def __init__(self, stepPin, dirPin, faultPin, dac_channel, shiftreg_nr,
name, internalStepPin, internalDirPin):
Stepper_00B1.__init__(self, stepPin, dirPin, faultPin, dac_channel,
shiftreg_nr, name, internalStepPin,
internalDirPin)
self.dac = PWM_DAC(dac_channel)
self.state = 0 # The initial state of shift register
def __init__(self, stepPin, dirPin, faultPin, dac_channel, shiftreg_nr, name):
Stepper_00B1.__init__(self, stepPin, dirPin, faultPin, dac_channel, shiftreg_nr, name)
self.dac = PWM_DAC(dac_channel)
if name in ["X", "E", "H"]:
self.state = 0x1 # The initial state of shift register
else:
self.state = 0x0
self.shift_reg.set_state(self.state)
def __init__(self, stepPin, dirPin, faultPin, dac_channel, shiftreg_nr,
name):
Stepper.__init__(self, stepPin, dirPin, faultPin, dac_channel,
shiftreg_nr, name)
self.dac = PWM_DAC(dac_channel)
self.state = 0 # The initial state of shift register
class Stepper_00B1(Stepper):
def __init__(self, stepPin, dirPin, faultPin, dac_channel, shiftreg_nr,
name):
Stepper.__init__(self, stepPin, dirPin, faultPin, dac_channel,
shiftreg_nr, name)
self.dac = PWM_DAC(dac_channel)
self.state = 0 # The initial state of shift register
def set_microstepping(self, value, force_update=False):
""" Todo: Find an elegant way for this """
EN_CFG1 = (1 << 7)
DIS_CFG1 = (0 << 7)
EN_CFG2 = (1 << 5)
DIS_CFG2 = (0 << 5)
CFG2_H = (1 << 4)
CFG2_L = (0 << 4)
CFG1_H = (1 << 6)
CFG1_L = (0 << 6)
if value == 0: # GND, GND
state = EN_CFG2 | CFG2_L | EN_CFG1 | CFG1_L
self.microsteps = 1
elif value == 1: # GND, VCC
state = EN_CFG2 | CFG2_L | EN_CFG1 | CFG1_H
self.microsteps = 2
elif value == 2: # GND, open
state = EN_CFG2 | CFG2_L | DIS_CFG1 | CFG1_L
self.microsteps = 2
elif value == 3: # VCC, GND
state = EN_CFG2 | CFG2_H | EN_CFG1 | CFG1_L
self.microsteps = 4
elif value == 4: # VCC, VCC
state = EN_CFG2 | CFG2_H | EN_CFG1 | CFG1_H
self.microsteps = 16
elif value == 5: # VCC, open
state = EN_CFG2 | CFG2_H | DIS_CFG1 | CFG1_L
self.microsteps = 4
elif value == 6: # open, GND
state = DIS_CFG2 | CFG2_L | EN_CFG1 | CFG1_L
self.microsteps = 16
elif value == 7: # open, VCC
state = DIS_CFG2 | CFG2_L | EN_CFG1 | CFG1_H
self.microsteps = 4
elif value == 8: # open, open
state = DIS_CFG2 | CFG2_L | DIS_CFG1 | CFG1_L
self.microsteps = 16
self.shift_reg.set_state(state, 0xF0)
self.mmPrStep = 1.0 / (self.steps_pr_mm * self.microsteps)
# update the Path class with new values
stepper_num = Path.axis_to_index(self.name)
Path.steps_pr_meter[stepper_num] = self.get_steps_pr_meter()
logging.debug("Updated stepper " + self.name + " to microstepping " +
str(value) + " = " + str(self.microsteps))
self.microstepping = value
def set_current_value(self, i_rms):
""" Current chopping limit (This is the value you can change) """
self.current_value = i_rms
r_sense = 0.1020 # External resistors + internal
sqrt_2 = 1.41421356237
v_iref = 2.5 * (i_rms / 1.92)
if (v_iref > 2.5):
logging.warning("Current ref for stepper " + self.name +
" above limit (2.5 V). Setting to 2.5 V")
v_iref = 2.5
logging.debug("Setting votage to " + str(v_iref) + " for " + self.name)
self.dac.set_voltage(v_iref)
def set_disabled(self, force_update=False):
if hasattr(Stepper, "printer"):
Stepper.printer.enable.set_disabled()
def set_enabled(self, force_update=False):
if hasattr(Stepper, "printer"):
Stepper.printer.enable.set_enabled()
def set_decay(self, value):
EN_CFG0 = (1 << 3)
DIS_CFG0 = (0 << 3)
EN_CFG4 = (1 << 2)
DIS_CFG4 = (0 << 2)
EN_CFG5 = (1 << 1)
DIS_CFG5 = (0 << 1)
if value == 0: # GND, GND, GND
state = DIS_CFG0 | DIS_CFG4 | DIS_CFG5
elif value == 1: # GND, GND, VCC
state = DIS_CFG0 | DIS_CFG4 | EN_CFG5
elif value == 2: # GND, VCC, GND
state = DIS_CFG0 | EN_CFG4 | DIS_CFG5
elif value == 3: # GND, VCC, VCC
state = DIS_CFG0 | EN_CFG4 | EN_CFG5
elif value == 4: # VCC, GND, GND
state = EN_CFG0 | DIS_CFG4 | DIS_CFG5
elif value == 5: # VCC, GND, VCC
state = EN_CFG0 | DIS_CFG4 | EN_CFG5
elif value == 6: # VCC, VCC, GND
state = EN_CFG0 | EN_CFG4 | DIS_CFG5
elif value == 7: # VCC, VCC, VCC
state = EN_CFG0 | EN_CFG4 | EN_CFG5
else:
logging.warning("Tried to set illegal value for stepper decay: " +
str(value))
return
self.shift_reg.set_state(state, 0x0E)
self.decay = value # For saving the setting with M500
def __init__(self, stepPin, dirPin, faultPin, dac_channel, shiftreg_nr, name):
Stepper.__init__(self, stepPin, dirPin, faultPin, dac_channel, shiftreg_nr, name)
self.dac = PWM_DAC(dac_channel)
self.state = 0 # The initial state of shift register
class Stepper_00B1(Stepper):
def __init__(self, stepPin, dirPin, faultPin, dac_channel, shiftreg_nr, name):
Stepper.__init__(self, stepPin, dirPin, faultPin, dac_channel, shiftreg_nr, name)
self.dac = PWM_DAC(dac_channel)
self.state = 0 # The initial state of shift register
def set_microstepping(self, value, force_update=False):
""" Todo: Find an elegant way for this """
EN_CFG1 = (1<<7)
DIS_CFG1 = (0<<7)
EN_CFG2 = (1<<5)
DIS_CFG2 = (0<<5)
CFG2_H = (1<<4)
CFG2_L = (0<<4)
CFG1_H = (1<<6)
CFG1_L = (0<<6)
if value == 0: # GND, GND
state = EN_CFG2 | CFG2_L | EN_CFG1 | CFG1_L
self.microsteps = 1
elif value == 1: # GND, VCC
state = EN_CFG2 | CFG2_L | EN_CFG1 | CFG1_H
self.microsteps = 2
elif value == 2: # GND, open
state = EN_CFG2 | CFG2_L | DIS_CFG1 | CFG1_L
self.microsteps = 2
elif value == 3: # VCC, GND
state = EN_CFG2 | CFG2_H | EN_CFG1 | CFG1_L
self.microsteps = 4
elif value == 4: # VCC, VCC
state = EN_CFG2 | CFG2_H | EN_CFG1 | CFG1_H
self.microsteps = 16
elif value == 5: # VCC, open
state = EN_CFG2 | CFG2_H | DIS_CFG1 | CFG1_L
self.microsteps = 4
elif value == 6: # open, GND
state = DIS_CFG2 | CFG2_L | EN_CFG1 | CFG1_L
self.microsteps = 16
elif value == 7: # open, VCC
state = DIS_CFG2 | CFG2_L | EN_CFG1 | CFG1_H
self.microsteps = 4
elif value == 8: # open, open
state = DIS_CFG2 | CFG2_L | DIS_CFG1 | CFG1_L
self.microsteps = 16
self.shift_reg.set_state(state,0xF0)
self.mmPrStep = 1.0/(self.steps_pr_mm*self.microsteps)
# update the Printer class with new values
stepper_num = self.printer.axis_to_index(self.name)
self.printer.steps_pr_meter[stepper_num] = self.get_steps_pr_meter()
logging.debug("Updated stepper "+self.name+" to microstepping "+str(value)+" = "+str(self.microsteps))
self.microstepping = value
def set_current_value(self, i_rms):
""" Current chopping limit (This is the value you can change) """
self.current_value = i_rms
r_sense = 0.1020 # External resistors + internal
sqrt_2 = 1.41421356237
v_iref = 2.5*(i_rms/1.92)
if(v_iref > 2.5):
logging.warning("Current ref for stepper "+self.name+" above limit (2.5 V). Setting to 2.5 V")
v_iref = 2.5
logging.debug("Setting votage to "+str(v_iref)+" for "+self.name)
self.dac.set_voltage(v_iref)
def set_disabled(self, force_update=False):
if hasattr(Stepper, "printer"):
Stepper.printer.enable.set_disabled()
def set_enabled(self, force_update=False):
if hasattr(Stepper, "printer"):
Stepper.printer.enable.set_enabled()
def set_decay(self, value):
EN_CFG0 = (1<<3)
DIS_CFG0 = (0<<3)
EN_CFG4 = (1<<2)
DIS_CFG4 = (0<<2)
EN_CFG5 = (1<<1)
DIS_CFG5 = (0<<1)
if value == 0: # GND, GND, GND
state = DIS_CFG0 | DIS_CFG4 | DIS_CFG5
elif value == 1: # GND, GND, VCC
state = DIS_CFG0 | DIS_CFG4 | EN_CFG5
elif value == 2: # GND, VCC, GND
state = DIS_CFG0 | EN_CFG4 | DIS_CFG5
elif value == 3: # GND, VCC, VCC
state = DIS_CFG0 | EN_CFG4 | EN_CFG5
elif value == 4: # VCC, GND, GND
state = EN_CFG0 | DIS_CFG4 | DIS_CFG5
elif value == 5: # VCC, GND, VCC
state = EN_CFG0 | DIS_CFG4 | EN_CFG5
elif value == 6: # VCC, VCC, GND
state = EN_CFG0 | EN_CFG4 | DIS_CFG5
elif value == 7: # VCC, VCC, VCC
state = EN_CFG0 | EN_CFG4 | EN_CFG5
else:
logging.warning("Tried to set illegal value for stepper decay: "+str(value))
return
self.shift_reg.set_state(state, 0x0E)
self.decay = value # For saving the setting with M500
