Commit Graph

642 Commits

Author SHA1 Message Date
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 80dc1dfcc1 docs: Remove documentation for "custom" command blocks
It should no longer be necessary to configure "custom" commands during
mcu setup.  The ad5206 and static_digital_output config sections
should provide similar functionality.

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 0adea120cd pru: Compile the irq_poll() function with -O2 optimization
Compile the PRU binary with -Os optimization, but request that the
timer dispatch code be compiled with -O2 optimization.  This improves
the performance of timers slightly.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-15 11:05:30 -04:00
Kevin O'Connor 71bb7acb8e pru: Compile with -Os instead of -O2
The gcc -Os option significantly reduces the size of the PRU binary
and it has little impact on performance.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-14 21:08:28 -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 f8bd8b97be command: Don't pass max_size to command_encodef()
The command_encodef() can read the max_size parameter directly from
the 'struct command_encoder' passed into it.  Also, there is no need
to check that a message will fit in a buffer if the buffer is declared
to be MESSAGE_MAX in size.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-14 18:32:15 -04:00
Kevin O'Connor f3da473285 docs: Update Code_Overview.md with PRU and command_dispatch() changes
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-11 12:06:19 -04:00
Kevin O'Connor f0f4ab7abe docs: Update benchmarks in Features document
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-11 11:40:54 -04:00
Kevin O'Connor d8225642fa stepper: Revert f8b0c884
Go back to scheduling the unstep time instead of busy waiting in the
timer dispatch.  With the unstep time increased to 2us, it no longer
makes sense to spin while waiting for the unstep.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-11 10:36:02 -04:00
Kevin O'Connor 8ebba6d27a avr: Make sure timer_high and timer_event() stay in sync
Schedule the next wakeup time of timer_event() using timer_high.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-11 09:32:06 -04:00
Kevin O'Connor 1051a52755 timer_irq: Rework timer irq handler to check for tasks pending
Allow timer_dispatch_many() to run for extended periods if there are
no tasks pending.  This reduces the amount of lost cpu time spent
entering and exiting the irq handler.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-09 21:08:40 -04:00
Kevin O'Connor 5583b050a0 graphstats: Increase maximum expected task duration
Now that tasks are only run when needed it's common for there to be a
larger variation in task execution time.  When graphing load, consider
a 99-percentile task duration of 2.5ms to be 100% loaded (up from
1ms).

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-09 19:12:27 -04:00
Kevin O'Connor a38082016d sched: Reduce the amount of time irqs are disabled in sleep check
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-09 12:55:44 -04:00
Kevin O'Connor 156e9b7556 sched: Write out a message on startup
Send a "startup" message after completing the mcu init functions.
This may help detect mcu reboots during debugging.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-08 00:27:28 -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 f886212b44 avr: Rework timer irq handler to check for tasks pending
Allow the timer dispatch irq handler to run for extended periods if
there are no tasks pending.  This reduces the amount of lost cpu time
spent entering and exiting the irq handler.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-08 00:27:28 -04:00
Kevin O'Connor 2c272f99a3 sched: Implement generic sleep mechanism based on tasks pending
Track when tasks are pending and spin in irq_wait() when no tasks are
pending.  This improves the mechanism for sleeping the processor -
it's simpler for the board specific code and it reduces the
possibility of the processor sleeping when tasks are busy.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-08 00:27:28 -04:00
Kevin O'Connor a9982beacf sched: Introduce sched_wake_tasks() function to wake up tasks
Add function to indicate when tasks need to be run.  This will allow
the scheduler code to know if there are any tasks that need to be
processed.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-08 00:27:28 -04:00
Kevin O'Connor e9d2ec7c41 avr: Tune the low-level timer entry and exit heuristics
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-08 00:27:28 -04:00
Kevin O'Connor 78982ebb51 avr: Implement internal avr specific timer to handle 16bit overflows
Don't rely on the generic scheduler code to always have a timer no
more than 1ms in the future.  Instead, create an avr specific timer
that will be called every 0x8000 ticks.  This simplifies the generic
code and it reduces the amount of code that needs to be run every
millisecond.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-08 00:27:28 -04:00
Kevin O'Connor 6a63c27542 sched: Support adding timers to the start of timer_list
If sched_add_timer() is called on a timer that would make it the new
head of the list, then add it and signal the board code that the timer
should be rescheduled.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-08 00:27:27 -04:00
Kevin O'Connor 62f77f6bc5 sched: Don't count milliseconds in the periodic timer
It's not necessary to keep a millisecond counter.  Replace the two
users of sched_check_periodic() with explicit task wakeup flags.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-08 00:27:27 -04:00
Kevin O'Connor 88a10fb31c sam3x8e: Fix watchdog timeout calculation
Fix error causing the watchdog to be set to an ~4ms timeout instead of
500ms.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-08 00:27:27 -04:00
Kevin O'Connor e12527b895 avr: Move prescaler and sleep initialization from timer.c to main.c
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-07 19:39:57 -04:00
Kevin O'Connor 114c8c5b6d avr: Enable watchdog code even on simulavr
The simulavr simulator will warn when writing to the watchdog
registers, but running code closer to what real hardware runs is worth
a few extra warnings.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-07 19:39:57 -04:00
Kevin O'Connor d50f4e23e0 pwmcmds: Update event prototypes to use uint_fast8_t
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-06 20:24:22 -04:00
Kevin O'Connor dca0fc91ea pru: Improve comments in pru0.c
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-08-02 11:02:45 -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 8ce042bf04 config: Add additional pin definitions to ramps and rambo configs
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-24 13:18:45 -04:00
Kevin O'Connor 85a1e1118f config: Change default pins defined in example.cfg to use RAMPS pins
Change the example.cfg file to use the pins of a RAMPS config as that
is a very common setup.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-24 13:05:00 -04:00
Kevin O'Connor 51baeb3c2c config: Reduce max_z_velocity in example-delta.cfg to 150
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-07-24 11:47:25 -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