278 lines
12 KiB
Python
278 lines
12 KiB
Python
# Code to configure miscellaneous chips
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#
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# Copyright (C) 2017-2019 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging, os
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import pins, mcu
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from . import bus
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REPLICAPE_MAX_CURRENT = 3.84
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REPLICAPE_PCA9685_BUS = 2
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REPLICAPE_PCA9685_ADDRESS = 0x70
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REPLICAPE_PCA9685_CYCLE_TIME = .001
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PIN_MIN_TIME = 0.100
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class pca9685_pwm:
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def __init__(self, replicape, channel, pin_type, pin_params):
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self._replicape = replicape
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self._channel = channel
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if pin_type not in ['digital_out', 'pwm']:
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raise pins.error("Pin type not supported on replicape")
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self._mcu = replicape.host_mcu
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self._mcu.register_config_callback(self._build_config)
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self._reactor = self._mcu.get_printer().get_reactor()
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self._bus = REPLICAPE_PCA9685_BUS
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self._address = REPLICAPE_PCA9685_ADDRESS
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self._cycle_time = REPLICAPE_PCA9685_CYCLE_TIME
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self._max_duration = 2.
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self._oid = None
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self._invert = pin_params['invert']
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self._start_value = self._shutdown_value = float(self._invert)
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self._is_enable = not not self._start_value
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self._is_static = False
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self._last_clock = 0
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self._pwm_max = 0.
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self._set_cmd = None
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def get_mcu(self):
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return self._mcu
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def setup_max_duration(self, max_duration):
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self._max_duration = max_duration
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def setup_cycle_time(self, cycle_time, hardware_pwm=False):
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if hardware_pwm:
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raise pins.error("pca9685 does not support hardware_pwm parameter")
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if cycle_time != self._cycle_time:
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logging.info("Ignoring pca9685 cycle time of %.6f (using %.6f)",
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cycle_time, self._cycle_time)
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def setup_start_value(self, start_value, shutdown_value, is_static=False):
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if is_static and start_value != shutdown_value:
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raise pins.error("Static pin can not have shutdown value")
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if self._invert:
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start_value = 1. - start_value
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shutdown_value = 1. - shutdown_value
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self._start_value = max(0., min(1., start_value))
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self._shutdown_value = max(0., min(1., shutdown_value))
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self._is_static = is_static
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self._replicape.note_pwm_start_value(
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self._channel, self._start_value, self._shutdown_value)
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self._is_enable = not not self._start_value
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def _build_config(self):
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self._pwm_max = self._mcu.get_constant_float("PCA9685_MAX")
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cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time)
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if self._is_static:
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self._mcu.add_config_cmd(
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"set_pca9685_out bus=%d addr=%d channel=%d"
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" cycle_ticks=%d value=%d" % (
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self._bus, self._address, self._channel,
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cycle_ticks, self._start_value * self._pwm_max))
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return
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self._mcu.request_move_queue_slot()
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self._oid = self._mcu.create_oid()
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self._mcu.add_config_cmd(
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"config_pca9685 oid=%d bus=%d addr=%d channel=%d cycle_ticks=%d"
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" value=%d default_value=%d max_duration=%d" % (
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self._oid, self._bus, self._address, self._channel, cycle_ticks,
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self._start_value * self._pwm_max,
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self._shutdown_value * self._pwm_max,
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self._mcu.seconds_to_clock(self._max_duration)))
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cmd_queue = self._mcu.alloc_command_queue()
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self._set_cmd = self._mcu.lookup_command(
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"queue_pca9685_out oid=%c clock=%u value=%hu", cq=cmd_queue)
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def set_pwm(self, print_time, value, cycle_time=None):
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clock = self._mcu.print_time_to_clock(print_time)
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if self._invert:
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value = 1. - value
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value = int(max(0., min(1., value)) * self._pwm_max + 0.5)
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is_enable = not not value
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if is_enable != self._is_enable:
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self._is_enable = is_enable
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self._reactor.register_async_callback(
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(lambda e, s=self, pt=print_time, ie=is_enable:
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s._replicape.note_pwm_enable(pt, s._channel, ie)))
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self._set_cmd.send([self._oid, clock, value],
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minclock=self._last_clock, reqclock=clock)
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self._last_clock = clock
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def set_digital(self, print_time, value):
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if value:
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self.set_pwm(print_time, 1.)
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else:
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self.set_pwm(print_time, 0.)
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class ReplicapeDACEnable:
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def __init__(self, replicape, channel, pin_type, pin_params):
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if pin_type != 'digital_out':
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raise pins.error("Replicape virtual enable pin must be digital_out")
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if pin_params['invert']:
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raise pins.error("Replicape virtual enable pin can not be inverted")
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self.mcu = replicape.host_mcu
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self.value = replicape.stepper_dacs[channel]
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self.pwm = pca9685_pwm(replicape, channel, pin_type, pin_params)
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def get_mcu(self):
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return self.mcu
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def setup_max_duration(self, max_duration):
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self.pwm.setup_max_duration(max_duration)
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def set_digital(self, print_time, value):
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if value:
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self.pwm.set_pwm(print_time, self.value)
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else:
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self.pwm.set_pwm(print_time, 0.)
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SERVO_PINS = {
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"servo0": ("/pwm0", "gpio0_30", "gpio1_18"), # P9_11, P9_14
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"servo1": ("/pwm1", "gpio3_17", "gpio1_19"), # P9_28, P9_16
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}
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class servo_pwm:
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def __init__(self, replicape, pin_params):
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config_name = pin_params['pin']
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pwmchip = 'pwmchip0'
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if not replicape.host_mcu.is_fileoutput():
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try:
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# Determine the pwmchip number for the servo channels
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# /sys/devices/platform/ocp/48302000.epwmss/48302200.pwm/pwm
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# should be stable on the beagle bone black.
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# It contains only a "pwmchipX" directory. The entry in
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# /sys/class/pwm/ used by the Linux MCU should be a symlink
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# to this directory.
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pwmdev = os.listdir(
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'/sys/devices/platform/ocp/48302000.epwmss/48302200.pwm/pwm/')
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pwmchip = [pc for pc in pwmdev if pc.startswith('pwmchip')][0]
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except:
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raise pins.error("Replicape unable to determine pwmchip")
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pwm_pin, resv1, resv2 = SERVO_PINS[config_name]
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pin_params = dict(pin_params)
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pin_params['pin'] = pwmchip + pwm_pin
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# Setup actual pwm pin using linux hardware pwm on host
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self.mcu_pwm = replicape.host_mcu.setup_pin("pwm", pin_params)
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self.get_mcu = self.mcu_pwm.get_mcu
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self.setup_max_duration = self.mcu_pwm.setup_max_duration
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self.setup_start_value = self.mcu_pwm.setup_start_value
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self.set_pwm = self.mcu_pwm.set_pwm
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# Reserve pins to warn user of conflicts
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pru_mcu = replicape.mcu_pwm_enable.get_mcu()
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printer = pru_mcu.get_printer()
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ppins = printer.lookup_object('pins')
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pin_resolver = ppins.get_pin_resolver(pru_mcu.get_name())
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pin_resolver.reserve_pin(resv1, config_name)
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pin_resolver.reserve_pin(resv2, config_name)
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def setup_cycle_time(self, cycle_time, hardware_pwm=False):
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self.mcu_pwm.setup_cycle_time(cycle_time, True)
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ReplicapeStepConfig = {
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'disable': None,
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'1': (1<<7)|(1<<5), '2': (1<<7)|(1<<5)|(1<<6), 'spread2': (1<<5),
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'4': (1<<7)|(1<<5)|(1<<4), '16': (1<<7)|(1<<5)|(1<<6)|(1<<4),
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'spread4': (1<<5)|(1<<4), 'spread16': (1<<7), 'stealth4': (1<<7)|(1<<6),
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'stealth16': 0
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}
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class Replicape:
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def __init__(self, config):
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printer = config.get_printer()
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ppins = printer.lookup_object('pins')
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ppins.register_chip('replicape', self)
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revisions = {'B3': 'B3'}
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config.getchoice('revision', revisions)
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self.host_mcu = mcu.get_printer_mcu(printer, config.get('host_mcu'))
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# Setup enable pin
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enable_pin = config.get('enable_pin', '!gpio0_20')
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self.mcu_pwm_enable = ppins.setup_pin('digital_out', enable_pin)
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self.mcu_pwm_enable.setup_max_duration(0.)
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self.mcu_pwm_start_value = self.mcu_pwm_shutdown_value = False
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self.last_pwm_enable_time = 0.
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# Setup power pins
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self.pins = {
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"power_e": (pca9685_pwm, 5), "power_h": (pca9685_pwm, 3),
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"power_hotbed": (pca9685_pwm, 4),
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"power_fan0": (pca9685_pwm, 7), "power_fan1": (pca9685_pwm, 8),
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"power_fan2": (pca9685_pwm, 9), "power_fan3": (pca9685_pwm, 10) }
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self.servo_pins = {
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"servo0": 3, "servo1": 2 }
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# Setup stepper config
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self.stepper_dacs = {}
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shift_registers = [1, 0, 0, 1, 1]
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for port, name in enumerate('xyzeh'):
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prefix = 'stepper_%s_' % (name,)
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sc = config.getchoice(
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prefix + 'microstep_mode', ReplicapeStepConfig, 'disable')
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if sc is None:
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continue
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sc |= shift_registers[port]
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if config.getboolean(prefix + 'chopper_off_time_high', False):
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sc |= 1<<3
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if config.getboolean(prefix + 'chopper_hysteresis_high', False):
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sc |= 1<<2
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if config.getboolean(prefix + 'chopper_blank_time_high', True):
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sc |= 1<<1
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shift_registers[port] = sc
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channel = port + 11
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cur = config.getfloat(
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prefix + 'current', above=0., maxval=REPLICAPE_MAX_CURRENT)
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self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT
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self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel)
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self.enabled_channels = {ch: False for cl, ch in self.pins.values()}
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self.sr_disabled = list(reversed(shift_registers))
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if [i for i in [0, 1, 2] if 11+i in self.stepper_dacs]:
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# Enable xyz steppers
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shift_registers[0] &= ~1
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if [i for i in [3, 4] if 11+i in self.stepper_dacs]:
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# Enable eh steppers
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shift_registers[3] &= ~1
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if (config.getboolean('standstill_power_down', False)
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and self.stepper_dacs):
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shift_registers[4] &= ~1
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self.sr_enabled = list(reversed(shift_registers))
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sr_spi_bus = "spidev1.1"
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if not self.host_mcu.is_fileoutput() and os.path.exists(
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'/sys/devices/platform/ocp/481a0000.spi/spi_master/spi2'):
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sr_spi_bus = "spidev2.1"
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self.sr_spi = bus.MCU_SPI(self.host_mcu, sr_spi_bus, None, 0, 50000000)
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self.sr_spi.setup_shutdown_msg(self.sr_disabled)
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self.sr_spi.spi_send(self.sr_disabled)
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def note_pwm_start_value(self, channel, start_value, shutdown_value):
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self.mcu_pwm_start_value |= not not start_value
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self.mcu_pwm_shutdown_value |= not not shutdown_value
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self.mcu_pwm_enable.setup_start_value(
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self.mcu_pwm_start_value, self.mcu_pwm_shutdown_value)
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self.enabled_channels[channel] = not not start_value
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def note_pwm_enable(self, print_time, channel, is_enable):
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self.enabled_channels[channel] = is_enable
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# Check if need to set the pca9685 enable pin
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pe_time = max(print_time, self.last_pwm_enable_time + PIN_MIN_TIME)
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on_channels = [1 for c, e in self.enabled_channels.items() if e]
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if not on_channels:
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self.mcu_pwm_enable.set_digital(pe_time, 0)
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self.last_pwm_enable_time = pe_time
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elif is_enable and len(on_channels) == 1:
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self.mcu_pwm_enable.set_digital(pe_time, 1)
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self.last_pwm_enable_time = pe_time
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# Check if need to set the stepper enable lines
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if channel not in self.stepper_dacs:
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return
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on_dacs = [1 for c in self.stepper_dacs.keys()
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if self.enabled_channels[c]]
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if not on_dacs:
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sr = self.sr_disabled
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elif is_enable and len(on_dacs) == 1:
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sr = self.sr_enabled
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else:
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return
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clock = self.host_mcu.print_time_to_clock(print_time)
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self.sr_spi.spi_send(sr, minclock=clock, reqclock=clock)
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def setup_pin(self, pin_type, pin_params):
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pin = pin_params['pin']
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if pin in self.pins:
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pclass, channel = self.pins[pin]
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return pclass(self, channel, pin_type, pin_params)
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elif pin in self.servo_pins:
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# enable servo pins via shift registers
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index = self.servo_pins[pin]
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self.sr_enabled[index] |= 1
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self.sr_disabled[index] |= 1
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self.sr_spi.spi_send(self.sr_disabled)
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return servo_pwm(self, pin_params)
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raise pins.error("Unknown replicape pin %s" % (pin,))
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def load_config(config):
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return Replicape(config)
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