Merge branch 'master' into rpi3_experiment

README.md

@@ -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

cnc/hal_raspberry/hal.py

@@ -51,7 +51,11 @@ 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:
+    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()
@@ -70,6 +74,18 @@ def init():
             # 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):