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>
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>
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>
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>
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>
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>
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>
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>
Update the graphstats.py graphing script so that it works with recent
stats changes - the stats can now contain groups that end with a ':'
and the print_time is no longer reset to zero on a new print.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
The Beaglebone hardware prevents the PRU from updating the pinmux
board settings. As a result, the PRU can't directly change the pin
direction or change the pullup resistor settings. Warn the Beaglebone
users of this limitation.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Make sure the ADC module gets loaded during startup - it's normally
loaded by the cape manager eeprom, but there's no harm in requesting
it explicitly.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Only open the watchdog device after the console has been opened. The
machine should not reboot in the unlikely event the console can't be
opened.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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>
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>
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>
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>
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>
Kevin O'Connor