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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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133
cnc/hal_raspberry/hal.py
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@@ -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.