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make calibration safer

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This commit is contained in:
Nikolay Khabarov
2017-07-02 00:08:15 +03:00
parent c517044316
commit 5b9c0de25e
3 changed files with 76 additions and 51 deletions
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cnc/hal_raspberry/hal.py
+70 -45
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@@ -99,24 +99,30 @@ 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:
def __calibrate_private(x, y, z, invert):
if invert:
stepper_inverted_x = not STEPPER_INVERTED_X
stepper_inverted_y = not STEPPER_INVERTED_Y
stepper_inverted_z = not STEPPER_INVERTED_Z
endstop_inverted_x = not ENDSTOP_INVERTED_X
endstop_inverted_y = not ENDSTOP_INVERTED_Y
endstop_inverted_z = not ENDSTOP_INVERTED_Z
else:
stepper_inverted_x = STEPPER_INVERTED_X
stepper_inverted_y = STEPPER_INVERTED_Y
stepper_inverted_z = STEPPER_INVERTED_Z
endstop_inverted_x = ENDSTOP_INVERTED_X
endstop_inverted_y = ENDSTOP_INVERTED_Y
endstop_inverted_z = ENDSTOP_INVERTED_Z
if stepper_inverted_x:
gpio.clear(STEPPER_DIR_PIN_X)
else:
gpio.set(STEPPER_DIR_PIN_X)
if STEPPER_INVERTED_Y:
if stepper_inverted_y:
gpio.clear(STEPPER_DIR_PIN_Y)
else:
gpio.set(STEPPER_DIR_PIN_Y)
if STEPPER_INVERTED_Z:
if stepper_inverted_z:
gpio.clear(STEPPER_DIR_PIN_Z)
else:
gpio.set(STEPPER_DIR_PIN_Z)
@@ -130,47 +136,66 @@ def calibrate(x, y, z):
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)
max_size = max(max_size, TABLE_SIZE_Z_MM * STEPPER_PULSES_PER_MM_Z)
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
delay = int(1000000 / 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
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()
if pins == 0:
return True
last_pins = pins
# Prepare chunk with 1 second buffer. It is needed to make sure
# that if program unexpectedly stops, dma will continue work not
# long then this buffer time.
dma.clear()
generate = 1000000
while generate > 0:
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()
dma.add_delay(delay)
generate -= delay + STEPPER_PULSE_LENGTH_US
dma.finalize_stream()
if not dma.is_active():
dma.run(False)
return False
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 not __calibrate_private(x, y, z, True): # move from endstop switch
return False
return __calibrate_private(x, y, z, False) # move to endstop switch
def move(generator):
""" Move head to specified position
:param generator: PulseGenerator object.
@@ -247,7 +272,7 @@ def move(generator):
if not is_ran and instant and current_cb is None:
if k - k0 > 100000: # wait at least 100 ms is uploaded
nt = time.time() - st
ng = (k - k0)/ 1000000.0
ng = (k - k0) / 1000000.0
if nt > ng:
logging.warn("Buffer preparing for instant run took more "
"time then buffer time"