134 lines
5.2 KiB
Python
134 lines
5.2 KiB
Python
# Support for enable pins on stepper motor drivers
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#
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# Copyright (C) 2019-2021 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
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DISABLE_STALL_TIME = 0.100
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# Tracking of shared stepper enable pins
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class StepperEnablePin:
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def __init__(self, mcu_enable, enable_count):
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self.mcu_enable = mcu_enable
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self.enable_count = enable_count
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self.is_dedicated = True
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def set_enable(self, print_time):
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if not self.enable_count:
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self.mcu_enable.set_digital(print_time, 1)
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self.enable_count += 1
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def set_disable(self, print_time):
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self.enable_count -= 1
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if not self.enable_count:
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self.mcu_enable.set_digital(print_time, 0)
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def setup_enable_pin(printer, pin):
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if pin is None:
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# No enable line (stepper always enabled)
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enable = StepperEnablePin(None, 9999)
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enable.is_dedicated = False
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return enable
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ppins = printer.lookup_object('pins')
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pin_params = ppins.lookup_pin(pin, can_invert=True,
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share_type='stepper_enable')
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enable = pin_params.get('class')
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if enable is not None:
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# Shared enable line
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enable.is_dedicated = False
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return enable
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mcu_enable = pin_params['chip'].setup_pin('digital_out', pin_params)
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mcu_enable.setup_max_duration(0.)
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enable = pin_params['class'] = StepperEnablePin(mcu_enable, 0)
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return enable
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# Enable line tracking for each stepper motor
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class EnableTracking:
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def __init__(self, stepper, enable):
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self.stepper = stepper
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self.enable = enable
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self.callbacks = []
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self.is_enabled = False
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self.stepper.add_active_callback(self.motor_enable)
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def register_state_callback(self, callback):
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self.callbacks.append(callback)
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def motor_enable(self, print_time):
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if not self.is_enabled:
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for cb in self.callbacks:
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cb(print_time, True)
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self.enable.set_enable(print_time)
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self.is_enabled = True
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def motor_disable(self, print_time):
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if self.is_enabled:
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# Enable stepper on future stepper movement
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for cb in self.callbacks:
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cb(print_time, False)
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self.enable.set_disable(print_time)
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self.is_enabled = False
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self.stepper.add_active_callback(self.motor_enable)
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def is_motor_enabled(self):
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return self.is_enabled
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def has_dedicated_enable(self):
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return self.enable.is_dedicated
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# Global stepper enable line tracking
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class PrinterStepperEnable:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.enable_lines = {}
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self.printer.register_event_handler("gcode:request_restart",
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self._handle_request_restart)
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# Register M18/M84 commands
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gcode = self.printer.lookup_object('gcode')
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gcode.register_command("M18", self.cmd_M18)
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gcode.register_command("M84", self.cmd_M18)
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gcode.register_command("SET_STEPPER_ENABLE",
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self.cmd_SET_STEPPER_ENABLE,
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desc=self.cmd_SET_STEPPER_ENABLE_help)
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def register_stepper(self, stepper, pin):
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name = stepper.get_name()
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enable = setup_enable_pin(self.printer, pin)
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self.enable_lines[name] = EnableTracking(stepper, enable)
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def motor_off(self):
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.dwell(DISABLE_STALL_TIME)
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print_time = toolhead.get_last_move_time()
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for el in self.enable_lines.values():
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el.motor_disable(print_time)
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self.printer.send_event("stepper_enable:motor_off", print_time)
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toolhead.dwell(DISABLE_STALL_TIME)
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def motor_debug_enable(self, stepper, enable):
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toolhead = self.printer.lookup_object('toolhead')
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toolhead.dwell(DISABLE_STALL_TIME)
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print_time = toolhead.get_last_move_time()
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el = self.enable_lines[stepper]
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if enable:
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el.motor_enable(print_time)
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logging.info("%s has been manually enabled", stepper)
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else:
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el.motor_disable(print_time)
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logging.info("%s has been manually disabled", stepper)
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toolhead.dwell(DISABLE_STALL_TIME)
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def _handle_request_restart(self, print_time):
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self.motor_off()
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def cmd_M18(self, gcmd):
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# Turn off motors
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self.motor_off()
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cmd_SET_STEPPER_ENABLE_help = "Enable/disable individual stepper by name"
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def cmd_SET_STEPPER_ENABLE(self, gcmd):
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stepper_name = gcmd.get('STEPPER', None)
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if stepper_name not in self.enable_lines:
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gcmd.respond_info('SET_STEPPER_ENABLE: Invalid stepper "%s"'
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% (stepper_name,))
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return
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stepper_enable = gcmd.get_int('ENABLE', 1)
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self.motor_debug_enable(stepper_name, stepper_enable)
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def lookup_enable(self, name):
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if name not in self.enable_lines:
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raise self.printer.config_error("Unknown stepper '%s'" % (name,))
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return self.enable_lines[name]
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def get_steppers(self):
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return list(self.enable_lines.keys())
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def load_config(config):
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return PrinterStepperEnable(config)
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