add pen (z axis) control command

cnc/hal_raspberry/hal2.py

@@ -169,6 +169,9 @@ def init():
         stepper_y.set_dir(stepper.STATE_DIR_INV)
     stepper_y.enable()
     stepper_y.debug()
+    # Init pen pin
+    gpio.init(PEN_PIN, rpgpio.GPIO.MODE_OUTPUT)
+    gpio.clear(PEN_PIN)
     # Watchdog start
     watchdog.start()
 
@@ -186,6 +189,22 @@ def fan_control(on_off):
     """
     logging.debug("fan control not implemented")
 
+def pen_control(up_down):
+    """
+    Pen control.
+    :param on_off: boolean value if pen is up or down.
+    """
+    if up_down:
+        logging.info("Pen is up ...")
+        pwm.add_pin(PEN_PIN, 5)
+        time.sleep(0.25)
+        pwm.add_pin(PEN_PIN, 0)
+    else:
+        logging.info("Pen is down ...")
+        pwm.add_pin(PEN_PIN, 12.5)
+        time.sleep(0.25)
+        pwm.add_pin(PEN_PIN, 0)
+
 def extruder_heater_control(percent):
     """ Extruder heater control.
     :param percent: heater power in percent 0..100. 0 turns heater off.
@@ -346,6 +365,7 @@ def deinit():
     join()
     disable_steppers()
     pwm.remove_all()
+    gpio.clear(PEN_PIN)
     watchdog.stop()
 
 def watchdog_feed():

cnc/hal_raspberry/rpgpio.py

@@ -260,7 +260,8 @@ class DMAGPIO(DMAProto):
 class DMAPWM(DMAProto):
     _DMA_CONTROL_BLOCK_SIZE = 32
     _DMA_DATA_OFFSET = 24
-    _TOTAL_NUMBER_OF_BLOCKS = 256
+    #_TOTAL_NUMBER_OF_BLOCKS = 256
+    _TOTAL_NUMBER_OF_BLOCKS = 76500 
     _DMA_CHANNEL = 14
 
     def __init__(self):