Commit Graph

4766 Commits

Author SHA1 Message Date
Kevin O'Connor 11ecac626d mcu: Convert PWM and ADC objects to take mcu_time instead of clock
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-08-24 15:16:02 -04:00
Kevin O'Connor 5a24ab06d8 docs: Update Installation.md - Arduino Due is also supported
Update the document introduction to note that the Arduino Due is also
now supported.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-28 12:12:44 -04:00
Kevin O'Connor 654546e338 stepper: Support stepper phase adjustments when homing
Add support for enhancing the precision of endstop switches by also
inspecting the phase of the stepper motor when the endstop triggers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-28 11:22:28 -04:00
Kevin O'Connor 170389ef14 extruder: Add some additional comments
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-26 11:17:26 -04:00
Kevin O'Connor a17229a4c1 docs: ARM updates for Code_Overview.md
Some details on the code flow and organization have changed since
support for ARM processors was added.  Update Code_Overview.md
accordingly.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-26 10:58:33 -04:00
Kevin O'Connor 92f81d51f4 homing: Move low-level coordinate manipulation to kinematic class
Rework the code so that the kinematic class (currently just
cartesian.py) has more control over the homing process.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-25 23:47:30 -04:00
Kevin O'Connor e9c03f2e4a gcode: Error on G20 (set units to inches) command
Respond with an error to a G20 command (instead of effectively
ignoring the command).

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-25 22:46:11 -04:00
Kevin O'Connor dc37a07a8e extruder: Add support for "pressure advance" on extrusion
Add a config option to define an amount of additional filament to feed
into the extruder during acceleration and deceleration of the
extruder.  This can help ensure plastic is deposited in the correct
places during a print.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-25 21:57:23 -04:00
Kevin O'Connor c847606311 toolhead: Limit lookahead optimization to moves with similar extrude ratios
Only skip acceleration between moves if both moves perform a similar
amount of extrusion.  This ensures the extruder has sufficient time to
accelerate to and from each extrude move.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-22 15:42:19 -04:00
Kevin O'Connor 589017a3d6 stepper: Have caller calculate max jerk velocity
Allow the owner of the stepper object to cacluate the maximum step
jerk velocity.  This is used to ensure there is no communication error
between mcu and host.

Disable checking of jerk velocity for extruder stepper motors.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-22 15:42:18 -04:00
Kevin O'Connor d3c27c514f toolhead: Add some comments to acceleration code
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-16 21:33:35 -04:00
Kevin O'Connor 777a0b817b serialhdl: Calculate baudadjust from MCU's baud instead of host baud
Store the baud rate the MCU is configured for in the "identify" data
and use that rate when calculating the baudadjust parameter.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-16 21:33:35 -04:00
Kevin O'Connor 4988ba9a71 stepcompress: Fix error causing queue to not be expanded in expand_queue()
The test to check if the queue only needed to be moved was not correct
and it could lead to a segfault if clean_queue() was called instead of
actually increasing the queue size.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-16 21:33:35 -04:00
Kevin O'Connor 3fa7da804d stepcompress: Check for invalid count in step_factor and step_sqrt
Check for an invalid count and report an error if found.  This
prevents some segfaults when count goes negative.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-16 21:33:15 -04:00
Kevin O'Connor af99ab1645 extruder: Create a new class and python file to track the printer extruder
Create a new python file (extruder.py) to control the extruder heater
and stepper motors.  This separates the extruder control logic from
the cartesian robot code - making it easier to customize both the
kinematic control of the robot as well as the extruder.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 22:49:02 -04:00
Kevin O'Connor 4a527a46ce stepper: Store max_velocity/max_accel instead of max_step_velocity/accel
All users of max_step_velocity and max_step_accel end up multiplying
by step_dist anyway, so it's easier to store max_velocity and
max_accel.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 22:49:02 -04:00
Kevin O'Connor 5829aa8bd7 toolhead: Avoid using a dummy_move for an empty move_queue
Explicitly check for when the move_queue is empty and only call
move.calc_junction() when there is a previous move.  This avoids the
need to create a dummy "sentinal" move object and it simplifies the
code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 22:49:01 -04:00
Kevin O'Connor 9bb1ae079f toolhead: Merge lookahead.py into toolhead.py
Remove the lookahead.py file and move its code directly into
toolhead.py.  The MoveQueue() class is small and tightly coupled to
the toolhead code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 22:49:01 -04:00
Kevin O'Connor e0a9a1b800 toolhead: Split toolhead code from cartesian.py to new file toolhead.py
Separate out the toolhead logic to its own python file.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 22:48:59 -04:00
Kevin O'Connor 861f5a5387 cartesian: Separate out cartesian robot handling from ToolHead class
Separate out the low-level stepper motor kinematics handling from the
ToolHead class into its own class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 22:47:54 -04:00
Kevin O'Connor 20ae4e5d98 cartesian: Rename CartKinematics class to ToolHead
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 22:47:13 -04:00
Kevin O'Connor b3e8b430e5 cartesian: Do acceleration and lookahead on requested coordinates
Perform all acceleration calculations and lookahead checks in
millimeters using the cartesian coordinate system of the request.  The
conversion to step coordinates is now done at the time of the step
timing creation.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 22:47:08 -04:00
Kevin O'Connor ae8d57e650 stepcompress: Fix compress_bisect_add() infinite loop
At high step speeds, it is possible to exit the inner scan due to
integer truncation.  Always update minadd or maxadd so that the outer
loop always terminates.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 21:46:57 -04:00
Kevin O'Connor b0b2e9c4aa build: Avoid objcopy --dump-section flag
Commit da305e6b changed the objcopy command to use the --dump-section
flag.  However, the 2.24 version of avr-objcopy (which is common on
raspbian installs) does not support this flag.  Avoid using
--dump-section and continue to use the -j option instead.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-07-10 21:46:57 -04:00
Kevin O'Connor 409904c61c pins: Add Arduino Due pin name aliases
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-14 15:41:18 -04:00
Kevin O'Connor afb1839b6b docs: Update documentation with Arduino Due installation info
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-14 15:17:03 -04:00
Kevin O'Connor cc62a3dbf3 sam3x8e: Add initial support for Arduino Due boards
This adds basic support for running on the Atmel SAM3x8e
micro-controllers that are found in the Arudino Due boards.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-14 14:27:30 -04:00
Kevin O'Connor 31c04261c1 lib: Add Atmel SAM3x8e ARM CMSIS files
Add the ARM CMSIS definitions (obtained from an Arduino copy of
libsam) in preparation for Arduino Due support.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-14 14:25:42 -04:00
Kevin O'Connor 6220cdda92 stepper: Support rescheduling of step events on faster MCUs
On faster MCUs the step and unstep events may be too close for the
stepper motor driver.  Add a CONFIG_NO_UNSTEP_DELAY build option and
support the case where it is not set.  This allows faster MCUs to
schedule two events for each step (one for the step and one for the
unstep).

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-14 14:24:14 -04:00
Kevin O'Connor da305e6b61 build: Update declfuncs.lds.S to only use progmem sections on AVR
On non-avr platforms the declfunc stuff still needs to be in the
binary in a rodata section.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-14 14:00:57 -04:00
Kevin O'Connor 343de9c454 serialhdl: Avoid using 1200 baud during serial reset
The Arduino Due uses a 1200 baud connection to signal an erase
sequence, so avoid it during normal serial resets.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-14 14:00:57 -04:00
Kevin O'Connor e59951c8ae avr/serial: Separate out low-level hardware manipulation to its own function
Introduce enable_tx_irq() for manipulating the AVR hardware.  This
keeps the low-level hardware code together.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-14 14:00:57 -04:00
Kevin O'Connor ea5f825a91 build: Default to O2 optimization
Default to O2 and set Os in the AVR makefile.  Platforms besides AVR
are likely to produce better code with O2 so make that the default.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-14 14:00:57 -04:00
Kevin O'Connor b3e4ff7ef0 sched: Use 'unsigned int' instead of 'uint16_t' for shutdown reason
Use 'unsigned int' instead of 'uint16_t' as is faster on some
platforms.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-14 14:00:57 -04:00
Kevin O'Connor b0524947e5 sched: Use uint_fast8_t for return type of timers
Some architectures are faster passing regular integers than 8bit
integers.  Use uint_fast8_t so that the architecture chooses the
appropriate type.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-14 14:00:53 -04:00
Kevin O'Connor fa85094cbb irq: Allow boards to define the return type of irq_save()
The AVR wants a uint8_t return type for irq_save(), but other
architectures will generally prefer int.  Allow the board to configure
the size of the flag by introducing an irqstatus_t typedef.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 23:18:59 -04:00
Kevin O'Connor 9dd101c26f irq: Prefer irq_disable/enable instead of irq_save/restore in cmds/tasks
Task and command handlers always run with irqs enabled, so it is not
necessary to save/restore the irq state when disabling irqs in these
handlers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 23:18:59 -04:00
Kevin O'Connor 4fcf5a31f5 pwmcmds: Add Kconfig option to allow boards to disable hardware PWM commands
Some boards may not support hardware based PWM.  Update the build so
that those commands do not need to be compiled if they are not
available.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 23:18:59 -04:00
Kevin O'Connor c20f993747 spicmds: Add Kconfig option to allow boards to disable SPI commands
Some boards may not support SPI transfers.  Update the build so that
those commands do not need to be compiled if they are not available.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 23:18:59 -04:00
Kevin O'Connor 71947d6bea gpiocmds: Add Kconfig option to allow boards to disable ADC commands
Some boards may not support the ADC hardware.  Update the build so
that those commands do not need to be compiled if they are not
available.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 23:18:59 -04:00
Kevin O'Connor 220a1e4197 compiler.h: Check if __aligned and __section macros are already defined
Don't define these macros if they are already - doing so causes
compiler warnings.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 23:18:59 -04:00
Kevin O'Connor 4dd3478fc1 Makefile: Move listing of directories to create to board makefiles
Rename DIRS to dirs-y and populate it in the per-board Makefile rules.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 23:18:59 -04:00
Kevin O'Connor 8e1c0941b0 generic: Add new file generic/io.h and move read/writeb() to it
Move the definitions of the readb() style functions to a new header
generic/io.h.  This eliminates the dependency of stdint.h on
compiler.h.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 23:18:59 -04:00
Kevin O'Connor 62f96f0911 generic: Move simulator/gpio.h to generic/gpio.h
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 23:18:59 -04:00
Kevin O'Connor 73f3b0636a generic: Move simulator/irq.h to new file generic/irq.h
Move the generic irq definitions into generic/irq.h and move the
simulator irq code into main.c.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 23:18:58 -04:00
Kevin O'Connor 9f8817a47e generic: Move board timer.h files into generic/misc.h
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 23:18:58 -04:00
Kevin O'Connor 9971f999b3 generic: Create generic board infrastructure and move misc.h to it
Instead of creating a misc.h file in each board directory, create a
generic board directory and declare misc.h there.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 23:18:58 -04:00
Kevin O'Connor ff789058df console: Update the debugging console to support setting local varables
Add a "SET varname value" local command to the console.py script.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 23:18:58 -04:00
Kevin O'Connor bd07cd1193 sched: Optimize timer list handling
Rework the timer list rescheduling to be more optimized.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 15:34:56 -04:00
Kevin O'Connor a6de2184ba stepper: Optimize for case where add is zero
At high rates, the "add" field is frequently zero.  It's possible to
optimize for that case.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-06-13 15:34:56 -04:00