def __init__(self):
""" Init """
logging.info("Redeem initializing " + version)
printer = Printer()
self.printer = printer
# check for config files
if not os.path.exists("/etc/redeem/default.cfg"):
logging.error("/etc/redeem/default.cfg does not exist, this file is required for operation")
sys.exit() # maybe use something more graceful?
# Parse the config files.
printer.config = CascadingConfigParser(
['/etc/redeem/default.cfg', '/etc/redeem/printer.cfg',
'/etc/redeem/local.cfg'])
# Find out which capes are connected
self.printer.config.parse_capes()
self.revision = self.printer.config.replicape_revision
if self.revision:
logging.info("Found Replicape rev. " + self.revision)
Path.set_axes(5)
else:
logging.warning("Oh no! No Replicape present!")
self.revision = "0A4A"
# We set it to 5 axis by default
Path.set_axes(5)
if self.printer.config.reach_revision:
Path.set_axes(8)
logging.info("Found Reach rev. "+self.printer.config.reach_revision)
# Get the revision and loglevel from the Config file
level = self.printer.config.getint('System', 'loglevel')
if level > 0:
logging.getLogger().setLevel(level)
if self.revision in ["00A4", "0A4A", "00A3"]:
PWM.set_frequency(100)
elif self.revision in ["00B1"]:
PWM.set_frequency(1000)
# Init the Paths
Path.axis_config = printer.config.getint('Geometry', 'axis_config')
# Init the end stops
EndStop.callback = self.end_stop_hit
EndStop.inputdev = self.printer.config.get("Endstops", "inputdev")
for es in ["X1", "X2", "Y1", "Y2", "Z1", "Z2"]:
pin = self.printer.config.get("Endstops", "pin_"+es)
keycode = self.printer.config.getint("Endstops", "keycode_"+es)
invert = self.printer.config.getboolean("Endstops", "invert_"+es)
self.printer.end_stops[es] = EndStop(pin, keycode, es, invert)
# Backwards compatibility with A3
if self.revision == "00A3":
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
printer.steppers["X"] = Stepper_00A3("GPIO0_27", "GPIO1_29", "GPIO2_4" , 0, "X", 0, 0)
printer.steppers["Y"] = Stepper_00A3("GPIO1_12", "GPIO0_22", "GPIO2_5" , 1, "Y", 1, 1)
printer.steppers["Z"] = Stepper_00A3("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z", 2, 2)
printer.steppers["E"] = Stepper_00A3("GPIO1_28", "GPIO1_15", "GPIO2_1" , 3, "E", 3, 3)
printer.steppers["H"] = Stepper_00A3("GPIO1_13", "GPIO1_14", "GPIO2_3" , 4, "H", 4, 4)
elif self.revision == "00B1":
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
printer.steppers["X"] = Stepper_00B1("GPIO0_27", "GPIO1_29", "GPIO2_4" , 11, 0, "X", 0, 0)
printer.steppers["Y"] = Stepper_00B1("GPIO1_12", "GPIO0_22", "GPIO2_5" , 12, 1, "Y", 1, 1)
printer.steppers["Z"] = Stepper_00B1("GPIO0_23", "GPIO0_26", "GPIO0_15", 13, 2, "Z", 2, 2)
printer.steppers["E"] = Stepper_00B1("GPIO1_28", "GPIO1_15", "GPIO2_1" , 14, 3, "E", 3, 3)
printer.steppers["H"] = Stepper_00B1("GPIO1_13", "GPIO1_14", "GPIO2_3" , 15, 4, "H", 4, 4)
else:
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
printer.steppers["X"] = Stepper_00A4("GPIO0_27", "GPIO1_29", "GPIO2_4" , 0, 0, "X", 0, 0)
printer.steppers["Y"] = Stepper_00A4("GPIO1_12", "GPIO0_22", "GPIO2_5" , 1, 1, "Y", 1, 1)
printer.steppers["Z"] = Stepper_00A4("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, 2, "Z", 2, 2)
printer.steppers["E"] = Stepper_00A4("GPIO1_28", "GPIO1_15", "GPIO2_1" , 3, 3, "E", 3, 3)
printer.steppers["H"] = Stepper_00A4("GPIO1_13", "GPIO1_14", "GPIO2_3" , 4, 4, "H", 4, 4)
if printer.config.reach_revision:
printer.steppers["A"] = Stepper_00A4("GPIO2_2" , "GPIO1_18", "GPIO0_14", 5, 5, "A", 5, 5)
printer.steppers["B"] = Stepper_00A4("GPIO1_14", "GPIO0_5" , "GPIO0_14", 6, 6, "B", 6, 6)
printer.steppers["C"] = Stepper_00A4("GPIO0_3" , "GPIO3_19", "GPIO0_14", 7, 7, "C", 7, 7)
# Enable the steppers and set the current, steps pr mm and
# microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.in_use = printer.config.getboolean('Steppers', 'in_use_' + name)
stepper.direction = printer.config.getint('Steppers', 'direction_' + name)
stepper.has_endstop = printer.config.getboolean('Endstops', 'has_' + name)
stepper.set_current_value(printer.config.getfloat('Steppers', 'current_' + name))
stepper.set_steps_pr_mm(printer.config.getfloat('Steppers', 'steps_pr_mm_' + name))
stepper.set_microstepping(printer.config.getint('Steppers', 'microstepping_' + name))
stepper.set_decay(printer.config.getboolean("Steppers", "slow_decay_" + name))
# Add soft end stops
Path.soft_min[Path.axis_to_index(name)] = printer.config.getfloat('Endstops', 'soft_end_stop_min_' + name)
Path.soft_max[Path.axis_to_index(name)] = printer.config.getfloat('Endstops', 'soft_end_stop_max_' + name)
# Commit changes for the Steppers
#Stepper.commit()
# Delta printer setup
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
opts = ["Hez", "L", "r", "Ae", "Be", "Ce", "A_radial", "B_radial", "C_radial", "A_tangential", "B_tangential", "C_tangential" ]
for opt in opts:
Delta.__dict__[opt] = printer.config.getfloat('Delta', opt)
Delta.recalculate()
# Set up cold ends
path = self.printer.config.get('Cold-ends', 'path', 0)
if os.path.exists(path):
self.printer.cold_ends.append(ColdEnd(path, "Cold End 0"))
logging.info("Found Cold end on " + path)
else:
logging.info("No cold end present in path: " + path)
# Make Mosfets, thermistors and extruders
heaters = ["E", "H", "HBP"]
if self.printer.config.reach_revision:
heaters.extend(["A", "B", "C"])
for e in heaters:
# Mosfets
channel = self.printer.config.getint("Heaters", "mosfet_"+e)
self.printer.mosfets[e] = Mosfet(channel)
# Thermistors
adc = self.printer.config.get("Heaters", "path_adc_"+e)
chart = self.printer.config.get("Heaters", "temp_chart_"+e)
self.printer.thermistors[e] = Thermistor(adc, "MOSFET "+e, chart)
# Extruders
onoff = self.printer.config.getboolean('Heaters', 'onoff_'+e)
prefix = self.printer.config.get('Heaters', 'prefix_'+e)
if e != "HBP":
self.printer.heaters[e] = Extruder(
self.printer.steppers[e],
self.printer.thermistors[e],
self.printer.mosfets[e], e, onoff)
else:
self.printer.heaters[e] = HBP(
self.printer.thermistors[e],
self.printer.mosfets[e], onoff)
self.printer.heaters[e].prefix = prefix
self.printer.heaters[e].P = self.printer.config.getfloat('Heaters', 'pid_p_'+e)
self.printer.heaters[e].I = self.printer.config.getfloat('Heaters', 'pid_i_'+e)
self.printer.heaters[e].D = self.printer.config.getfloat('Heaters', 'pid_d_'+e)
# Init the three fans. Argument is PWM channel number
self.printer.fans = []
if self.revision == "00A3":
self.printer.fans.append(Fan(0))
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
elif self.revision == "0A4A":
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
elif self.revision == "00B1":
self.printer.fans.append(Fan(7))
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
for f in self.printer.fans:
f.set_value(0)
# Init the servos
printer.servos = []
servo_nr = 0
while(printer.config.has_option("Servos", "servo_"+str(servo_nr)+"_enable")):
if printer.config.getboolean("Servos", "servo_"+str(servo_nr)+"_enable"):
channel = printer.config.getint("Servos", "servo_"+str(servo_nr)+"_channel")
angle_off = printer.config.getint("Servos", "servo_"+str(servo_nr)+"_angle_off")
s = Servo(channel, 500, 750, angle_off)
s.angle_on = printer.config.getint("Servos", "servo_"+str(servo_nr)+"_angle_on")
s.angle_off = angle_off
printer.servos.append(s)
logging.info("Added servo "+str(servo_nr))
servo_nr += 1
# Connect thermitors to fans
for t, therm in self.printer.heaters.iteritems():
for f, fan in enumerate(self.printer.fans):
if self.printer.config.getboolean('Cold-ends', "connect-therm-{}-fan-{}".format(t, f)):
c = Cooler(therm, fan, "Cooler-{}-{}".format(t, f), False)
c.ok_range = 4
c.set_target_temperature(60)
c.enable()
self.printer.coolers.append(c)
logging.info("Cooler connects therm {} with fan {}".format(t, f))
# Connect fans to M106
printer.controlled_fans = []
for i, fan in enumerate(self.printer.fans):
if self.printer.config.getboolean('Cold-ends', "add-fan-{}-to-M106".format(i)):
printer.controlled_fans.append(self.printer.fans[i])
logging.info("Added fan {} to M106/M107".format(i))
# Connect the cold end 0 to fan 2
# This is very "Thing" specific, should be configurable somehow.
if len(self.printer.cold_ends):
self.printer.coolers.append(
Cooler(self.printer.cold_ends[0], self.printer.fans[2],
"Cooler0", False))
self.printer.coolers[0].ok_range = 4
self.printer.coolers[0].set_target_temperature(60)
self.printer.coolers[0].enable()
# Make a queue of commands
self.printer.commands = JoinableQueue(10)
# Make a queue of commands that should not be buffered
self.printer.sync_commands = JoinableQueue()
self.printer.unbuffered_commands = JoinableQueue(10)
# Bed compensation matrix
Path.matrix_bed_comp = printer.load_bed_compensation_matrix()
Path.matrix_bed_comp_inv = np.linalg.inv(Path.matrix_bed_comp)
logging.debug("Loaded bed compensation matrix: \n"+str(Path.matrix_bed_comp))
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
Path.max_speeds[i] = printer.config.getfloat('Planner', 'max_speed_'+axis.lower())
Path.home_speed[i] = printer.config.getfloat('Homing', 'home_speed_'+axis.lower())
Path.home_backoff_speed[i] = printer.config.getfloat('Homing', 'home_backoff_speed_'+axis.lower())
Path.home_backoff_offset[i] = printer.config.getfloat('Homing', 'home_backoff_offset_'+axis.lower())
Path.steps_pr_meter[i] = printer.steppers[axis].get_steps_pr_meter()
Path.backlash_compensation[i] = printer.config.getfloat('Steppers', 'backlash_'+axis.lower())
dirname = os.path.dirname(os.path.realpath(__file__))
# Create the firmware compiler
pru_firmware = PruFirmware(
dirname + "/firmware/firmware_runtime.p",
dirname + "/firmware/firmware_runtime.bin",
dirname + "/firmware/firmware_endstops.p",
dirname + "/firmware/firmware_endstops.bin",
self.revision, self.printer.config, "/usr/bin/pasm")
printer.maxJerkXY = printer.config.getfloat('Planner', 'maxJerk_xy')
printer.maxJerkZ = printer.config.getfloat('Planner', 'maxJerk_z')
printer.maxJerkEH = printer.config.getfloat('Planner', 'maxJerk_eh')
printer.move_cache_size = printer.config.getfloat('Planner', 'move_cache_size')
printer.print_move_buffer_wait = printer.config.getfloat('Planner', 'print_move_buffer_wait')
printer.min_buffered_move_time = printer.config.getfloat('Planner', 'min_buffered_move_time')
printer.max_buffered_move_time = printer.config.getfloat('Planner', 'max_buffered_move_time')
self.printer.processor = GCodeProcessor(self.printer)
self.printer.plugins = PluginsController(self.printer)
# Path planner
travel_default = False
center_default = False
home_default = False
self.printer.path_planner = PathPlanner(self.printer, pru_firmware)
for axis in printer.steppers.keys():
i = Path.axis_to_index(axis)
printer.acceleration[Path.axis_to_index(axis)] = printer.config.getfloat(
'Planner', 'acceleration_' + axis.lower())
# Sometimes soft_end_stop aren't defined to be at the exact hardware boundary.
# Adding 100mm for searching buffer.
if printer.config.has_option('Geometry', 'travel_' + axis.lower()):
printer.path_planner.travel_length[axis] = printer.config.getfloat('Geometry', 'travel_' + axis.lower())
else:
printer.path_planner.travel_length[axis] = (Path.soft_max[i] - Path.soft_min[i]) + .1
if axis in ['X','Y','Z']:
travel_default = True
if printer.config.has_option('Geometry', 'offset_' + axis.lower()):
printer.path_planner.center_offset[axis] = printer.config.getfloat('Geometry', 'offset_' + axis.lower())
else:
printer.path_planner.center_offset[axis] =(Path.soft_min[i] if Path.home_speed[i] > 0 else Path.soft_max[i])
if axis in ['X','Y','Z']:
center_default = True
if printer.config.has_option('Homing', 'home_' + axis.lower()):
printer.path_planner.home_pos[axis] = printer.config.getfloat('Homing', 'home_' + axis.lower())
else:
printer.path_planner.home_pos[axis] = printer.path_planner.center_offset[axis]
if axis in ['X','Y','Z']:
home_default = True
if Path.axis_config == Path.AXIS_CONFIG_DELTA:
if travel_default:
logging.warning("Axis travel (travel_*) set by soft limits, manual setup is recommended for a delta")
if center_default:
logging.warning("Axis offsets (offset_*) set by soft limits, manual setup is recommended for a delta")
if home_default:
logging.warning("Home position (home_*) set by soft limits or offset_*")
logging.info("Home position will be recalculated...")
# convert home_pos to effector space
Az = printer.path_planner.home_pos['X']
Bz = printer.path_planner.home_pos['Y']
Cz = printer.path_planner.home_pos['Z']
z_offset = Delta.vertical_offset(Az,Bz,Cz) # vertical offset
xyz = Delta.forward_kinematics2(Az, Bz, Cz) # effector position
# The default home_pos, provided above, is based on effector space
# coordinates for carriage positions. We need to transform these to
# get where the effector actually is.
xyz[2] += z_offset
for i, a in enumerate(['X','Y','Z']):
printer.path_planner.home_pos[a] = xyz[i]
logging.info("Home position = %s"%str(printer.path_planner.home_pos))
# Enable PWM and steppers
printer.enable = Enable("P9_41")
printer.enable.set_enabled()
# Set up communication channels
printer.comms["USB"] = USB(self.printer)
printer.comms["Eth"] = Ethernet(self.printer)
if Pipe.check_tty0tty() or Pipe.check_socat():
printer.comms["octoprint"] = Pipe(printer, "octoprint")
printer.comms["toggle"] = Pipe(printer, "toggle")
printer.comms["testing"] = Pipe(printer, "testing")
printer.comms["testing_noret"] = Pipe(printer, "testing_noret")
# Does not send "ok"
printer.comms["testing_noret"].send_response = False
else:
logging.warning("Neither tty0tty or socat is installed! No virtual tty pipes enabled")
