response = 1
# you read through ring buffer, it is extended by one to read out hsync time
# for each facet the sync time is determined, this should be the ticks per mirror segment
hsync_times = []
while True and not pruss.core0.halted:
if SINGLE_FACET and (response%4!=0):
data = [COMMANDS.inv['CMD_SCAN_DATA']] + SCANLINE_DATA_SIZE*[0]
else:
data = [COMMANDS.inv['CMD_SCAN_DATA']] + LINE
if response >= TOTAL_LINES - QUEUE_LEN:
data = [COMMANDS.inv['CMD_EXIT']]
pruss.intc.out_enable_one(IRQ)
while True:
result = irq.irq_recv()
if result:
break
else:
sleep(1E-3)
pruss.intc.ev_clear_one(pruss.intc.out_event[IRQ])
pruss.intc.out_enable_one(IRQ)
[command_index] = pruss.core0.dram.map(length = 1, offset = byte)
hsync_times.append(pruss.core0.dram.map(c_uint32, offset = 1).value)
try:
command = COMMANDS[command_index]
if command == 'CMD_EMPTY':
pruss.core0.dram.write(data, offset = byte)
else:
break
except IndexError:
class Machine:
def __init__(self, stepper=True, camera = False):
if camera:
from camera import Camera
self.camera = Camera()
self.loadconstants()
self.position = [0, 0, 0]
self.pindictionary()
self.init_pru()
self.currentdir = dirname(realpath(__file__))
self.bin_folder = join(self.currentdir, 'binaries')
self.laserchannels = 0
self.configure_pins()
if stepper:
self.motor_spi = [self.init_stepper(label) for label in ['x','y','z']]
# digipot is used to set laser power
self.digipot = I2C.get_i2c_device(0x28, busnum=2)
def configure_pins(self):
'''
pins are configured via config-pin -f pinfile.bbio
This relies on cape-universal. Cape-universal allows pins to be
changed on the fly without reboot.
'''
path = join(self.currentdir, 'config-pin', 'firestarter.bbio')
MyOut = subprocess.Popen(['config-pin', '-f', path ],
stdout=subprocess.PIPE,
stderr=subprocess.STDOUT)
stdout, stderr = MyOut.communicate()
if stdout or stderr:
raise Exception("Configuring pins via config-pin failed")
@property
def laser_power(self):
'''
gets power set for laser driver chip can be in range [0-255]
'''
return abs(self.digipot.readU8(0))
@laser_power.setter
def laser_power(self, value):
'''
set laser power to given value in range [0-255]
for the laser driver chip. This does not turn on or off the laser.
The laser power can be changed in two ways.
First by using one or two channels. Second by settings a value between
0-255 at the laser driver chip.
'''
if value < 0 or value > 255:
raise Exception('Invalid laser power')
self.digipot.write8(0, value)
@property
def laserchannels(self):
'''
returns the number of laser channels turned on
channels can be [0,1,2]
'''
return self._laserchannels
@laserchannels.setter
def laserchannels(self, channels):
'''
sets 0, 1 or 2 channels on.
The laser power can be changed in two ways.
First by using one or two channels. Second by setting a value in
range [0-255] at the laser driver chip. Here the amount of channels
used is set.
:param channels: number of channels to be turned max is 2.
'''
channels = int(round(channels))
if channels<0 or channels>2:
raise Exception("Channels is not within set [0,1,2]")
self.pruss.core0.load(join(self.bin_folder,
'switch_laser.bin'))
class Params( Structure ):
_fields_ = [
("power", c_uint32)
]
variables = self.pruss.core0.dram.map(Params)
variables.power = int(round(channels))
self.pruss.core0.run()
while not self.pruss.core0.halted:
pass
self._laserchannels = int(round(channels))
def test_photodiode(self):
"""
The laser is turned on. The polygon is spun at a rate of 1000 Hz
for 5 seconds. The photodiode is measured for three seconds, if
high within these three seconds test is succesfull, otherwise
unsuccesfull. The laser is turned off.
"""
GPIO.output(self.pins['prism_enable'], GPIO.LOW)
self.pruss.core0.load(join(self.bin_folder,
'photodiodetest.bin'))
self.pruss.core0.run()
print("Waiting for core to halt")
while not self.pruss.core0.halted:
pass
byte0 = self.pruss.core0.dram.map(c_uint32)
return_value = int(byte0.value)
if return_value == 0:
print("Laser detected with photodiode, test successfull")
elif return_value == 1:
print("Photo diode connected but no signal")
else:
print("Photo diode not connected")
GPIO.output(self.pins['prism_enable'], GPIO.HIGH)
def test_polygonmotor(self):
"""
spins the polygon at a rate of x Hz for 5 seconds
"""
GPIO.output(self.pins['prism_enable'], GPIO.LOW)
self.pruss.core0.load(join(self.bin_folder,
'spinpolygon.bin'))
self.pruss.core0.run()
print("Spinning polygon for 5 seconds")
while not self.pruss.core0.halted:
pass
GPIO.output(self.pins['prism_enable'], GPIO.HIGH)
def test_createline(self):
"""
spins the polygon at a rate of x Hz for 5 seconds
while laser channel 1 is enabled.
As such a line is created without a phase lock loop.
"""
GPIO.output(self.pins['prism_enable'], GPIO.LOW)
self.pruss.core0.load(join(self.bin_folder,
'createline.bin'))
self.pruss.core0.run()
print("Turning on channel 1 and spinning polygon for 5 seconds")
while not self.pruss.core0.halted:
pass
GPIO.output(self.pins['prism_enable'], GPIO.HIGH)
def loadconstants(self):
'''
loads COMMANDS and Errors
'''
# commands accepted by scanhead also defined in laserscribe constants
self.COMMANDS = ['CMD_EMPTY',
'CMD_SCAN_DATA', 'CMD_SCAN_DATA_NO_SLED']
self.COMMANDS += ['CMD_EXIT', 'CMD_DONE']
self.COMMANDS = bidict(enumerate(self.COMMANDS))
# errors accepted by scanhead also defined in laserscribe constants
self.ERRORS = ['ERROR_NONE',
'ERROR_DEBUG_BREAK', 'ERROR_MIRROR_SYNC']
self.ERRORS += ['ERROR_TIME_OVERRUN']
self.ERRORS = bidict(enumerate(self.ERRORS))
#TODO: place this in a dictionary or a named tuple
# key variables
self.RPM = 2400 # revolutions per minute
self.TICK_DELAY = 100 # cpu cycles in loop
PRU_SPEED = 200E6 # cpu cycles per second
self.FACETS = 4 # number of sides of prism
self.TICKS_START = 4375 # laser starts in off state
self.SCANLINE_DATA_SIZE = 790 # there are 8 pixels per byte
# so TICKS = 8*SCANLINE_DATA_SIZE
# dependent variables
self.TICKS_PER_PRISM_FACET = round(PRU_SPEED// # ticks per prism facet
(self.TICK_DELAY*(self.RPM*self.FACETS)/60))
# time in seconds used to spinup prism
self.SPINUP_TICKS = round(1.5 * PRU_SPEED / self.TICK_DELAY)
# time in seconds waited for laser stabilization
self.MAX_WAIT_STABLE_TICKS = round(1.125 * PRU_SPEED / self.TICK_DELAY)
# ticks per half period of prism motor
self.TICKS_HALF_PERIOD_MOTOR=int(round((self.TICKS_PER_PRISM_FACET*self.FACETS/6)/2))
self.SCANLINE_HEADER_SIZE = 1 # each line starts with a self.COMMAND
self.START_RINGBUFFER = 1 # the zero byte is an error code, ringbuffer starts at 1
self.QUEUE_LEN = 8 # length of the ringbuffer
# length of an item in the ringbuffer in bytes
self.SCANLINE_ITEM_SIZE = self.SCANLINE_HEADER_SIZE + self.SCANLINE_DATA_SIZE
# the prism is spin up, it is determined if the jitter per prism is within a certain threshold
self.JITTER_THRESH = round(self.TICKS_PER_PRISM_FACET / 400 )
# after spinup the jitter allow is set smaller this leads to better results
self.JITTER_ALLOW = round(self.TICKS_PER_PRISM_FACET / 3000 )
self.STEPSPERMM = {'x': 76.2, 'y': 76.2, 'z': 1600}
# These things are needed in interpolator
self.SLED_SPEED = 1/self.STEPSPERMM['y']*(self.RPM*self.FACETS/60)
#print("Sled speed is fixed at {} mm/s".format(SLED_SPEED))
#print("Laser freq is {} Hz".format(200e6/TICK_DELAY))
def init_stepper(self, drive='x', mA=600, microsteps=16, stealthchop=True):
'''
connects to stepper motor with current in miliamperes, number of microsteps
and steatlchop, drive can be x, y or z.
'''
GPIO_0_BASE = 0x44E07000
# pins order is x,y,z
pindict = {'x':GPIO_0_BASE | 5,'y':GPIO_0_BASE | 30, 'z': GPIO_0_BASE | 26}
try:
motor = steppers.TMC2130(pindict[drive])
except KeyError:
raise Exception("Invalid drive value")
motor.begin()
if motor.test_connection():
raise Exception("Failed to connent to {} motor".format(drive))
motor.rms_current(mA)
motor.microsteps(microsteps)
motor.toff(3)
motor.stealthChop(stealthchop)
return motor
def init_pru(self):
'''
creates interface for pruss and irq
'''
self.IRQ = 2
self.pruss = Icss('/dev/uio/pruss/module')
self.irq = Uio("/dev/uio/pruss/irq%d" % self.IRQ, blocking=False)
self.pruss.initialize(fill_memories=True)
def pindictionary(self):
'''
creates dictionary for motor pins
'''
self.pins = {'x_dir': "P9_42",
'y_dir': "P8_15",
'z_dir': "P8_17",
'step_enable': "P9_12",
'prism_enable': "P9_23"}
for key, value in self.pins.items():
GPIO.setup(value, GPIO.OUT)
def write_params(self, axis, distance, speed, core=0):
'''
writes parameters to pru0
in moving distance defines a length
in homing distance defines a limit
:param axis; can be 'x', 'y' or 'z' used to determine steps per mm
:param distance; distance in mm
:param speed; speed in mm/s
:param core; pru core map parameters to
'''
try:
steps_per_mm = self.STEPSPERMM[axis]
except KeyError:
raise Exception("Axis {} invalid".format(axis))
class Params( Structure ):
_fields_ = [ #1 steps moved in case of move
("steps", c_uint32), #1 max amount steps moved for home
("halfperiodstep", c_uint32) #2 speed
]
if core == 0:
params = self.pruss.core0.dram.map(Params)
else:
params = self.pruss.core1.dram.map(Params)
# round(np.float64(3.0)) -> 3.0, round(3.0) -> 3
params.steps = int(round(distance * steps_per_mm))
CPU_SPEED = 200E6
INST_PER_LOOP = 2
params.halfperiodstep = int(round(CPU_SPEED
/(2*speed*steps_per_mm*INST_PER_LOOP)))
def enable_steppers(self):
'''
enables stepper motors by setting enable pin to low
'''
GPIO.output(self.pins['step_enable'], GPIO.LOW)
def disable_steppers(self):
'''
disables stepper motors by setting enable pin to high
'''
GPIO.output(self.pins['step_enable'], GPIO.HIGH)
def home(self, direction='x', speed = 2):
'''
homes axis in direction at given speed
:param direction; homing direction, x or y
:param speed; homing speed in mm/s
'''
if direction == 'x':
self.write_params('x', 300, speed, core=1)
GPIO.output(self.pins['x_dir'], GPIO.LOW)
self.pruss.core1.load(join(self.bin_folder,
'home_x.bin'))
self.pruss.core1.run()
while not self.pruss.core1.halted:
pass
if self.pruss.core1.r10:
raise Exception("Homing x failed")
elif direction == 'y':
self.write_params('y', 300, speed, core=0)
GPIO.output(self.pins['y_dir'], GPIO.LOW)
self.pruss.core0.load(join(self.bin_folder,
'home_y.bin'))
self.pruss.core0.run()
while not self.pruss.core0.halted:
pass
if self.pruss.core0.r2:
raise Exception("Homing y failed")
elif direction == 'z':
self.write_params('z', 300, speed, core=1)
# home in the down direction
GPIO.output(self.pins['z_dir'], GPIO.HIGH)
self.pruss.core1.load(join(self.bin_folder,
'home_z.bin'))
self.pruss.core1.run()
while not self.pruss.core1.halted:
pass
if self.pruss.core1.r10:
raise Exception("Homing z failed")
else:
raise Exception("Direction invalid")
# update current position, move so homing switch is disabled
if direction == 'x':
self.position[0] = 0
self.move([40, self.position[1], self.position[2]], 4)
self.position[0] = 0
elif direction == 'y':
self.position[1] = 0
self.move([self.position[0], 10, self.position[2]], 4)
self.position[1] = 0
else: # must be z exception already cared in homing procedure
self.position[2] = 0
self.move([self.position[0], self.position[2], 10], 4)
self.position[2] = 0
def move(self, target_position, speed = 2):
'''
moves axis into position at given speed
:param target position; list, [x, y, z] in mm
:param speed; homing speed in mm/s
'''
if target_position[0] < 0 or target_position[0] > 200:
raise Exception('Target out of bounds')
elif target_position[1] < 0 or target_position[1] > 200:
raise Exception('Target out of bounds')
elif target_position[2] < 0 or target_position[2] > 200:
raise Exception('Target out of bounds')
displacement = np.array(target_position) - np.array(self.position)
if displacement[0]:
direction = GPIO.HIGH if displacement[0] > 0 else GPIO.LOW
GPIO.output(self.pins['x_dir'], direction)
self.write_params('x', abs(displacement[0]), speed, core=1)
self.pruss.core1.load(join(self.bin_folder, 'move_x.bin'))
self.pruss.core1.run()
while not self.pruss.core1.halted:
pass
if displacement[1]:
direction = GPIO.HIGH if displacement[1] > 0 else GPIO.LOW
GPIO.output(self.pins['y_dir'], direction)
self.write_params('y', abs(displacement[1]), speed, core=0)
self.pruss.core0.load(join(self.bin_folder, 'move_y.bin'))
self.pruss.core0.run()
while not self.pruss.core0.halted:
pass
if displacement[2]:
direction = GPIO.LOW if displacement[2] > 0 else GPIO.HIGH
GPIO.output(self.pins['z_dir'], direction)
self.write_params('z', abs(displacement[2]), speed, core=1)
self.pruss.core1.load(join(self.bin_folder, 'move_z.bin'))
self.pruss.core1.run()
while not self.pruss.core1.halted:
pass
self.position = target_position
def enable_scanhead(self, singlefacet=False):
'''
enables scanhead, ensure scanhead is not above substrate
:param singlefacet; if true singlefacet exposure enabled
'''
GPIO.output(self.pins['prism_enable'], GPIO.LOW)
PRU0_ARM_INTERRUPT = 19
self.pruss.intc.ev_ch[PRU0_ARM_INTERRUPT] = self.IRQ
self.pruss.intc.ev_clear_one(PRU0_ARM_INTERRUPT)
self.pruss.intc.ev_enable_one(PRU0_ARM_INTERRUPT)
self.pruss.core0.load(join(self.bin_folder, './stabilizer.bin'))
# map and set parameters
class Variables( Structure ):
_fields_ = [
("ringbuffer_size", c_uint32),
("item_size", c_uint32),
("start_sync_after", c_uint32),
("global_time", c_uint32),
("polygon_time", c_uint32),
("wait_countdown", c_uint32),
("hsync_time", c_uint32),
("item_start", c_uint32),
("item_pos", c_uint32),
("state", c_uint16),
("bit_loop", c_uint8),
("last_hsync_bit", c_uint8),
("single_facet", c_uint8),
("current_facet", c_uint8),
("ticks_half_period_motor", c_uint16),
("low_thresh_prism", c_uint16),
("high_thresh_prism", c_uint16),
("ticks_start", c_uint16),
("tick_delay", c_uint16),
("spinup_ticks", c_uint32),
("max_wait_stable_ticks", c_uint32)
]
variables = self.pruss.core0.dram.map(Variables)
if singlefacet:
variables.single_facet = 1
else:
variables.single_facet = 0
variables.item_size = self.SCANLINE_ITEM_SIZE
variables.ringbuffer_size = self.SCANLINE_ITEM_SIZE * self.QUEUE_LEN
variables.start_sync_after = self.TICKS_PER_PRISM_FACET - self.JITTER_ALLOW - 1
variables.ticks_half_period_motor = self.TICKS_HALF_PERIOD_MOTOR
variables.low_thresh_prism = self.TICKS_PER_PRISM_FACET - self.JITTER_THRESH
variables.high_thresh_prism = self.TICKS_PER_PRISM_FACET + self.JITTER_THRESH
variables.ticks_start = self.TICKS_START
variables.tick_delay = self.TICK_DELAY
variables.max_wait_stable_ticks = self.MAX_WAIT_STABLE_TICKS
variables.spinup_ticks = self.SPINUP_TICKS
self.pruss.core0.run()
#TODO: add check polygon is enabled and stable
# if you can't disable does not work
sleep(4)
def receive_command(self, byte = None, check = False):
'''
receives command at given offset
:param byte; byte to read after trigger is received this is the command
:param check; check wether the command equals command empty
'''
if byte == None:
byte = self.START_RINGBUFFER
self.pruss.intc.out_enable_one(self.IRQ)
# while loop is used in case irc_recv call is non-blocking
while True:
result = self.irq.irq_recv()
if result:
break
else:
sleep(1E-3)
self.pruss.intc.ev_clear_one(self.pruss.intc.out_event[self.IRQ])
self.pruss.intc.out_enable_one(self.IRQ)
[command_index] = self.pruss.core0.dram.map(length = 1,
offset = byte)
if check:
received_command = self.COMMANDS[command_index]
if received_command != 'CMD_EMPTY':
error = ('Command not empty but {} '.format(received_command) +
'you could overwrite line not written to substrate yet.')
raise Exception(error)
return command_index
def disable_scanhead(self):
'''
disables scanhead
function sleeps to offset is START_RINGBUFFER
'''
data = [self.COMMANDS.inv['CMD_EXIT']]
self.pruss.core0.dram.write(data, offset = self.START_RINGBUFFER)
while not self.pruss.core0.halted:
pass
GPIO.output(self.pins['prism_enable'], GPIO.HIGH)
def error_received(self):
'''
prints errors received and returns error index
can be used to read out errors from the laser scanner
'''
ERROR_RESULT_POS = 0
error_index = self.pruss.core0.dram.map(length = 1,
offset = ERROR_RESULT_POS)[0]
if error_index:
try:
print("Error received; {}".format(
self.ERRORS[error_index]))
except IndexError:
print("Error, error out of index")
return error_index
def expose(self, line_data, direction = True,
multiplier = 1, move = False, takepicture = False):
'''
expose given line_data to substrate in given direction
each line is exposed multiplier times.
returns result of takepicture
:param line_data; data to write to scanner, uint8
:param multiplier; amount of times a line is exposed
:param direction; direction of exposure,
True is postive y (away from home)
:param move; if enabled moves stage
:param takepicture; if enabled takes picture
'''
if line_data.dtype != np.uint8:
raise Exception('Dtype must be uint8')
if len(line_data) % self.SCANLINE_DATA_SIZE:
raise Exception('Data invalid, length should be multilple'
+ ' of scanline size')
if (line_data.max() < 1 or line_data.max() > 255):
raise Exception('Data invalid, values out of range.')
if move:
self.enable_steppers()
else:
self.disable_steppers()
if direction:
GPIO.output(self.pins['y_dir'], GPIO.HIGH)
else:
GPIO.output(self.pins['y_dir'], GPIO.LOW)
byte = self.START_RINGBUFFER
for scanline in range(0, len(line_data)//self.SCANLINE_DATA_SIZE):
for counter in range(0, multiplier):
self.receive_command(byte, True)
# you start the picture where the laser is just off again
if scanline == self.QUEUE_LEN and takepicture:
self.camera.get_spotinfo(wait=False)
extra_data = list(line_data[scanline*self.SCANLINE_DATA_SIZE
:(scanline+1)*self.SCANLINE_DATA_SIZE])
if counter == 0:
write_data = ([self.COMMANDS.inv['CMD_SCAN_DATA']]
+ extra_data)
else:
write_data = ([self.COMMANDS.inv['CMD_SCAN_DATA_NO_SLED']]
+ extra_data)
self.pruss.core0.dram.write(write_data, offset = byte)
byte += self.SCANLINE_ITEM_SIZE
if byte > self.SCANLINE_DATA_SIZE * self.QUEUE_LEN:
byte = self.START_RINGBUFFER
if takepicture:
return self.camera.get_answer()
return byte
#!/usr/bin/python3
from uio.device import Uio
pin = Uio("/dev/uio/gpio-irq")
pin.irq_enable()
while True:
pin.irq_recv()
print("Ping!")
# If the irq is level-triggered instead of edge-triggered, you should
# ensure that it is no longer asserted before reenabling it, otherwise
# it will just immediately trigger again.
pin.irq_enable()
#!/usr/bin/python3
from uio.device import Uio
pin = Uio( "/dev/uio/gpio-irq" )
pin.irq_enable()
while True:
pin.irq_recv()
print( "Ping!" )
# If the irq is level-triggered instead of edge-triggered, you should
# ensure that it is no longer asserted before reenabling it, otherwise
# it will just immediately trigger again.
pin.irq_enable()