def exit(self):
self.running = False
self.printer.path_planner.force_exit()
for name, stepper in self.printer.steppers.iteritems():
stepper.set_disabled()
# Commit changes for the Steppers
Stepper.commit()
def exit(self):
self.running = False
self.printer.path_planner.force_exit()
for name, stepper in self.printer.steppers.iteritems():
stepper.set_disabled()
# Commit changes for the Steppers
Stepper.commit()
def execute(self, g):
self.printer.path_planner.wait_until_done()
for i in range(g.num_tokens()):
axis = g.token_letter(i)
stepper = self.printer.steppers[axis]
stepper.set_microstepping(int(g.token_value(i)))
self.printer.path_planner.update_steps_pr_meter()
Stepper.commit()
def execute(self, g):
self.printer.path_planner.wait_until_done()
for i in range(g.num_tokens()):
axis = g.token_letter(i)
stepper = self.printer.steppers[axis]
stepper.set_microstepping(int(g.token_value(i)))
self.printer.path_planner.update_steps_pr_meter()
Stepper.commit()
def execute(self, g):
for i in range(g.num_tokens()): # Run through all tokens
axis = g.token_letter(i) # Get the axis, X, Y, Z or E
value = float(g.token_value(i))
if value > 0:
self.printer.steppers[axis].set_steps_pr_mm(value)
else:
logging.error('Steps per milimeter must be grater than zero.')
Stepper.commit()
def execute(self, g):
for i in range(g.num_tokens()): # Run through all tokens
axis = g.token_letter(i) # Get the axis, X, Y, Z or E
value = float(g.token_value(i))
if value > 0:
self.printer.steppers[axis].set_steps_pr_mm(value)
else:
logging.error('Steps per milimeter must be grater than zero.')
Stepper.commit()
def execute(self, g):
self.printer.path_planner.wait_until_done()
for i in range(g.num_tokens()):
axis = g.token_letter(i)
logging.debug("M350 on "+axis)
stepper = self.printer.steppers[axis]
stepper.set_microstepping(int(g.token_value(i)))
Stepper.commit()
logging.debug("acceleration tables recreated")
def execute(self, g):
self.printer.path_planner.wait_until_done()
for i in range(g.num_tokens()):
axis = g.token_letter(i)
logging.debug("M350 on " + axis)
stepper = self.printer.steppers[axis]
stepper.set_microstepping(int(g.token_value(i)))
Stepper.commit()
self.printer.path_planner.make_acceleration_tables()
logging.debug("acceleration tables recreated")
def execute(self, g):
self.printer.path_planner.wait_until_done()
if g.num_tokens() == 0:
g.set_tokens(["X", "Y", "Z", "E",
"H"]) # If no token is present, do this for all
# All steppers
for i in range(g.num_tokens()): # Run through all tokens
axis = g.token_letter(i) # Get the axis, X, Y, Z or E
self.printer.steppers[axis].set_disabled()
Stepper.commit()
def execute(self, g):
self.printer.path_planner.wait_until_done()
self.printer.steppers["E"].set_disabled()
self.printer.steppers["H"].set_disabled()
Stepper.commit()
self.printer.plugins[__PLUGIN_NAME__].head_servo.set_angle(self.printer.plugins[__PLUGIN_NAME__].t1_angle, asynchronous=False)
self.printer.path_planner.set_extruder(1)
self.printer.current_tool = "H"
self.printer.steppers["E"].set_enabled()
self.printer.steppers["H"].set_enabled()
Stepper.commit()
def execute(self, g):
self.printer.path_planner.wait_until_done()
if g.num_tokens() == 0:
# If no token is present, do this for all steppers
g.set_tokens(["X", "Y", "Z", "E", "H"])
for i in range(g.num_tokens()): # Run through all tokens
axis = g.token_letter(i) # Get the axis, X, Y, Z or E
self.printer.steppers[axis].set_disabled()
Stepper.commit()
def execute(self, g):
self.printer.path_planner.wait_until_done()
self.printer.steppers["E"].set_disabled()
self.printer.steppers["H"].set_disabled()
Stepper.commit()
self.printer.plugins[__PLUGIN_NAME__].head_servo.set_angle(
self.printer.plugins[__PLUGIN_NAME__].t1_angle, asynchronous=False)
self.printer.path_planner.set_extruder(1)
self.printer.current_tool = "H"
self.printer.steppers["E"].set_enabled()
self.printer.steppers["H"].set_enabled()
Stepper.commit()
def exit(self):
logging.info("Redeem starting exit")
self.running = False
self.printer.path_planner.wait_until_done()
self.printer.path_planner.force_exit()
# Stops plugins
self.printer.plugins.exit()
for name, stepper in self.printer.steppers.iteritems():
stepper.set_disabled()
Stepper.commit()
for name, heater in self.printer.heaters.iteritems():
logging.debug("closing "+name)
heater.disable()
for name, comm in self.printer.comms.iteritems():
logging.debug("closing "+name)
comm.close()
self.printer.enable.set_disabled()
logging.info("Redeem exited")
def exit(self):
logging.info("Redeem starting exit")
self.running = False
self.printer.path_planner.wait_until_done()
self.printer.path_planner.force_exit()
# Stops plugins
self.printer.plugins.exit()
for name, stepper in self.printer.steppers.iteritems():
stepper.set_disabled()
Stepper.commit()
for name, heater in self.printer.heaters.iteritems():
logging.debug("closing "+name)
heater.disable()
for name, comm in self.printer.comms.iteritems():
logging.debug("closing "+name)
comm.close()
self.printer.enable.set_disabled()
logging.info("Redeem exited")
def __init__(self):
logging.info("Redeem initializing " + version)
self.printer = Printer()
# Parse the config
self.printer.config = CascadingConfigParser(
['/etc/redeem/default.cfg', '/etc/redeem/local.cfg'])
# Get the revision from the Config file
self.revision = self.printer.config.get('System', 'revision', "A4")
logging.info("Replicape revision " + self.revision)
# Init the end stops
EndStop.callback = self.end_stop_hit
EndStop.inputdev = self.printer.config.get("Endstops", "inputdev")
if self.revision == "A4":
self.printer.end_stops["X1"] = EndStop(
"GPIO3_21", 112, "X1",
self.printer.config.getboolean("Endstops", "invert_X1"))
self.printer.end_stops["X2"] = EndStop(
"GPIO0_30", 113, "X2",
self.printer.config.getboolean("Endstops", "invert_X2"))
self.printer.end_stops["Y1"] = EndStop(
"GPIO1_17", 114, "Y1",
self.printer.config.getboolean("Endstops", "invert_Y1"))
self.printer.end_stops["Y2"] = EndStop(
"GPIO1_19", 115, "Y2",
self.printer.config.getboolean("Endstops", "invert_Y2"))
self.printer.end_stops["Z1"] = EndStop(
"GPIO0_31", 116, "Z1",
self.printer.config.getboolean("Endstops", "invert_Z1"))
self.printer.end_stops["Z2"] = EndStop(
"GPIO0_4", 117, "Z2",
self.printer.config.getboolean("Endstops", "invert_Z2"))
else:
self.printer.end_stops["X1"] = EndStop(
"GPIO0_14", 112, "X1",
self.printer.config.getboolean("Endstops", "invert_X1"))
self.printer.end_stops["X2"] = EndStop(
"GPIO3_21", 113, "X2",
self.printer.config.getboolean("Endstops", "invert_X2"))
self.printer.end_stops["Y1"] = EndStop(
"GPIO2_2", 114, "Y1",
self.printer.config.getboolean("Endstops", "invert_Y1"))
self.printer.end_stops["Y2"] = EndStop(
"GPIO0_31", 115, "Y2",
self.printer.config.getboolean("Endstops", "invert_Y2"))
self.printer.end_stops["Z1"] = EndStop(
"GPIO0_30", 116, "Z1",
self.printer.config.getboolean("Endstops", "invert_Z1"))
self.printer.end_stops["Z2"] = EndStop(
"GPIO0_4", 117, "Z2",
self.printer.config.getboolean("Endstops", "invert_Z2"))
if self.revision == "A3":
Stepper.revision = "A3"
Stepper.ENABLED = 6
Stepper.SLEEP = 5
Stepper.RESET = 4
Stepper.DECAY = 0
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.printer.steppers["X"] = Stepper("GPIO0_27", "GPIO1_29", "GPIO2_4",
0, "X",
self.printer.end_stops["X1"], 0,
0)
self.printer.steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5",
1, "Y",
self.printer.end_stops["Y1"], 1,
1)
self.printer.steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26",
"GPIO0_15", 2, "Z",
self.printer.end_stops["Z1"], 2,
2)
self.printer.steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1",
3, "Ext1", None, 3, 3)
self.printer.steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3",
4, "Ext2", None, 4, 4)
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.set_current_value(
self.printer.config.getfloat('Steppers', 'current_' + name))
if self.printer.config.getboolean('Steppers', 'enabled_' + name):
stepper.set_enabled()
else:
stepper.set_disabled()
stepper.set_steps_pr_mm(
self.printer.config.getfloat('Steppers',
'steps_pr_mm_' + name))
stepper.set_microstepping(
self.printer.config.getint('Steppers',
'microstepping_' + name))
stepper.direction = self.printer.config.getint(
'Steppers', 'direction_' + name)
stepper.set_decay(
self.printer.config.getboolean("Steppers",
"slow_decay_" + name))
# Commit changes for the Steppers
Stepper.commit()
# Find the path of the thermistors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
therm_ext1 = Thermistor(
path + "4_raw", "MOSFET Ext 1",
self.printer.config.get('Heaters', "ext1_temp_chart"))
therm_hbp = Thermistor(
path + "6_raw", "MOSFET HBP",
self.printer.config.get('Heaters', "hbp_temp_chart"))
therm_ext2 = Thermistor(
path + "5_raw", "MOSFET Ext 2",
self.printer.config.get('Heaters', "ext2_temp_chart"))
path = self.printer.config.get('Cold-ends', 'path', 0)
if os.path.exists(path):
self.printer.cold_ends.append(ColdEnd(path, "Cold End 1"))
logging.info("Found Cold end on " + path)
else:
logging.info("No cold end present in path: " + path)
# Init the 3 heaters. Argument is channel number
if self.revision == "A3":
mosfet_ext1 = Mosfet(3)
mosfet_ext2 = Mosfet(4)
mosfet_hbp = Mosfet(5)
else:
mosfet_ext1 = Mosfet(5)
mosfet_ext2 = Mosfet(3)
mosfet_hbp = Mosfet(4)
# Make extruder 1
self.printer.heaters['E'] = Extruder(
self.printer.steppers["E"], therm_ext1, mosfet_ext1, "Ext1",
self.printer.config.getboolean('Heaters', 'ext1_onoff_control'))
self.printer.heaters['E'].set_p_value(
self.printer.config.getfloat('Heaters', "ext1_pid_p"))
self.printer.heaters['E'].set_d_value(
self.printer.config.getfloat('Heaters', "ext1_pid_d"))
self.printer.heaters['E'].set_i_value(
self.printer.config.getfloat('Heaters', "ext1_pid_i"))
self.printer.heaters['E'].ok_range = self.printer.config.getfloat(
'Heaters', "ext1_ok_range")
# Make Heated Build platform
self.printer.heaters['HBP'] = HBP(
therm_hbp, mosfet_hbp,
self.printer.config.getboolean('Heaters', 'hbp_onoff_control'))
self.printer.heaters['HBP'].set_p_value(
self.printer.config.getfloat('Heaters', "hbp_pid_p"))
self.printer.heaters['HBP'].set_d_value(
self.printer.config.getfloat('Heaters', "hbp_pid_i"))
self.printer.heaters['HBP'].set_i_value(
self.printer.config.getfloat('Heaters', "hbp_pid_d"))
self.printer.heaters['HBP'].ok_range = self.printer.config.getfloat(
'Heaters', "hbp_ok_range")
# Make extruder 2.
self.printer.heaters['H'] = Extruder(
self.printer.steppers["H"], therm_ext2, mosfet_ext2, "Ext2",
self.printer.config.getboolean('Heaters', 'ext2_onoff_control'))
self.printer.heaters['H'].set_p_value(
self.printer.config.getfloat('Heaters', "ext2_pid_p"))
self.printer.heaters['H'].set_d_value(
self.printer.config.getfloat('Heaters', "ext2_pid_i"))
self.printer.heaters['H'].set_i_value(
self.printer.config.getfloat('Heaters', "ext2_pid_d"))
self.printer.heaters['H'].ok_range = self.printer.config.getfloat(
'Heaters', "ext2_ok_range")
# Init the three fans. Argument is PWM channel number
self.printer.fans = []
if self.revision == "A3":
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
self.printer.fans.append(Fan(0))
else:
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
Fan.set_PWM_frequency(100)
for f in self.printer.fans:
f.set_value(0)
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
self.usb = USB(self.commands)
# Virtual TTY
self.pipe = Pipe(self.commands)
#self.pipe.set_send_reponse(False)
self.ethernet = Ethernet(self.commands)
# Init the path planner
Path.axis_config = int(
self.printer.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(
self.printer.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(
self.printer.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(
self.printer.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(
self.printer.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(
self.printer.config.get('Steppers', 'max_speed_h'))
Path.home_speed_x = float(
self.printer.config.get('Steppers', 'home_speed_x'))
Path.home_speed_y = float(
self.printer.config.get('Steppers', 'home_speed_y'))
Path.home_speed_z = float(
self.printer.config.get('Steppers', 'home_speed_z'))
Path.home_speed_e = float(
self.printer.config.get('Steppers', 'home_speed_e'))
Path.home_speed_h = float(
self.printer.config.get('Steppers', 'home_speed_h'))
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.revision,
self.printer.config, "/usr/bin/pasm")
self.printer.path_planner = PathPlanner(self.printer.steppers,
pru_firmware)
self.printer.path_planner.set_acceleration(
float(self.printer.config.get('Steppers', 'acceleration')))
travel = {}
offset = {}
for axis in ['X', 'Y', 'Z']:
travel[axis] = self.printer.config.getfloat(
'Geometry', 'travel_' + axis.lower())
offset[axis] = self.printer.config.getfloat(
'Geometry', 'offset_' + axis.lower())
self.printer.path_planner.set_travel_length(travel)
self.printer.path_planner.set_center_offset(offset)
self.printer.processor = GCodeProcessor(self.printer)
# After the firmwares are loaded, the endstop states can be updated.
for k, endstop in self.printer.end_stops.iteritems():
logging.debug("Endstop " + endstop.name + " hit? : " +
str(endstop.read_value()))
self.running = True
# Signal everything ready
logging.info("Redeem ready")
def execute(self, g):
self.printer.path_planner.wait_until_done()
for name, stepper in self.printer.steppers.iteritems():
if self.printer.config.getboolean('Steppers', 'in_use_' + name):
stepper.set_enabled()
Stepper.commit()
def __init__(self):
""" Init """
logging.info("Redeem initializing " + version)
self.printer = Printer()
# Parse the config files.
self.printer.config = CascadingConfigParser([
'/etc/redeem/default.cfg', '/etc/redeem/printer.cfg',
'/etc/redeem/local.cfg'
])
# Get the revision and loglevel from the Config file
self.revision = self.printer.config.get('System', 'revision', "A4")
level = self.printer.config.getint('System', 'loglevel')
if level > 0:
logging.getLogger().setLevel(level)
logging.info("Replicape revision " + self.revision)
# Init the end stops
EndStop.callback = self.end_stop_hit
EndStop.inputdev = self.printer.config.get("Endstops", "inputdev")
if self.revision == "A4" or self.revision == "A4A":
self.printer.end_stops["X1"] = EndStop(
"GPIO3_21", 112, "X1",
self.printer.config.getboolean("Endstops", "invert_X1"))
self.printer.end_stops["X2"] = EndStop(
"GPIO0_30", 113, "X2",
self.printer.config.getboolean("Endstops", "invert_X2"))
self.printer.end_stops["Y1"] = EndStop(
"GPIO1_17", 114, "Y1",
self.printer.config.getboolean("Endstops", "invert_Y1"))
self.printer.end_stops["Y2"] = EndStop(
"GPIO1_19", 115, "Y2",
self.printer.config.getboolean("Endstops", "invert_Y2"))
self.printer.end_stops["Z1"] = EndStop(
"GPIO0_31", 123, "Z1",
self.printer.config.getboolean("Endstops", "invert_Z1"))
self.printer.end_stops["Z2"] = EndStop(
"GPIO0_4", 117, "Z2",
self.printer.config.getboolean("Endstops", "invert_Z2"))
else:
self.printer.end_stops["X1"] = EndStop(
"GPIO0_14", 112, "X1",
self.printer.config.getboolean("Endstops", "invert_X1"))
self.printer.end_stops["X2"] = EndStop(
"GPIO3_21", 113, "X2",
self.printer.config.getboolean("Endstops", "invert_X2"))
self.printer.end_stops["Y1"] = EndStop(
"GPIO2_2", 114, "Y1",
self.printer.config.getboolean("Endstops", "invert_Y1"))
self.printer.end_stops["Y2"] = EndStop(
"GPIO0_31", 115, "Y2",
self.printer.config.getboolean("Endstops", "invert_Y2"))
self.printer.end_stops["Z1"] = EndStop(
"GPIO0_30", 123, "Z1",
self.printer.config.getboolean("Endstops", "invert_Z1"))
self.printer.end_stops["Z2"] = EndStop(
"GPIO0_4", 117, "Z2",
self.printer.config.getboolean("Endstops", "invert_Z2"))
if self.revision == "A3":
Stepper.revision = "A3"
Stepper.ENABLED = 6
Stepper.SLEEP = 5
Stepper.RESET = 4
Stepper.DECAY = 0
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.printer.steppers["X"] = Stepper("GPIO0_27", "GPIO1_29", "GPIO2_4",
0, "X",
self.printer.end_stops["X1"], 0,
0)
self.printer.steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5",
1, "Y",
self.printer.end_stops["Y1"], 1,
1)
self.printer.steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26",
"GPIO0_15", 2, "Z",
self.printer.end_stops["Z1"], 2,
2)
self.printer.steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1",
3, "E", None, 3, 3)
self.printer.steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3",
4, "H", None, 4, 4)
# Enable the steppers and set the current, steps pr mm and
# microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.set_current_value(
self.printer.config.getfloat('Steppers', 'current_' + name))
stepper.in_use = self.printer.config.getboolean(
'Steppers', 'in_use_' + name)
stepper.set_steps_pr_mm(
self.printer.config.getfloat('Steppers',
'steps_pr_mm_' + name))
stepper.set_microstepping(
self.printer.config.getint('Steppers',
'microstepping_' + name))
stepper.direction = self.printer.config.getint(
'Steppers', 'direction_' + name)
stepper.set_decay(
self.printer.config.getboolean("Steppers",
"slow_decay_" + name))
stepper.has_endstop = self.printer.config.getboolean(
'Endstops', 'has_' + name)
# Commit changes for the Steppers
Stepper.commit()
# Find the path of the thermistors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
therm_ext1 = Thermistor(
path + "4_raw", "MOSFET Ext 1",
self.printer.config.get('Heaters', "ext1_temp_chart"))
therm_hbp = Thermistor(
path + "6_raw", "MOSFET HBP",
self.printer.config.get('Heaters', "hbp_temp_chart"))
therm_ext2 = Thermistor(
path + "5_raw", "MOSFET Ext 2",
self.printer.config.get('Heaters', "ext2_temp_chart"))
path = self.printer.config.get('Cold-ends', 'path', 0)
if os.path.exists(path):
self.printer.cold_ends.append(ColdEnd(path, "Cold End 0"))
logging.info("Found Cold end on " + path)
else:
logging.info("No cold end present in path: " + path)
# Init the 3 heaters. Argument is channel number
if self.revision == "A3":
mosfet_ext1 = Mosfet(3)
mosfet_ext2 = Mosfet(5)
mosfet_hbp = Mosfet(4)
else:
mosfet_ext1 = Mosfet(5)
mosfet_ext2 = Mosfet(3)
mosfet_hbp = Mosfet(4)
# Make extruder 1
self.printer.heaters['E'] = Extruder(
self.printer.steppers["E"], therm_ext1, mosfet_ext1, "Ext1",
self.printer.config.getboolean('Heaters', 'ext1_onoff_control'))
self.printer.heaters['E'].P = self.printer.config.getfloat(
'Heaters', "ext1_pid_p")
self.printer.heaters['E'].I = self.printer.config.getfloat(
'Heaters', "ext1_pid_i")
self.printer.heaters['E'].D = self.printer.config.getfloat(
'Heaters', "ext1_pid_d")
self.printer.heaters['E'].ok_range = self.printer.config.getfloat(
'Heaters', "ext1_ok_range")
# Make Heated Build platform
self.printer.heaters['HBP'] = HBP(
therm_hbp, mosfet_hbp,
self.printer.config.getboolean('Heaters', 'hbp_onoff_control'))
self.printer.heaters['HBP'].P = self.printer.config.getfloat(
'Heaters', "hbp_pid_p")
self.printer.heaters['HBP'].I = self.printer.config.getfloat(
'Heaters', "hbp_pid_i")
self.printer.heaters['HBP'].D = self.printer.config.getfloat(
'Heaters', "hbp_pid_d")
self.printer.heaters['HBP'].ok_range = self.printer.config.getfloat(
'Heaters', "hbp_ok_range")
# Make extruder 2.
self.printer.heaters['H'] = Extruder(
self.printer.steppers["H"], therm_ext2, mosfet_ext2, "Ext2",
self.printer.config.getboolean('Heaters', 'ext2_onoff_control'))
self.printer.heaters['H'].P = self.printer.config.getfloat(
'Heaters', "ext2_pid_p")
self.printer.heaters['H'].I = self.printer.config.getfloat(
'Heaters', "ext2_pid_i")
self.printer.heaters['H'].D = self.printer.config.getfloat(
'Heaters', "ext2_pid_d")
self.printer.heaters['H'].ok_range = self.printer.config.getfloat(
'Heaters', "ext2_ok_range")
# Init the three fans. Argument is PWM channel number
self.printer.fans = []
if self.revision == "A3":
self.printer.fans.append(Fan(0))
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
else:
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
Fan.set_PWM_frequency(100)
for f in self.printer.fans:
f.set_value(0)
# Connect the cold end 0 to fan 2
# This is very "Thing" specific, should be configurable somehow.
if len(self.printer.cold_ends):
self.printer.coolers.append(
Cooler(self.printer.cold_ends[0], self.printer.fans[2],
"Cooler0", False))
self.printer.coolers[0].ok_range = 4
self.printer.coolers[0].set_target_temperature(60)
self.printer.coolers[0].enable()
# Make a queue of commands
self.printer.commands = JoinableQueue(10)
# Make a queue of commands that should not be buffered
self.printer.unbuffered_commands = JoinableQueue(10)
# Init the path planner
Path.axis_config = int(
self.printer.config.get('Geometry', 'axis_config'))
Path.max_speeds[0] = float(
self.printer.config.get('Steppers', 'max_speed_x'))
Path.max_speeds[1] = float(
self.printer.config.get('Steppers', 'max_speed_y'))
Path.max_speeds[2] = float(
self.printer.config.get('Steppers', 'max_speed_z'))
Path.max_speeds[3] = float(
self.printer.config.get('Steppers', 'max_speed_e'))
Path.max_speeds[4] = float(
self.printer.config.get('Steppers', 'max_speed_h'))
Path.home_speed[0] = float(
self.printer.config.get('Steppers', 'home_speed_x'))
Path.home_speed[1] = float(
self.printer.config.get('Steppers', 'home_speed_y'))
Path.home_speed[2] = float(
self.printer.config.get('Steppers', 'home_speed_z'))
Path.home_speed[3] = float(
self.printer.config.get('Steppers', 'home_speed_e'))
Path.home_speed[4] = float(
self.printer.config.get('Steppers', 'home_speed_h'))
Path.steps_pr_meter[0] = self.printer.steppers["X"].get_steps_pr_meter(
)
Path.steps_pr_meter[1] = self.printer.steppers["Y"].get_steps_pr_meter(
)
Path.steps_pr_meter[2] = self.printer.steppers["Z"].get_steps_pr_meter(
)
Path.steps_pr_meter[3] = self.printer.steppers["E"].get_steps_pr_meter(
)
Path.steps_pr_meter[4] = self.printer.steppers["H"].get_steps_pr_meter(
)
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.revision,
self.printer.config, "/usr/bin/pasm")
self.printer.maxJerkXY = float(
self.printer.config.get('Steppers', 'maxJerk_xy'))
self.printer.maxJerkZ = float(
self.printer.config.get('Steppers', 'maxJerk_z'))
self.printer.maxJerkEH = float(
self.printer.config.get('Steppers', 'maxJerk_eh'))
self.printer.path_planner = PathPlanner(self.printer, pru_firmware)
travel = {}
offset = {}
i = 0
for axis in ['X', 'Y', 'Z', 'E', 'H']:
travel[axis] = self.printer.config.getfloat(
'Geometry', 'travel_' + axis.lower())
offset[axis] = self.printer.config.getfloat(
'Geometry', 'offset_' + axis.lower())
self.printer.acceleration[i] = self.printer.config.getfloat(
'Steppers', 'acceleration_' + axis.lower())
i += 1
self.printer.path_planner.travel_length = travel
self.printer.path_planner.center_offset = offset
self.printer.processor = GCodeProcessor(self.printer)
# Set up communication channels
self.printer.comms["USB"] = USB(self.printer)
self.printer.comms["Eth"] = Ethernet(self.printer)
self.printer.comms["octoprint"] = Pipe(
self.printer, "octoprint") # Pipe for Octoprint
self.printer.comms["toggle"] = Pipe(self.printer,
"toggle") # Pipe for Toggle
self.printer.comms["testing"] = Pipe(self.printer,
"testing") # Pipe for testing
self.printer.comms["testing_noret"] = Pipe(
self.printer, "testing_noret") # Pipe for testing
self.printer.comms["testing_noret"].send_response = False
self.running = True
# Start the two processes
p0 = Thread(target=self.loop, args=(self.printer.commands, "buffered"))
p1 = Thread(target=self.loop,
args=(self.printer.unbuffered_commands, "unbuffered"))
p0.daemon = True
p1.daemon = True
p0.start()
p1.start()
# Signal everything ready
logging.info("Redeem ready")
# Wait for exit signal
p0.join()
p1.join()
def execute(self, g):
for i in range(g.num_tokens()):
self.printer.steppers[g.token_letter(i)].set_microstepping(int(g.token_value(i)))
Stepper.commit()
steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2", -1,
None, 4, 4)
config = ConfigParser.ConfigParser()
config.readfp(open('config/default.cfg'))
for name, stepper in steppers.iteritems():
stepper.setCurrentValue(config.getfloat('Steppers', 'current_' + name))
stepper.setEnabled(config.getboolean('Steppers', 'enabled_' + name))
stepper.set_steps_pr_mm(
config.getfloat('Steppers', 'steps_pr_mm_' + name))
stepper.set_microstepping(
config.getint('Steppers', 'microstepping_' + name))
stepper.set_decay(1)
# Commit changes for the Steppers
Stepper.commit()
Path.axis_config = int(config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(config.get('Steppers', 'max_speed_h'))
current_pos = {"X": 0.0, "Y": 0.0, "Z": 0.0, "E": 0.0}
pp = Path_planner(steppers, current_pos)
pp.set_acceleration(0.3)
nb = 10
print "Making paths"
def _execute(self, g):
if g.code() == "G1": # Move (G1 X0.1 Y40.2 F3000)
if g.hasLetter("F"): # Get the feed rate
self.feed_rate = float(g.getValueByLetter("F"))/60000.0 # Convert from mm/min to SI unit m/s
g.removeTokenByLetter("F")
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(i))/1000.0 # Get the value, new position or vector
if g.hasLetter("E") and self.current_tool != "E": # We are using a different tool, switch..
smds[self.current_tool] = smds["E"]
del smds["E"]
path = Path(smds, self.feed_rate, self.movement, g.is_crc())# Make a path segment from the axes
self.path_planner.add_path(path) # Add the path. This blocks until the path planner has capacity
#logging.debug("Moving to: "+' '.join('%s:%s' % i for i in smds.iteritems()))
elif g.code() == "G21": # Set units to mm
self.factor = 1.0
elif g.code() == "G28": # Home the steppers
if g.numTokens() == 0: # If no token is given, home all
g.setTokens(["X0", "Y0", "Z0"])
smds = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
smds[axis] = float(g.tokenValue(i)) # Get tha value, new position or vector
path = Path(smds, self.feed_rate, "ABSOLUTE", False) # Make a path segment from the axes
#logging.debug("moving to "+str(smds))
self.path_planner.add_path(path) # Add the path. This blocks until the path planner has capacity
elif g.code() == "G90": # Absolute positioning
self.movement = "ABSOLUTE"
elif g.code() == "G91": # Relative positioning
self.movement = "RELATIVE"
elif g.code() == "G92": # Set the current position of the following steppers
#self.path_planner.wait_until_done()
if g.numTokens() == 0:
logging.debug("Adding all to G92")
g.setTokens(["X0", "Y0", "Z0", "E0", "H0"]) # If no token is present, do this for all
#for i in range(g.numTokens()):
# axis = g.tokenLetter(i)
# val = float(g.tokenValue(i))
# self.path_planner.set_pos(axis, val)
pos = {} # All steppers
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
pos[axis] = float(g.tokenValue(i))/1000.0 # Get the value, new position or vector
logging.debug(pos)
path = Path(pos, self.feed_rate, "G92") # Make a path segment from the axes
self.path_planner.add_path(path)
elif g.code() == "M17": # Enable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setEnabled()
Stepper.commit()
elif g.code() == "M19": # Reset all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.reset()
elif g.code() == "M30": # Set microstepping (Propietary to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].set_microstepping(int(g.tokenValue(i)))
Stepper.commit()
elif g.code() == "M31": # Set stepper current limit (Propietery to Replicape)
for i in range(g.numTokens()):
self.steppers[g.tokenLetter(i)].setCurrentValue(float(g.tokenValue(i)))
Stepper.commit()
elif g.code() == "M84": # Disable all steppers
self.path_planner.wait_until_done()
for name, stepper in self.steppers.iteritems():
stepper.setDisabled()
Stepper.commit()
elif g.code() == "M92": # M92: Set axis_steps_per_unit
for i in range(g.numTokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
self.steppers[axis].set_steps_pr_mm(float(g.tokenValue(i)))
Stepper.commit()
elif g.code() == "M101": # Deprecated
pass
elif g.code() == "M103": # Deprecated
pass
elif g.code() == "M104": # Set extruder temperature
if g.hasLetter("P"):
if int(g.getValueByLetter("P")) == 0:
self.ext1.setTargetTemperature(float(g.getValueByLetter("S")))
elif int(g.getValueByLetter("P")) == 1:
logging.debug("setting ext 2 temp to "+str(g.getValueByLetter("S")))
self.ext2.setTargetTemperature(float(g.getValueByLetter("S")))
else:
logging.debug("setting ext 1 temp to "+str(g.tokenValue(0)))
self.ext1.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M105": # Get Temperature
answer = "ok T:"+str(self.ext1.getTemperature())
if hasattr(self, "hbp"):
answer += " B:"+str(int(self.hbp.getTemperature()))
if hasattr(self, "ext2"):
answer += " T1:"+str(int(self.ext2.getTemperature()))
if hasattr(self, "cold_end_1"):
answer += " T2:"+str(int(self.cold_end_1.getTemperature()))
g.setAnswer(answer)
elif g.code() == "M106": # Fan on
if g.hasLetter("P"):
fan = self.fans[int(g.getValueByLetter("P"))]
fan.set_value(float(g.getValueByLetter("S"))/255.0) # According to reprap wiki, the number is 0..255
else: # if there is no fan-number present, do it for the first fan
self.fan_1.set_value(float(g.tokenValue(0))/255.0)
elif g.code() == "M108": # Deprecated
pass
elif g.code() == "M109":
self.hbp.setTargetTemperature(float(g.getValueByLetter("S")))
elif g.code() == "M110": # Reset the line number counter
Gcode.line_number = 0
elif g.code() == "M114":
g.setAnswer("ok C: "+' '.join('%s:%s' % i for i in self.current_pos.iteritems()))
elif g.code() == "M130": # Set PID P-value, Format (M130 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M131": # Set PID I-value, Format (M131 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M132": # Set PID D-value, Format (M132 P0 S8.0)
pass
#if int(self.tokens[0][1]) == 0:
# self.p.ext1.setPvalue(float(self.tokens[1][1::]))
elif g.code() == "M140": # Set bed temperature
self.hbp.setTargetTemperature(float(g.tokenValue(0)))
elif g.code() == "M141":
fan = self.fans[int(g.getValueByLetter("P"))]
fan.setPWMFrequency(int(g.getValueByLetter("F")))
fan.set_value(float(g.getValueByLetter("S")))
elif g.code() == "M190":
self.hbp.setTargetTemperature(float(g.getValueByLetter("S")))
elif g.code() == "T0": # Select tool 0
self.current_tool = "E"
elif g.code() == "T1": # select tool 1
self.current_tool = "H"
else:
logging.warning("Unknown command: "+g.message)
def __init__(self):
""" Init """
logging.info("Redeem initializing " + version)
self.printer = Printer()
# Parse the config files.
self.printer.config = CascadingConfigParser(
['/etc/redeem/default.cfg', '/etc/redeem/printer.cfg',
'/etc/redeem/local.cfg'])
# Get the revision and loglevel from the Config file
self.revision = self.printer.config.get('System', 'revision', "A4")
level = self.printer.config.getint('System', 'loglevel')
if level > 0:
logging.getLogger().setLevel(level)
logging.info("Replicape revision " + self.revision)
# Init the end stops
EndStop.callback = self.end_stop_hit
EndStop.inputdev = self.printer.config.get("Endstops", "inputdev");
if self.revision == "A4" or self.revision == "A4A":
self.printer.end_stops["X1"] = EndStop("GPIO3_21", 112, "X1",
self.printer.config.getboolean(
"Endstops",
"invert_X1"))
self.printer.end_stops["X2"] = EndStop("GPIO0_30", 113, "X2",
self.printer.config.getboolean(
"Endstops",
"invert_X2"))
self.printer.end_stops["Y1"] = EndStop("GPIO1_17", 114, "Y1",
self.printer.config.getboolean(
"Endstops",
"invert_Y1"))
self.printer.end_stops["Y2"] = EndStop("GPIO1_19", 115, "Y2",
self.printer.config.getboolean(
"Endstops",
"invert_Y2"))
self.printer.end_stops["Z1"] = EndStop("GPIO0_31", 123, "Z1",
self.printer.config.getboolean(
"Endstops",
"invert_Z1"))
self.printer.end_stops["Z2"] = EndStop("GPIO0_4", 117, "Z2",
self.printer.config.getboolean(
"Endstops",
"invert_Z2"))
else:
self.printer.end_stops["X1"] = EndStop("GPIO0_14", 112, "X1",
self.printer.config.getboolean(
"Endstops",
"invert_X1"))
self.printer.end_stops["X2"] = EndStop("GPIO3_21", 113, "X2",
self.printer.config.getboolean(
"Endstops",
"invert_X2"))
self.printer.end_stops["Y1"] = EndStop("GPIO2_2", 114, "Y1",
self.printer.config.getboolean(
"Endstops",
"invert_Y1"))
self.printer.end_stops["Y2"] = EndStop("GPIO0_31", 115, "Y2",
self.printer.config.getboolean(
"Endstops",
"invert_Y2"))
self.printer.end_stops["Z1"] = EndStop("GPIO0_30", 123, "Z1",
self.printer.config.getboolean(
"Endstops",
"invert_Z1"))
self.printer.end_stops["Z2"] = EndStop("GPIO0_4", 117, "Z2",
self.printer.config.getboolean(
"Endstops",
"invert_Z2"))
if self.revision == "A3":
Stepper.revision = "A3"
Stepper.ENABLED = 6
Stepper.SLEEP = 5
Stepper.RESET = 4
Stepper.DECAY = 0
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.printer.steppers["X"] = Stepper("GPIO0_27", "GPIO1_29", "GPIO2_4",
0, "X",
self.printer.end_stops["X1"], 0,
0)
self.printer.steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5",
1, "Y",
self.printer.end_stops["Y1"], 1,
1)
self.printer.steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26",
"GPIO0_15", 2, "Z",
self.printer.end_stops["Z1"], 2,
2)
self.printer.steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1",
3, "E", None, 3, 3)
self.printer.steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3",
4, "H", None, 4, 4)
# Enable the steppers and set the current, steps pr mm and
# microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.set_current_value(
self.printer.config.getfloat('Steppers', 'current_' + name))
stepper.in_use = self.printer.config.getboolean('Steppers',
'in_use_' + name)
stepper.set_steps_pr_mm(self.printer.config.getfloat('Steppers',
'steps_pr_mm_' + name))
stepper.set_microstepping(self.printer.config.getint('Steppers',
'microstepping_' + name))
stepper.direction = self.printer.config.getint('Steppers',
'direction_' + name)
stepper.set_decay(self.printer.config.getboolean("Steppers",
"slow_decay_" + name))
stepper.has_endstop = self.printer.config.getboolean('Endstops',
'has_' + name)
# Commit changes for the Steppers
Stepper.commit()
# Find the path of the thermistors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
therm_ext1 = Thermistor(path + "4_raw", "MOSFET Ext 1",
self.printer.config.get('Heaters',
"ext1_temp_chart"))
therm_hbp = Thermistor(path + "6_raw", "MOSFET HBP",
self.printer.config.get('Heaters',
"hbp_temp_chart"))
therm_ext2 = Thermistor(path + "5_raw", "MOSFET Ext 2",
self.printer.config.get('Heaters',
"ext2_temp_chart"))
path = self.printer.config.get('Cold-ends', 'path', 0)
if os.path.exists(path):
self.printer.cold_ends.append(ColdEnd(path, "Cold End 0"))
logging.info("Found Cold end on " + path)
else:
logging.info("No cold end present in path: " + path)
# Init the 3 heaters. Argument is channel number
if self.revision == "A3":
mosfet_ext1 = Mosfet(3)
mosfet_ext2 = Mosfet(5)
mosfet_hbp = Mosfet(4)
else:
mosfet_ext1 = Mosfet(5)
mosfet_ext2 = Mosfet(3)
mosfet_hbp = Mosfet(4)
# Make extruder 1
self.printer.heaters['E'] = Extruder(self.printer.steppers["E"],
therm_ext1, mosfet_ext1, "Ext1",
self.printer.config.getboolean(
'Heaters',
'ext1_onoff_control'))
self.printer.heaters['E'].P = self.printer.config.getfloat('Heaters',
"ext1_pid_p")
self.printer.heaters['E'].I = self.printer.config.getfloat('Heaters',
"ext1_pid_i")
self.printer.heaters['E'].D = self.printer.config.getfloat('Heaters',
"ext1_pid_d")
self.printer.heaters['E'].ok_range = self.printer.config.getfloat(
'Heaters', "ext1_ok_range")
# Make Heated Build platform
self.printer.heaters['HBP'] = HBP(therm_hbp, mosfet_hbp,
self.printer.config.getboolean(
'Heaters', 'hbp_onoff_control'))
self.printer.heaters['HBP'].P = self.printer.config.getfloat('Heaters',
"hbp_pid_p")
self.printer.heaters['HBP'].I = self.printer.config.getfloat('Heaters',
"hbp_pid_i")
self.printer.heaters['HBP'].D = self.printer.config.getfloat('Heaters',
"hbp_pid_d")
self.printer.heaters['HBP'].ok_range = self.printer.config.getfloat(
'Heaters', "hbp_ok_range")
# Make extruder 2.
self.printer.heaters['H'] = Extruder(self.printer.steppers["H"],
therm_ext2, mosfet_ext2, "Ext2",
self.printer.config.getboolean(
'Heaters',
'ext2_onoff_control'))
self.printer.heaters['H'].P = self.printer.config.getfloat('Heaters',
"ext2_pid_p")
self.printer.heaters['H'].I = self.printer.config.getfloat('Heaters',
"ext2_pid_i")
self.printer.heaters['H'].D = self.printer.config.getfloat('Heaters',
"ext2_pid_d")
self.printer.heaters['H'].ok_range = self.printer.config.getfloat(
'Heaters', "ext2_ok_range")
# Init the three fans. Argument is PWM channel number
self.printer.fans = []
if self.revision == "A3":
self.printer.fans.append(Fan(0))
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
else:
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
Fan.set_PWM_frequency(100)
for f in self.printer.fans:
f.set_value(0)
# Connect the cold end 0 to fan 2
# This is very "Thing" specific, should be configurable somehow.
if len(self.printer.cold_ends):
self.printer.coolers.append(
Cooler(self.printer.cold_ends[0], self.printer.fans[2],
"Cooler0", False))
self.printer.coolers[0].ok_range = 4
self.printer.coolers[0].set_target_temperature(60)
self.printer.coolers[0].enable()
# Make a queue of commands
self.printer.commands = JoinableQueue(10)
# Make a queue of commands that should not be buffered
self.printer.unbuffered_commands = JoinableQueue(10)
# Init the path planner
Path.axis_config = int(
self.printer.config.get('Geometry', 'axis_config'))
Path.max_speeds[0] = float(
self.printer.config.get('Steppers', 'max_speed_x'))
Path.max_speeds[1] = float(
self.printer.config.get('Steppers', 'max_speed_y'))
Path.max_speeds[2] = float(
self.printer.config.get('Steppers', 'max_speed_z'))
Path.max_speeds[3] = float(
self.printer.config.get('Steppers', 'max_speed_e'))
Path.max_speeds[4] = float(
self.printer.config.get('Steppers', 'max_speed_h'))
Path.home_speed[0] = float(
self.printer.config.get('Steppers', 'home_speed_x'))
Path.home_speed[1] = float(
self.printer.config.get('Steppers', 'home_speed_y'))
Path.home_speed[2] = float(
self.printer.config.get('Steppers', 'home_speed_z'))
Path.home_speed[3] = float(
self.printer.config.get('Steppers', 'home_speed_e'))
Path.home_speed[4] = float(
self.printer.config.get('Steppers', 'home_speed_h'))
Path.steps_pr_meter[0] = self.printer.steppers[
"X"].get_steps_pr_meter()
Path.steps_pr_meter[1] = self.printer.steppers[
"Y"].get_steps_pr_meter()
Path.steps_pr_meter[2] = self.printer.steppers[
"Z"].get_steps_pr_meter()
Path.steps_pr_meter[3] = self.printer.steppers[
"E"].get_steps_pr_meter()
Path.steps_pr_meter[4] = self.printer.steppers[
"H"].get_steps_pr_meter()
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.revision, self.printer.config, "/usr/bin/pasm")
self.printer.maxJerkXY = float(
self.printer.config.get('Steppers', 'maxJerk_xy'));
self.printer.maxJerkZ = float(
self.printer.config.get('Steppers', 'maxJerk_z'));
self.printer.maxJerkEH = float(
self.printer.config.get('Steppers', 'maxJerk_eh'));
self.printer.path_planner = PathPlanner(self.printer, pru_firmware)
travel = {}
offset = {}
i = 0
for axis in ['X', 'Y', 'Z', 'E', 'H']:
travel[axis] = self.printer.config.getfloat('Geometry',
'travel_' + axis.lower())
offset[axis] = self.printer.config.getfloat('Geometry',
'offset_' + axis.lower())
self.printer.acceleration[i] = self.printer.config.getfloat('Steppers', 'acceleration_' + axis.lower())
i += 1
self.printer.path_planner.travel_length = travel
self.printer.path_planner.center_offset = offset
self.printer.processor = GCodeProcessor(self.printer)
# Set up communication channels
self.printer.comms["USB"] = USB(self.printer)
self.printer.comms["Eth"] = Ethernet(self.printer)
self.printer.comms["octoprint"] = Pipe(self.printer,
"octoprint") # Pipe for Octoprint
self.printer.comms["toggle"] = Pipe(self.printer,
"toggle") # Pipe for Toggle
self.printer.comms["testing"] = Pipe(self.printer,
"testing") # Pipe for testing
self.printer.comms["testing_noret"] = Pipe(self.printer,
"testing_noret") # Pipe for testing
self.printer.comms["testing_noret"].send_response = False
self.running = True
# Start the two processes
p0 = Thread(target=self.loop,
args=(self.printer.commands, "buffered"))
p1 = Thread(target=self.loop,
args=(self.printer.unbuffered_commands, "unbuffered"))
p0.daemon = True
p1.daemon = True
p0.start()
p1.start()
# Signal everything ready
logging.info("Redeem ready")
# Wait for exit signal
p0.join()
p1.join()
def __init__(self):
logging.info("Redeem initializing "+version)
self.printer = Printer()
# Parse the config
self.printer.config = CascadingConfigParser(['/etc/redeem/default.cfg', '/etc/redeem/local.cfg'])
# Get the revision from the Config file
self.revision = self.printer.config.get('System', 'revision', "A4")
logging.info("Replicape revision "+self.revision)
# Init the end stops
EndStop.callback = self.end_stop_hit
EndStop.inputdev = self.printer.config.get("Endstops","inputdev");
if self.revision == "A4":
self.printer.end_stops["X1"] = EndStop("GPIO3_21", 112, "X1", self.printer.config.getboolean("Endstops", "invert_X1"))
self.printer.end_stops["X2"] = EndStop("GPIO0_30", 113, "X2", self.printer.config.getboolean("Endstops", "invert_X2"))
self.printer.end_stops["Y1"] = EndStop("GPIO1_17", 114, "Y1", self.printer.config.getboolean("Endstops", "invert_Y1"))
self.printer.end_stops["Y2"] = EndStop("GPIO1_19", 115, "Y2", self.printer.config.getboolean("Endstops", "invert_Y2"))
self.printer.end_stops["Z1"] = EndStop("GPIO0_31", 116, "Z1", self.printer.config.getboolean("Endstops", "invert_Z1"))
self.printer.end_stops["Z2"] = EndStop("GPIO0_4" , 117, "Z2", self.printer.config.getboolean("Endstops", "invert_Z2"))
else:
self.printer.end_stops["X1"] = EndStop("GPIO0_14", 112, "X1", self.printer.config.getboolean("Endstops", "invert_X1"))
self.printer.end_stops["X2"] = EndStop("GPIO3_21", 113, "X2", self.printer.config.getboolean("Endstops", "invert_X2"))
self.printer.end_stops["Y1"] = EndStop("GPIO2_2", 114, "Y1", self.printer.config.getboolean("Endstops", "invert_Y1"))
self.printer.end_stops["Y2"] = EndStop("GPIO0_31", 115, "Y2", self.printer.config.getboolean("Endstops", "invert_Y2"))
self.printer.end_stops["Z1"] = EndStop("GPIO0_30", 116, "Z1", self.printer.config.getboolean("Endstops", "invert_Z1"))
self.printer.end_stops["Z2"] = EndStop("GPIO0_4", 117, "Z2", self.printer.config.getboolean("Endstops", "invert_Z2"))
if self.revision == "A3":
Stepper.revision = "A3"
Stepper.ENABLED = 6
Stepper.SLEEP = 5
Stepper.RESET = 4
Stepper.DECAY = 0
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.printer.steppers["X"] = Stepper("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X", self.printer.end_stops["X1"], 0,0)
self.printer.steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y", self.printer.end_stops["Y1"], 1,1)
self.printer.steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z", self.printer.end_stops["Z1"], 2,2)
self.printer.steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1", None,3,3)
self.printer.steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2", None,4,4)
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.printer.steppers.iteritems():
stepper.set_current_value(self.printer.config.getfloat('Steppers', 'current_'+name))
if self.printer.config.getboolean('Steppers', 'enabled_'+name):
stepper.set_enabled()
else:
stepper.set_disabled()
stepper.set_steps_pr_mm(self.printer.config.getfloat('Steppers', 'steps_pr_mm_'+name))
stepper.set_microstepping(self.printer.config.getint('Steppers', 'microstepping_'+name))
stepper.direction = self.printer.config.getint('Steppers', 'direction_'+name)
stepper.set_decay(self.printer.config.getboolean("Steppers", "slow_decay_"+name))
# Commit changes for the Steppers
Stepper.commit()
# Find the path of the thermistors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
therm_ext1 = Thermistor(path+"4_raw", "MOSFET Ext 1", self.printer.config.get('Heaters', "ext1_temp_chart"))
therm_hbp = Thermistor(path+"6_raw", "MOSFET HBP", self.printer.config.get('Heaters', "hbp_temp_chart"))
therm_ext2 = Thermistor(path+"5_raw", "MOSFET Ext 2", self.printer.config.get('Heaters', "ext2_temp_chart"))
path = self.printer.config.get('Cold-ends', 'path', 0)
if os.path.exists(path):
self.printer.cold_ends.append(ColdEnd(path, "Cold End 1"))
logging.info("Found Cold end on "+path)
else:
logging.info("No cold end present in path: "+path)
# Init the 3 heaters. Argument is channel number
if self.revision == "A3":
mosfet_ext1 = Mosfet(3)
mosfet_ext2 = Mosfet(4)
mosfet_hbp = Mosfet(5)
else:
mosfet_ext1 = Mosfet(5)
mosfet_ext2 = Mosfet(3)
mosfet_hbp = Mosfet(4)
# Make extruder 1
self.printer.heaters['E'] = Extruder(self.printer.steppers["E"], therm_ext1, mosfet_ext1, "Ext1", self.printer.config.getboolean('Heaters', 'ext1_onoff_control'))
self.printer.heaters['E'].set_p_value(self.printer.config.getfloat('Heaters', "ext1_pid_p"))
self.printer.heaters['E'].set_d_value(self.printer.config.getfloat('Heaters', "ext1_pid_d"))
self.printer.heaters['E'].set_i_value(self.printer.config.getfloat('Heaters', "ext1_pid_i"))
self.printer.heaters['E'].ok_range = self.printer.config.getfloat('Heaters', "ext1_ok_range")
# Make Heated Build platform
self.printer.heaters['HBP'] = HBP( therm_hbp, mosfet_hbp, self.printer.config.getboolean('Heaters', 'hbp_onoff_control'))
self.printer.heaters['HBP'].set_p_value(self.printer.config.getfloat('Heaters', "hbp_pid_p"))
self.printer.heaters['HBP'].set_d_value(self.printer.config.getfloat('Heaters', "hbp_pid_i"))
self.printer.heaters['HBP'].set_i_value(self.printer.config.getfloat('Heaters', "hbp_pid_d"))
self.printer.heaters['HBP'].ok_range = self.printer.config.getfloat('Heaters', "hbp_ok_range")
# Make extruder 2.
self.printer.heaters['H'] = Extruder(self.printer.steppers["H"], therm_ext2, mosfet_ext2, "Ext2", self.printer.config.getboolean('Heaters', 'ext2_onoff_control'))
self.printer.heaters['H'].set_p_value(self.printer.config.getfloat('Heaters', "ext2_pid_p"))
self.printer.heaters['H'].set_d_value(self.printer.config.getfloat('Heaters', "ext2_pid_i"))
self.printer.heaters['H'].set_i_value(self.printer.config.getfloat('Heaters', "ext2_pid_d"))
self.printer.heaters['H'].ok_range = self.printer.config.getfloat('Heaters', "ext2_ok_range")
# Init the three fans. Argument is PWM channel number
self.printer.fans=[]
if self.revision == "A3":
self.printer.fans.append(Fan(1))
self.printer.fans.append(Fan(2))
self.printer.fans.append(Fan(0))
else:
self.printer.fans.append(Fan(8))
self.printer.fans.append(Fan(9))
self.printer.fans.append(Fan(10))
Fan.set_PWM_frequency(100)
for f in self.printer.fans:
f.set_value(0)
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
self.usb = USB(self.commands)
# Virtual TTY
self.pipe = Pipe(self.commands)
#self.pipe.set_send_reponse(False)
self.ethernet = Ethernet(self.commands)
# Init the path planner
Path.axis_config = int(self.printer.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(self.printer.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(self.printer.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(self.printer.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(self.printer.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(self.printer.config.get('Steppers', 'max_speed_h'))
Path.home_speed_x = float(self.printer.config.get('Steppers', 'home_speed_x'))
Path.home_speed_y = float(self.printer.config.get('Steppers', 'home_speed_y'))
Path.home_speed_z = float(self.printer.config.get('Steppers', 'home_speed_z'))
Path.home_speed_e = float(self.printer.config.get('Steppers', 'home_speed_e'))
Path.home_speed_h = float(self.printer.config.get('Steppers', 'home_speed_h'))
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.revision,self.printer.config,"/usr/bin/pasm")
self.printer.path_planner = PathPlanner(self.printer.steppers, pru_firmware)
self.printer.path_planner.set_acceleration(float(self.printer.config.get('Steppers', 'acceleration')))
travel={}
offset={}
for axis in ['X','Y','Z']:
travel[axis] = self.printer.config.getfloat('Geometry', 'travel_'+axis.lower())
offset[axis] = self.printer.config.getfloat('Geometry', 'offset_'+axis.lower())
self.printer.path_planner.set_travel_length(travel)
self.printer.path_planner.set_center_offset(offset)
self.printer.processor = GCodeProcessor(self.printer);
# After the firmwares are loaded, the endstop states can be updated.
for k, endstop in self.printer.end_stops.iteritems():
logging.debug("Endstop "+endstop.name+" hit? : "+ str(endstop.read_value()))
self.running = True
# Signal everything ready
logging.info("Redeem ready")
def execute(self,g):
self.printer.path_planner.wait_until_done()
for name, stepper in self.printer.steppers.iteritems():
if self.printer.config.getboolean('Steppers', 'enabled_'+name):
stepper.set_enabled()
Stepper.commit()
def __init__(self):
logging.info("Replicape initializing "+version)
self.config = ConfigParser.ConfigParser()
self.config.readfp(open('config/default.cfg'))
# Make a list of steppers
self.steppers = {}
# Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
self.steppers["X"] = Stepper("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X")
self.steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y")
self.steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z")
self.steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1")
self.steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2")
# Enable the steppers and set the current, steps pr mm and microstepping
for name, stepper in self.steppers.iteritems():
stepper.setCurrentValue(self.config.getfloat('Steppers', 'current_'+name))
stepper.setEnabled(self.config.getboolean('Steppers', 'enabled_'+name))
stepper.set_steps_pr_mm(self.config.getfloat('Steppers', 'steps_pr_mm_'+name))
stepper.set_microstepping(self.config.getint('Steppers', 'microstepping_'+name))
stepper.set_decay(0)
# Commit changes for the Steppers
Stepper.commit()
# Find the path of the thermostors
path = "/sys/bus/iio/devices/iio:device0/in_voltage"
# init the 3 thermistors
self.therm_ext1 = Thermistor(path+"4_raw", "MOSFET Ext 1", "B57561G0103F000") # Epcos 10K
self.therm_hbp = Thermistor(path+"6_raw", "MOSFET HBP", "B57560G104F") # Epcos 100K
self.therm_ext2 = Thermistor(path+"5_raw", "MOSFET Ext 2", "B57561G0103F000") # Epcos 10K
if os.path.exists("/sys/bus/w1/devices/28-000002e34b73/w1_slave"):
self.cold_end_1 = W1("/sys/bus/w1/devices/28-000002e34b73/w1_slave", "Cold End 1")
# init the 3 heaters
self.mosfet_ext1 = Mosfet(5) # Argument is channel number
self.mosfet_ext2 = Mosfet(3)
self.mosfet_hbp = Mosfet(4)
# Make extruder 1
self.ext1 = Extruder(self.steppers["E"], self.therm_ext1, self.mosfet_ext1, "Ext1")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
# Make Heated Build platform
self.hbp = HBP( self.therm_hbp, self.mosfet_hbp)
# Make extruder 2.
self.ext2 = Extruder(self.steppers["H"], self.therm_ext2, self.mosfet_ext2, "Ext2")
self.ext1.setPvalue(0.1)
self.ext1.setDvalue(0.3)
self.ext1.setIvalue(0.0)
self.current_tool = "E"
# Init the three fans
self.fan_1 = Fan(8)
self.fan_2 = Fan(9)
self.fan_3 = Fan(10)
self.fans = {0: self.fan_1, 1:self.fan_2, 2:self.fan_3 }
self.fan_1.setPWMFrequency(100)
# Init the end stops
self.end_stops = {}
self.end_stops["X1"] = EndStop("GPIO3_21", self.steppers, 112, "X1")
self.end_stops["X2"] = EndStop("GPIO0_30", self.steppers, 113, "X2")
self.end_stops["Y1"] = EndStop("GPIO1_17", self.steppers, 114, "Y1")
self.end_stops["Y2"] = EndStop("GPIO1_19", self.steppers, 115, "Y2")
self.end_stops["Z1"] = EndStop("GPIO0_31", self.steppers, 116, "Z1")
self.end_stops["Z2"] = EndStop("GPIO0_4", self.steppers, 117, "Z2")
# Make a queue of commands
self.commands = Queue.Queue(10)
# Set up USB, this receives messages and pushes them on the queue
#self.usb = USB(self.commands)
self.pipe = Pipe(self.commands)
self.ethernet = Ethernet(self.commands)
# Init the path planner
self.movement = "RELATIVE"
self.feed_rate = 3000.0
self.current_pos = {"X":0.0, "Y":0.0, "Z":0.0, "E":0.0,"H":0.0}
self.acceleration = 0.3
Path.axis_config = int(self.config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(self.config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(self.config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(self.config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(self.config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(self.config.get('Steppers', 'max_speed_h'))
self.path_planner = Path_planner(self.steppers, self.current_pos)
self.path_planner.set_acceleration(self.acceleration)
# Signal everything ready
logging.info("Replicape ready")
print "Replicape ready"
def execute(self, g):
for i in range(g.num_tokens()):
self.printer.steppers[g.token_letter(i)].\
set_current_value(float(g.token_value(i)))
Stepper.commit()
def execute(self,g):
for i in range(g.num_tokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
self.printer.steppers[axis].set_steps_pr_mm(float(g.token_value(i)))
Stepper.commit()
def execute(self, g):
for i in range(g.num_tokens()): # Run through all tokens
axis = g.tokenLetter(i) # Get the axis, X, Y, Z or E
self.printer.steppers[axis].set_steps_pr_mm(float(
g.token_value(i)))
Stepper.commit()
def execute(self, g):
for i in range(g.num_tokens()):
self.printer.steppers[g.token_letter(i)].\
set_current_value(float(g.token_value(i)))
Stepper.commit()
steppers["Y"] = Stepper("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y",1,None,1,1)
steppers["Z"] = Stepper("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z",1,None,2,2)
steppers["E"] = Stepper("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "Ext1",-1,None,3,3)
steppers["H"] = Stepper("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "Ext2",-1,None,4,4)
config = ConfigParser.ConfigParser()
config.readfp(open('config/default.cfg'))
for name, stepper in steppers.iteritems():
stepper.setCurrentValue(config.getfloat('Steppers', 'current_'+name))
stepper.setEnabled(config.getboolean('Steppers', 'enabled_'+name))
stepper.set_steps_pr_mm(config.getfloat('Steppers', 'steps_pr_mm_'+name))
stepper.set_microstepping(config.getint('Steppers', 'microstepping_'+name))
stepper.set_decay(1)
# Commit changes for the Steppers
Stepper.commit()
Path.axis_config = int(config.get('Geometry', 'axis_config'))
Path.max_speed_x = float(config.get('Steppers', 'max_speed_x'))
Path.max_speed_y = float(config.get('Steppers', 'max_speed_y'))
Path.max_speed_z = float(config.get('Steppers', 'max_speed_z'))
Path.max_speed_e = float(config.get('Steppers', 'max_speed_e'))
Path.max_speed_h = float(config.get('Steppers', 'max_speed_h'))
current_pos = {"X":0.0, "Y":0.0, "Z":0.0, "E":0.0}
pp = Path_planner(steppers, current_pos)
pp.set_acceleration(0.3)
nb = 10
