443 lines
20 KiB
Python
443 lines
20 KiB
Python
# Code to configure miscellaneous chips
|
|
#
|
|
# Copyright (C) 2017 Kevin O'Connor <kevin@koconnor.net>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import pins, mcu
|
|
|
|
|
|
######################################################################
|
|
# Output pins
|
|
######################################################################
|
|
|
|
class PrinterStaticDigitalOut:
|
|
def __init__(self, printer, config):
|
|
pin_list = [pin.strip() for pin in config.get('pins').split(',')]
|
|
for pin_desc in pin_list:
|
|
mcu_pin = pins.setup_pin(printer, 'digital_out', pin_desc)
|
|
mcu_pin.setup_start_value(1, 1, True)
|
|
|
|
PIN_MIN_TIME = 0.100
|
|
|
|
class PrinterPin:
|
|
def __init__(self, printer, config):
|
|
self.printer = printer
|
|
self.is_pwm = 'pwm' in config.section.split()[0]
|
|
if self.is_pwm:
|
|
self.mcu_pin = pins.setup_pin(printer, 'pwm', config.get('pin'))
|
|
hard_pwm = config.getint('hard_pwm', None, minval=1)
|
|
if hard_pwm is None:
|
|
self.mcu_pin.setup_cycle_time(config.getfloat(
|
|
'cycle_time', 0.100, above=0.))
|
|
else:
|
|
self.mcu_pin.setup_hard_pwm(hard_pwm)
|
|
self.scale = config.getfloat('scale', 1., above=0.)
|
|
else:
|
|
self.mcu_pin = pins.setup_pin(
|
|
printer, 'digital_out', config.get('pin'))
|
|
self.scale = 1.
|
|
self.mcu_pin.setup_max_duration(0.)
|
|
self.last_value_time = 0.
|
|
self.last_value = config.getfloat(
|
|
'value', 0., minval=0., maxval=self.scale) / self.scale
|
|
self.is_static = config.section.startswith('static_')
|
|
if self.is_static:
|
|
self.mcu_pin.setup_start_value(
|
|
self.last_value, self.last_value, True)
|
|
else:
|
|
shutdown_value = config.getfloat(
|
|
'shutdown_value', 0., minval=0., maxval=self.scale) / self.scale
|
|
self.mcu_pin.setup_start_value(self.last_value, shutdown_value)
|
|
self.gcode = printer.objects['gcode']
|
|
self.gcode.register_command("SET_PIN", self.cmd_SET_PIN,
|
|
desc=self.cmd_SET_PIN_help)
|
|
cmd_SET_PIN_help = "Set the value of an output pin"
|
|
def cmd_SET_PIN(self, params):
|
|
pin_name = self.gcode.get_str('PIN', params)
|
|
pin = self.printer.objects.get('pin ' + pin_name)
|
|
if pin is not self:
|
|
if pin is None:
|
|
raise self.gcode.error("Pin not configured")
|
|
return pin.cmd_SET_PIN(params)
|
|
if self.is_static:
|
|
raise self.gcode.error("Static pin can not be changed at run-time")
|
|
value = self.gcode.get_float('VALUE', params) / self.scale
|
|
if value == self.last_value:
|
|
return
|
|
print_time = self.printer.objects['toolhead'].get_last_move_time()
|
|
print_time = max(print_time, self.last_value_time + PIN_MIN_TIME)
|
|
if self.is_pwm:
|
|
if value < 0. or value > 1.:
|
|
raise self.gcode.error("Invalid pin value")
|
|
self.mcu_pin.set_pwm(print_time, value)
|
|
else:
|
|
if value not in [0., 1.]:
|
|
raise self.gcode.error("Invalid pin value")
|
|
self.mcu_pin.set_digital(print_time, value)
|
|
self.last_value = value
|
|
self.last_value_time = print_time
|
|
|
|
class PrinterMultiPin:
|
|
def __init__(self, printer, config):
|
|
self.printer = printer
|
|
try:
|
|
pins.get_printer_pins(printer).register_chip('multi_pin', self)
|
|
except pins.error:
|
|
pass
|
|
self.pin_type = None
|
|
self.pin_list = [pin.strip() for pin in config.get('pins').split(',')]
|
|
self.mcu_pins = []
|
|
def setup_pin(self, pin_params):
|
|
pin_name = pin_params['pin']
|
|
pin = self.printer.objects.get('multi_pin ' + pin_name)
|
|
if pin is not self:
|
|
if pin is None:
|
|
raise pins.error("multi_pin %s not configured" % (pin_name,))
|
|
return pin.setup_pin(pin_params)
|
|
if self.pin_type is not None:
|
|
raise pins.error("Can't setup multi_pin %s twice" % (pin_name,))
|
|
self.pin_type = pin_params['type']
|
|
invert = ""
|
|
if pin_params['invert']:
|
|
invert = "!"
|
|
self.mcu_pins = [
|
|
pins.setup_pin(self.printer, self.pin_type, invert + pin_desc)
|
|
for pin_desc in self.pin_list]
|
|
return self
|
|
def get_mcu(self):
|
|
return self.mcu_pins[0].get_mcu()
|
|
def setup_max_duration(self, max_duration):
|
|
for mcu_pin in self.mcu_pins:
|
|
mcu_pin.setup_max_duration(max_duration)
|
|
def setup_start_value(self, start_value, shutdown_value):
|
|
for mcu_pin in self.mcu_pins:
|
|
mcu_pin.setup_start_value(start_value, shutdown_value)
|
|
def setup_cycle_time(self, cycle_time):
|
|
for mcu_pin in self.mcu_pins:
|
|
mcu_pin.setup_cycle_time(cycle_time)
|
|
def setup_hard_pwm(self, hard_cycle_ticks):
|
|
for mcu_pin in self.mcu_pins:
|
|
mcu_pin.setup_hard_pwm(hard_cycle_ticks)
|
|
def set_digital(self, print_time, value):
|
|
for mcu_pin in self.mcu_pins:
|
|
mcu_pin.set_digital(print_time, value)
|
|
def set_pwm(self, print_time, value):
|
|
for mcu_pin in self.mcu_pins:
|
|
mcu_pin.set_pwm(print_time, value)
|
|
|
|
|
|
######################################################################
|
|
# Servos
|
|
######################################################################
|
|
|
|
SERVO_SIGNAL_PERIOD = 0.020
|
|
|
|
class PrinterServo:
|
|
def __init__(self, printer, config):
|
|
self.printer = printer
|
|
self.mcu_servo = pins.setup_pin(printer, 'pwm', config.get('pin'))
|
|
self.mcu_servo.setup_max_duration(0.)
|
|
self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
|
|
self.min_width = config.getfloat(
|
|
'minimum_pulse_width', .001, above=0., below=SERVO_SIGNAL_PERIOD)
|
|
self.max_width = config.getfloat(
|
|
'maximum_pulse_width', .002
|
|
, above=self.min_width, below=SERVO_SIGNAL_PERIOD)
|
|
self.max_angle = config.getfloat('maximum_servo_angle', 180.)
|
|
self.angle_to_width = (self.max_width - self.min_width) / self.max_angle
|
|
self.width_to_value = 1. / SERVO_SIGNAL_PERIOD
|
|
self.last_value = self.last_value_time = 0.
|
|
self.gcode = printer.objects['gcode']
|
|
self.gcode.register_command("SET_SERVO", self.cmd_SET_SERVO,
|
|
desc=self.cmd_SET_SERVO_help)
|
|
def set_pwm(self, print_time, value):
|
|
if value == self.last_value:
|
|
return
|
|
print_time = max(print_time, self.last_value_time + PIN_MIN_TIME)
|
|
self.mcu_servo.set_pwm(print_time, value)
|
|
self.last_value = value
|
|
self.last_value_time = print_time
|
|
def set_angle(self, print_time, angle):
|
|
angle = max(0., min(self.max_angle, angle))
|
|
width = self.min_width + angle * self.angle_to_width
|
|
self.set_pwm(print_time, width * self.width_to_value)
|
|
def set_pulse_width(self, print_time, width):
|
|
width = max(self.min_width, min(self.max_width, width))
|
|
self.set_pwm(print_time, width * self.width_to_value)
|
|
cmd_SET_SERVO_help = "Set servo angle"
|
|
def cmd_SET_SERVO(self, params):
|
|
servo_name = self.gcode.get_str('SERVO', params)
|
|
servo = self.printer.objects.get('servo ' + servo_name)
|
|
if servo is not self:
|
|
if servo is None:
|
|
raise self.gcode.error("Servo not configured")
|
|
return servo.cmd_SET_SERVO(params)
|
|
print_time = self.printer.objects['toolhead'].get_last_move_time()
|
|
if 'WIDTH' in params:
|
|
self.set_pulse_width(print_time,
|
|
self.gcode.get_float('WIDTH', params))
|
|
else:
|
|
self.set_angle(print_time, self.gcode.get_float('ANGLE', params))
|
|
|
|
|
|
######################################################################
|
|
# AD5206 digipot
|
|
######################################################################
|
|
|
|
class ad5206:
|
|
def __init__(self, printer, config):
|
|
enable_pin_params = pins.get_printer_pins(printer).lookup_pin(
|
|
'digital_out', config.get('enable_pin'))
|
|
self.mcu = enable_pin_params['chip']
|
|
self.pin = enable_pin_params['pin']
|
|
self.mcu.add_config_object(self)
|
|
scale = config.getfloat('scale', 1., above=0.)
|
|
self.channels = [None] * 6
|
|
for i in range(len(self.channels)):
|
|
val = config.getfloat('channel_%d' % (i+1,), None,
|
|
minval=0., maxval=scale)
|
|
if val is not None:
|
|
self.channels[i] = int(val * 256. / scale + .5)
|
|
def build_config(self):
|
|
for i, val in enumerate(self.channels):
|
|
if val is not None:
|
|
self.mcu.add_config_cmd(
|
|
"send_spi_message pin=%s msg=%02x%02x" % (self.pin, i, val))
|
|
|
|
|
|
######################################################################
|
|
# Replicape board
|
|
######################################################################
|
|
|
|
REPLICAPE_MAX_CURRENT = 3.84
|
|
REPLICAPE_SHIFT_REGISTER_BUS = 1
|
|
REPLICAPE_SHIFT_REGISTER_DEVICE = 1
|
|
REPLICAPE_PCA9685_BUS = 2
|
|
REPLICAPE_PCA9685_ADDRESS = 0x70
|
|
REPLICAPE_PCA9685_CYCLE_TIME = .001
|
|
|
|
class pca9685_pwm:
|
|
def __init__(self, replicape, channel, pin_params):
|
|
self._replicape = replicape
|
|
self._channel = channel
|
|
if pin_params['type'] not in ['digital_out', 'pwm']:
|
|
raise pins.error("Pin type not supported on replicape")
|
|
self._mcu = replicape.host_mcu
|
|
self._mcu.add_config_object(self)
|
|
self._bus = REPLICAPE_PCA9685_BUS
|
|
self._address = REPLICAPE_PCA9685_ADDRESS
|
|
self._cycle_time = REPLICAPE_PCA9685_CYCLE_TIME
|
|
self._max_duration = 2.
|
|
self._oid = None
|
|
self._invert = pin_params['invert']
|
|
self._start_value = self._shutdown_value = float(self._invert)
|
|
self._is_static = False
|
|
self._last_clock = 0
|
|
self._pwm_max = 0.
|
|
self._cmd_queue = self._mcu.alloc_command_queue()
|
|
self._set_cmd = None
|
|
def get_mcu(self):
|
|
return self._mcu
|
|
def setup_max_duration(self, max_duration):
|
|
self._max_duration = max_duration
|
|
def setup_cycle_time(self, cycle_time):
|
|
pass
|
|
def setup_hard_pwm(self, hard_cycle_ticks):
|
|
if hard_cycle_ticks:
|
|
raise pins.error("pca9685 does not support hard_pwm parameter")
|
|
def setup_start_value(self, start_value, shutdown_value, is_static=False):
|
|
if is_static and start_value != shutdown_value:
|
|
raise pins.error("Static pin can not have shutdown value")
|
|
if self._invert:
|
|
start_value = 1. - start_value
|
|
shutdown_value = 1. - shutdown_value
|
|
self._start_value = max(0., min(1., start_value))
|
|
self._shutdown_value = max(0., min(1., shutdown_value))
|
|
self._is_static = is_static
|
|
self._replicape.note_pwm_start_value(
|
|
self._channel, self._start_value, self._shutdown_value)
|
|
def build_config(self):
|
|
self._pwm_max = self._mcu.get_constant_float("PCA9685_MAX")
|
|
cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time)
|
|
if self._is_static:
|
|
self._mcu.add_config_cmd(
|
|
"set_pca9685_out bus=%d addr=%d channel=%d"
|
|
" cycle_ticks=%d value=%d" % (
|
|
self._bus, self._address, self._channel,
|
|
cycle_ticks, self._start_value * self._pwm_max))
|
|
return
|
|
self._oid = self._mcu.create_oid()
|
|
self._mcu.add_config_cmd(
|
|
"config_pca9685 oid=%d bus=%d addr=%d channel=%d cycle_ticks=%d"
|
|
" value=%d default_value=%d max_duration=%d" % (
|
|
self._oid, self._bus, self._address, self._channel, cycle_ticks,
|
|
self._start_value * self._pwm_max,
|
|
self._shutdown_value * self._pwm_max,
|
|
self._mcu.seconds_to_clock(self._max_duration)))
|
|
self._set_cmd = self._mcu.lookup_command(
|
|
"schedule_pca9685_out oid=%c clock=%u value=%hu")
|
|
def set_pwm(self, print_time, value):
|
|
clock = self._mcu.print_time_to_clock(print_time)
|
|
if self._invert:
|
|
value = 1. - value
|
|
value = int(max(0., min(1., value)) * self._pwm_max + 0.5)
|
|
self._replicape.note_pwm_enable(print_time, self._channel, value)
|
|
msg = self._set_cmd.encode(self._oid, clock, value)
|
|
self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
|
|
, cq=self._cmd_queue)
|
|
self._last_clock = clock
|
|
def set_digital(self, print_time, value):
|
|
if value:
|
|
self.set_pwm(print_time, 1.)
|
|
else:
|
|
self.set_pwm(print_time, 0.)
|
|
|
|
class ReplicapeDACEnable:
|
|
def __init__(self, replicape, channel, pin_params):
|
|
if pin_params['type'] != 'digital_out':
|
|
raise pins.error("Replicape virtual enable pin must be digital_out")
|
|
if pin_params['invert']:
|
|
raise pins.error("Replicape virtual enable pin can not be inverted")
|
|
self.mcu = replicape.host_mcu
|
|
self.value = replicape.stepper_dacs[channel]
|
|
self.pwm = pca9685_pwm(replicape, channel, pin_params)
|
|
def get_mcu(self):
|
|
return self.mcu
|
|
def setup_max_duration(self, max_duration):
|
|
self.pwm.setup_max_duration(max_duration)
|
|
def set_digital(self, print_time, value):
|
|
if value:
|
|
self.pwm.set_pwm(print_time, self.value)
|
|
else:
|
|
self.pwm.set_pwm(print_time, 0.)
|
|
|
|
ReplicapeStepConfig = {
|
|
'disable': None,
|
|
'1': (1<<7)|(1<<5), '2': (1<<7)|(1<<5)|(1<<6), 'spread2': (1<<5),
|
|
'4': (1<<7)|(1<<5)|(1<<4), '16': (1<<7)|(1<<5)|(1<<6)|(1<<4),
|
|
'spread4': (1<<5)|(1<<4), 'spread16': (1<<7), 'stealth4': (1<<7)|(1<<6),
|
|
'stealth16': 0
|
|
}
|
|
|
|
class Replicape:
|
|
def __init__(self, printer, config):
|
|
pins.get_printer_pins(printer).register_chip('replicape', self)
|
|
revisions = {'B3': 'B3'}
|
|
config.getchoice('revision', revisions)
|
|
self.host_mcu = mcu.get_printer_mcu(printer, config.get('host_mcu'))
|
|
# Setup enable pin
|
|
self.mcu_pwm_enable = pins.setup_pin(
|
|
printer, 'digital_out', config.get('enable_pin', '!P9_41'))
|
|
self.mcu_pwm_enable.setup_max_duration(0.)
|
|
self.mcu_pwm_start_value = self.mcu_pwm_shutdown_value = False
|
|
# Setup power pins
|
|
self.pins = {
|
|
"power_e": (pca9685_pwm, 5), "power_h": (pca9685_pwm, 3),
|
|
"power_hotbed": (pca9685_pwm, 4),
|
|
"power_fan0": (pca9685_pwm, 7), "power_fan1": (pca9685_pwm, 8),
|
|
"power_fan2": (pca9685_pwm, 9), "power_fan3": (pca9685_pwm, 10) }
|
|
# Setup stepper config
|
|
self.stepper_dacs = {}
|
|
shift_registers = [1, 0, 0, 1, 1]
|
|
for port, name in enumerate('xyzeh'):
|
|
prefix = 'stepper_%s_' % (name,)
|
|
sc = config.getchoice(
|
|
prefix + 'microstep_mode', ReplicapeStepConfig, 'disable')
|
|
if sc is None:
|
|
continue
|
|
sc |= shift_registers[port]
|
|
if config.getboolean(prefix + 'chopper_off_time_high', False):
|
|
sc |= 1<<3
|
|
if config.getboolean(prefix + 'chopper_hysteresis_high', False):
|
|
sc |= 1<<2
|
|
if config.getboolean(prefix + 'chopper_blank_time_high', True):
|
|
sc |= 1<<1
|
|
shift_registers[port] = sc
|
|
channel = port + 11
|
|
cur = config.getfloat(
|
|
prefix + 'current', above=0., maxval=REPLICAPE_MAX_CURRENT)
|
|
self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT
|
|
self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel)
|
|
self.enabled_channels = {ch: False for cl, ch in self.pins.values()}
|
|
self.disable_stepper_cmd = "send_spi bus=%d dev=%d msg=%s" % (
|
|
REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
|
|
"".join(["%02x" % (x,) for x in reversed(shift_registers)]))
|
|
if [i for i in [0, 1, 2] if 11+i in self.stepper_dacs]:
|
|
# Enable xyz steppers
|
|
shift_registers[0] &= ~1
|
|
if [i for i in [3, 4] if 11+i in self.stepper_dacs]:
|
|
# Enable eh steppers
|
|
shift_registers[3] &= ~1
|
|
if (config.getboolean('standstill_power_down', False)
|
|
and self.stepper_dacs):
|
|
shift_registers[4] &= ~1
|
|
self.enable_stepper_cmd = "send_spi bus=%d dev=%d msg=%s" % (
|
|
REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
|
|
"".join(["%02x" % (x,) for x in reversed(shift_registers)]))
|
|
self.host_mcu.add_config_cmd(self.disable_stepper_cmd)
|
|
self.last_stepper_time = 0.
|
|
def note_pwm_start_value(self, channel, start_value, shutdown_value):
|
|
self.mcu_pwm_start_value |= not not start_value
|
|
self.mcu_pwm_shutdown_value |= not not shutdown_value
|
|
self.mcu_pwm_enable.setup_start_value(
|
|
self.mcu_pwm_start_value, self.mcu_pwm_shutdown_value)
|
|
self.enabled_channels[channel] = not not start_value
|
|
def note_pwm_enable(self, print_time, channel, value):
|
|
is_enable = not not value
|
|
if self.enabled_channels[channel] == is_enable:
|
|
# Nothing to do
|
|
return
|
|
self.enabled_channels[channel] = is_enable
|
|
# Check if need to set the pca9685 enable pin
|
|
on_channels = [1 for c, e in self.enabled_channels.items() if e]
|
|
if not on_channels:
|
|
self.mcu_pwm_enable.set_digital(print_time, 0)
|
|
elif is_enable and len(on_channels) == 1:
|
|
self.mcu_pwm_enable.set_digital(print_time, 1)
|
|
# Check if need to set the stepper enable lines
|
|
if channel not in self.stepper_dacs:
|
|
return
|
|
on_dacs = [1 for c in self.stepper_dacs.keys()
|
|
if self.enabled_channels[c]]
|
|
if not on_dacs:
|
|
cmd = self.disable_stepper_cmd
|
|
elif is_enable and len(on_dacs) == 1:
|
|
cmd = self.enable_stepper_cmd
|
|
else:
|
|
return
|
|
print_time = max(print_time, self.last_stepper_time + PIN_MIN_TIME)
|
|
clock = self.host_mcu.print_time_to_clock(print_time)
|
|
# XXX - the send_spi message should be scheduled
|
|
self.host_mcu.send(self.host_mcu.create_command(cmd),
|
|
minclock=clock, reqclock=clock)
|
|
def setup_pin(self, pin_params):
|
|
pin = pin_params['pin']
|
|
if pin not in self.pins:
|
|
raise pins.error("Unknown replicape pin %s" % (pin,))
|
|
pclass, channel = self.pins[pin]
|
|
return pclass(self, channel, pin_params)
|
|
|
|
|
|
######################################################################
|
|
# Setup
|
|
######################################################################
|
|
|
|
def add_printer_objects(printer, config):
|
|
if config.has_section('replicape'):
|
|
printer.add_object('replicape', Replicape(
|
|
printer, config.getsection('replicape')))
|
|
for s in config.get_prefix_sections('static_digital_output '):
|
|
printer.add_object(s.section, PrinterStaticDigitalOut(printer, s))
|
|
for s in config.get_prefix_sections('digital_output '):
|
|
printer.add_object('pin' + s.section[14:], PrinterPin(printer, s))
|
|
for s in config.get_prefix_sections('static_pwm_output '):
|
|
printer.add_object('pin' + s.section[17:], PrinterPin(printer, s))
|
|
for s in config.get_prefix_sections('pwm_output '):
|
|
printer.add_object('pin' + s.section[10:], PrinterPin(printer, s))
|
|
for s in config.get_prefix_sections('multi_pin '):
|
|
printer.add_object(s.section, PrinterMultiPin(printer, s))
|
|
for s in config.get_prefix_sections('servo '):
|
|
printer.add_object(s.section, PrinterServo(printer, s))
|
|
for s in config.get_prefix_sections('ad5206 '):
|
|
printer.add_object(s.section, ad5206(printer, s))
|