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add virtual direction pin for double H bridge stepper motor driver

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sinseman44
2020-09-06 20:03:09 +01:00
parent 00d5f6516f
commit de2b01cbcb
2 changed files with 111 additions and 24 deletions
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25
cnc/config.py
View File

@@ -2,19 +2,19 @@
# Hardware config.
# Maximum velocity for each axis in millimeter per minute.
MAX_VELOCITY_MM_PER_MIN_X = 24000
MAX_VELOCITY_MM_PER_MIN_Y = 12000
MAX_VELOCITY_MM_PER_MIN_Z = 600
MAX_VELOCITY_MM_PER_MIN_E = 1500
MAX_VELOCITY_MM_PER_MIN_X = 240
MAX_VELOCITY_MM_PER_MIN_Y = 240
MAX_VELOCITY_MM_PER_MIN_Z = 0
MAX_VELOCITY_MM_PER_MIN_E = 0
MIN_VELOCITY_MM_PER_MIN = 1
# Average velocity for endstop calibration procedure
CALIBRATION_VELOCITY_MM_PER_MIN = 300
CALIBRATION_VELOCITY_MM_PER_MIN = 30
# Stepper motors steps per millimeter for each axis.
STEPPER_PULSES_PER_MM_X = 100
STEPPER_PULSES_PER_MM_Y = 100
STEPPER_PULSES_PER_MM_Z = 400
STEPPER_PULSES_PER_MM_E = 150
STEPPER_PULSES_PER_MM_X = 1.65
STEPPER_PULSES_PER_MM_Y = 1.65
STEPPER_PULSES_PER_MM_Z = 0
STEPPER_PULSES_PER_MM_E = 0
# Invert axises direction, by default(False) high level means increase of
# position. For inverted(True) axis, high level means decrease of position.
@@ -31,9 +31,9 @@ ENDSTOP_INVERTED_Y = True
ENDSTOP_INVERTED_Z = False # Auto leveler
# Workplace physical size.
TABLE_SIZE_X_MM = 200
TABLE_SIZE_Y_MM = 200
TABLE_SIZE_Z_MM = 220
TABLE_SIZE_X_MM = 40
TABLE_SIZE_Y_MM = 40
TABLE_SIZE_Z_MM = 0
# Mixed settings.
STEPPER_PULSE_LENGTH_US = 2
@@ -62,7 +62,6 @@ STEPPER_STEP_PIN_E = 8
ENABLE_L293D = True
if ENABLE_L293D:
STEPPER_STEP_PINS_X = [4,17,27,22]
STEPPER_STEP_PINS_Y = []
ENABLE_FULL_STEP = False
ENABLE_HALF_STEP = True

110
cnc/hal_raspberry/hal.py
View File

@@ -3,7 +3,7 @@ import time
from cnc.hal_raspberry import rpgpio
from cnc.pulses import *
from cnc.config import *
from cnc.sensors import thermistor
#from cnc.sensors import thermistor
US_IN_SECONDS = 1000000
@@ -17,6 +17,86 @@ 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
HALF_STEP_SEQ = [[1,0,0,0], # Phase A
[1,0,1,0], # Phase AB
[0,0,1,0], # Phase B
[0,1,1,0], # Phase A'B
[0,1,0,0], # Phase A'
[0,1,0,1], # Phase A'B'
[0,0,0,1], # Phase B'
[1,0,0,1]] # Phase AB'
FULL_STEP_SEQ = [[1,0,0,0], # Phase A
[0,0,1,0], # Phase B
[0,1,0,0], # Phase A'
[0,0,0,1]] # Phase B'
STATE_DIR_DIRECT = 0
STATE_DIR_INV = 1
virtual_dir_x = {'seq': None, 'state': STATE_DIR_DIRECT}
virtual_dir_y = {'seq': None, 'state': STATE_DIR_DIRECT}
virtual_dir_z = {'seq': None, 'state': STATE_DIR_DIRECT}
virtual_dir_e = {'seq': None, 'state': STATE_DIR_DIRECT}
def __init_dir(pin, mode):
''' init direction pin '''
if ENABLE_L293D and STEPPER_STEP_PINS_X:
if ENABLE_HALF_STEP:
virtual_dir_x['seq'] = HALF_STEP_SEQ
else:
virtual_dir_x['seq'] = FULL_STEP_SEQ
if ENABLE_L293D and STEPPER_DIR_PIN_Y:
if ENABLE_HALF_STEP:
virtual_dir_y['seq'] = HALF_STEP_SEQ
else:
virtual_dir_y['seq'] = FULL_STEP_SEQ
if ENABLE_L293D and STEPPER_DIR_PIN_Z:
if ENABLE_HALF_STEP:
virtual_dir_z['seq'] = HALF_STEP_SEQ
else:
virtual_dir_z['seq'] = FULL_STEP_SEQ
if ENABLE_L293D and STEPPER_DIR_PIN_E:
if ENABLE_HALF_STEP:
virtual_dir_e['seq'] = HALF_STEP_SEQ
else:
virtual_dir_e['seq'] = FULL_STEP_SEQ
else:
gpio.init(pin, mode)
def __set_dir(pin):
''' set direction pin '''
if ENABLE_L293D and STEPPER_DIR_PIN_X and virtual_dir_x['state'] == STATE_DIR_INV:
virtual_dir_x['seq'].reverse()
virtual_dir_x['state'] = STATE_DIR_DIRECT
elif ENABLE_L293D and STEPPER_DIR_PIN_Y and virtual_dir_y['state'] == STATE_DIR_INV:
virtual_dir_y['seq'].reverse()
virtual_dir_y['state'] = STATE_DIR_DIRECT
elif ENABLE_L293D and STEPPER_DIR_PIN_Z and virtual_dir_z['state'] == STATE_DIR_INV:
virtual_dir_z['seq'].reverse()
virtual_dir_z['state'] = STATE_DIR_DIRECT
elif ENABLE_L293D and STEPPER_DIR_PIN_E and virtual_dir_e['state'] == STATE_DIR_INV:
virtual_dir_e['seq'].reverse()
virtual_dir_e['state'] = STATE_DIR_DIRECT
else:
gpio.set(pin)
def __clear_dir(pin):
''' clear direction pin '''
if ENABLE_L293D and STEPPER_DIR_PIN_X and virtual_dir_x['state'] == STATE_DIR_DIRECT:
virtual_dir_x['seq'].reverse()
virtual_dir_x['state'] = STATE_DIR_INV
elif ENABLE_L293D and STEPPER_DIR_PIN_Y and virtual_dir_y['state'] == STATE_DIR_DIRECT:
virtual_dir_y['seq'].reverse()
virtual_dir_y['state'] = STATE_DIR_INV
elif ENABLE_L293D and STEPPER_DIR_PIN_Z and virtual_dir_z['state'] == STATE_DIR_DIRECT:
virtual_dir_z['seq'].reverse()
virtual_dir_z['state'] = STATE_DIR_INV
elif ENABLE_L293D and STEPPER_DIR_PIN_E and virtual_dir_e['state'] == STATE_DIR_DIRECT:
virtual_dir_e['seq'].reverse()
virtual_dir_e['state'] = STATE_DIR_INV
else:
gpio.clear(pin)
def init():
""" Initialize GPIO pins and machine itself.
@@ -33,10 +113,10 @@ def init():
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)
__init_dir(STEPPER_DIR_PIN_X, rpgpio.GPIO.MODE_OUTPUT)
__init_dir(STEPPER_DIR_PIN_Y, rpgpio.GPIO.MODE_OUTPUT)
__init_dir(STEPPER_DIR_PIN_Z, rpgpio.GPIO.MODE_OUTPUT)
__init_dir(STEPPER_DIR_PIN_E, rpgpio.GPIO.MODE_OUTPUT)
gpio.init(ENDSTOP_PIN_X, rpgpio.GPIO.MODE_INPUT_PULLUP)
gpio.init(ENDSTOP_PIN_Y, rpgpio.GPIO.MODE_INPUT_PULLUP)
gpio.init(ENDSTOP_PIN_Z, rpgpio.GPIO.MODE_INPUT_PULLUP)
@@ -68,6 +148,8 @@ def spindle_control(percent):
pwm.add_pin(SPINDLE_PWM_PIN, percent)
else:
pwm.remove_pin(SPINDLE_PWM_PIN)
else:
logging.info("command disabled ...")
def fan_control(on_off):
@@ -82,6 +164,8 @@ def fan_control(on_off):
else:
logging.info("Fan is off")
gpio.clear(FAN_PIN)
else:
logging.info("command disabled ...")
def extruder_heater_control(percent):
@@ -93,6 +177,8 @@ def extruder_heater_control(percent):
pwm.add_pin(EXTRUDER_HEATER_PIN, percent)
else:
pwm.remove_pin(EXTRUDER_HEATER_PIN)
else:
logging.info("command disabled ...")
def bed_heater_control(percent):
@@ -104,6 +190,8 @@ def bed_heater_control(percent):
pwm.add_pin(BED_HEATER_PIN, percent)
else:
pwm.remove_pin(BED_HEATER_PIN)
else:
logging.info("command disabled ...")
def get_extruder_temperature():
@@ -152,17 +240,17 @@ def __calibrate_private(x, y, z, invert):
endstop_inverted_y = ENDSTOP_INVERTED_Y
endstop_inverted_z = ENDSTOP_INVERTED_Z
if stepper_inverted_x:
gpio.clear(STEPPER_DIR_PIN_X)
__clear_dir(STEPPER_DIR_PIN_X)
else:
gpio.set(STEPPER_DIR_PIN_X)
__set_dir(STEPPER_DIR_PIN_X)
if stepper_inverted_y:
gpio.clear(STEPPER_DIR_PIN_Y)
__clear_dir(STEPPER_DIR_PIN_Y)
else:
gpio.set(STEPPER_DIR_PIN_Y)
__set_dir(STEPPER_DIR_PIN_Y)
if stepper_inverted_z:
gpio.clear(STEPPER_DIR_PIN_Z)
__clear_dir(STEPPER_DIR_PIN_Z)
else:
gpio.set(STEPPER_DIR_PIN_Z)
__set_dir(STEPPER_DIR_PIN_Z)
pins = 0
max_size = 0
if x: