Commit Graph

81 Commits

Author SHA1 Message Date
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
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 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 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 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 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 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 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 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 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 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 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 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 a9444d3399 mcu: Log the MCU configuration during connect phase
Log the constants reported by the MCU and log the number of move items
allocated after configuration.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-24 12:33:56 -05:00
Kevin O'Connor 872b08601a mcu: Obtain the maximum adc value from the firmware
Don't assume the hardware ADC has 10bit resultion - instead have the
firmware define a constant and read that constant in the host.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-23 17:06:10 -05:00
Kevin O'Connor edd7dfe1c8 gcode: Rework toolhead stalling to use greenlets
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-09 17:09:51 -05:00
Kevin O'Connor 89f5452ddb gcode: Rework homing to use greenlets
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-09 17:09:51 -05:00
Kevin O'Connor a6de1db94d gcode: Rework endstop query to use greenlets
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-09 17:09:51 -05:00
Kevin O'Connor 9c932ad514 delta: Rework delta math to avoid using inv_movexy_r
Taking the inverse of the XY move distance can lead to extremely large
values when the XY distance is very small.  This can lead to
saturation of the double precision variables and incorrect results.

Rework the delta kinematic math to avoid using this inverse.  Pass the
closestxy_d value directly to the C functions so that the C code can
calculate its intermediate constants.

After this change the move_z special case is no longer necessary as
the regular delta functions now work with movexy_r=0 and movez_r=1.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-05 14:36:02 -05:00
Kevin O'Connor d2ecc9d80c gcode: Add support for CLEAR_SHUTDOWN command
Add ability to clear the MCU shutdown flag from the console.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-12-01 00:21:20 -05:00
Kevin O'Connor bc80ed4e88 mcu: Detect if the communication channel to the firmware is lost
Detect a comms loss and report it to the user.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-30 21:20:09 -05:00