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m84 real implementation, refactoring: mostly line width

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This commit is contained in:
Nikolay Khabarov
2017-07-09 04:12:31 +03:00
parent 129d26ed5e
commit f549801bdd
12 changed files with 72 additions and 34 deletions
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14
cnc/hal_raspberry/hal.py
View File

@@ -35,10 +35,12 @@ def init():
gpio.init(FAN_PIN, rpgpio.GPIO.MODE_OUTPUT)
gpio.init(EXTRUDER_HEATER_PIN, rpgpio.GPIO.MODE_OUTPUT)
gpio.init(BED_HEATER_PIN, rpgpio.GPIO.MODE_OUTPUT)
gpio.init(STEPPERS_ENABLE_PIN, rpgpio.GPIO.MODE_OUTPUT)
gpio.clear(SPINDLE_PWM_PIN)
gpio.clear(FAN_PIN)
gpio.clear(EXTRUDER_HEATER_PIN)
gpio.clear(BED_HEATER_PIN)
gpio.clear(STEPPERS_ENABLE_PIN)
def spindle_control(percent):
@@ -99,6 +101,13 @@ def get_bed_temperature():
return thermistor.get_temperature(BED_TEMPERATURE_SENSOR_CHANNEL)
def disable_steppers():
""" Disable all steppers until any movement occurs.
"""
logging.info("disable steppers")
gpio.set(STEPPERS_ENABLE_PIN)
def __calibrate_private(x, y, z, invert):
if invert:
stepper_inverted_x = not STEPPER_INVERTED_X
@@ -190,6 +199,8 @@ def calibrate(x, y, z):
:param z: boolean, True to calibrate Z axis.
:return: boolean, True if all specified end stops were triggered.
"""
# enable steppers
gpio.clear(STEPPERS_ENABLE_PIN)
logging.info("hal calibrate, x={}, y={}, z={}".format(x, y, z))
if not __calibrate_private(x, y, z, True): # move from endstop switch
return False
@@ -206,6 +217,8 @@ def move(generator):
# moving. In this case machine would safely paused between commands until
# calculation is done.
# enable steppers
gpio.clear(STEPPERS_ENABLE_PIN)
# 4 control blocks per 32 bytes
bytes_per_iter = 4 * dma.control_block_size()
# prepare and run dma
@@ -309,6 +322,7 @@ def deinit():
""" De-initialize hardware.
"""
join()
disable_steppers()
pwm.remove_all()
gpio.clear(SPINDLE_PWM_PIN)
gpio.clear(FAN_PIN)

19
cnc/hal_raspberry/rpgpio.py
View File

@@ -15,8 +15,8 @@ class GPIO(object):
def __init__(self):
""" Create object which can control GPIO.
This class writes directly to CPU registers and doesn't use any libs
or kernel modules.
This class writes directly to CPU registers and doesn't use any
libs or kernel modules.
"""
self._mem = PhysicalMemory(PERI_BASE + GPIO_REGISTER_BASE)
@@ -191,7 +191,7 @@ class DMAGPIO(DMAProto):
self._phys_memory.write_int(self.__current_address + 20
- self._DMA_CONTROL_BLOCK_SIZE, 0)
logging.info("DMA took {}MB of memory".
format(round(self.__current_address / 1024.0 / 1024.0, 2)))
format(round(self.__current_address / 1048576.0, 2)))
def run_stream(self):
""" Run DMA module in stream mode, i.e. does'n finalize last block
@@ -199,18 +199,19 @@ class DMAGPIO(DMAProto):
"""
# configure PWM hardware module which will clocks DMA
self._pwm.write_int(PWM_CTL, 0)
self._clock.write_int(CM_PWM_CNTL, CM_PASSWORD | CM_SRC_PLLD) # disable
# disable
self._clock.write_int(CM_PWM_CNTL, CM_PASSWORD | CM_SRC_PLLD)
while (self._clock.read_int(CM_PWM_CNTL) & CM_CNTL_BUSY) != 0:
time.sleep(0.00001) # 10 us, wait until BUSY bit is clear
self._clock.write_int(CM_PWM_DIV,
CM_PASSWORD | CM_DIV_VALUE(5)) # 100MHz
# configure, 100 MHz
self._clock.write_int(CM_PWM_DIV, CM_PASSWORD | CM_DIV_VALUE(5))
self._clock.write_int(CM_PWM_CNTL,
CM_PASSWORD | CM_SRC_PLLD | CM_CNTL_ENABLE)
self._pwm.write_int(PWM_RNG1, 100)
self._pwm.write_int(PWM_DMAC, PWM_DMAC_ENAB
| PWM_DMAC_PANIC(15) | PWM_DMAC_DREQ(15))
self._pwm.write_int(PWM_DMAC, PWM_DMAC_ENAB | PWM_DMAC_PANIC(15)
| PWM_DMAC_DREQ(15))
self._pwm.write_int(PWM_CTL, PWM_CTL_CLRF)
# enable
self._pwm.write_int(PWM_CTL, PWM_CTL_USEF1 | PWM_CTL_PWEN1)
super(DMAGPIO, self)._run_dma()