Commit Graph

5042 Commits

Author SHA1 Message Date
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 1592395036 reactor: Fix bug causing end() to not always work
Only set the self._process flag in run() not _dispatch_loop().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-13 13:20:13 -04:00
Kevin O'Connor 8491b1f86a docs: Update Features document with latest performance benchmarks
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-11 13:53:33 -04:00
Kevin O'Connor a7b4d70cc6 docs: Add documentation on how to run the graphstats.py script
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-11 13:41:11 -04:00
Kevin O'Connor fa193e9618 graphstats: The times are no longer in UTC time
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-11 13:40:25 -04:00
Kevin O'Connor 050008f3c8 docs: Update Debugging.md file with python virtual env setup
Direct readers to the main Installation file to setup the python
virtual environment and remove the outdated instructions in the
Debugging file.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-11 12:49:12 -04:00
Kevin O'Connor 70e53cb080 docs: Update Firmware_Commands with recent end stop changes
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-11 12:36:29 -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 7a7b98cc31 sam3x8e: Rework adc pin search to be more clear
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-11 10:01:22 -04:00
Kevin O'Connor 15d5837322 avr: Rework adc and pwm pin search to be more clear
Rework the pin search loop.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-11 10:01:22 -04:00
Kevin O'Connor f9ebb8b23e avr: Move code around in gpio.c
Move the PWM, ADC, and SPI pin tables closer to their corresponding
code.  This is code movement only - no code changes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-11 10:00:54 -04:00
Kevin O'Connor 77b94451de avr: Fix irqstatus_t typo in gpio_pwm_setup
The flags and cs variables should be uint8_t not irqstatus_t.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-11 09:49:35 -04:00
Kevin O'Connor ca6245e974 docs: Update Code Overview document with code flow for a typical move
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-10 22:10:49 -04:00
Kevin O'Connor 1cdddeec30 stepcompress: Add comment on common suffixes and units
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 20:22:32 -04:00
Kevin O'Connor 657c908f88 stepcompress: Modify check_expand() into check_push()
Add the new item at the same time as checking if there is space in the
queue.

Also, update the default optimization level of c_helper.so to O2 to
improve the compiled code layout.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 19:05:04 -04:00
Kevin O'Connor d7a0e22d59 stepcompress: Remove step_dist from stepcompress_push_delta()
Pass the step direction explicitly to the low-level delta kinematic C
code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 15:08:42 -04:00
Kevin O'Connor 33b809714f delta: Do reverse direction checking in C code
Calculate where a tower must reverse direction during a move in the C
code instead of the delta.py kinematic code.  This simplifies the
python code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 15:05:41 -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 47f12f107d stepcompress: Move stepcompress_push_* functions to their own section
This is only code movement; no code changes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-07 13:26:39 -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 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 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 fff73c7735 avr: Invert diff in timer checks
Minor optimization on avr.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-03 10:39:49 -04:00
Kevin O'Connor e44678ceba avr: Implement reset command
Support restarting the mcu using the watchdog feature of AVR chips via
a new reset command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-02 23:19:29 -04:00
Kevin O'Connor 85c0e9c574 sam3x8e: Implement reset command
Support restarting the mcu via a new reset command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-02 23:19:25 -04:00
Kevin O'Connor 0c3ec7f9a5 avr: Do not use --relax linker option
The relax option corrupts the compilation on at least some versions of
gcc/binutils (eg, on fedora's avr-gcc 6.2.0 / binutils 2.27) due to
corruption of switch tables that use jump offsets.  This issue is also
the root cause that resulted in commit d67f962a.  Since the --relax
option provides minimal size / performance improvements it can simply
be dropped.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-02 23:19:19 -04:00
Kevin O'Connor 74e15b2eb5 checkstack: Be more flexible in finding the timer irq function
If __vector_13 doesn't exist then try __vector_17.  If neither exists
then handle that gracefully.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-02 23:19:02 -04:00
Kevin O'Connor 565861f680 reactor: Support pause() command even when the reactor is not running
If the reactor isn't running then implement pause using the system
sleep command.  This simplifies the users of pause().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-04-01 12:26:24 -04:00
Kevin O'Connor 7c991399ac timer: Remove dup timer_shutdown code
Commmit a1c61563 renamed timer_shutdown() to timer_reset() but
neglected to delete timer_shutdown().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-31 19:20:45 -04:00
Kevin O'Connor 384c853a39 docs: Update benchmark results in Features document
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-31 17:50:36 -04:00
Kevin O'Connor c0380d0280 stepper: Disable homing_endstop_accuracy errors on debug runs
If klippy is started in file output debugging, disable the
homing_endstop_accuracy error check.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-31 14:38:09 -04:00
Kevin O'Connor a1c61563a0 avr: Fix bug causing timer_read_time() to not be in sync with scheduler
Commit 16e3dbb1 changed the avr implementation of timer_read_time().
Unfortunately, it raised the possibility for timer_read_time() to be
out of sync with the scheduler's understanding of the current time.
In particular, it was common for the timer irq to overflow the 16bit
hardware counter once at startup, and this would lead to
timer_read_time() always returning a time ~4ms ahead of the scheduler
on 16Mhz chips.  This resulted in "Move queue empty" errors.

To resolve this issue, only increment timer_high from timer_periodic()
and make sure the timer irqs start immediately after timer_init().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-31 14:36:57 -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 03ddd64b93 config: Decrease example max_z_velocity to 25mm/s
Change the example files for cartesian printers to have a 25mm/s
maximum Z velocity.  It's common to use lead screws for the Z axis on
cartesians and it is unlikely one would want to drive them at 250mm/s.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-30 14:05:05 -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 63b6bab5c3 sam3x8e: Align the TC0_Handler timer irq handler
The code alignment of the TC0_Handler function seems to noticeably
impact performance benchmarks.  Set the function alignment to 16 bytes
to improve testing consistency.  An alignment of 16 doesn't
necessarily improve performance, but it seems to improve testing
consistency on code changes unrelated to timer dispatch.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-30 12:04:08 -04:00
Kevin O'Connor eb4eeb6f73 timer_irq: Integrate timer_try_set_next() into timer_dispatch_many()
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-30 11:25:23 -04:00
Kevin O'Connor 6988507998 timer_irq: Rename generic/timer.c to generic/timer_irq.c
Rename the file to make it clear that the code is helper functions for
boards with irq based timers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-30 11:24:44 -04:00
Kevin O'Connor 65be6d5146 avr: Integrate timer_try_set_next() into the irq handler
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-30 11:24:44 -04:00
Kevin O'Connor 6d05dd07f5 sched: Move timer dispatch loop to board code
Rename sched_timer_kick() to sched_timer_dispatch() and move its loop
into its callers in the board code.  This eliminates the need to
export timer_try_set_next() from the board code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-30 11:24:42 -04:00
Kevin O'Connor 7436ec093a sched: Rename reschedule_timer() to insert_timer() and use in sched_add_timer()
Use the same code in both rescheduling of a timer and adding a new
timer.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-30 10:57:35 -04:00
Kevin O'Connor 2b735daae5 timer: Make sure to reset the timer repeat checks on a shutdown
Reset the timer repeat checks on shutdown, otherwise it is possible to
get into an infinite shutdown loop.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2017-03-30 10:57:35 -04:00