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add E axis

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This commit is contained in:
Nikolay Khabarov
2017-05-27 18:47:01 +03:00
parent 665ba2ad1e
commit a87e2a379b
11 changed files with 238 additions and 147 deletions
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13
cnc/hal_raspberry/hal.py
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@@ -27,6 +27,7 @@ pwm = rpgpio.DMAPWM()
STEP_PIN_MASK_X = 1 << STEPPER_STEP_PIN_X
STEP_PIN_MASK_Y = 1 << STEPPER_STEP_PIN_Y
STEP_PIN_MASK_Z = 1 << STEPPER_STEP_PIN_Z
STEP_PIN_MASK_E = 1 << STEPPER_STEP_PIN_E
def init():
""" Initialize GPIO pins and machine itself, including callibration if
@@ -35,9 +36,11 @@ def init():
gpio.init(STEPPER_STEP_PIN_X, rpgpio.GPIO.MODE_OUTPUT)
gpio.init(STEPPER_STEP_PIN_Y, rpgpio.GPIO.MODE_OUTPUT)
gpio.init(STEPPER_STEP_PIN_Z, rpgpio.GPIO.MODE_OUTPUT)
gpio.init(STEPPER_STEP_PIN_E, rpgpio.GPIO.MODE_OUTPUT)
gpio.init(STEPPER_DIR_PIN_X, rpgpio.GPIO.MODE_OUTPUT)
gpio.init(STEPPER_DIR_PIN_Y, rpgpio.GPIO.MODE_OUTPUT)
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)
@@ -130,15 +133,19 @@ def move_linear(delta, velocity):
gpio.clear(STEPPER_DIR_PIN_Z)
else:
gpio.set(STEPPER_DIR_PIN_Z)
if delta.e > 0.0:
gpio.clear(STEPPER_DIR_PIN_E)
else:
gpio.set(STEPPER_DIR_PIN_E)
# prepare and run dma
dma.clear()
prev = 0
is_ran = False
st = time.time()
for tx, ty, tz in generator:
for tx, ty, tz, te in generator:
pins = 0
k = int(round(min(x for x in (tx, ty, tz) if x is not None)
k = int(round(min(x for x in (tx, ty, tz, te) if x is not None)
* US_IN_SECONDS))
if tx is not None:
pins |= STEP_PIN_MASK_X
@@ -146,6 +153,8 @@ def move_linear(delta, velocity):
pins |= STEP_PIN_MASK_Y
if tz is not None:
pins |= STEP_PIN_MASK_Z
if te is not None:
pins |= STEP_PIN_MASK_E
if k - prev > 0:
dma.add_delay(k - prev)
dma.add_pulse(pins, STEPPER_PULSE_LINGTH_US)