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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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cnc/hal_raspberry/hal.py
+35 -19
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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):