Commit Graph

82 Commits

Author SHA1 Message Date
Kevin O'Connor efe63d5efe toolhead: Add support for the M204 command
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-06-15 12:05:45 -04:00
Kevin O'Connor 2ab47cd20c extruder: Fix SET_PRESSURE_ADVANCE so that it works with multiple extruders
Use the new gcode.register_mux_command() so that SET_PRESSURE_ADVANCE
works correctly with multiple extruders.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-05-20 12:52:19 -04:00
Kevin O'Connor bdd26e421b toolhead: Add a SET_VELOCITY_LIMIT command
Add a command to adjust the maximum velocity, acceleration, and
junction deviation parameters.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-04-20 22:36:05 -04:00
Kevin O'Connor 48e9fa04e7 toolhead: Allow max_accel_to_decel to be greater than max_accel in config
If max_accel_to_decel is greater than max_accel in the config, then
just internally limit max_accel_to_decel to max_accel.  This makes it
easier to completely disable the max_accel_to_decel feature (as it can
just be set to a high value in the config).

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-04-20 12:50:04 -04:00
Kevin O'Connor a4439b93b7 toolhead: Limit junction speed of short moves
The existing junction algorithm limits the speed between two moves by
determining the maximum speed an arc between those two moves would
have if the cetripetal acceleration of that arc did not exceed the
printer's maximum acceleration.

However, should the slicer send an actual arc to the printer, then the
existing junction algorithm would not impose any significant limit on
the travel speed of that arc.  This would permit the head to travel in
a circle at high velocity and with a greater centripetal acceleration
than the printer's maximum acceleration.  To avoid this, impose a
limit on the junction velocity of short moves so that an approximate
centripetal acceleration of that move does not exceed the move's
acceleration limit.

Suggested by Michael Barbour.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-04-03 13:35:10 -04:00
Kevin O'Connor 08a5f8a5ff display: Add initial support for LCD screens attached to an MCU
Add support for displaying basic status information on ST7920 and
HD44780 based LCDs that are attached directly to a micro-controller.

Signed-off-by: Marcio Teixeira <marcio@alephobjects.com>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-03-06 11:30:46 -05:00
Kevin O'Connor 0a5b07f9da klippy: Allow any stats producer to determine when stats are needed
Instead of using the toolhead class to determine if stats should be
reported, allow every printer object with a stats() callback to
determine if stats are needed.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-02-05 13:52:05 -05:00
Kevin O'Connor 1a67902858 homing_override: Allow moves prior to homing an axis
Add support for disabling homing checks via the homing_override
mechanism.  This may be useful to move an axis prior to homing it.

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

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

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

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-01-28 12:19:26 -05:00
Kevin O'Connor 0d8ddcadbb toolhead: Improve tracking of print_stall
The previous code increases print_stall if a move is proactively
flushed due to buffer_time_low and a follow up move is ready to send
before the existing moves are fully retired.  However, this would not
track the case where a move is proactively flushed and it takes an
extended amount of time to get sufficient moves to refill the queue.

Change the code so that print_stall increases anytime a new move is
queued after a proactive flush and there are existing moves not yet
fully retired.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2018-01-12 16:56:31 -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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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 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