make it clear that a "virtual tower" is created
The delta code calculates a "virtual tower" along the line of
movement.  Rework the variable names and comments to make it clear
that this is occurring.

It is not necessary to pass the start_pos variable to the C code as it
is simple to update the start_pos at the start of each movement.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 15:05:41 -04:00
Kevin O'Connor 85ed5cef7f stepcompress: Merge stepcompress_delta_const and stepcompress_delta_accel
It's not necessary to have separate C delta kinematic functions for
constant acceleration and constant velocity as constant velocity can
be obtained by using a constant acceleration of zero.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 14:47:00 -04:00
Kevin O'Connor df42b0d1ac stepcompress: Pass delta velocity and acceleration directly to C code
Update the C delta kinematic code to take velocity and acceleration
directly in step distances and clock ticks.  This simplifies the
mcu.py python code as it only needs to do unit and axis conversion.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 14:43:48 -04:00
Kevin O'Connor 98add22891 stepcompress: Merge stepcompress_push_accel() and stepcompress_push_const()
It's not necessary to have separate C functions for constant
acceleration and constant velocity as constant velocity can be
obtained by using a constant acceleration of zero.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 14:43:25 -04:00
Kevin O'Connor 1d81bf5596 stepcompress: Pass constant velocity and acceleration directly to C code
Update the C code to take velocity and acceleration directly in step
distances and clock ticks.  This simplifies the mcu.py python code as
it only needs to do unit and axis conversion.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 13:57:24 -04:00
Kevin O'Connor e4153a536f mcu: Change mcu_stepper.set_position() to take a location in millimeters
Update the set_position() method to convert from millimeters to
absolute step position.

Also, update PrinterStepper.get_homed_offset() and
mcu_stepper.get_commanded_position() to return millimeters.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 13:44:17 -04:00
Kevin O'Connor 79f31238b0 mcu: Don't export the commanded_position variable from mcu_stepper
Now that the kinematic classes call the mcu_stepper with millimeters
and seconds it is no longer necessary for them to directly access the
stepper's position in absolute steps.  Rename
mcu_stepper.commanded_position to mcu_stepper._commanded_pos to make
clear it is not a variable intended to be externally accessed.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 13:44:17 -04:00
Kevin O'Connor 8c712d959d mcu: Pass delta velocity and acceleration directly to mcu_stepper
Rework the parameters of step_delta_const() and step_delta_accel() so
that they take velocity and acceleration directly in millimeters and
seconds.  This simplifies the delta.py kinematic code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 13:44:04 -04:00
Kevin O'Connor c4b1a79db2 mcu: Pass constant velocity and acceleration directly to mcu_stepper
Rename step_sqrt/step_factor to step_accel/step_const and have them
directly take the velocity and acceleration in millimeters and
seconds.  This simplifies the kinematic classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 13:43:56 -04:00
Kevin O'Connor bfad970e4d mcu: Rename self.ffi_lib to self._ffi_lib
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-04 10:13:02 -04:00
Kevin O'Connor 57f279677f 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>
2017-04-03 17:27:10 -04:00
Kevin O'Connor 7fc9ba7d3a mcu: Log the mcu clock each time print_time is synchronized
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-30 12:51:10 -04:00
Kevin O'Connor 5ff2d5aee6 mcu: Defer MCU_adc register_msg until ready to receive messages
Register the callback handler only after it's required state is setup.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-16 14:41:26 -04:00
Kevin O'Connor d21b9280f0 klippy: Eliminate high-level build_config phase
Now that the mcu objects can be created prior to connecting to the
mcu, it is no longer necessary to separate the init and build_config
phases in the high-level code.  Move the mcu objection creation from
the build_config phase to the init phase and eliminate the
build_config phase.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-13 00:38:17 -04:00
Kevin O'Connor 92649332ce mcu: Delay setting of mcu_stepper.min_stop_interval
Create a separate callback for setting the min_stop_interval.

Also, move the setting of the stepper max_error from the stepper
configs to the mcu config and rename it to max_stepper_error.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-13 00:38:17 -04:00
Kevin O'Connor 168cb95bd5 mcu: Allow each oid object to define its own build_config() method
Create a build_config() method on each oid object and call it just
after connecting to the MCU.  Move code that requires a connected
state from the oid init to its new build_config method.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-13 00:38:17 -04:00
Kevin O'Connor 1d796a4e24 mcu: Support config mechanism for translating seconds to clock ticks
Introduce a TICKS() macro during config parsing that will translate
time in seconds to time in clock ticks.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-13 00:38:17 -04:00
Kevin O'Connor 8e6d5efdac pins: Simplify pin map alias setup
Use map_pins() to obtain the pin mapping - don't export
mcu_to_pins().  The functionality of mcu_to_pins() can be obtained by
calling map_pins() with name=None.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-13 00:38:15 -04:00
Kevin O'Connor a38437f378 stepper: Introduce stepper_get_position command and remove from endstop.c
Move the logic to calculate and report the stepper's current position
from endstop.c to stepper.c.  This localizes the stepper code into
stepper.c.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-09 14:54:52 -05:00