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Merge branch 'master' into rpi3_experiment

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Nikolay Khabarov
2017-05-14 16:43:34 +03:00
parent 7fa42aa200 c0087d4fe1
commit d9e82c1b63
2 changed files with 38 additions and 19 deletions
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3
README.md
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@@ -1,3 +1,6 @@
[![Build Status](https://travis-ci.org/Nikolay-Kha/PyCNC.svg?branch=master)](https://travis-ci.org/Nikolay-Kha/PyCNC)
# PyCNC
This project bring CNC control for Raspberry Pi or any ARM based Linux boards.
Typically there is no way to control stepper motors from Linux runtime
environment due to the lack of real time GPIO control. Even kernel based

54
cnc/hal_raspberry/hal.py
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@@ -51,25 +51,41 @@ def init():
pins = STEP_PIN_MASK_X | STEP_PIN_MASK_Y | STEP_PIN_MASK_Z
dma.clear()
dma.add_pulse(pins, STEPPER_PULSE_LINGTH_US)
while True:
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_LINGTH_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_LINGTH_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_LINGTH_US)
if pins == 0:
break
dma.run(False)
# limit velocity at ~10% of top velocity
time.sleep((1 / 0.10) / (STEPPER_MAX_VELOCITY_MM_PER_MIN
/ 60 * STEPPER_PULSES_PER_MM))
st = time.time()
max_pulses_left = int(1.2 * STEPPER_PULSES_PER_MM * 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_LINGTH_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_LINGTH_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_LINGTH_US)
if pins == 0:
break
dma.run(False)
# limit velocity at ~10% of top velocity
time.sleep((1 / 0.10) / (STEPPER_MAX_VELOCITY_MM_PER_MIN
/ 60 * STEPPER_PULSES_PER_MM))
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):