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add direction control in pulsegenerator

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This commit is contained in:
Nikolay Khabarov
2017-05-28 02:25:19 +03:00
parent a87e2a379b
commit ff93f526a4
5 changed files with 145 additions and 52 deletions
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cnc/hal_raspberry/hal.py
+23 -20
View File
@@ -31,7 +31,7 @@ STEP_PIN_MASK_E = 1 << STEPPER_STEP_PIN_E
def init():
""" Initialize GPIO pins and machine itself, including callibration if
needed. Do not return till all procedure is completed.
needed. Do not return till all procedures are completed.
"""
gpio.init(STEPPER_STEP_PIN_X, rpgpio.GPIO.MODE_OUTPUT)
gpio.init(STEPPER_STEP_PIN_Y, rpgpio.GPIO.MODE_OUTPUT)
@@ -120,30 +120,33 @@ def move_linear(delta, velocity):
while dma.is_active():
time.sleep(0.001)
# set direction pins
if delta.x > 0.0:
gpio.clear(STEPPER_DIR_PIN_X)
else:
gpio.set(STEPPER_DIR_PIN_X)
if delta.y > 0.0:
gpio.clear(STEPPER_DIR_PIN_Y)
else:
gpio.set(STEPPER_DIR_PIN_Y)
if delta.z > 0.0:
gpio.clear(STEPPER_DIR_PIN_Z)
else:
gpio.set(STEPPER_DIR_PIN_Z)
if delta.e > 0.0:
gpio.clear(STEPPER_DIR_PIN_E)
else:
gpio.set(STEPPER_DIR_PIN_E)
# prepare and run dma
dma.clear()
prev = 0
is_ran = False
st = time.time()
for tx, ty, tz, te in generator:
for dir, tx, ty, tz, te in generator:
if dir: # set up directions
pins_to_set = 0
pins_to_clear = 0
if tx > 0:
pins_to_clear |= 1 << STEPPER_DIR_PIN_X
elif tx < 0:
pins_to_set |= 1 << STEPPER_DIR_PIN_X
if ty > 0:
pins_to_clear |= 1 << STEPPER_DIR_PIN_Y
elif ty < 0:
pins_to_set |= 1 << STEPPER_DIR_PIN_Y
if tz > 0:
pins_to_clear |= 1 << STEPPER_DIR_PIN_Z
elif tz < 0:
pins_to_set |= 1 << STEPPER_DIR_PIN_Z
if te > 0:
pins_to_clear |= 1 << STEPPER_DIR_PIN_E
elif te < 0:
pins_to_set |= 1 << STEPPER_DIR_PIN_E
dma.add_set_clear(pins_to_set, pins_to_clear)
continue
pins = 0
k = int(round(min(x for x in (tx, ty, tz, te) if x is not None)
* US_IN_SECONDS))
cnc/hal_raspberry/rpgpio.py
+18
View File
@@ -166,6 +166,24 @@ class DMAGPIO(DMAProto):
self._physmem.write(self.__current_address, "8I", data)
self.__current_address = next_cb
def add_set_clear(self, pins_to_set, pins_to_clear):
""" Change state of gpio pins.
:param pins_to_set: bitwise mask which pins should be set.
:param pins_to_clear: bitwise mask which pins should be clear.
"""
next_cb = self.__current_address + self._DMA_CONTROL_BLOCK_SIZE
if next_cb > self._physmem.get_size():
raise MemoryError("Out of allocated memory.")
next1 = self._physmem.get_bus_address() + next_cb
source = next1 - 8 # last 8 bytes are padding, use it to store data
data = (
self._pulse_info, source, self._pulse_destination,
self._pulse_length,
self._pulse_stride, next1, pins_to_set, pins_to_clear
)
self._physmem.write(self.__current_address, "8I", data)
self.__current_address = next_cb
def finalize_stream(self):
""" Mark last added block as the last one.
"""