def __init__(self, config):
printer = config.get_printer()
pins.get_printer_pins(printer).register_chip('replicape', self)
revisions = {'B3': 'B3'}
config.getchoice('revision', revisions)
self.host_mcu = mcu.get_printer_mcu(printer, config.get('host_mcu'))
# Setup enable pin
self.mcu_pwm_enable = pins.setup_pin(
printer, 'digital_out', config.get('enable_pin', '!P9_41'))
self.mcu_pwm_enable.setup_max_duration(0.)
self.mcu_pwm_start_value = self.mcu_pwm_shutdown_value = False
# Setup power pins
self.pins = {
"power_e": (pca9685_pwm, 5), "power_h": (pca9685_pwm, 3),
"power_hotbed": (pca9685_pwm, 4),
"power_fan0": (pca9685_pwm, 7), "power_fan1": (pca9685_pwm, 8),
"power_fan2": (pca9685_pwm, 9), "power_fan3": (pca9685_pwm, 10) }
# Setup stepper config
self.stepper_dacs = {}
shift_registers = [1, 0, 0, 1, 1]
for port, name in enumerate('xyzeh'):
prefix = 'stepper_%s_' % (name,)
sc = config.getchoice(
prefix + 'microstep_mode', ReplicapeStepConfig, 'disable')
if sc is None:
continue
sc |= shift_registers[port]
if config.getboolean(prefix + 'chopper_off_time_high', False):
sc |= 1<<3
if config.getboolean(prefix + 'chopper_hysteresis_high', False):
sc |= 1<<2
if config.getboolean(prefix + 'chopper_blank_time_high', True):
sc |= 1<<1
shift_registers[port] = sc
channel = port + 11
cur = config.getfloat(
prefix + 'current', above=0., maxval=REPLICAPE_MAX_CURRENT)
self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT
self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel)
self.enabled_channels = {ch: False for cl, ch in self.pins.values()}
self.disable_stepper_cmd = "send_spi bus=%d dev=%d msg=%s" % (
REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
"".join(["%02x" % (x,) for x in reversed(shift_registers)]))
if [i for i in [0, 1, 2] if 11+i in self.stepper_dacs]:
# Enable xyz steppers
shift_registers[0] &= ~1
if [i for i in [3, 4] if 11+i in self.stepper_dacs]:
# Enable eh steppers
shift_registers[3] &= ~1
if (config.getboolean('standstill_power_down', False)
and self.stepper_dacs):
shift_registers[4] &= ~1
self.enable_stepper_cmd = "send_spi bus=%d dev=%d msg=%s" % (
REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
"".join(["%02x" % (x,) for x in reversed(shift_registers)]))
self.host_mcu.add_config_cmd(self.disable_stepper_cmd)
self.last_stepper_time = 0.
def __init__(self, printer, config):
self.printer = printer
try:
pins.get_printer_pins(printer).register_chip('multi_pin', self)
except pins.error:
pass
self.pin_type = None
self.pin_list = [pin.strip() for pin in config.get('pins').split(',')]
self.mcu_pins = []
def __init__(self, printer, config, clocksync):
self._printer = printer
self._clocksync = clocksync
self._reactor = printer.get_reactor()
self._name = config.get_name()
if self._name.startswith('mcu '):
self._name = self._name[4:]
# Serial port
self._serialport = config.get('serial', '/dev/ttyS0')
baud = 0
if not (self._serialport.startswith("/dev/rpmsg_")
or self._serialport.startswith("/tmp/klipper_host_")):
baud = config.getint('baud', 250000, minval=2400)
self._serial = serialhdl.SerialReader(self._reactor, self._serialport,
baud)
# Restarts
self._restart_method = 'command'
if baud:
rmethods = {m: m for m in [None, 'arduino', 'command', 'rpi_usb']}
self._restart_method = config.getchoice('restart_method', rmethods,
None)
self._reset_cmd = self._config_reset_cmd = None
self._emergency_stop_cmd = None
self._is_shutdown = self._is_timeout = False
self._shutdown_msg = ""
printer.set_rollover_info(self._name, None)
# Config building
pins.get_printer_pins(printer).register_chip(self._name, self)
self._oid_count = 0
self._config_objects = []
self._init_cmds = []
self._config_cmds = []
self._config_crc = None
self._pin_map = config.get('pin_map', None)
self._custom = config.get('custom', '')
self._mcu_freq = 0.
# Move command queuing
ffi_main, self._ffi_lib = chelper.get_ffi()
self._max_stepper_error = config.getfloat('max_stepper_error',
0.000025,
minval=0.)
self._stepqueues = []
self._steppersync = None
# Stats
self._stats_sumsq_base = 0.
self._mcu_tick_avg = 0.
self._mcu_tick_stddev = 0.
self._mcu_tick_awake = 0.
def __init__(self, printer, config):
self._printer = printer
# Serial port
self._serialport = config.get('serial', '/dev/ttyS0')
if self._serialport.startswith("/dev/rpmsg_"):
# Beaglbone PRU
baud = 0
else:
baud = config.getint('baud', 250000, minval=2400)
self.serial = serialhdl.SerialReader(printer.reactor, self._serialport,
baud)
self.is_shutdown = False
self._shutdown_msg = ""
self._timeout_timer = printer.reactor.register_timer(
self.timeout_handler)
self._restart_method = 'command'
if baud:
rmethods = {m: m for m in ['arduino', 'command', 'rpi_usb']}
self._restart_method = config.getchoice('restart_method', rmethods,
'arduino')
# Config building
if printer.bglogger is not None:
printer.bglogger.set_rollover_info("mcu", None)
pins.get_printer_pins(printer).register_chip("mcu", self)
self._emergency_stop_cmd = None
self._reset_cmd = self._config_reset_cmd = None
self._oid_count = 0
self._config_objects = []
self._init_cmds = []
self._config_cmds = []
self._config_crc = None
self._pin_map = config.get('pin_map', None)
self._custom = config.get('custom', '')
# Move command queuing
ffi_main, self._ffi_lib = chelper.get_ffi()
self._max_stepper_error = config.getfloat('max_stepper_error',
0.000025,
minval=0.)
self._stepqueues = []
self._steppersync = None
# Print time to clock epoch calculations
self._print_start_time = 0.
self._mcu_freq = 0.
# Stats
self._stats_sumsq_base = 0.
self._mcu_tick_avg = 0.
self._mcu_tick_stddev = 0.
self._mcu_tick_awake = 0.
def __init__(self, printer, config):
pins.get_printer_pins(printer).register_chip('replicape', self)
revisions = {'B3': 'B3'}
config.getchoice('revision', revisions)
self.host_mcu = mcu.get_printer_mcu(printer, config.get('host_mcu'))
# Setup enable pin
self.mcu_enable = pins.setup_pin(printer, 'digital_out',
config.get('enable_pin', '!P9_41'))
self.mcu_enable.setup_max_duration(0.)
self.enabled_channels = {}
# Setup power pins
self.pins = {
"power_e": (pca9685_pwm, 5),
"power_h": (pca9685_pwm, 3),
"power_hotbed": (pca9685_pwm, 4),
"power_fan0": (pca9685_pwm, 7),
"power_fan1": (pca9685_pwm, 8),
"power_fan2": (pca9685_pwm, 9),
"power_fan3": (pca9685_pwm, 10)
}
# Setup stepper config
self.stepper_dacs = {}
shift_registers = [1] * 5
for port, name in enumerate('xyzeh'):
prefix = 'stepper_%s_' % (name, )
sc = config.getchoice(prefix + 'microstep_mode',
ReplicapeStepConfig, 'disable')
if sc is None:
continue
if config.getboolean(prefix + 'chopper_off_time_high', False):
sc |= 1 << 3
if config.getboolean(prefix + 'chopper_hysteresis_high', False):
sc |= 1 << 2
if config.getboolean(prefix + 'chopper_blank_time_high', True):
sc |= 1 << 1
shift_registers[port] = sc
channel = port + 11
cur = config.getfloat(prefix + 'current',
above=0.,
maxval=REPLICAPE_MAX_CURRENT)
self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT
self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel)
shift_registers.reverse()
self.host_mcu.add_config_cmd(
"send_spi bus=%d dev=%d msg=%s" %
(REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
"".join(["%02x" % (x, ) for x in shift_registers])))
def lookup_enable_pin(printer, pin):
if pin is None:
return StepperEnablePin(None, 9999)
pin_params = pins.get_printer_pins(printer).lookup_pin(
'digital_out', pin, 'stepper_enable')
enable = pin_params.get('class')
if enable is None:
mcu_enable = pin_params['chip'].setup_pin(pin_params)
mcu_enable.setup_max_duration(0.)
pin_params['class'] = enable = StepperEnablePin(mcu_enable)
return enable
def __init__(self, printer, config):
enable_pin_params = pins.get_printer_pins(printer).parse_pin_desc(
config.get('enable_pin'))
self.mcu = enable_pin_params['chip']
self.pin = enable_pin_params['pin']
self.mcu.add_config_object(self)
scale = config.getfloat('scale', 1., above=0.)
self.channels = [None] * 6
for i in range(len(self.channels)):
val = config.getfloat('channel_%d' % (i+1,), None,
minval=0., maxval=scale)
if val is not None:
self.channels[i] = int(val * 256. / scale + .5)
def __init__(self, config):
printer = config.get_printer()
enable_pin_params = pins.get_printer_pins(printer).lookup_pin(
'digital_out', config.get('enable_pin'))
if enable_pin_params['invert']:
raise pins.error("ad5206 can not invert pin")
self.mcu = enable_pin_params['chip']
self.pin = enable_pin_params['pin']
self.mcu.add_config_object(self)
scale = config.getfloat('scale', 1., above=0.)
self.channels = [None] * 6
for i in range(len(self.channels)):
val = config.getfloat('channel_%d' % (i+1,), None,
minval=0., maxval=scale)
if val is not None:
self.channels[i] = int(val * 256. / scale + .5)
def __init__(self, printer, config):
self.name = config.section
if self.name.startswith('stepper_'):
self.name = self.name[8:]
self.need_motor_enable = True
# Stepper definition
self.mcu_stepper = pins.setup_pin(
printer, 'stepper', config.get('step_pin'))
dir_pin_params = pins.get_printer_pins(printer).lookup_pin(
'digital_out', config.get('dir_pin'))
self.mcu_stepper.setup_dir_pin(dir_pin_params)
self.step_dist = config.getfloat('step_distance', above=0.)
self.mcu_stepper.setup_step_distance(self.step_dist)
self.step_const = self.mcu_stepper.step_const
self.step_delta = self.mcu_stepper.step_delta
self.enable = lookup_enable_pin(printer, config.get('enable_pin', None))
def __init__(self, printer, config, name):
self.name = name
self.step_dist = config.getfloat('step_distance', above=0.)
self.inv_step_dist = 1. / self.step_dist
self.min_stop_interval = 0.
self.mcu_stepper = pins.setup_pin(printer, 'stepper',
config.get('step_pin'))
dir_pin_params = pins.get_printer_pins(printer).parse_pin_desc(
config.get('dir_pin'), can_invert=True)
self.mcu_stepper.setup_dir_pin(dir_pin_params)
self.mcu_stepper.setup_step_distance(self.step_dist)
enable_pin = config.get('enable_pin', None)
if enable_pin is not None:
self.mcu_enable = pins.setup_pin(printer, 'digital_out',
enable_pin)
self.mcu_enable.setup_max_duration(0.)
self.need_motor_enable = True
def __init__(self, printer, config):
self.name = config.section
if self.name.startswith('stepper_'):
self.name = self.name[8:]
self.need_motor_enable = True
# Stepper definition
self.mcu_stepper = pins.setup_pin(printer, 'stepper',
config.get('step_pin'))
dir_pin_params = pins.get_printer_pins(printer).parse_pin_desc(
config.get('dir_pin'), can_invert=True)
self.mcu_stepper.setup_dir_pin(dir_pin_params)
self.step_dist = config.getfloat('step_distance', above=0.)
self.mcu_stepper.setup_step_distance(self.step_dist)
self.step_const = self.mcu_stepper.step_const
self.step_delta = self.mcu_stepper.step_delta
# Enable pin
enable_pin = config.get('enable_pin', None)
self.mcu_enable = None
if enable_pin is not None:
self.mcu_enable = pins.setup_pin(printer, 'digital_out',
enable_pin)
self.mcu_enable.setup_max_duration(0.)
