m84 real implementation, refactoring: mostly line width

README.md

@@ -32,8 +32,9 @@ Video demo - [YouTube video](https://youtu.be/vcedo59raS4)
 
 # Current gcode support
 Commands G0, G1, G2, G3, G4, G17, G18, G19, G20, G21, G28, G53, G90, G91, G92,
-M2, M3, M5, M30, M104, M105, M106, M107, M109, M114, M140, M190 are supported.
+M2, M3, M5, M30, M84, M104, M105, M106, M107, M109, M114, M140, M190 are
-Commands can be easily added, see [gmachine.py](./cnc/gmachine.py) file.  
+supported. Commands can be easily added, see [gmachine.py](./cnc/gmachine.py)
+file.
 Four axis are supported - X, Y, Z, E.  
 Circular interpolation for XY, ZX, YZ planes is supported.  
 Spindle with rpm control is supported.  

cnc/config.py

@@ -52,6 +52,8 @@ BED_PID = {"P": 5.06820175723,
 # -----------------------------------------------------------------------------
 # Pins configuration.
 
+# Enable pin for all steppers, low level is enabled.
+STEPPERS_ENABLE_PIN = 26
 STEPPER_STEP_PIN_X = 16
 STEPPER_STEP_PIN_Y = 20
 STEPPER_STEP_PIN_Z = 21

cnc/gmachine.py

@@ -220,8 +220,8 @@ class GMachine(object):
         logging.info("Moving circularly {} {} {} with radius {}"
                      " and velocity {}".format(self._plane, circle_end,
                                                direction, radius, velocity))
-        gen = PulseGeneratorCircular(circle_end, radius, self._plane, direction,
+        gen = PulseGeneratorCircular(circle_end, radius, self._plane,
-                                     velocity)
+                                     direction, velocity)
         self.__check_velocity(gen.max_velocity())
         # if finish coords is not on circle, move some distance linearly
         linear_delta = delta - circle_end
@@ -411,6 +411,8 @@ class GMachine(object):
             self._spindle(0)
         elif c == 'M2' or c == 'M30':  # program finish, reset everything.
             self.reset()
+        elif c == 'M84':  # disable motors
+            hal.disable_steppers()
         # extruder and bed heaters control
         elif c == 'M104' or c == 'M109' or c == 'M140' or c == 'M190':
             if c == 'M104' or c == 'M109':
@@ -453,7 +455,7 @@ class GMachine(object):
             hal.join()
             p = self.position()
             answer = "X:{} Y:{} Z:{} E:{}".format(p.x, p.y, p.z, p.e)
-        elif c is None:  # command not specified(for example, just F was passed)
+        elif c is None:  # command not specified(ie just F was passed)
             pass
         # commands below are added just for compatibility
         elif c == 'M82':  # absolute mode for extruder
@@ -462,8 +464,6 @@ class GMachine(object):
         elif c == 'M83':  # relative mode for extruder
             if self._absoluteCoordinates:
                 raise GMachineException("Not supported, use G90/G91")
-        elif c == 'M84':  # disable motors
-            pass  # do not do anything
         else:
             raise GMachineException("unknown command")
         # save parameters on success

cnc/hal.py

@@ -51,6 +51,13 @@
 #        """
 #        return measure()
 #
+#
+#    def disable_steppers():
+#        """ Disable all steppers until any movement occurs.
+#        """
+#        do_something()
+#
+#
 #    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.
@@ -61,6 +68,7 @@
 #        """
 #        return do_something()
 #
+#
 #    def move(generator):
 #        """ Move head to according pulses in PulseGenerator.
 #        :param generator: PulseGenerator object
@@ -103,6 +111,8 @@ if 'get_extruder_temperature' not in locals():
     raise NotImplementedError("hal.get_extruder_temperature() not implemented")
 if 'get_bed_temperature' not in locals():
     raise NotImplementedError("hal.get_bed_temperature() not implemented")
+if 'disable_steppers' not in locals():
+    raise NotImplementedError("hal.disable_steppers() not implemented")
 if 'calibrate' not in locals():
     raise NotImplementedError("hal.calibrate() not implemented")
 if 'move' not in locals():

cnc/hal_raspberry/hal.py

@@ -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)

cnc/hal_raspberry/rpgpio.py

@@ -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
+            This class writes directly to CPU registers and doesn't use any
-            or kernel modules.
+            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,
+        # configure, 100 MHz
-                              CM_PASSWORD | CM_DIV_VALUE(5))  # 100MHz
+        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
+        self._pwm.write_int(PWM_DMAC, PWM_DMAC_ENAB | PWM_DMAC_PANIC(15)
-                            | PWM_DMAC_PANIC(15) | PWM_DMAC_DREQ(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()
 

cnc/hal_virtual.py

@@ -62,6 +62,12 @@ def get_bed_temperature():
     return BED_MAX_TEMPERATURE * 0.999
 
 
+def disable_steppers():
+    """ Disable all steppers until any movement occurs.
+    """
+    logging.info("hal disable steppers")
+
+
 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.

cnc/heater.py

@@ -61,8 +61,8 @@ class Heater(threading.Thread):
                     last_error = time.time()
                 else:
                     if time.time() - last_error > self.SENSOR_TIMEOUT_S:
-                        logging.critical("No data from temperature sensor. Stop"
+                        logging.critical("No data from temperature sensor."
-                                         " heating.")
+                                         " Stop heating.")
                         break
                 continue
             last_error = None
@@ -87,8 +87,8 @@ class Heater(threading.Thread):
         i = 0
         while not self._pid.is_fixed():
             if i % 8 == 0:
-                logging.info("Heating... current temperature {} C, power {}%"
+                logging.info("Heating... current temperature {} C, power {}%".
-                             .format(self._measure(), int(self._current_power)))
+                             format(self._measure(), int(self._current_power)))
                 i = 0
             i += 1
             time.sleep(0.25)

cnc/pulses.py

@@ -609,9 +609,10 @@ class PulseGeneratorCircular(PulseGenerator):
     def __circular_a(self, i, pulses_per_mm):
         if i >= self._iterations_a:
             return self._dir_a, None
-        a, direction, side = self.__circular_helper(self._start_a_pulses, i + 1,
+        a, direction, side = \
-                                                    self._radius_a_pulses,
+            self.__circular_helper(self._start_a_pulses, i + 1,
-                                                    self._side_a, self._dir_a)
+                                   self._radius_a_pulses,
+                                   self._side_a, self._dir_a)
         a /= pulses_per_mm
         # first and last item can be slightly out of bound due float precision
         if i + 1 == self._iterations_a:
@@ -624,9 +625,10 @@ class PulseGeneratorCircular(PulseGenerator):
     def __circular_b(self, i, pulses_per_mm):
         if i >= self._iterations_b:
             return self._dir_b, None
-        b, direction, side = self.__circular_helper(self._start_b_pulses, i + 1,
+        b, direction, side = \
-                                                    self._radius_b_pulses,
+            self.__circular_helper(self._start_b_pulses, i + 1,
-                                                    self._side_b, self._dir_b)
+                                   self._radius_b_pulses,
+                                   self._side_b, self._dir_b)
         b /= pulses_per_mm
         # first and last item can be slightly out of bound due float precision
         if i + 1 == self._iterations_b:

tests/test_gmachine.py

@@ -78,7 +78,8 @@ class TestGMachine(unittest.TestCase):
         self.assertRaises(GMachineException,
                           m.do_command, GCode.parse_line("G1X1F-1"))
         cl = "G1X1F" + str(MIN_VELOCITY_MM_PER_MIN - 0.0000001)
-        self.assertRaises(GMachineException, m.do_command, GCode.parse_line(cl))
+        self.assertRaises(GMachineException, m.do_command,
+                          GCode.parse_line(cl))
         m.do_command(GCode.parse_line("G1X100F"
                                       + str(MAX_VELOCITY_MM_PER_MIN_X)))
         m.do_command(GCode.parse_line("G1Y100F"
@@ -120,7 +121,8 @@ class TestGMachine(unittest.TestCase):
                           m.do_command, GCode.parse_line("G2X99999999Y99999999"
                                                          "I1J1"))
         self.assertRaises(GMachineException,
-                          m.do_command, GCode.parse_line("G2X2Y2Z99999999I1J1"))
+                          m.do_command,
+                          GCode.parse_line("G2X2Y2Z99999999I1J1"))
         self.assertEqual(m.position(), Coordinates(0, 0, 0, 0))
         self.assertRaises(GMachineException,
                           m.do_command, GCode.parse_line("G2X4Y4I2J2"))
@@ -250,9 +252,9 @@ class TestGMachine(unittest.TestCase):
         self.assertEqual(m.extruder_target_temperature(), 0)
         self.assertRaises(GMachineException, m.do_command,
                           GCode.parse_line("M104S"+str(MIN_TEMPERATURE - 1)))
+        et = EXTRUDER_MAX_TEMPERATURE + 1
         self.assertRaises(GMachineException, m.do_command,
-                          GCode.parse_line("M109S"
+                          GCode.parse_line("M109S" + str(et)))
-                                           + str(EXTRUDER_MAX_TEMPERATURE + 1)))
         self.assertRaises(GMachineException, m.do_command,
                           GCode.parse_line("M109"))
 

tests/test_heater.py

@@ -64,8 +64,8 @@ class TestHeater(unittest.TestCase):
     def test_fail(self):
         # check if heater will not fix with incorrect temperature
         self._control_counter = 0
-        he = Heater(self._target_temp, EXTRUDER_PID, self.__get_bad_temperature,
+        he = Heater(self._target_temp, EXTRUDER_PID,
-                    self.__control)
+                    self.__get_bad_temperature, self.__control)
         j = 0
         while self._control_counter < 10:
             time.sleep(0.01)

utils/heater_model_finder.py

@@ -10,8 +10,8 @@ from cnc.hal_raspberry import hal
 
 
 """
-This executable module is looking for heating and cooling transfer coefficients.
+This executable module is looking for heating and cooling transfer
-Can be ran only on real hardware.
+coefficients. Can be ran only on real hardware.
 """
 
 # change settings below for your hardware/environment