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