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refactor calibration process, some dummy commands support

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This commit is contained in:
Nikolay Khabarov
2017-07-01 03:07:30 +03:00
parent b181fcc38c
commit 1c88c8ad41
6 changed files with 166 additions and 84 deletions
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39
cnc/config.py
View File

@@ -1,27 +1,42 @@
# Hardware limitations config
STEPPER_PULSE_LENGTH_US = 2
STEPPER_MAX_ACCELERATION_MM_PER_S2 = 3000 # for all axis, mm per sec^2
# ------------------------------------------------------------------------------
# Hardware config.
MAX_VELOCITY_MM_PER_MIN_X = 30000 # mm per min
MAX_VELOCITY_MM_PER_MIN_Y = 24000 # mm per min
MAX_VELOCITY_MM_PER_MIN_Z = 120 # mm per min
MAX_VELOCITY_MM_PER_MIN_E = 1500 # mm per min
# Maximum velocity for each axis in millimeter per minute.
MAX_VELOCITY_MM_PER_MIN_X = 24000
MAX_VELOCITY_MM_PER_MIN_Y = 15000
MAX_VELOCITY_MM_PER_MIN_Z = 600
MAX_VELOCITY_MM_PER_MIN_E = 1500
# Average velocity for endstop calibration procedure
CALIBRATION_VELOCITY_MM_PER_MIN = 300
# Stepper motors steps per millimeter for each axis.
STEPPER_PULSES_PER_MM_X = 100
STEPPER_PULSES_PER_MM_Y = 100
STEPPER_PULSES_PER_MM_Z = 400
STEPPER_PULSES_PER_MM_E = 150
# invert axises direction
# Invert axises direction, by default(False) high level means increase of
# position. For inverted(True) axis, high level means decrease of position.
STEPPER_INVERTED_X = True
STEPPER_INVERTED_Y = False
STEPPER_INVERTED_Z = False
STEPPER_INVERTED_E = True
# Invert zero end stops switches. By default(False) low level on input pin means
# that axis in zero position. For inverted(True) end stops, high level means
# zero position.
ENDSTOP_INVERTED_X = True
ENDSTOP_INVERTED_Y = True
ENDSTOP_INVERTED_Z = True
# Workplace physical size.
TABLE_SIZE_X_MM = 200
TABLE_SIZE_Y_MM = 200
TABLE_SIZE_Z_MM = 220
# Mixed settings.
STEPPER_PULSE_LENGTH_US = 2
STEPPER_MAX_ACCELERATION_MM_PER_S2 = 3000 # for all axis, mm per sec^2
SPINDLE_MAX_RPM = 10000
EXTRUDER_MAX_TEMPERATURE = 250
BED_MAX_TEMPERATURE = 100
@@ -33,7 +48,9 @@ BED_PID = {"P": 5.06820175723,
"I": 0.0476413193519,
"D": 4.76413193519}
# Pins config
# ------------------------------------------------------------------------------
# Pins configuration.
STEPPER_STEP_PIN_X = 16
STEPPER_STEP_PIN_Y = 20
STEPPER_STEP_PIN_Z = 21
@@ -55,7 +72,9 @@ ENDSTOP_PIN_X = 12
ENDSTOP_PIN_Y = 6
ENDSTOP_PIN_Z = 5
# Hardware behavior config
# ------------------------------------------------------------------------------
# Behavior config
# Run command immediately after receiving and stream new pulses, otherwise
# buffer will be prepared firstly and then command will run.
# Before enabling this feature, please make sure that board performance is

45
cnc/gmachine.py
View File

@@ -37,7 +37,7 @@ class GMachine(object):
def release(self):
""" Return machine to original position and free all resources.
"""
self.home()
self.safe_zero()
self._spindle(0)
for h in self._heaters:
self._heaters[h].stop()
@@ -112,7 +112,6 @@ class GMachine(object):
1.0 / STEPPER_PULSES_PER_MM_E)
if delta.is_zero():
return
velocity_per_axis = abs(delta) * (velocity / delta.length())
self.__check_delta(delta)
logging.info("Moving linearly {}".format(delta))
@@ -239,14 +238,25 @@ class GMachine(object):
# save position
self._position = self._position + circle_end + linear_delta
def home(self):
""" Move head to park position
def safe_zero(self, x=True, y=True, z=True):
""" Move head to zero position safely.
:param x: boolean, move X axis to zero
:param y: boolean, move X axis to zero
:param z: boolean, move X axis to zero
"""
d = Coordinates(0, 0, -self._position.z, 0)
self._move_linear(d, MAX_VELOCITY_MM_PER_MIN_Z)
d = Coordinates(-self._position.x, -self._position.y, 0, 0)
self._move_linear(d, min(MAX_VELOCITY_MM_PER_MIN_X,
MAX_VELOCITY_MM_PER_MIN_Y))
if z:
d = Coordinates(0, 0, -self._position.z, 0)
self._move_linear(d, MAX_VELOCITY_MM_PER_MIN_Z)
if x and not y:
self._move_linear(Coordinates(-self._position.x, 0, 0, 0),
MAX_VELOCITY_MM_PER_MIN_X)
elif y and not x:
self._move_linear(Coordinates(0, -self._position.y, 0, 0),
MAX_VELOCITY_MM_PER_MIN_X)
elif x and y:
d = Coordinates(-self._position.x, -self._position.y, 0, 0)
self._move_linear(d, min(MAX_VELOCITY_MM_PER_MIN_X,
MAX_VELOCITY_MM_PER_MIN_Y))
def position(self):
""" Return current machine position (after the latest command)
@@ -367,7 +377,13 @@ class GMachine(object):
elif c == 'G21': # switch to mm
self._convertCoordinates = 1.0
elif c == 'G28': # home
self.home()
axises = gcode.has('X'), gcode.has('Y'), gcode.has('Z')
if axises == (False, False, False):
axises = True, True, True
self.safe_zero(*axises)
hal.join()
if not hal.calibrate(*axises):
raise GMachineException("failed to calibrate")
elif c == 'G53': # switch to machine coords
self._local = Coordinates(0.0, 0.0, 0.0, 0.0)
elif c == 'G90': # switch to absolute coords
@@ -432,6 +448,15 @@ class GMachine(object):
answer = "X:{} Y:{} Z:{} E:{}".format(p.x, p.y, p.z, p.e)
elif c is None: # command not specified(for example, just F was passed)
pass
# commands below are added just for compatibility
elif c == 'M82': # absolute mode for extruder
if not self._absoluteCoordinates:
raise GMachineException("Not supported, use G90/G91")
elif c == 'M83': # relative mode for extruder
if self._absoluteCoordinates:
raise GMachineException("Not supported, use G90/G91")
elif c == 'M84': # disable motors
pass # do not do anything
else:
raise GMachineException("unknown command")
# save parameters on success

14
cnc/hal.py
View File

@@ -2,8 +2,7 @@
# Imported module contains functions for hardware access fo some board/SoC.
# List of HAL methods that should be implemented in each module:
# def init():
# """ Initialize GPIO pins and machine itself, including calibration if
# needed. Do not return till all procedure is completed.
# """ Initialize GPIO pins and machine itself.
# """
# do_something()
#
@@ -52,6 +51,15 @@
# """
# return measure()
#
# def calibrate(x, y, z):
# """ Move head to home position till end stop switch will be triggered.
# Do not return till all procedures are completed.
# :param x: boolean, True to calibrate X axis.
# :param y: boolean, True to calibrate Y axis.
# :param z: boolean, True to calibrate Z axis.
# :return: boolean, True if all specified end stops were triggered.
# """
# return do_something()
#
# def move(generator):
# """ Move head to according pulses in PulseGenerator.
@@ -95,6 +103,8 @@ if 'get_extruder_temperature' not in locals():
raise NotImplementedError("hal.get_extruder_temperature() not implemented")
if 'get_bed_temperature' not in locals():
raise NotImplementedError("hal.get_bed_temperature() not implemented")
if 'calibrate' not in locals():
raise NotImplementedError("hal.calibrate() not implemented")
if 'move' not in locals():
raise NotImplementedError("hal.move() not implemented")
if 'join' not in locals():

133
cnc/hal_raspberry/hal.py
View File

@@ -18,8 +18,7 @@ STEP_PIN_MASK_E = 1 << STEPPER_STEP_PIN_E
def init():
""" Initialize GPIO pins and machine itself, including calibration if
needed. Do not return till all procedures are completed.
""" Initialize GPIO pins and machine itself.
"""
gpio.init(STEPPER_STEP_PIN_X, rpgpio.GPIO.MODE_OUTPUT)
gpio.init(STEPPER_STEP_PIN_Y, rpgpio.GPIO.MODE_OUTPUT)
@@ -30,8 +29,8 @@ def init():
gpio.init(STEPPER_DIR_PIN_Z, rpgpio.GPIO.MODE_OUTPUT)
gpio.init(STEPPER_DIR_PIN_E, rpgpio.GPIO.MODE_OUTPUT)
gpio.init(ENDSTOP_PIN_X, rpgpio.GPIO.MODE_INPUT_PULLUP)
gpio.init(ENDSTOP_PIN_X, rpgpio.GPIO.MODE_INPUT_PULLUP)
gpio.init(ENDSTOP_PIN_X, rpgpio.GPIO.MODE_INPUT_PULLUP)
gpio.init(ENDSTOP_PIN_Y, rpgpio.GPIO.MODE_INPUT_PULLUP)
gpio.init(ENDSTOP_PIN_Z, rpgpio.GPIO.MODE_INPUT_PULLUP)
gpio.init(SPINDLE_PWM_PIN, rpgpio.GPIO.MODE_OUTPUT)
gpio.init(FAN_PIN, rpgpio.GPIO.MODE_OUTPUT)
gpio.init(EXTRUDER_HEATER_PIN, rpgpio.GPIO.MODE_OUTPUT)
@@ -41,60 +40,6 @@ def init():
gpio.clear(EXTRUDER_HEATER_PIN)
gpio.clear(BED_HEATER_PIN)
# calibration
# TODO remove this from hal and rewrite, check if there is a special g
# command for this
gpio.set(STEPPER_DIR_PIN_X)
gpio.set(STEPPER_DIR_PIN_Y)
gpio.set(STEPPER_DIR_PIN_Z)
pins = STEP_PIN_MASK_X | STEP_PIN_MASK_Y | STEP_PIN_MASK_Z
dma.clear()
dma.add_pulse(pins, STEPPER_PULSE_LENGTH_US)
st = time.time()
max_pulses_left = int(1.2 * max(STEPPER_PULSES_PER_MM_X,
STEPPER_PULSES_PER_MM_Y,
STEPPER_PULSES_PER_MM_Z) *
max(TABLE_SIZE_X_MM,
TABLE_SIZE_Y_MM,
TABLE_SIZE_Z_MM))
try:
while max_pulses_left > 0:
if (STEP_PIN_MASK_X & pins) != 0 and gpio.read(ENDSTOP_PIN_X) == 0:
pins &= ~STEP_PIN_MASK_X
dma.clear()
dma.add_pulse(pins, STEPPER_PULSE_LENGTH_US)
if (STEP_PIN_MASK_Y & pins) != 0 and gpio.read(ENDSTOP_PIN_Y) == 0:
pins &= ~STEP_PIN_MASK_Y
dma.clear()
dma.add_pulse(pins, STEPPER_PULSE_LENGTH_US)
if (STEP_PIN_MASK_Z & pins) != 0 and gpio.read(ENDSTOP_PIN_Z) == 0:
pins &= ~STEP_PIN_MASK_Z
dma.clear()
dma.add_pulse(pins, STEPPER_PULSE_LENGTH_US)
if pins == 0:
break
dma.run(False)
# limit velocity at ~10% of top velocity
time.sleep((1 / 0.10) / (min(MAX_VELOCITY_MM_PER_MIN_X,
MAX_VELOCITY_MM_PER_MIN_Y,
MAX_VELOCITY_MM_PER_MIN_Z,
MAX_VELOCITY_MM_PER_MIN_E)
/ 60 * max(STEPPER_PULSES_PER_MM_X,
STEPPER_PULSES_PER_MM_Y,
STEPPER_PULSES_PER_MM_Z)))
max_pulses_left -= 1
if st is not None:
if time.time() - st > 2:
logging.critical("Calibration still in progress. Check if "
"machine is moving.\nPress Ctrl+C to "
"cancel calibration and proceed as is.")
st = None
if pins != 0:
logging.critical("Calibration has failed. You may proceed, but be "
"careful.")
except KeyboardInterrupt:
logging.critical("Calibration has canceled by user. Be careful.")
def spindle_control(percent):
""" Spindle control implementation.
@@ -154,6 +99,78 @@ def get_bed_temperature():
return thermistor.get_temperature(BED_TEMPERATURE_SENSOR_CHANNEL)
def calibrate(x, y, z):
""" Move head to home position till end stop switch will be triggered.
Do not return till all procedures are completed.
:param x: boolean, True to calibrate X axis.
:param y: boolean, True to calibrate Y axis.
:param z: boolean, True to calibrate Z axis.
:return: boolean, True if all specified end stops were triggered.
"""
logging.info("hal calibrate, x={}, y={}, z={}".format(x, y, z))
if STEPPER_INVERTED_X:
gpio.clear(STEPPER_DIR_PIN_X)
else:
gpio.set(STEPPER_DIR_PIN_X)
if STEPPER_INVERTED_Y:
gpio.clear(STEPPER_DIR_PIN_Y)
else:
gpio.set(STEPPER_DIR_PIN_Y)
if STEPPER_INVERTED_Z:
gpio.clear(STEPPER_DIR_PIN_Z)
else:
gpio.set(STEPPER_DIR_PIN_Z)
pins = 0
max_size = 0
if x:
pins |= STEP_PIN_MASK_X
max_size = max(max_size, TABLE_SIZE_X_MM * STEPPER_PULSES_PER_MM_X)
if y:
pins |= STEP_PIN_MASK_Y
max_size = max(max_size, TABLE_SIZE_Y_MM * STEPPER_PULSES_PER_MM_Y)
if z:
pins |= STEP_PIN_MASK_Z
max_size = max(max_size, TABLE_SIZE_Z_MM * TABLE_SIZE_Z_MM)
pulses_per_mm_avg = (STEPPER_PULSES_PER_MM_X + STEPPER_PULSES_PER_MM_Y
+ STEPPER_PULSES_PER_MM_Z) / 3.0
pulses_per_sec = CALIBRATION_VELOCITY_MM_PER_MIN / 60.0 * pulses_per_mm_avg
end_time = time.time() + 1.2 * max_size / pulses_per_sec
last_pins = ~pins
try:
while time.time() < end_time:
# check each axis end stop twice
x_endstop = (STEP_PIN_MASK_X & pins) != 0
y_endstop = (STEP_PIN_MASK_Y & pins) != 0
z_endstop = (STEP_PIN_MASK_Z & pins) != 0
# read each sensor three time
for _ in range(0, 3):
x_endstop = x_endstop and ((gpio.read(ENDSTOP_PIN_X) == 1)
== ENDSTOP_INVERTED_X)
y_endstop = y_endstop and ((gpio.read(ENDSTOP_PIN_Y) == 1)
== ENDSTOP_INVERTED_Y)
z_endstop = z_endstop and ((gpio.read(ENDSTOP_PIN_Z) == 1)
== ENDSTOP_INVERTED_Z)
if x_endstop:
pins &= ~STEP_PIN_MASK_X
if y_endstop:
pins &= ~STEP_PIN_MASK_Y
if z_endstop:
pins &= ~STEP_PIN_MASK_Z
if pins != last_pins:
dma.stop()
dma.clear()
if pins == 0:
return True
dma.add_pulse(pins, STEPPER_PULSE_LENGTH_US)
# limit velocity
dma.add_delay(int(1000000 / pulses_per_sec))
last_pins = pins
dma.run(True)
except KeyboardInterrupt:
dma.stop()
return False
def move(generator):
""" Move head to specified position
:param generator: PulseGenerator object.

15
cnc/hal_virtual.py
View File

@@ -10,8 +10,7 @@ from cnc.config import *
def init():
""" Initialize GPIO pins and machine itself, including calibration if
needed. Do not return till all procedure is completed.
""" Initialize GPIO pins and machine itself.
"""
logging.info("initialize hal")
@@ -63,6 +62,18 @@ def get_bed_temperature():
return BED_MAX_TEMPERATURE * 0.999
def calibrate(x, y, z):
""" Move head to home position till end stop switch will be triggered.
Do not return till all procedures are completed.
:param x: boolean, True to calibrate X axis.
:param y: boolean, True to calibrate Y axis.
:param z: boolean, True to calibrate Z axis.
:return: boolean, True if all specified end stops were triggered.
"""
logging.info("hal calibrate, x={}, y={}, z={}".format(x, y, z))
return True
# noinspection PyUnusedLocal
def move(generator):
""" Move head to specified position.

4
tests/test_gmachine.py
View File

@@ -32,10 +32,10 @@ class TestGMachine(unittest.TestCase):
m.release()
self.assertEqual(m.position(), Coordinates(0, 0, 0, 4))
def test_home(self):
def test_safe_zero(self):
m = GMachine()
m.do_command(GCode.parse_line("X1Y2Z3E4"))
m.home()
m.safe_zero()
self.assertEqual(m.position(), Coordinates(0, 0, 0, 4))
def test_none(self):