Commit Graph

703 Commits

Author SHA1 Message Date
Kevin O'Connor 1b07505973 chipmisc: Add multi_pin capability
Add the ability to alias multiple output pins from a single pin alias.
This makes it possible to support some cases where a single logical
output is driven by multiple output pins.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-18 21:00:06 -05:00
Kevin O'Connor 3c5649219f chipmisc: Add support for output pins set at runtime
Add the ability to define output pins that may be set at runtime with
a new SET_PIN extended g-code command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-18 20:59:07 -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 e6e0a21b06 toolhead: Allow junction_deviation to be set to zero
Allow lookahead to be effectively disabled by setting
junction_deviation to zero.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-18 20:44:59 -05:00
Kevin O'Connor 8d62318c5f clocksync: The clock estimate should add the rtt time not subtract it
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-16 20:21:38 -05:00
Kevin O'Connor 4a5801bb2e pins: Fix atmega168/328 mappings
The atmega168 and atmega328 need to define PE0 and PE1 in order to
support the 2 extra analog pins.

Also, support the arduino mappings for the atmega328.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-09 11:48:26 -05:00
Kevin O'Connor f8acf0f54f delta: Default stepper_b/c position_endstop to stepper_a's
If the position_endstop is not set for stepper_b or stepper_c then use
the value from stepper_a.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-08 18:20:04 -05:00
Kevin O'Connor bc5d900e61 delta: Support different arm lengths for each tower
Change the config file so that the delta arm length is specified
per-tower.  This makes it possible to support advanced calibration.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-08 18:20:04 -05:00
Kevin O'Connor efb4a5daa1 delta: Rework actuator_to_cartesian() using trilateration
Use the formulas for trilateration (instead of the circumcenter
formulas) when calculating the position of the nozzle from the
position of the carriages.  The trilateration formula is more general
and it allows each tower to have a different arm length.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-08 18:09:19 -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 3ffab763c0 stepper: Only align the stepper motor to a full step when requested
Add a new config option 'homing_endstop_align_zero' to enable the
alignment of the endstop to a stepper full step.  It's possible one
may wish to specify a homing_endstop_phase while not aligning the
endstop.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-07 17:35:19 -05:00
Kevin O'Connor f6d4284d5c homing: Directly interact with the kinematic class on query_endstops()
Move the query_endstop logic out of toolhead.py and into homing.py.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-06 19:13:54 -05:00
Kevin O'Connor 8d9ca6f2dd homing: Directly interact with the kinematic class when homing
Move the homing logic out of toolhead.py and into homing.py.  This
simplifies the toolhead logic and centralizes the homing code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-06 19:13:54 -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 bc9cbc8133 gcode: Move SET_SERVO command from gcode.py to chipmisc.py
Now that commands can be registered dynamically, move the code for
SET_SERVO from gcode.py to the PrinterServo() class in chipmisc.py.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-06 18:35:51 -05:00
Kevin O'Connor b5a41d0dd1 gcode: Rework gcode handler setup to allow dynamic command registration
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-06 18:35:51 -05:00
Kevin O'Connor 64a091fb98 gcode: Add a get_str() method
Add a get_str() method that can extract a required parameter from a
g-code command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-06 18:35:51 -05:00
Kevin O'Connor 80f23441dd gcode: Simplify exception handling
Translate caught exceptions into a gcode.error() exception.  This way
there is one standard place to invoke respond_error().  Also, always
reset the last_position on a handled error.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-06 18:35:51 -05:00
Kevin O'Connor 3a2d16abb3 gcode: Always allow M112 command
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-06 18:35:49 -05:00
Kevin O'Connor c70cc8fadb klippy: Always recommend a FIRMWARE_RESTART on a shutdown event
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-03 19:52:25 -05:00
Kevin O'Connor 10e11950ae stepper: get_homed_offset() should return a float
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-12-03 19:48:47 -05:00
Kevin O'Connor 6d6638826c stepcompress: Fix proactive queue flushing on move with 64K+ steps
Commit e05c6354 changed the internal step compress queue from 64bit
integers to 32bit integers.  However, that commit broke the proactive
flushing of moves that could produce more than 64K steps.  This could
lead to large memory allocations and cpu slow downs on printers that
had a very large Z axis - possibly leading to a "Timer too close" mcu
shutdown.  Correct the code so that it properly generates a 64bit
flush clock.

Also, be sure to only expand / memmove the queue when there is no room
for a new element at the end.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-11-29 20:24:50 -05:00
Kevin O'Connor 6930a7de8d homing: Base homing cpu delay on estimated number of steps needed
Instead of adding 250ms to each homing operation add a time relative
to the number of estimated steps that are to be generated.  This
scales the delay to really large axes without adding a delay for
normal users.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-11-29 19:55:25 -05:00
Kevin O'Connor 8c2fa2e2d6 stepper: Support for multiple steppers controlling a single axis
Allow multiple steppers to be defined for a single cartesian axis.
This adds support for dual-z setups.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-11-18 17:37:04 -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 eecf3b6ea8 stepper: Store pointers to step_const and step_delta in PrinterStepper
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-11-18 17:29:23 -05:00
Kevin O'Connor fc1d690d75 stepper: Remove unused variables from PrinterStepper class
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-11-18 17:29:23 -05:00
Kevin O'Connor d10380e73f stepper: Additional code comments
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-11-18 17:29:23 -05:00
Kevin O'Connor aaeda540b6 stepper: Calculate the stepper name directly from the config section
There is no need to pass the name to the PrinterStepper class as it
can determine the name itself.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-11-18 17:29:22 -05:00
Kevin O'Connor fda988889b heater: Avoid math errors on extreme ADC readings
Avoid log(0) and divide by zero errors in the thermistor calc_temp()
method.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-11-13 11:07:20 -05:00
Kevin O'Connor 77fea562c4 clocksync: Start with adjusted_freq of 1.0
Avoid setting adjusted_freq to 0.0 as that can cause divide by zero
failures at startup.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-10-13 21:07:32 -04:00
Kevin O'Connor e0f275cddf serialhdl: Don't open port at 1200 baud
The 1200 baud trick on the Arduino Due does both a reset and an
erase.  The erase is not desired.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-10-12 21:46:09 -04:00
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 3506d1e994 fan: Enable heater_fan objects on an MCU shutdown event
Should the MCU go into an error state, set the heater_fan to
max_power.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-10-12 11:59:27 -04:00
Kevin O'Connor 3c4d14bfa9 pca9685: Support default values
Allow the pwm pin to have a non-zero default value.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-10-12 11:59:27 -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 d03cf2b83f adccmds: Continue to query analog inputs after a shutdown
Continue to sample the ADC input pins even if the MCU goes into a
shutdown state.  This enables the printer to continue reporting
temperatures even on an mcu error.

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 78ba7064a7 clocksync: Initialize clock_est in connect_file()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-10-12 11:59:27 -04:00
Kevin O'Connor cc7c99a4a4 cartesian: Fix min_stop_interval calculation error
It is possible to have an acceleration greater than max_z_accel on
XY+Z moves.  That needs to be taken into account when calculating the
min_stop_interval.  This prevents spurious "No next step" MCU errors.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-10-12 01:16:11 -04:00
Kevin O'Connor ecf2596469 gcode: Don't warn on fan not present if input is from a file
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-10-11 14:28:19 -04:00
Kevin O'Connor 0ec7eda11b pins: Add pin mapping for atmega1284p
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-10-05 16:57:44 -04:00
Kevin O'Connor 381304aa6f stepper: If homing_endstop_phase is configured, make 0.0 be at a full step
If the stepper phases are known then it is possible to arrange for the
0.0 position to occur at a full step.  On cartesian style printer,
this makes it possible for the Z levels to occur at full steps (which
may help reduce "Z ribbing").

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-10-03 22:06:51 -04:00
Kevin O'Connor ce9523fb90 gcode: Report the raw MCU position from the M114 command
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-10-03 22:03:52 -04:00
Kevin O'Connor 06420b0ddf gcode: Carry over #original and #command in get_extended_params()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-10-02 22:06:43 -04:00
Kevin O'Connor c2e1c53356 clocksync: Implement a floor on the prediction filter
Don't discard samples that are less than 500us from the prediction
regardless of the prediction variance.  Also, don't use the prediction
variance in the external time estimate.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-10-02 11:00:24 -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 776d8f9f79 clocksync: Update clock synchronization code to use a linear regression
Implement a "moving" linear regression between the reported mcu clock
and the sent_time of the get_status message that generated that
report.  Use this linear regression to make predictions on the
relationship between the system time and the mcu clock.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-30 19:37:37 -04:00
Kevin O'Connor 61ee63f358 serialqueue: Don't report sent_time on responses that are retransmitted
On a retransmit, the sent_time of the command associated with the
given response message isn't accurate.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-30 19:37:20 -04:00
Kevin O'Connor 6f65ba9214 clocksync: Don't update prev_est on min rtt updates
Average frequency changes over the longer interval on a sample that
causes a minimum rtt update.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-28 01:09:18 -04:00
Kevin O'Connor ba837c2641 clocksync: Fix serialqueue.set_clock_est() - don't track min_freq
Revert commit f37fc775.  It is not valid to pass a conservative
frequency to serialqueue.set_clock_est() as that function may not be
called for extended periods - a too low frequency would eventually
lead to "Timer too close" mcu errors.

Instead, increase the 1ms time offset to 5ms to avoid corner cases
that could lead to a message arriving too soon.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-28 00:51:48 -04:00
Kevin O'Connor 1518032606 clocksync: Default mcu_freq to 1 instead of 0
This prevents divide by zero errors during stats output if the stats
are generated before a connection completes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-27 20:07:46 -04:00
Kevin O'Connor 6469cce2bc toolhead: Make sure reset_print_time() doesn't go backwards in time
Update the homing code to pass in the start of the homing operation to
toolhead.reset_print_time().  This prevents an error when batch
processing gcode files that contain multiple homing operations.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-27 19:21:26 -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 8d5a9143bb klippy: Avoid using '%' syntax when calling logging module
The logging module can build strings directly from printf syntax - no
need to build the string first.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-27 12:38:20 -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 6e5bcc69bc gcode: 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 11:58:21 -04:00
Kevin O'Connor 8d04d3d8fd gcode: Exit if a shutdown occurs while running in batch mode
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-27 10:05:11 -04:00
Kevin O'Connor f37fc775e5 clocksync: Be conservative when setting serialqueue.set_clock_est()
Accuracy is not as important as ensuring a message is never sent
before it can be received in the serialqueue code.  So, use the
smallest frequency ever seen and add the minimum rtt time when setting
set_clock_est().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-27 09:10:41 -04:00
Kevin O'Connor 3982b5030e serialqueue: Take baud_adjust into account when calculating receive_time
Use baud_adjust when determining the receive_time of a message read
from the serial port.  This improves the accuracy of the clock
synchronization code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-26 22:27:25 -04:00
Kevin O'Connor d9fe4b6944 clocksync: Rework clock synchronization algorithm
Instead of tracking the minimum frequency ever observed, attempt to
track the actual frequency of the micro-controller (relative to the
host clock).  This improves the stability of the secondary mcu clocks
when multiple mcus are configured.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-26 22:27:25 -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 6dcc44ce2d chipmisc: Add initial support for servos
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-20 14:21:36 -04:00
Kevin O'Connor 3b4088c23f chipmisc: Add support for Replicape board
Add support for configuring and controlling the hardware specific to
the revision "B3" Replicape board.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-20 13:18:07 -04:00
Kevin O'Connor 16d2ec3a90 linux: Add support for analog IIO devices
Add support for reading analog values via the standard Linux IIO
interface.  This can be used on Replicape boards to sample analog
input pins.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-09-20 12:55:28 -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 2089f19670 toolhead: Separate is_active() code from stats() code
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 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 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 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 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 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 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 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
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 b80c488d36 heater: Another minor cleanup to Steinhart-Hart math
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-20 12:42:50 -04:00
Kevin O'Connor f25cb33367 heater: Minor cleanup to Steinhart-Hart math
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-18 13:28:04 -04:00
Kevin O'Connor 4b5f3bec4b heater: Add support for a generic "NTC 100K beta 3950" thermistor
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-17 15:12:51 -04:00
Kevin O'Connor 1f4c6443ef heater: Calibrate thermistor directly from temperature and resistance
Store the underlying temperature and resistance values instead of the
Steinhart-Hart coefficents obtained from them.  This makes it easier
to add new thermistors.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-17 13:26:51 -04:00
Kevin O'Connor 4b5109c1b9 serialqueue: Make sure fds are in non-blocking mode
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-14 21:08:28 -04:00
Kevin O'Connor 085817d332 serialhdl: Sometimes we get an IOError when serial port not found
Catch IOError when opening the serial port.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-14 21:07:26 -04:00
Kevin O'Connor 5e6acf7dbc console: Add support for a STATS command
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-08 00:27:28 -04:00
Kevin O'Connor 58811b5c44 console: Add LIST command that shows available commands and variables
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-08 00:27:28 -04:00
Kevin O'Connor 86a762b2b7 console: Add a HELP command
Show available features at startup.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-08 00:27:28 -04:00
Kevin O'Connor 981c53682f stepper: Use a sane default for homing_positive_dir
Use the endstop position to determine a sane default for
homing_positive_dir.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-24 14:31:46 -04:00
Kevin O'Connor 143b7cccf4 stepper: Separate out homing code to its own PrinterHomingStepper class
Keep the homing code separate from the main stepper class.  This makes
it easier to verify the correct config parameters are provided.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-24 13:54:46 -04:00
Kevin O'Connor 959a20888c serialhdl: Dump serial stats in dump_debug()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-24 11:43:54 -04:00
Kevin O'Connor 7bf0ec2fe7 gcode: Don't wait for moves to finish if both debug input and output
Don't wait for moves to finish if the output is going to a debug file.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-23 21:32:26 -04:00
Kevin O'Connor c6231a16e3 serialqueue: Improve limit on number of in-flight bytes
Instead of limiting the amount of non-acked messages to 50ms, limit
the amount to one round-trip-time.  This should make it less likely
that the mcu will be overloaded and it should make retransmits faster.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-23 20:47:08 -04:00
Kevin O'Connor a619aacfc6 serialqueue: Further retransmit timing fixes
The first message always has a sync byte with it, so its size should
be one larger.  Also, the idle_time should always be the minimum time
that the message could be received, so it should always be reset to
eventtime on a retransmit.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-23 19:32:42 -04:00
Kevin O'Connor d469db84ee serialqueue: Allow a second nak after a retransmit
If a nak message causes a retransmission then also accept a second nak
message as long as it is for a sequence greater than the first nak.
This should allow faster retransmits when there are multiple
transmission errors in a small time period.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-21 23:49:44 -04:00
Kevin O'Connor 4655a6bfef serialqueue: Fix off-by-one error in retransmit sequence number tracking
Track the sequence number of the message last retransmitted (not the
sequence number of the next message to be transmitted).  This fixes a
small possibility of a valid nak not being honored.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-21 23:43:48 -04:00
Kevin O'Connor 61325c0a14 serialqueue: Improve timing of multiple retransmits
If a retransmit is triggered by a nak, then it is not necessary to
increase the rto.  The next retransmit time should be based on the
expected reception of the first retransmitted message, not the last.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-21 21:26:14 -04:00
Kevin O'Connor 7faa5fe233 gcode: Improve end-of-file handling when input is a debug file
Wait for any pending moves to be fully handled before exiting.  Make
sure the wait is done inside the "self.is_processing_data" check to
avoid infinite recursion.  Don't keep reading from the file while
waiting to exit.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-21 21:22:12 -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 969485c754 fan: Add support for heater_fan objects
Add support for fans designed to cool the components of an extruder or
heater.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-17 11:35:52 -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 12ca45a264 gcode: Log g-code error responses
Be sure to log g-code errors even if debug logging is not enabled.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-17 11:24:15 -04:00
Kevin O'Connor 5793271308 fan: Support setting a max_power attribute for the print cooling fan
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-05 10:43:34 -04:00
Kevin O'Connor cf662b842b msgproto: Catch exceptions during identify data parsing
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-04 12:49:58 -04:00
Kevin O'Connor 0ac518040b msgproto: Export static_strings from mcu to host as a dictionary
Export the static strings as a dictionary instead of as a list.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-02 14:11:10 -04:00
Kevin O'Connor 067fac05a8 serialqueue: Rename clock estimation variable names
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-30 20:15:36 -04:00
Kevin O'Connor c7d0358c41 serialhdl: Rework mcu clock synchronization
The existing clock synchronization code has two flaws: intermittent
transmission latency during get_status requests can cause the
estimated clock to be too low, and the estimated clock calculation did
not take into account possible clock drift between samples.  The
former could potentially lead to "Timer too close" errors and the
latter could potentially lead to "Move queue empty" errors.

Rework the code to avoid the above problems.  It's not necessary to
estimate the micro-controller clock as an excellent estimate is
reported by the micro-controller (via the CLOCK_FREQ constant).
Account for a small drift from the reported value, and check on each
sample if the drift exceeds the expected limits.  With a good starting
estimated clock, only the offset needs to be calculated.  Use previous
offsets (and the estimated clock) in calculation of new offsets to
avoid intermittent latency from badly skewing the results.  Finally,
add an additional time offset of one millisecond to account for any
minor inaccuracies.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-30 20:15:36 -04:00
Kevin O'Connor c957e4ba86 serialqueue: Clarify code that associates sent messages to received messages
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-30 20:15:36 -04:00
Kevin O'Connor d2fafbdd9e build: Request python2 for all directly executed python binaries
Some systems point python to python3 instead of python2 - explicitly
request python2 to avoid conflicts.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-27 20:26:02 -04:00
Kevin O'Connor d981973096 heater: Fix auto-tune code
Make sure the heater.target_temp is set during the auto-tune test so
that the heater.set_pwm() command will allow the heater to be turned
on.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-22 12:09:55 -04:00
Kevin O'Connor e92ce565dd console: Support new artificial DELAY command
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-22 10:51:49 -04:00
Kevin O'Connor c03b4921c3 klippy: Make sure to always sleep before retrying next stats() call
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-15 09:37:57 -04:00
Kevin O'Connor 156de2e4c2 delta: Fix support for different endstop_position settings on each stepper
The endstop_position is intended to support different values for each
stepper so that the individual tower heights can be configured.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-11 12:48:51 -04:00
Kevin O'Connor 959509496a gcode: Fix regression causing lost asynchronous commands
Commit d0932009 introduced an error that could cause lost input in
cases where the sender did not wait for an "ok" message before sending
the next command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-11 12:42:11 -04:00
Kevin O'Connor 8419e152bb klippy: Remove some obscure python2 dependencies
Don't modify dictionaries while iterating them and be careful to use
// when doing an integer divide.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-10 00:12:14 -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 d093200966 gcode: Support running arbitrary gcode on extruder change
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-09 18:55:33 -04:00
Kevin O'Connor 72dc21fb1a gcode: Support for querying and setting multiple extruder heaters
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-09 18:55:30 -04:00
Kevin O'Connor 24b8f4ebc1 extruder: Add initial support for multi-extruders
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-09 18:54:38 -04:00
Kevin O'Connor 136dccbcdf klippy: Allow each module to define their config sections
Create add_printer_objects() functions in the fan, heater, extruder,
and toolhead modules.  Create the necessary printer component objects
from this call instead of placing the code directly in klippy.py.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-09 18:54:34 -04:00
Kevin O'Connor d0e6a0928b pins: Fix typo in at90usb1286 support so PF0-7 pins are defined
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-09 18:46:07 -04:00
Kevin O'Connor 01ee9e16c5 klippy: Prefer python dictionary comprehension to dict() call
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-06 12:35:13 -04:00
Kevin O'Connor 38411fd2e7 delta: Add support for specifying the angle each tower is at
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-06-05 18:05:45 -04:00
Kevin O'Connor d2547ce6b0 avr: Add support for atmega328 chip
The atmega328 is basically the same as the atmega168 - it just adds
some additional memory.  Allow the chip to be selected during the
build.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-05-28 10:45:32 -04:00
Kevin O'Connor c9b6662138 pru: Add support for ADC input
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-05-17 19:46:12 -04:00
Kevin O'Connor b6f24e78ac pyhelper: Fix GETHEX() macro used in dump_string() debugging
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-05-17 09:57:09 -04:00
Kevin O'Connor fc24aa041b pins: Add pin mappings for Beaglebone boards
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-05-15 15:15:52 -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 98f2adbcb5 extruder: Rework maximum retraction check
On a retract move (which are common during "wipe" operations), treat
the move as if it were an extrude only move.  It's valid for a retract
move to reverse more filament then it would be practical to push.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-05-02 08:57:38 -04:00
Kevin O'Connor c9d21574d8 gcode: Check for invalid speeds
Raise an error if the move speed is set to a zero or negative value.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-05-02 07:54:48 -04:00
Kevin O'Connor 253517096e extruder: Extend over extrusion checks to retractions
Ensure a move with a retraction (negative extrude) is also checked for
sane extrusion rates.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-05-02 07:54:48 -04:00
Kevin O'Connor 0fa35254c6 msgproto: Wrap strings passed via output() in repr()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-05-02 07:54:48 -04:00
Kevin O'Connor fc9fb7473c gcode: Don't report an error if turning off an unknown fan or heater
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-05-01 15:02:27 -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 35a6d9ba87 gcode: Sort the order of commands in HELP
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-26 10:44:22 -04:00
Kevin O'Connor c63754fc32 gcode: Limit build_handlers() method to just building available commands
The set_printer_ready() can be called from a background thread on a
shutdown event, so don't try to lookup the printer components in that
case.  Simplify build_handlers() so that it no longer tests for
components being available - test for component availability in the
command handlers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-26 10:31:58 -04:00
Kevin O'Connor ccb93068fe msgproto: Rework dump() so it also works with params
Always call the regular .parse() method for each message type during
dump() - add a new .format_params() method for dumping a verbose
representation of the parsed message.  This allows the new
format_params() to also be used with data already parsed.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-25 13:58:13 -04:00
Kevin O'Connor a6fe355801 console: Automatically convert float values to int during evaluation
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-25 12:26:13 -04:00
Kevin O'Connor fe11c3e348 console: Use stdout.write() instead of print
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-25 12:26:13 -04:00
Kevin O'Connor 167b18b58f gcode: Ignore M21 command
No need to recommend users disable "SD card support" in octoprint -
instead, just ignore the M21 command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-20 10:11:10 -04:00
Kevin O'Connor 4b1a530330 stepcompress: Simplify delta Z only move calculations
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-20 00:56:18 -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 b9623c1128 klippy: Don't log stats when the printer is idle
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-14 10:38:37 -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 839725e3c5 queuelogger: Automatically roll log file
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-14 09:58:34 -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 1592395036 reactor: Fix bug causing end() to not always work
Only set the self._process flag in run() not _dispatch_loop().

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 1cdddeec30 stepcompress: Add comment on common suffixes and units
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 20:22:32 -04:00
Kevin O'Connor 657c908f88 stepcompress: Modify check_expand() into check_push()
Add the new item at the same time as checking if there is space in the
queue.

Also, update the default optimization level of c_helper.so to O2 to
improve the compiled code layout.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 19:05:04 -04:00
Kevin O'Connor d7a0e22d59 stepcompress: Remove step_dist from stepcompress_push_delta()
Pass the step direction explicitly to the low-level delta kinematic C
code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 15:08:42 -04:00
Kevin O'Connor 33b809714f delta: Do reverse direction checking in C code
Calculate where a tower must reverse direction during a move in the C
code instead of the delta.py kinematic code.  This simplifies the
python code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 15:05:41 -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 47f12f107d stepcompress: Move stepcompress_push_* functions to their own section
This is only code movement; no code changes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 13:26:39 -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 49bdc6fbd1 corexy: Initial corexy kinematic implementation
Add initial support for corexy kinematics.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-03 17:27:14 -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 565861f680 reactor: Support pause() command even when the reactor is not running
If the reactor isn't running then implement pause using the system
sleep command.  This simplifies the users of pause().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-01 12:26:24 -04:00
Kevin O'Connor c0380d0280 stepper: Disable homing_endstop_accuracy errors on debug runs
If klippy is started in file output debugging, disable the
homing_endstop_accuracy error check.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-31 14:38:09 -04:00
Kevin O'Connor aa0f1aaeb2 toolhead: Increase the motor_off_time default to 10 minutes
Increase the default motor_off_time from 1 minute to 10 minutes.  The
small value is a common source of confusion.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-30 14:09:17 -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 6de85d02ae serialqueue: Message receive_time must be taken after read()
The est_clock calculation code requires timestamps on status messages
to never be prior to the reception of the message.  The eventtime of
handle_message() is taken before the read() and there is a small
possibility that it could be inaccurate enough to corrupt the
est_clock calculation.  Take a new timestamp when storing receive_time
to prevent this.  This fix prevents some firmware "Move queue empty"
shutdowns.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-24 19:16:33 -04:00
Kevin O'Connor 1fbb36fa87 serialhdl: Make sure to calculate est_clock before connect() finishes
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-24 11:13:55 -04:00
Kevin O'Connor 3cafcc2bc7 serialqueue: Don't retransmit on a NAK if no sent data is pending
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-24 11:13:55 -04:00
Kevin O'Connor 8d92c898ee stepcompress: Always return 0 on negative number in safe_sqrt()
sqrt() of a negative number in the C code returns NaN.  This value
results in behavior that is difficult to debug.  Always return 0.0
instead as this results in better behavior that is easier to track
down.  Also, on some code paths, safe_sqrt is called on numbers that
are multiplied by very large amounts (eg, 16000000**2) and thus
distinguishing between large and small negative numbers is difficult.
For now, report in the log if the value is below -0.001.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-22 10:54:53 -04:00
Kevin O'Connor 9bf73cd72d extruder: Make sure EXTRUDE_DIFF_IGNORE doesn't trigger due to rounding
The code disables lookahead between two extruding moves with
significantly different extrude ratios.  Unfortunately, it was
possible for very tiny moves to show different extrude ratios just due
to how the slicer implements rounding when it produces the gcode.
Allow lookahead to be enabled between moves with extrude ratios that
are different if they don't noticeably produce more or less extrusion.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-20 14:39:06 -04:00
Kevin O'Connor f97cf5c3b6 extruder: Avoid maximum extrude cross section errors on infinitesimal moves
Be less likely to raise a "Move exceeds maximum extrusion cross
section" error on very short moves.  It's okay to extrude a little
extra plastic on moves shorter than the nozzle diameter.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-19 21:38:59 -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 1f474742eb klippy: Log python info at start of log
Log the python version and startup command parameters to the log.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-16 14:41:25 -04:00
Kevin O'Connor 0041a0079d stepcompress: Improve check_line() error messages
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-16 13:15:25 -04:00
Kevin O'Connor 9bb8b0c622 toolhead: Don't raise exception from force_shutdown
Catch and ignore any exceptions when trying to shutdown the printer in
toolhead.force_shutdown() - there's a good chance an exception will be
raised as this method is often called after an invalid internal state
is found.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-16 13:15:25 -04:00
Kevin O'Connor df6d3107f2 stepper: Fix set_min_stop_interval() calculation
The previous calculation was only valid if the stepper is always
commanded to a position that is an exact multiple of the
step_distance.  The safety check was programmed with a value too large
for other commanded positions, which could result in "No next step"
errors.  Fix by changing the calculation to use the worst case
scenario.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-16 13:15:09 -04:00
Kevin O'Connor cbdc54843d gcode: Catch common gcode parameter errors
Don't force a firmware shutdown on a simple gcode parse error.
Instead, report the error back to the user and otherwise ignore the
command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-16 13:13:36 -04:00
Kevin O'Connor d2027cb4a9 serialhdl: Catch SerialException as well as OSError on serial open
Catch the right exceptions so that a retry is possible when attempting
to open the serial port.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-16 12:49:15 -04:00
Kevin O'Connor e60779bfe1 heater: Force set_pwm of zero when target_temp is zero
Fix a corner case where a residual in the PID could cause a non-zero
pwm request even when the target_temp is zero.  (Which could lead to a
firmware "Missed scheduling of next pwm event" shutdown.)

Simplify the logic for suppressing duplicate pwm updates and make sure
a zero target_temp always results in a zero pwm update on the
following set_pwm calculation.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-16 12:49:15 -04:00
Kevin O'Connor f66b1ac450 heater: Add support for AD595 type sensors
Add support for sensor chips that produce a voltage that linearly
scales with temperature.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-13 00:48:30 -04:00
Kevin O'Connor ff6a96665a heater: Rename thermistor_type config name to sensor_type
Rename the thermistor_type and thermistor_pin config variables to
sensor_type and sensor_pin.  This is in preparation for support of
sensors beyond thermistors.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-13 00:46:33 -04:00
Kevin O'Connor 4388a294a4 heater: Handle case where min adc value is less than max adc value
When using a sensor that isn't a thermisistor, the maximum and minimum
adc values may be swapped - handle that case.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-13 00:44:53 -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 be91c1229f gcode: Eliminate build_config() method
Lookup the printer components during the set_printer_ready() callback.

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
Kevin O'Connor d5fc594317 mcu: Support inverted PWM pins
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-09 00:46:53 -05:00
Kevin O'Connor 64407dc5d2 klippy: Support FIRMWARE_RESTART command
Add initial support for micro-controller resets via the Arduino reset
mechanism.  Also, automatically attempt a firmware restart if the
printer CRC does not match.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-08 23:02:31 -05:00
Kevin O'Connor b0329465ec serialhdl: Make sure to close the serial port on disconnect()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-08 23:02:31 -05:00
Kevin O'Connor 0f70b420f2 mcu: Improve error messages on failure to config printer
Don't report a CRC mismatch if a shutdown or other failure occurs
during config - instead report the appropriate details.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-08 21:44:17 -05:00
Kevin O'Connor 21c4dea0e6 serialhdl: Detect timeout in SerialReader.send_with_response()
Raise an error if the response is never received.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-08 21:25:54 -05:00
Kevin O'Connor bcaf818c0e fan: Default to using software PWM
Not all hardware has PWM support and there is no compelling reason to
use hardware PWM for fans.  Change the default to use software PWM.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-08 20:23:09 -05:00
Kevin O'Connor c19af4fb2b serialhdl: Load the mcu's 64bit clock at start of connection
Store a full 64bit uptime in the mcu and query it at the start of each
connection.  This ensures the host's 64bit clock is always in synch
with the mcu's clock.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-03 22:02:27 -05:00
Kevin O'Connor f53897758d heater: Support max_power setting for heaters
Change the mcu PWM value from an integer (0-255) to a float (0. - 1.).
Add support for limiting the maximum power (as measured over a
sufficiently long duration) to a particular heater.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-03 20:00:16 -05:00
Kevin O'Connor 54002c4391 extruder: Pressure advance lookahead time should start after decel
The pressure advance lookahead time should start after any full
deceleration moves.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-03 14:20:41 -05:00
Kevin O'Connor 6a53eaefc0 extruder: Allow configuration of pressure advance lookahead time
Instead of defaulting the pressure advance lookahead time to be the
same as the pressure_advance variable, allow it to be configured.
Default the new config setting (pressure_advance_lookahead_time) to
10ms.

Also, make the setting more accurate if a future move is accelerating
in the middle of the lookahead window.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-22 15:20:22 -05:00
Kevin O'Connor 4bc114336c delta: Simplify maximum stepper velocity and accel checks
Simplify the mechanism for limiting stepper speed (introduced in
commit bdfdf7ef) - split the extreme end of the build envelope into
two zones and use the same speeds for all moves that traverse any part
of one of those zones.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-21 11:18:56 -05:00
Kevin O'Connor 47f1d377f5 heater: Enforce min/max_temp in heater.set_temp()
Raise an error if the user requests a temperate outside the configured
min/max_temp range.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-21 10:48:42 -05:00
Kevin O'Connor 566699f68a toolhead: Fix error in lookahead logic
Commit c24b7a7e reworked the way lookahead was done and it introduced
a bug when a full acceleration move is immiedietly followed by a full
deceleration move.  In that situation, depending on when the lookahead
queue was flushed, it was possible to call move.move() without calling
move.set_junction().  This resulted in a "Move instance has no
attribute 'accel_t'" internal error.

Simplify and fix the logic for checking full accel moves followed by
full decel moves.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-20 12:50:12 -05:00
Kevin O'Connor 29ba92a551 delta: Use position_endstop for position_max
There's no reason for the user to specify position_max - it can be
inferred on deltas from the endstop positions.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-19 11:00:46 -05:00
Kevin O'Connor bdfdf7ef55 delta: Cap maximum stepper velocity and acceleration
Some XY moves at the extreme end of the build envelope could cause
excessive axis stepper movement.  Check for any moves that could
possibly result in a stepper movement of more than 3 times the XY
movement and cap the move's acceleration and speed.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-13 21:47:10 -05:00
Kevin O'Connor 9f65ae72c3 delta: Rework boundary checks
Calculate and store the maximum xy2 value for the given z level each
time the head moves to a new z level.  This simplifies the boundary
check for common XY moves.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-13 17:51:13 -05:00
Kevin O'Connor 3434ea540c klippy: Log the type of cpu the host is running on
Report in the log the host CPU type and count.  This helps distinguish
between different rpi versions when debugging the log from a problem
report.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-12 19:14:26 -05:00
Kevin O'Connor 29131c873a gcode: Attempt to shutdown heaters and fans prior to a RESTART
If the user requests a restart and the machine appears to be otherwise
functioning normally, then attempt to stop the heaters and fans prior
to restarting the host.  This prevents the firmware from going into a
shutdown state when the heater is on and the host restarts.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-12 18:48:21 -05:00
Kevin O'Connor ab1eb70d1c toolhead: Rework lookahead flush to be more stable during high cpu
Change the lookahead queue so that it attempts to buffer at least
buffer_time_high amount of moves when first starting a print.  This
helps ensure the buffer is normally always full.

If the buffer falls below buffer_time_low then it is either due to the
end of a print or because octoprint/klippy is unable to keep up.
Change the code so that in this case the lookahead queue will attempt
to gather buffer_time_high amount of moves before restarting movement.

Update the default buffer_time_low to 1 second and buffer_time_high to
2 seconds.  With the above changes a smaller buffer_time_high and a
larger buffer_time_low are more practical.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-12 17:20:40 -05:00
Kevin O'Connor 71256f9456 toolhead: Flush lookahead buffer by time
Use a minimum time window as a heuristic for determining when to try
to lazily flush the lookahead buffer.  In the common case this will
result in more moves processed for each flush and thus reduce the
overall cost of the lookahead processing.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-12 17:20:40 -05:00
Kevin O'Connor 6179839215 toolhead: Separate motor off timer from main flush timer
Move the motor off time checking to its own code.  This simplifies the
main flush handler.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-12 17:20:40 -05:00
Kevin O'Connor 0ca96e543c toolhead: Increase maximum stepper halt velocity
Do a better job of calculating the maximum halt velocity for the
stepper motors.  The maximum cornering velocity is related to both the
maximum acceleration and the junction_deviation, so both should be in
the formula.  Tests show that "math.sqrt(8. * self.junction_deviation
* self.max_accel)" very closely fits the maximum on cartesian robots.

This fixes potential "no next step" shutdowns that could occur on
some print moves.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-12 17:20:40 -05:00
Kevin O'Connor acb0b8f599 klippy: Fix omission causing gcode dump to not function
Fix bug that broke the gcode command dump after a shutdown.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-12 17:19:58 -05:00
Kevin O'Connor 20d0936fa2 reactor: Use the system monotonic clock instead of the normal system clock
The normal system clock can have sudden jumps if the system clock is
changed.  Use the system monotonic clock to avoid these sudden changes
in time.

It appears the Raspbian OS (which is used by OctoPi) is setup to
update the system clock upon network connectivity.  This could cause
sudden system clock changes which could lead to Klippy processing
errors.  Using the monotonic clock eliminates these issues.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-06 13:31:34 -05:00
Kevin O'Connor c24b7a7ef9 toolhead: Introduce "smoothed" acceleration during lookahead
Update the lookahead code to track both normal toolhead acceleration
as well as a pseudo acceleration to the point of deceleration.  This
reduces the top speed of small zig-zag moves and it reduces printer
vibration during these moves.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-06 12:17:50 -05:00
Kevin O'Connor 074495a13a toolhead: Remove unneeded forward pass in MoveQueue.flush()
Simplify the code now that the extruder lookahead is separate from the
main lookahead code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-06 12:17:50 -05:00
Kevin O'Connor e14d86d8b8 toolhead: Remove the do_calc_junction flag
It is not necessary to track the do_calc_junction flag as it can just
as easily be determined at the top of the calc_junction() method.
This simplifies the code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-06 12:17:50 -05:00
Kevin O'Connor 528c29c01c extruder: Do extruder lookahead based on time instead of cornering
When calculating the extruder lookahead, determine how far to
lookahead by the amount of elapsed time each move takes.  This makes
the extruder lookahead code more flexible as it is no longer limited
to the next immediate cornering moves.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-06 12:17:50 -05:00
Kevin O'Connor 1bb7a22115 extruder: Move extruder specific lookahead into extruder class
Instead of calculating min/max_corner_v in the toolhead class,
calculate it in the extruder class.  This keeps the extruder specific
code together.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-06 12:17:50 -05:00
Kevin O'Connor 19ed67331d stepcompress: Propagate errors back to python code
Propagate error codes back to the python code and raise an exception
on an error.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-06 12:17:50 -05:00
Kevin O'Connor 667b72870f gcode: Exit on an unhandled exception when reading from a file
When testing via a gcode input file, it's easier to debug problems if
the program exits upon the first exception.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-02-06 12:17:50 -05:00
Kevin O'Connor 9c1bf1387c toolhead: Make sure max_corner_v2 is fully calculated on a lazy flush
Make sure max_corner_v2 is fully calculated before proactively
flushing moves from the lookahead queue.  Without this, some moves
would do unnecessary pressure advance during cornering.

Also, handle the min/max_corner_v2 calculations correctly in the rare
case where a move that does only acceleration is immediately followed
by a move that does only deceleration.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-16 15:32:35 -05:00
Kevin O'Connor fc6a31eac8 toolhead: Change variables to use suffix "_v2" instead of prefix "junction_"
The junction speeds are tracked in velocity squared - introduce the
common suffix "_v2" to track that instead of using a prefix of
"junction_".

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-16 15:32:35 -05:00
Kevin O'Connor 064e8bdd84 toolhead: Clear do_calc_junction if using non-default accel
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-14 12:48:16 -05:00
Kevin O'Connor f335045273 heater: Resend PWM values even if last value was zero
Continue to resend the pwm value even if the last value was zero -
this extends the debugging info.

Also, add the target temperature to the pwm debugging.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-12 15:13:41 -05:00
Kevin O'Connor 4ea091339e heater: Only create a soft PWM object for PID heaters
The "watermark" style heater only needs a digital_out pin - not a
software PWM pin.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-10 18:36:43 -05:00
Kevin O'Connor 8378b7345b toolhead: Change cornering_min/max variable name to junction_corner_min/max
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-10 18:35:52 -05:00
Kevin O'Connor 4a71c7a2bd heater: Report last temperature in PWM debugging
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-10 12:36:51 -05:00
Kevin O'Connor b2885a53cb klippy: Increase precision of reported statistics timestamp
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-10 12:35:30 -05:00
Kevin O'Connor 46b6b4037d reactor: Reload eventtime if a greenlet is reactivated
Fix a bug causing timers to be delayed when pause() is called from a
fd event.  The eventtime needs to be reloaded when an old greenlet is
reactivated.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-10 11:19:39 -05:00
Kevin O'Connor 93d3a6e1d1 klippy: Warn the user on common errors due to old firmware
Check for msgproto.error and warn the user about version firmware
version mismatch.  Raise msgproto.error when extracting firmware
constants.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-10 00:13:28 -05:00
Kevin O'Connor eebaeeff96 util: Use path of script instead of current directory for git version
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-09 23:33:23 -05:00
Kevin O'Connor 3a7a77d49e basecmd: Improve accuracy of stats "sumsq" variable
Use a base of 256 instead of 65536 when calculating the sum of the
square of the clock differences in the stats.  This makes the
calculation more accurate.  Export the new base via DECL_CONSTANT for
the host to access.  Use DIV_ROUND_UP() when adjusting for the base to
ensure no lost ticks.  Do the division after multiplication in the
common case where the time between stats_task() invocations is less
than 64K ticks.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-09 23:08:23 -05:00
Kevin O'Connor c87c090264 extruder: Calculate sane defaults for extrude only velocity and accel
Instead of requiring the user enter velocity and accel parameters for
extrude only moves, calculate sane defaults from the printer's maximum
velocity and accel.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-03 18:18:30 -05:00
Kevin O'Connor b26922978a extruder: Do sanity checks on extrusion rates
Add a run-time check to ensure the incoming g-code doesn't have a
ridiculously large e move.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-03 18:17:43 -05:00
Kevin O'Connor 5a5bd2596a extruder: Add nozzle and filament diameter config settings
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-03 18:12:51 -05:00
Kevin O'Connor 91056809dd mcu: Change the default baud rate to 250000
Update the default baud rate in mcu.py to 250000 (as that is the
default in all other places).

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-01-02 12:22:43 -05:00
Kevin O'Connor 8e797e6830 stepcompress: Flush periodically if adding more than 64K steps in a move
It's possible for a printer with very fine resolution to require a
large number of steps for a homing operation.  Instead of storing all
of those steps in memory, periodically flush the queue should more
than 64K steps be present.  This keeps a reasonable limit on the
amount of ram needed to store steps.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-31 13:21:53 -05:00
Kevin O'Connor c552ba06b4 serialqueue: Remove serialqueue_flush_ready()
The serialqueue_flush_ready() code was used to flush queue_step
commands during a homing operation.  It's no longer necessary now that
moves during a homing operation use the normal message priority
system.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-30 20:15:05 -05:00
Kevin O'Connor 6bd5f4e44e stepcompress: Using normal message priority system during homing
The endstop homing system requires all queue_step commands be in the
MCU's 'move queue' before endstop checking starts.  Use the normal
message priority system to request that stepper queue_step commands
are received prior to the start of the end_stop_home command.  This
simplifies the code and removes the need for special serial queue
flushing.

This also fixes a bug in homing operations that take longer than 2^31
clock ticks.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-30 20:14:48 -05:00
Kevin O'Connor 6138d18f4b toolhead: Also call reset_print_time() on force_shutdown()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-28 22:38:29 -05:00
Kevin O'Connor d028f42e99 mcu: Don't call steppersync_flush if steppersync not created
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-28 22:38:29 -05:00
Kevin O'Connor 860fc3e91d gcode: Add support for M115 command
Support querying the firmware type and version.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-28 22:38:29 -05:00
Kevin O'Connor 2e03d84755 gcode: Add support for M400 command
Add ability to fully stall the input until all moves are complete.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-28 22:38:28 -05:00