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bug correction

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sinseman44
2020-10-31 10:19:41 +00:00
parent 822217544b
commit f4f55a55fa
1 changed files with 41 additions and 38 deletions
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79
cnc/hal_raspberry/hal2.py
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@@ -56,7 +56,7 @@ class stepper:
''' init gpios '''
self.state = self.STEPPER_ENABLED
for pin in self.pins:
logging.debug("set pin {} out".format(pin))
#logging.debug("set pin {} out".format(pin))
gpio.init(pin, rpgpio.GPIO.MODE_OUTPUT)
def set_steps_number(self, number=0):
@@ -171,7 +171,7 @@ stepper_y = stepper(axe=stepper.AXE_Y, pins=STEPPER_STEP_PINS_Y)
def init():
""" Initialize GPIO pins and machine itself.
"""
logging.info("initialisation of gpios ...")
#logging.info("initialisation of gpios ...")
# Init X stepper
stepper_x.init()
stepper_x.set_mode(mode = stepper.MODE_HALF)
@@ -179,7 +179,7 @@ def init():
if STEPPER_INVERTED_X:
stepper_x.set_dir(stepper.STATE_DIR_INV)
stepper_x.enable()
stepper_x.debug()
#stepper_x.debug()
# Init Y stepper
stepper_y.init()
stepper_y.set_mode(mode = stepper.MODE_HALF)
@@ -187,7 +187,7 @@ def init():
if STEPPER_INVERTED_Y:
stepper_y.set_dir(stepper.STATE_DIR_INV)
stepper_y.enable()
stepper_y.debug()
#stepper_y.debug()
# Init EndStop
gpio.init(ENDSTOP_PIN_X, rpgpio.GPIO.MODE_INPUT_NOPULL)
gpio.init(ENDSTOP_PIN_Y, rpgpio.GPIO.MODE_INPUT_NOPULL)
@@ -215,14 +215,19 @@ def pen_control(up_down):
Pen control.
:param on_off: boolean value if pen is up or down.
"""
# waiting previous command is finished ...
while dma.is_active():
time.sleep(0.01)
if up_down:
logging.info("Pen is up ...")
pwm.add_pin(PEN_PIN, 5)
#logging.info("Pen is up ...")
pwm.add_pin(PEN_PIN, 7)
time.sleep(0.25)
pwm.add_pin(PEN_PIN, 0)
else:
logging.info("Pen is down ...")
#logging.info("Pen is down ...")
pwm.add_pin(PEN_PIN, 12.5)
#pwm.add_pin(PEN_PIN, 9)
time.sleep(0.25)
pwm.add_pin(PEN_PIN, 0)
@@ -256,6 +261,11 @@ def disable_steppers():
stepper_x.disable()
stepper_y.disable()
def set_message(msg):
""" Display message to lcd
"""
logging.debug("Message display not implemented")
def calibrate(x, y, z):
""" Move head to home position till end stop switch will be triggered.
Do not return till all procedures are completed.
@@ -277,9 +287,9 @@ def calibrate(x, y, z):
pulses_per_sec = CALIBRATION_VELOCITY_MM_PER_MIN / 60.0 * pulses_per_mm_avg
delay = int(US_IN_SECONDS / pulses_per_sec)
logging.info("[CALIBRATE] num = {} pulses/mm".format(pulses_per_mm_avg))
logging.info("[CALIBRATE] num = {} pulses/sec".format(pulses_per_sec))
logging.info("[CALIBRATE] delay = {} us".format(delay))
#logging.info("[CALIBRATE] num = {} pulses/mm".format(pulses_per_mm_avg))
#logging.info("[CALIBRATE] num = {} pulses/sec".format(pulses_per_sec))
#logging.info("[CALIBRATE] delay = {} us".format(delay))
dma.clear()
if not gpio.read(ENDSTOP_PIN_X):
@@ -288,7 +298,7 @@ def calibrate(x, y, z):
mask = 0
seq = stepper_x.get_current_seq()
mask = stepper_x.get_cur_mask_and_inc_step()
logging.debug("[X AXIS] MASK = {:#032b} - SEQ = {}".format(mask, seq))
#logging.debug("[X AXIS] MASK = {:#032b} - SEQ = {}".format(mask, seq))
dma.add_pulse(mask, delay)
dma.finalize_stream()
dma.run(True)
@@ -305,7 +315,7 @@ def calibrate(x, y, z):
mask = 0
seq = stepper_y.get_current_seq()
mask = stepper_y.get_cur_mask_and_inc_step()
logging.debug("[Y AXIS] MASK = {:#032b} - SEQ = {}".format(mask, seq))
#logging.debug("[Y AXIS] MASK = {:#032b} - SEQ = {}".format(mask, seq))
dma.add_pulse(mask, delay)
dma.finalize_stream()
@@ -337,8 +347,6 @@ def move(generator):
prev = 0
prevx = 0
prevy = 0
is_ran = False
instant = INSTANT_RUN
st = time.time()
current_cb = 0
k = 0
@@ -359,18 +367,18 @@ def move(generator):
break # previous dma sequence has stopped
# logging.debug("[{}] direction: {} - tx: {} - ty: {} - tz: {} - te: {}".format(idx, direction, tx, ty, tz, te))
if direction: # set up directions
logging.debug("[{}] direction: {} - tx: {} - ty: {} - tz: {} - te: {}".format(idx, direction, tx, ty, tz, te))
#logging.debug("[{}] direction: {} - tx: {} - ty: {} - tz: {} - te: {}".format(idx, direction, tx, ty, tz, te))
if tx > 0:
logging.debug("TX Direct")
#logging.debug("TX Direct")
stepper_x.set_dir(stepper.STATE_DIR_DIRECT)
elif tx < 0:
logging.debug("TX Inverse")
#logging.debug("TX Inverse")
stepper_x.set_dir(stepper.STATE_DIR_INV)
if ty > 0:
logging.debug("TY Direct")
#logging.debug("TY Direct")
stepper_y.set_dir(stepper.STATE_DIR_DIRECT)
elif ty < 0:
logging.debug("TY Inverse")
#logging.debug("TY Inverse")
stepper_y.set_dir(stepper.STATE_DIR_INV)
continue
@@ -411,7 +419,7 @@ def move(generator):
delayx = 0
if not prevx and not prevy:
# set minimum delay for the first time
logging.debug("[TY] K : {:#08}us - DELAY : {:#08}us".format(kx, STEPPER_PULSE_LENGTH_US))
#logging.debug("[TX] K : {:#08}us - DELAY : {:#08}us".format(kx, STEPPER_PULSE_LENGTH_US))
dma.add_delay(STEPPER_PULSE_LENGTH_US)
delayx = STEPPER_PULSE_LENGTH_US
else:
@@ -420,11 +428,11 @@ def move(generator):
if prevy:
mask += stepper_y.get_cur_mask()
if flagy:
logging.debug("[TX] K : {:#08}us - DELAY : {:#08}us - MASK : {:#032b}".format(kx, kx - prevy, mask))
#logging.debug("[TX] K : {:#08}us - DELAY : {:#08}us - MASK : {:#032b}".format(kx, kx - prevy, mask))
# set pulse with diff between current time and previous time
dma.add_pulse(mask, kx - prevy)
elif flagx:
logging.debug("[TX] K : {:#08}us - DELAY : {:#08}us - MASK : {:#032b}".format(kx, kx - prevx, mask))
#logging.debug("[TX] K : {:#08}us - DELAY : {:#08}us - MASK : {:#032b}".format(kx, kx - prevx, mask))
# set pulse with diff between current time and previous time
dma.add_pulse(mask, kx - prevx)
@@ -439,8 +447,8 @@ def move(generator):
delayy=0
if not prevy and not prevx:
# set minimum delay for the first time
logging.debug("[TY] K : {:#08}us - DELAY : {:#08}us".format(ky, STEPPER_PULSE_LENGTH_US))
#dma.add_delay(STEPPER_PULSE_LENGTH_US)
#logging.debug("[TY] K : {:#08}us - DELAY : {:#08}us".format(ky, STEPPER_PULSE_LENGTH_US))
dma.add_delay(STEPPER_PULSE_LENGTH_US)
delayy=STEPPER_PULSE_LENGTH_US
else:
# retreive current sequence to mask pins
@@ -448,11 +456,11 @@ def move(generator):
if prevx:
mask += stepper_x.get_cur_mask()
if flagx:
logging.debug("[TY] K : {:#08}us - DELAY : {:#08}us - MASK : {:#032b}".format(ky, ky - prevx, mask))
#logging.debug("[TY] K : {:#08}us - DELAY : {:#08}us - MASK : {:#032b}".format(ky, ky - prevx, mask))
# set pulse with diff between current time and previous time
dma.add_pulse(mask, ky - prevx)
elif flagy:
logging.debug("[TY] K : {:#08}us - DELAY : {:#08}us - MASK : {:#032b}".format(ky, ky - prevy, mask))
#logging.debug("[TY] K : {:#08}us - DELAY : {:#08}us - MASK : {:#032b}".format(ky, ky - prevy, mask))
# set pulse with diff between current time and previous time
dma.add_pulse(mask, ky - prevy)
prevy = ky - delayy
@@ -462,16 +470,11 @@ def move(generator):
idx += 1
pt = time.time()
if not is_ran:
# after long command, we can fill short buffer, that why we may need to
# wait until long command finishes
while dma.is_active():
time.sleep(0.01)
dma.run(False)
else:
logging.debug("finalize_stream ...")
# stream mode can be activated only if previous command was finished.
dma.finalize_stream()
# after long command, we can fill short buffer, that why we may need to
# wait until long command finishes
while dma.is_active():
time.sleep(0.01)
dma.run(False)
logging.info("prepared in " + str(round(pt - st, 2)) + "s, estimated in "
+ str(round(generator.total_time_s(), 2)) + "s")
@@ -479,7 +482,7 @@ def move(generator):
def join():
""" Wait till motors work.
"""
logging.info("hal join()")
#logging.info("hal join()")
# wait till dma works
while dma.is_active():
time.sleep(0.01)
@@ -487,7 +490,7 @@ def join():
def deinit():
""" De-initialize hardware.
"""
logging.info("deinit")
#logging.info("deinit")
join()
disable_steppers()
pwm.remove_all()