mirror of
https://github.com/sinseman44/PyCNC.git
synced 2026-01-12 02:40:04 +00:00
252 lines
8.5 KiB
Python
252 lines
8.5 KiB
Python
import time
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from cnc.hal_raspberry import rpgpio
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from cnc.pulses import *
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from cnc.config import *
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from cnc.sensors import thermistor
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US_IN_SECONDS = 1000000
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gpio = rpgpio.GPIO()
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dma = rpgpio.DMAGPIO()
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pwm = rpgpio.DMAPWM()
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STEP_PIN_MASK_X = 1 << STEPPER_STEP_PIN_X
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STEP_PIN_MASK_Y = 1 << STEPPER_STEP_PIN_Y
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STEP_PIN_MASK_Z = 1 << STEPPER_STEP_PIN_Z
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STEP_PIN_MASK_E = 1 << STEPPER_STEP_PIN_E
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def init():
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""" Initialize GPIO pins and machine itself, including calibration if
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needed. Do not return till all procedures are completed.
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"""
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gpio.init(STEPPER_STEP_PIN_X, rpgpio.GPIO.MODE_OUTPUT)
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gpio.init(STEPPER_STEP_PIN_Y, rpgpio.GPIO.MODE_OUTPUT)
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gpio.init(STEPPER_STEP_PIN_Z, rpgpio.GPIO.MODE_OUTPUT)
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gpio.init(STEPPER_STEP_PIN_E, rpgpio.GPIO.MODE_OUTPUT)
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gpio.init(STEPPER_DIR_PIN_X, rpgpio.GPIO.MODE_OUTPUT)
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gpio.init(STEPPER_DIR_PIN_Y, rpgpio.GPIO.MODE_OUTPUT)
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gpio.init(STEPPER_DIR_PIN_Z, rpgpio.GPIO.MODE_OUTPUT)
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gpio.init(STEPPER_DIR_PIN_E, rpgpio.GPIO.MODE_OUTPUT)
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gpio.init(ENDSTOP_PIN_X, rpgpio.GPIO.MODE_INPUT_PULLUP)
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gpio.init(ENDSTOP_PIN_X, rpgpio.GPIO.MODE_INPUT_PULLUP)
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gpio.init(ENDSTOP_PIN_X, rpgpio.GPIO.MODE_INPUT_PULLUP)
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gpio.init(SPINDLE_PWM_PIN, rpgpio.GPIO.MODE_OUTPUT)
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gpio.init(FAN_PIN, rpgpio.GPIO.MODE_OUTPUT)
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gpio.init(EXTRUDER_HEATER_PIN, rpgpio.GPIO.MODE_OUTPUT)
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gpio.init(BED_HEATER_PIN, rpgpio.GPIO.MODE_OUTPUT)
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gpio.clear(SPINDLE_PWM_PIN)
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gpio.clear(FAN_PIN)
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gpio.clear(EXTRUDER_HEATER_PIN)
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gpio.clear(BED_HEATER_PIN)
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# calibration
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# TODO remove this from hal and rewrite, check if there is a special g
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# command for this
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gpio.set(STEPPER_DIR_PIN_X)
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gpio.set(STEPPER_DIR_PIN_Y)
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gpio.set(STEPPER_DIR_PIN_Z)
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pins = STEP_PIN_MASK_X | STEP_PIN_MASK_Y | STEP_PIN_MASK_Z
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dma.clear()
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dma.add_pulse(pins, STEPPER_PULSE_LENGTH_US)
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st = time.time()
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max_pulses_left = int(1.2 * max(STEPPER_PULSES_PER_MM_X,
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STEPPER_PULSES_PER_MM_Y,
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STEPPER_PULSES_PER_MM_Z) *
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max(TABLE_SIZE_X_MM,
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TABLE_SIZE_Y_MM,
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TABLE_SIZE_Z_MM))
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try:
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while max_pulses_left > 0:
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if (STEP_PIN_MASK_X & pins) != 0 and gpio.read(ENDSTOP_PIN_X) == 0:
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pins &= ~STEP_PIN_MASK_X
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dma.clear()
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dma.add_pulse(pins, STEPPER_PULSE_LENGTH_US)
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if (STEP_PIN_MASK_Y & pins) != 0 and gpio.read(ENDSTOP_PIN_Y) == 0:
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pins &= ~STEP_PIN_MASK_Y
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dma.clear()
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dma.add_pulse(pins, STEPPER_PULSE_LENGTH_US)
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if (STEP_PIN_MASK_Z & pins) != 0 and gpio.read(ENDSTOP_PIN_Z) == 0:
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pins &= ~STEP_PIN_MASK_Z
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dma.clear()
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dma.add_pulse(pins, STEPPER_PULSE_LENGTH_US)
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if pins == 0:
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break
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dma.run(False)
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# limit velocity at ~10% of top velocity
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time.sleep((1 / 0.10) / (min(MAX_VELOCITY_MM_PER_MIN_X,
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MAX_VELOCITY_MM_PER_MIN_Y,
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MAX_VELOCITY_MM_PER_MIN_Z,
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MAX_VELOCITY_MM_PER_MIN_E)
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/ 60 * max(STEPPER_PULSES_PER_MM_X,
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STEPPER_PULSES_PER_MM_Y,
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STEPPER_PULSES_PER_MM_Z)))
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max_pulses_left -= 1
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if st is not None:
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if time.time() - st > 2:
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logging.critical("Calibration still in progress. Check if "
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"machine is moving.\nPress Ctrl+C to "
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"cancel calibration and proceed as is.")
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st = None
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if pins != 0:
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logging.critical("Calibration has failed. You may proceed, but be "
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"careful.")
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except KeyboardInterrupt:
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logging.critical("Calibration has canceled by user. Be careful.")
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def spindle_control(percent):
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""" Spindle control implementation.
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:param percent: spindle speed in percent 0..100. If 0, stop the spindle.
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"""
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logging.info("spindle control: {}%".format(percent))
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if percent > 0:
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pwm.add_pin(SPINDLE_PWM_PIN, percent)
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else:
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pwm.remove_pin(SPINDLE_PWM_PIN)
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def fan_control(on_off):
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"""
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Cooling fan control.
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:param on_off: boolean value if fan is enabled.
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"""
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if on_off:
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logging.info("Fan is on")
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gpio.set(FAN_PIN)
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else:
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logging.info("Fan is off")
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gpio.clear(FAN_PIN)
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def extruder_heater_control(percent):
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""" Extruder heater control.
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:param percent: heater power in percent 0..100. 0 turns heater off.
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"""
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if percent > 0:
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pwm.add_pin(EXTRUDER_HEATER_PIN, percent)
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else:
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pwm.remove_pin(EXTRUDER_HEATER_PIN)
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def bed_heater_control(percent):
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""" Hot bed heater control.
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:param percent: heater power in percent 0..100. 0 turns heater off.
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"""
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if percent > 0:
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pwm.add_pin(BED_HEATER_PIN, percent)
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else:
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pwm.remove_pin(BED_HEATER_PIN)
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def get_extruder_temperature():
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""" Measure extruder temperature.
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:return: temperature in Celsius.
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"""
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return thermistor.get_temperature(EXTRUDER_TEMPERATURE_SENSOR_CHANNEL)
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def get_bed_temperature():
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""" Measure bed temperature.
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:return: temperature in Celsius.
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"""
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return thermistor.get_temperature(BED_TEMPERATURE_SENSOR_CHANNEL)
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def move(generator):
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""" Move head to specified position
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:param generator: PulseGenerator object.
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"""
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# wait if previous command still works
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while dma.is_active():
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time.sleep(0.001)
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# prepare and run dma
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dma.clear()
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prev = 0
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is_ran = False
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instant = INSTANT_RUN
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st = time.time()
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for direction, tx, ty, tz, te in generator:
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if direction: # set up directions
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pins_to_set = 0
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pins_to_clear = 0
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if tx > 0:
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pins_to_clear |= 1 << STEPPER_DIR_PIN_X
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elif tx < 0:
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pins_to_set |= 1 << STEPPER_DIR_PIN_X
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if ty > 0:
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pins_to_clear |= 1 << STEPPER_DIR_PIN_Y
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elif ty < 0:
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pins_to_set |= 1 << STEPPER_DIR_PIN_Y
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if tz > 0:
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pins_to_clear |= 1 << STEPPER_DIR_PIN_Z
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elif tz < 0:
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pins_to_set |= 1 << STEPPER_DIR_PIN_Z
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if te > 0:
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pins_to_clear |= 1 << STEPPER_DIR_PIN_E
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elif te < 0:
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pins_to_set |= 1 << STEPPER_DIR_PIN_E
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dma.add_set_clear(pins_to_set, pins_to_clear)
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continue
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pins = 0
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m = None
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for i in (tx, ty, tz, te):
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if i is not None and (m is None or i < m):
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m = i
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k = int(round(m * US_IN_SECONDS))
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if tx is not None:
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pins |= STEP_PIN_MASK_X
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if ty is not None:
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pins |= STEP_PIN_MASK_Y
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if tz is not None:
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pins |= STEP_PIN_MASK_Z
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if te is not None:
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pins |= STEP_PIN_MASK_E
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if k - prev > 0:
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dma.add_delay(k - prev)
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dma.add_pulse(pins, STEPPER_PULSE_LENGTH_US)
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# TODO not a precise way! pulses will set in queue, instead of crossing
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# if next pulse start during pulse length. Though it almost doesn't
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# matter for pulses with 1-2us length.
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prev = k + STEPPER_PULSE_LENGTH_US
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# instant run handling
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if not is_ran and instant:
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if k > 500000: # wait at least 500 ms is uploaded
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if time.time() - st > 0.5:
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logging.warn("Buffer preparing for instant run took more "
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"time then buffer time")
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instant = False
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else:
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dma.run_stream()
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is_ran = True
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pt = time.time()
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if not is_ran:
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dma.run(False)
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else:
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dma.finalize_stream()
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logging.info("prepared in " + str(round(pt - st, 2)) + "s, estimated in "
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+ str(round(generator.total_time_s(), 2)) + "s")
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def join():
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""" Wait till motors work.
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"""
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logging.info("hal join()")
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# wait till dma works
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while dma.is_active():
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time.sleep(0.01)
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def deinit():
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""" De-initialize hardware.
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"""
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join()
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pwm.remove_all()
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gpio.clear(SPINDLE_PWM_PIN)
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gpio.clear(FAN_PIN)
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gpio.clear(EXTRUDER_HEATER_PIN)
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gpio.clear(BED_HEATER_PIN)
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