def __init__(self, config_location="/etc/redeem"): """ config_location: provide the location to look for config files. - default is installed directory - allows for running in a local directory when debugging """ firmware_version = "1.2.8~Predator" logging.info("Redeem initializing " + firmware_version) printer = Printer() self.printer = printer Path.printer = printer printer.firmware_version = firmware_version printer.config_location = config_location # Set up and Test the alarm framework Alarm.printer = self.printer Alarm.executor = AlarmExecutor() alarm = Alarm(Alarm.ALARM_TEST, "Alarm framework operational") # check for config files file_path = os.path.join(config_location, "default.cfg") if not os.path.exists(file_path): logging.error( file_path + " does not exist, this file is required for operation") sys.exit() # maybe use something more graceful? local_path = os.path.join(config_location, "local.cfg") if not os.path.exists(local_path): logging.info(local_path + " does not exist, Creating one") os.mknod(local_path) os.chmod(local_path, 0o777) # Parse the config files. printer.config = CascadingConfigParser([ os.path.join(config_location, 'default.cfg'), os.path.join(config_location, 'printer.cfg'), os.path.join(config_location, 'local.cfg') ]) # Check the local and printer files printer_path = os.path.join(config_location, "printer.cfg") if os.path.exists(printer_path): printer.config.check(printer_path) printer.config.check(os.path.join(config_location, 'local.cfg')) # Get the revision and loglevel from the Config file level = self.printer.config.getint('System', 'loglevel') if level > 0: logging.getLogger().setLevel(level) # Set up additional logging, if present: if self.printer.config.getboolean('System', 'log_to_file'): logfile = self.printer.config.get('System', 'logfile') formatter = '%(asctime)s %(name)-12s %(levelname)-8s %(message)s' printer.redeem_logging_handler = logging.handlers.RotatingFileHandler( logfile, maxBytes=2 * 1024 * 1024) printer.redeem_logging_handler.setFormatter( logging.Formatter(formatter)) printer.redeem_logging_handler.setLevel(level) logging.getLogger().addHandler(printer.redeem_logging_handler) logging.info("-- Logfile configured --") # 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) printer.replicape_key = printer.config.get_key() else: logging.warning("Oh no! No Replicape present!") self.revision = "0B3A" # We set it to 5 axis by default Printer.NUM_AXES = 5 if self.printer.config.reach_revision: logging.info("Found Reach rev. " + self.printer.config.reach_revision) if self.printer.config.reach_revision == "00A0": Printer.NUM_AXES = 8 elif self.printer.config.reach_revision == "00B0": Printer.NUM_AXES = 7 if self.revision in ["00A4", "0A4A", "00A3"]: PWM.set_frequency(100) elif self.revision in ["00B1", "00B2", "00B3", "0B3A"]: PWM.set_frequency(printer.config.getint('Cold-ends', 'pwm_freq')) # Init the Watchdog timer printer.watchdog = Watchdog() # Enable PWM and steppers printer.enable = Enable("P9_41") printer.enable.set_disabled() # Init the Paths printer.axis_config = printer.config.getint('Geometry', 'axis_config') # Init the end stops EndStop.inputdev = self.printer.config.get("Endstops", "inputdev") # Set up key listener Key_pin.listener = Key_pin_listener(EndStop.inputdev) homing_only_endstops = self.printer.config.get('Endstops', 'homing_only_endstops') for es in ["Z2", "Y2", "X2", "Z1", "Y1", "X1"]: # Order matches end stop inversion mask in Firmware 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(printer, pin, keycode, es, invert) self.printer.end_stops[es].stops = self.printer.config.get( 'Endstops', 'end_stop_' + es + '_stops') # activate all the endstops self.printer.set_active_endstops() # Init the 5 Stepper motors (step, dir, fault, DAC channel, name) Stepper.printer = printer if self.revision == "00A3": printer.steppers["X"] = Stepper_00A3("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X") printer.steppers["Y"] = Stepper_00A3("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y") printer.steppers["Z"] = Stepper_00A3("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z") printer.steppers["E"] = Stepper_00A3("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "E") printer.steppers["H"] = Stepper_00A3("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "H") elif self.revision == "00B1": printer.steppers["X"] = Stepper_00B1("GPIO0_27", "GPIO1_29", "GPIO2_4", 11, 0, "X") printer.steppers["Y"] = Stepper_00B1("GPIO1_12", "GPIO0_22", "GPIO2_5", 12, 1, "Y") printer.steppers["Z"] = Stepper_00B1("GPIO0_23", "GPIO0_26", "GPIO0_15", 13, 2, "Z") printer.steppers["E"] = Stepper_00B1("GPIO1_28", "GPIO1_15", "GPIO2_1", 14, 3, "E") printer.steppers["H"] = Stepper_00B1("GPIO1_13", "GPIO1_14", "GPIO2_3", 15, 4, "H") elif self.revision == "00B2": printer.steppers["X"] = Stepper_00B2("GPIO0_27", "GPIO1_29", "GPIO2_4", 11, 0, "X") printer.steppers["Y"] = Stepper_00B2("GPIO1_12", "GPIO0_22", "GPIO2_5", 12, 1, "Y") printer.steppers["Z"] = Stepper_00B2("GPIO0_23", "GPIO0_26", "GPIO0_15", 13, 2, "Z") printer.steppers["E"] = Stepper_00B2("GPIO1_28", "GPIO1_15", "GPIO2_1", 14, 3, "E") printer.steppers["H"] = Stepper_00B2("GPIO1_13", "GPIO1_14", "GPIO2_3", 15, 4, "H") elif self.revision in ["00B3", "0B3A"]: printer.steppers["X"] = Stepper_00B3("GPIO0_27", "GPIO1_29", 90, 11, 0, "X") printer.steppers["Y"] = Stepper_00B3("GPIO1_12", "GPIO0_22", 91, 12, 1, "Y") printer.steppers["Z"] = Stepper_00B3("GPIO0_23", "GPIO0_26", 92, 13, 2, "Z") printer.steppers["E"] = Stepper_00B3("GPIO1_28", "GPIO1_15", 93, 14, 3, "E") printer.steppers["H"] = Stepper_00B3("GPIO1_13", "GPIO1_14", 94, 15, 4, "H") elif self.revision in ["00A4", "0A4A"]: printer.steppers["X"] = Stepper_00A4("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, 0, "X") printer.steppers["Y"] = Stepper_00A4("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, 1, "Y") printer.steppers["Z"] = Stepper_00A4("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, 2, "Z") printer.steppers["E"] = Stepper_00A4("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, 3, "E") printer.steppers["H"] = Stepper_00A4("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, 4, "H") # Init Reach steppers, if present. if printer.config.reach_revision == "00A0": printer.steppers["A"] = Stepper_reach_00A4("GPIO2_2", "GPIO1_18", "GPIO0_14", 5, 5, "A") printer.steppers["B"] = Stepper_reach_00A4("GPIO1_16", "GPIO0_5", "GPIO0_14", 6, 6, "B") printer.steppers["C"] = Stepper_reach_00A4("GPIO0_3", "GPIO3_19", "GPIO0_14", 7, 7, "C") elif printer.config.reach_revision == "00B0": printer.steppers["A"] = Stepper_reach_00B0("GPIO1_16", "GPIO0_5", "GPIO0_3", 5, 5, "A") printer.steppers["B"] = Stepper_reach_00B0("GPIO2_2", "GPIO0_14", "GPIO0_3", 6, 6, "B") # 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.getint("Steppers", "slow_decay_" + name)) # Add soft end stops printer.soft_min[Printer.axis_to_index( name)] = printer.config.getfloat('Endstops', 'soft_end_stop_min_' + name) printer.soft_max[Printer.axis_to_index( name)] = printer.config.getfloat('Endstops', 'soft_end_stop_max_' + name) slave = printer.config.get('Steppers', 'slave_' + name) if slave: printer.add_slave(name, slave) logging.debug("Axis " + name + " has slave " + slave) # Commit changes for the Steppers #Stepper.commit() Stepper.printer = printer # Delta printer setup if printer.axis_config == Printer.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) # Discover and add all DS18B20 cold ends. paths = glob.glob("/sys/bus/w1/devices/28-*/w1_slave") logging.debug("Found cold ends: " + str(paths)) for i, path in enumerate(paths): self.printer.cold_ends.append(ColdEnd(path, "ds18b20-" + str(i))) logging.info("Found Cold end " + str(i) + " on " + path) # Make Mosfets, temperature sensors 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) if not self.printer.config.has_option("Heaters", "sensor_" + e): sensor = self.printer.config.get("Heaters", "temp_chart_" + e) logging.warning("Deprecated config option temp_chart_" + e + " use sensor_" + e + " instead.") else: sensor = self.printer.config.get("Heaters", "sensor_" + e) self.printer.thermistors[e] = TemperatureSensor( adc, 'MOSFET ' + e, sensor) self.printer.thermistors[e].printer = printer # Extruders onoff = self.printer.config.getboolean('Heaters', 'onoff_' + e) prefix = self.printer.config.get('Heaters', 'prefix_' + e) max_power = self.printer.config.getfloat('Heaters', 'max_power_' + 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].Kp = self.printer.config.getfloat( 'Heaters', 'pid_Kp_' + e) self.printer.heaters[e].Ti = self.printer.config.getfloat( 'Heaters', 'pid_Ti_' + e) self.printer.heaters[e].Td = self.printer.config.getfloat( 'Heaters', 'pid_Td_' + e) # Min/max settings self.printer.heaters[e].min_temp = self.printer.config.getfloat( 'Heaters', 'min_temp_' + e) self.printer.heaters[e].max_temp = self.printer.config.getfloat( 'Heaters', 'max_temp_' + e) self.printer.heaters[ e].max_temp_rise = self.printer.config.getfloat( 'Heaters', 'max_rise_temp_' + e) self.printer.heaters[ e].max_temp_fall = self.printer.config.getfloat( 'Heaters', 'max_fall_temp_' + 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 in ["00B1", "00B2", "00B3", "0B3A"]: self.printer.fans.append(Fan(7)) self.printer.fans.append(Fan(8)) self.printer.fans.append(Fan(9)) self.printer.fans.append(Fan(10)) if printer.config.reach_revision == "00A0": self.printer.fans.append(Fan(14)) self.printer.fans.append(Fan(15)) self.printer.fans.append(Fan(7)) # Set default value for all fans for i, f in enumerate(self.printer.fans): f.set_value( self.printer.config.getfloat('Fans', "default-fan-{}-value".format(i))) # 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.get( "Servos", "servo_" + str(servo_nr) + "_channel") pulse_min = printer.config.getfloat( "Servos", "servo_" + str(servo_nr) + "_pulse_min") pulse_max = printer.config.getfloat( "Servos", "servo_" + str(servo_nr) + "_pulse_max") angle_min = printer.config.getfloat( "Servos", "servo_" + str(servo_nr) + "_angle_min") angle_max = printer.config.getfloat( "Servos", "servo_" + str(servo_nr) + "_angle_max") angle_init = printer.config.getfloat( "Servos", "servo_" + str(servo_nr) + "_angle_init") s = Servo(channel, pulse_min, pulse_max, angle_min, angle_max, angle_init) 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 not self.printer.config.has_option( 'Cold-ends', "connect-therm-{}-fan-{}".format(t, f)): continue if printer.config.getboolean( 'Cold-ends', "connect-therm-{}-fan-{}".format(t, f)): c = Cooler(therm, fan, "Cooler-{}-{}".format(t, f), True) # Use ON/OFF on these. c.ok_range = 4 opt_temp = "therm-{}-fan-{}-target_temp".format(t, f) if printer.config.has_option('Cold-ends', opt_temp): target_temp = printer.config.getfloat( 'Cold-ends', opt_temp) else: target_temp = 60 c.set_target_temperature(target_temp) c.enable() 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 not self.printer.config.has_option( 'Cold-ends', "add-fan-{}-to-M106".format(i)): continue 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 colds to fans for ce, cold_end in enumerate(self.printer.cold_ends): for f, fan in enumerate(self.printer.fans): option = "connect-ds18b20-{}-fan-{}".format(ce, f) if self.printer.config.has_option('Cold-ends', option): if self.printer.config.getboolean('Cold-ends', option): c = Cooler(cold_end, fan, "Cooler-ds18b20-{}-{}".format(ce, f), False) c.ok_range = 4 opt_temp = "cooler_{}_target_temp".format(ce) if printer.config.has_option('Cold-ends', opt_temp): target_temp = printer.config.getfloat( 'Cold-ends', opt_temp) else: target_temp = 60 c.set_target_temperature(target_temp) c.enable() printer.coolers.append(c) logging.info( "Cooler connects temp sensor ds18b20 {} with fan {}" .format(ce, f)) # Init roatray encs. printer.filament_sensors = [] # Init rotary encoders printer.rotary_encoders = [] for ex in ["E", "H", "A", "B", "C"]: if not printer.config.has_option('Rotary-encoders', "enable-{}".format(ex)): continue if printer.config.getboolean("Rotary-encoders", "enable-{}".format(ex)): logging.debug("Rotary encoder {} enabled".format(ex)) event = printer.config.get("Rotary-encoders", "event-{}".format(ex)) cpr = printer.config.getint("Rotary-encoders", "cpr-{}".format(ex)) diameter = printer.config.getfloat("Rotary-encoders", "diameter-{}".format(ex)) r = RotaryEncoder(event, cpr, diameter) printer.rotary_encoders.append(r) # Append as Filament Sensor ext_nr = Printer.axis_to_index(ex) - 3 sensor = FilamentSensor(ex, r, ext_nr, printer) alarm_level = printer.config.getfloat( "Filament-sensors", "alarm-level-{}".format(ex)) logging.debug("Alarm level" + str(alarm_level)) sensor.alarm_level = alarm_level printer.filament_sensors.append(sensor) # 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 printer.matrix_bed_comp = printer.load_bed_compensation_matrix() logging.debug("Loaded bed compensation matrix: \n" + str(printer.matrix_bed_comp)) for axis in printer.steppers.keys(): i = Printer.axis_to_index(axis) printer.max_speeds[i] = printer.config.getfloat( 'Planner', 'max_speed_' + axis.lower()) printer.min_speeds[i] = printer.config.getfloat( 'Planner', 'min_speed_' + axis.lower()) printer.jerks[i] = printer.config.getfloat( 'Planner', 'max_jerk_' + axis.lower()) printer.home_speed[i] = printer.config.getfloat( 'Homing', 'home_speed_' + axis.lower()) printer.home_backoff_speed[i] = printer.config.getfloat( 'Homing', 'home_backoff_speed_' + axis.lower()) printer.home_backoff_offset[i] = printer.config.getfloat( 'Homing', 'home_backoff_offset_' + axis.lower()) printer.steps_pr_meter[i] = printer.steppers[ axis].get_steps_pr_meter() printer.backlash_compensation[i] = printer.config.getfloat( 'Steppers', 'backlash_' + axis.lower()) printer.e_axis_active = printer.config.getboolean( 'Planner', 'e_axis_active') 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.printer, "/usr/bin/pasm") 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') printer.max_length = printer.config.getfloat('Planner', 'max_length') self.printer.processor = GCodeProcessor(self.printer) self.printer.plugins = PluginsController(self.printer) # Path planner travel_default = False center_default = False home_default = False # Setting acceleration before PathPlanner init for axis in printer.steppers.keys(): printer.acceleration[Printer.axis_to_index( axis)] = printer.config.getfloat( 'Planner', 'acceleration_' + axis.lower()) self.printer.path_planner = PathPlanner(self.printer, pru_firmware) for axis in printer.steppers.keys(): i = Printer.axis_to_index(axis) # 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] = ( printer.soft_max[i] - printer.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] = ( printer.soft_min[i] if printer.home_speed[i] > 0 else printer.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 printer.axis_config == Printer.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'] delta_bot = self.printer.path_planner.native_planner.delta_bot z_offset = delta_bot.vertical_offset(Az, Bz, Cz) # vertical offset xyz = delta_bot.forward_kinematics(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)) # Read end stop value again now that PRU is running for _, es in self.printer.end_stops.iteritems(): es.read_value() # Enable Stepper timeout timeout = printer.config.getint('Steppers', 'timeout_seconds') printer.swd = StepperWatchdog(printer, timeout) if printer.config.getboolean('Steppers', 'use_timeout'): printer.swd.start() # 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" )