def set_active_endstops(self):
"""
go through the list of endstops and load their active status into the PRU
"""
# generate a binary representation of the active status
active = 0
for i, es in enumerate(["X1", "Y1", "Z1", "X2", "Y2", "Z2"]):
if self.end_stops[es].active:
active += 1 << i
#logging.debug("endstop active mask = " + bin(active))
# write to shared memory
PruInterface.set_active_endstops(active)
def probe(self, z, speed, accel):
self.wait_until_done()
self.printer.ensure_steppers_enabled()
# save the starting position
start = self.get_current_pos()
# calculate how many steps the requested z movement will require
steps = np.ceil(z*self.printer.steps_pr_meter[2])
z_dist = steps/self.printer.steps_pr_meter[2]
logging.debug("Steps total: "+str(steps))
# select the relative end point
# this is not axis_config dependent as we are not swapping
# axis_config like we do when homing
end = {"Z":-z_dist}
# tell the printer we are now in homing mode (updates firmware if required)
self.printer.homing(True)
# add a relative move to the path planner
# this tells the head to move down a set distance
# the probe end-stop should be triggered during this move
path = RelativePath(end, speed, accel,
cancelable=True,
use_bed_matrix=False,
use_backlash_compensation=True,
enable_soft_endstops=False)
self.add_path(path)
self.wait_until_done()
# get the number of steps that we haven't done
steps_remaining = PruInterface.get_steps_remaining()
logging.debug("Steps remaining : "+str(steps_remaining))
# Calculate how many steps the Z axis moved
steps -= steps_remaining
z_dist = steps/self.printer.steps_pr_meter[2]
# make a move to take us back to where we started
end = {"Z":z_dist}
path = RelativePath(end, speed, accel,
cancelable=True,
use_bed_matrix=False,
use_backlash_compensation=True,
enable_soft_endstops=False)
self.add_path(path)
self.wait_until_done()
# reset position back to where we actually are
path = G92Path(start)
self.add_path(path)
self.wait_until_done()
# tell the printer we are no longer in homing mode (updates firmware if required)
self.printer.homing(False)
return -z_dist
def set_active_endstops(self):
"""
go through the list of endstops and load their active status into the PRU
"""
# generate a binary representation of the active status
active = 0
for i, es in enumerate(["X1","Y1","Z1","X2","Y2","Z2"]):
if self.end_stops[es].active:
active += 1 << i
logging.debug("endstop active mask = " + bin(active))
# write to shared memory
PruInterface.set_active_endstops(active)
return
def read_value(self):
""" Read the current endstop value from GPIO using PRU1 """
state = PruInterface.get_shared_long(0)
self.hit = bool(state & self.condition_bit)
""" An endStop has changed state """
type_string = "hit" if self.hit else "released"
event_string = "End Stop {} {}!".format(self.name, type_string)
logging.info(event_string)
for channel in ["octoprint", "toggle"]:
if channel in self.printer.comms:
self.printer.comms[channel].send_message(event_string)
if __name__ == "__main__":
print("Test endstops")
import time
while True:
state = PruInterface.get_shared_long(0)
print(bin(state) + " ", )
if bool(state & (1 << 0)):
print("X1", )
elif bool(state & (1 << 1)):
print("Y1", )
elif bool(state & (1 << 2)):
print("Z1", )
elif bool(state & (1 << 3)):
print("X2", )
elif bool(state & (1 << 4)):
print("Y2", )
elif bool(state & (1 << 5)):
print("Z2", )
print((" " * 30) + "\r", )
time.sleep(0.01)
def probe(self, z, speed, accel):
self.wait_until_done()
self.printer.ensure_steppers_enabled()
# save the starting position
start_pos = self.get_current_pos(ideal=True)
start_state = self.native_planner.getState()
# calculate how many steps the requested z movement will require
steps = np.ceil(z * self.printer.steps_pr_meter[2])
z_dist = steps / self.printer.steps_pr_meter[2]
logging.debug("Steps total: " + str(steps))
# select the relative end point
# this is not axis_config dependent as we are not swapping
# axis_config like we do when homing
end = {"Z": -z_dist}
# tell the printer we are now in homing mode (updates firmware if required)
self.printer.homing(True)
# add a relative move to the path planner
# this tells the head to move down a set distance
# the probe end-stop should be triggered during this move
path = RelativePath(end,
speed,
accel,
cancelable=True,
use_bed_matrix=True,
use_backlash_compensation=True,
enable_soft_endstops=False)
self.add_path(path)
self.wait_until_done()
# get the number of steps that we haven't done
steps_remaining = PruInterface.get_steps_remaining()
logging.debug("Steps remaining : " + str(steps_remaining))
# Calculate how many steps the Z axis moved
steps -= steps_remaining
z_dist = steps / self.printer.steps_pr_meter[2]
# make a move to take us back to where we started
end = {"Z": z_dist}
path = RelativePath(end,
speed,
accel,
cancelable=True,
use_bed_matrix=True,
use_backlash_compensation=True,
enable_soft_endstops=False)
self.add_path(path)
self.wait_until_done()
# reset position back to where we actually are
path = G92Path({"Z": start_pos["Z"]}, use_bed_matrix=True)
self.add_path(path)
self.wait_until_done()
start_state = self.native_planner.getState()
# tell the printer we are no longer in homing mode (updates firmware if required)
self.printer.homing(False)
return -z_dist + start_pos["Z"]
