def setup_stepper_multiplexer(stepgenIndex, sections, selSignal, thread):
num = len(sections)
sigBase = 'stepgen-%i' % stepgenIndex
unsignedSignals = [['dirsetup', 'DIRSETUP'],
['dirhold', 'DIRHOLD'],
['steplen', 'STEPLEN'],
['stepspace', 'STEPSPACE']]
floatSignals = [['scale', 'SCALE'],
['max-vel', 'STEPGEN_MAX_VEL'],
['max-acc', 'STEPGEN_MAX_ACC']]
for item in unsignedSignals:
signal = hal.Signal('%s-%s' % (sigBase, item[0]), hal.HAL_U32)
mux = rt.newinst('muxn_u32', 'mux%i.%s' % (num, signal.name), pincount=num)
hal.addf(mux.name, thread)
for n, section in enumerate(sections):
mux.pin('in%i' % n).set(c.find(section, item[1]))
mux.pin('sel').link(selSignal)
mux.pin('out').link(signal)
for item in floatSignals:
signal = hal.Signal('%s-%s' % (sigBase, item[0]), hal.HAL_FLOAT)
mux = rt.newinst('muxn', 'mux%i.%s' % (num, signal.name), pincount=num)
hal.addf(mux.name, thread)
for n, section in enumerate(sections):
mux.pin('in%i' % n).set(c.find(section, item[1]))
mux.pin('sel').link(selSignal)
mux.pin('out').link(signal)
def setup_motion(kinematics='trivkins'):
rt.loadrt(kinematics)
rt.loadrt('tp')
# motion controller, get name and thread periods from ini file
rt.loadrt(c.find('EMCMOT', 'EMCMOT'),
servo_period_nsec=c.find('EMCMOT', 'SERVO_PERIOD'),
num_joints=c.find('TRAJ', 'AXES'),
num_aio=51,
num_dio=21)
def setup_system_fan(replicape):
en = config.find('FDM', 'SYSTEM_FAN', 0)
if int(en) == 0:
return
fan_sig = hal.newsig('fan-output', hal.HAL_FLOAT)
replicape.get_fan_pwm_pin(3).link(fan_sig)
fan_sig.set(1.0)
def setup_system_fan(replicape):
en = config.find('FDM','SYSTEM_FAN', 0)
if int(en) == 0:
return
fan_sig = hal.newsig('fan-output', hal.HAL_FLOAT)
replicape.get_fan_pwm_pin(3).link(fan_sig)
fan_sig.set(1.0)
def setup_motion(kinematics='trivkins'):
rt.loadrt(kinematics)
rt.loadrt('tp')
rt.loadrt('hostmot2')
# rt.newinst(c.find('HOSTMOT2', 'DRIVER'),
# c.find('HOSTMOT2', 'DEVNAME'),
# c.find('HOSTMOT2', 'CONFIG'))
os.system(
'halcmd newinst hm2_soc_ol hm2-socfpga0 -- config="firmware=socfpga/dtbo/DE0_Nano_SoC_Cramps.3x24.dtbo num_pwmgens=6 num_stepgens=8 enable_adc=1" debug=1'
)
# motion controller, get name and thread periods from ini file
rt.loadrt(c.find('EMCMOT', 'EMCMOT'),
servo_period_nsec=c.find('EMCMOT', 'SERVO_PERIOD'),
num_joints=c.find('TRAJ', 'AXES'),
num_aio=51,
num_dio=21)
def setup_servo_toggle(servoIndex, section, pwm, selectSignal, thread=None):
servo = '%s.%02i' % ('rc_servo', servoIndex)
mux2 = rt.newinst('mux2', '%s-mux2' % servo)
hal.addf(mux2.name, thread)
pwmout = hal.newsig('%s-pwm-out' % servo, hal.HAL_FLOAT)
mux2.pin('out').link(pwmout)
hal.Pin('%s.value' % pwm).link(pwmout)
enable = hal.Signal('emcmot-0-enable', hal.HAL_BIT)
hal.Pin('%s.enable' % pwm).link(enable)
sigBase = 'rc-servo-%i' % servoIndex
smin = hal.newsig('%s-min' % sigBase, hal.HAL_FLOAT)
smax = hal.newsig('%s-max' % sigBase, hal.HAL_FLOAT)
hal.Pin('%s-mux2.in1' % servo).link(smin)
hal.Pin('%s-mux2.in0' % servo).link(smax)
smin.set(c.find(section, 'SERVO_MIN', 0.1))
smax.set(c.find(section, 'SERVO_MAX', 0.2))
mux2.pin('sel').link('%s' % selectSignal)
def configure_stepgen():
# stepgen config
hal.Pin('hpg.stepgen.00.steppin').set(812)
hal.Pin('hpg.stepgen.00.dirpin').set(811)
hal.Pin('hpg.stepgen.00.control-type').set(1) # velocity mode
hal.Pin('hpg.stepgen.00.position-scale').set(c.find('STEPPER', 'SCALE'))
hal.Pin('hpg.stepgen.00.dirsetup').set(c.find('STEPPER', 'DIRSETUP'))
hal.Pin('hpg.stepgen.00.dirhold').set(c.find('STEPPER', 'DIRHOLD'))
hal.Pin('hpg.stepgen.00.steplen').set(c.find('STEPPER', 'STEPLEN'))
hal.Pin('hpg.stepgen.00.stepspace').set(c.find('STEPPER', 'STEPSPACE'))
hal.Pin('hpg.stepgen.00.velocity-cmd').link(
hal.Signal('motor-vel', hal.HAL_FLOAT))
hal.Pin('hpg.stepgen.00.enable').link(
hal.Signal('motor-enable', hal.HAL_BIT))
# machine power
hal.Pin('bb_gpio.p9.out-26').link(hal.Signal('motor-enable', hal.HAL_BIT))
hal.Pin('bb_gpio.p8.out-07').link(hal.Signal('motor-enable', hal.HAL_BIT))
hal.Pin('bb_gpio.p8.out-07.invert').set(True)
def __init__(self):
self.gpio = rtapi.loadrt('hal_bb_gpio',
output_pins='',
input_pins='810,809,924,818,923,925,916,918,911,913')
self.dac = hal.loadusr(USR_HAL_PATH + 'hal_replicape_dac',
name='replicape_dac',
wait_name='replicape_dac')
self.hwconfig = hal.loadusr(USR_HAL_PATH + 'hal_replicape_A4_hwconfig',
name='replicape_hwconfig',
wait_name='replicape_hwconfig')
for i in xrange(5):
# Default: microstepping=1/32, fast decay
self.hwconfig.pin('stepper.%i.microstepping' % i).set(config.find('FDM','STEPPER_%i_MICROSTEPPING' % i, 5))
self.hwconfig.pin('stepper.%i.decay' % i).set(config.find('FDM','STEPPER_%i_DECAY' % i, 0))
super(ReplicapeA4A, self).__init__()
def setup_axis(replicape, command, feedback, nr):
section = 'AXIS_%d' % nr
port_str = config.find(section, 'PORT', str(nr))
ports = re.split('\s*,\s*', port_str)
replicape.get_pru_pin('%s.position-fb' % replicape.get_stepgen(ports[0])).link(feedback)
for port in ports:
sg = replicape.get_stepgen(port)
replicape.get_pru_pin('%s.position-cmd' % (sg)).link(command)
replicape.get_pru_pin('%s.position-scale' % (sg)) \
.set(float(
config.find(section, 'SCALE_PORT_%s' % port, config.find(section, 'SCALE', 'SCALE must be defined'))
))
replicape.get_pru_pin('%s.enable' % (sg)).link('main-enable')
replicape.set_motor_current(
replicape.get_motor_port(port),
float(
config.find(section, 'CURRENT_PORT_%s' % port, config.find(section, 'CURRENT', DEFAULT_CURRENT))
))
def setup_axis(replicape, command, feedback, nr):
section = 'AXIS_%d' % nr
port_str = config.find(section, 'PORT', str(nr))
ports = re.split('\s*,\s*', port_str)
replicape.get_pru_pin('%s.position-fb' % replicape.get_stepgen(ports[0])).link(feedback)
for port in ports:
sg = replicape.get_stepgen(port)
replicape.get_pru_pin('%s.position-cmd' % (sg)).link(command)
replicape.get_pru_pin('%s.position-scale' % (sg)) \
.set(float(
config.find(section, 'SCALE_PORT_%s' % port, config.find(section, 'SCALE', 'SCALE must be defined'))
))
replicape.get_pru_pin('%s.enable' % (sg)).link('main-enable')
replicape.set_motor_current(
replicape.get_motor_port(port),
float(
config.find(section, 'CURRENT_PORT_%s' % port, config.find(section, 'CURRENT', DEFAULT_CURRENT))
))
def setup_extruder(replicape, extruder, nr):
section = 'EXTRUDER_%d' % nr
port_str = str(config.find(section, 'PORT', str(nr + 3))) # Extruder starts at port 3, after XYZ
ports = re.split('\s*,\s*', port_str)
for port in ports:
sg = replicape.get_stepgen(port)
replicape.get_pru_pin('%s.control-type' % (sg)).set(1)
replicape.get_pru_pin('%s.velocity-cmd' % (sg)).link(extruder.extrude_vel_sig)
replicape.get_pru_pin('%s.position-scale' % (sg)) \
.set(float(
config.find(section, 'SCALE_PORT_%s' % port, config.find(section, 'SCALE', 'SCALE must be defined'))
))
replicape.get_pru_pin('%s.enable' % (sg)).link('main-enable')
replicape.set_motor_current(
replicape.get_motor_port(port),
float(
config.find(section, 'CURRENT_PORT_%s' % port, config.find(section, 'CURRENT', DEFAULT_CURRENT))
))
def setup_extruder(replicape, extruder, nr):
section = 'EXTRUDER_%d' % nr
port_str = str(config.find(section, 'PORT', str(nr + 3))) # Extruder starts at port 3, after XYZ
ports = re.split('\s*,\s*', port_str)
for port in ports:
sg = replicape.get_stepgen(port)
replicape.get_pru_pin('%s.control-type' % (sg)).set(1)
replicape.get_pru_pin('%s.velocity-cmd' % (sg)).link(extruder.extrude_vel_sig)
replicape.get_pru_pin('%s.position-scale' % (sg)) \
.set(float(
config.find(section, 'SCALE_PORT_%s' % port, config.find(section, 'SCALE', 'SCALE must be defined'))
))
replicape.get_pru_pin('%s.enable' % (sg)).link('main-enable')
replicape.set_motor_current(
replicape.get_motor_port(port),
float(
config.find(section, 'CURRENT_PORT_%s' % port, config.find(section, 'CURRENT', DEFAULT_CURRENT))
))
def __init__(self):
self.gpio = rtapi.loadrt('hal_bb_gpio',
output_pins='',
input_pins='810,809,924,818,923,925,916,918,911,913')
self.dac = hal.loadusr(USR_HAL_PATH + 'hal_replicape_dac',
name='replicape_dac',
wait_name='replicape_dac')
self.hwconfig = hal.loadusr(USR_HAL_PATH + 'hal_replicape_A4_hwconfig',
name='replicape_hwconfig',
wait_name='replicape_hwconfig')
for i in xrange(5):
# Default: microstepping=1/32, fast decay
self.hwconfig.pin('stepper.%i.microstepping' % i).set(config.find('FDM','STEPPER_%i_MICROSTEPPING' % i, 5))
self.hwconfig.pin('stepper.%i.decay' % i).set(config.find('FDM','STEPPER_%i_DECAY' % i, 0))
super(ReplicapeA4A, self).__init__()
def setup_stepper(stepgenIndex,
section,
axisIndex=None,
stepgenType='hpg.stepgen',
gantry=False,
gantryJoint=0,
velocitySignal=None,
thread=None):
stepgen = '%s.%01i' % (stepgenType, stepgenIndex)
if axisIndex is not None:
axis = 'axis.%i' % axisIndex
hasMotionAxis = (axisIndex is not None) and (not gantry
or gantryJoint == 0)
velocityControlled = velocitySignal is not None
# axis enable chain
enableIndex = axisIndex
if axisIndex is None:
enableIndex = 0 # use motor enable signal
enable = hal.Signal('emcmot-%i-enable' % enableIndex, hal.HAL_BIT)
if hasMotionAxis:
enable.link('%s.amp-enable-out' % axis)
enable.link('%s.enable' % stepgen)
# expose timing parameters so we can multiplex them later
sigBase = 'stepgen.%i' % stepgenIndex
assign_param(sigBase, "position-scale", c.find(section, 'SCALE'))
assign_param(sigBase, "maxaccel", c.find(section, 'STEPGEN_MAXACC'))
#assign_param(sigBase,"maxvel",c.find("ABP", 'STEPGEN_MAXVEL'))
# position command and feedback
limitHome = hal.newsig('limit-%i-home' % axisIndex, hal.HAL_BIT)
limitMin = hal.newsig('limit-%i-min' % axisIndex, hal.HAL_BIT)
limitMax = hal.newsig('limit-%i-max' % axisIndex, hal.HAL_BIT)
limitHome.link('%s.home-sw-in' % axis)
limitMin.link('%s.neg-lim-sw-in' % axis)
limitMax.link('%s.pos-lim-sw-in' % axis)
if velocityControlled:
hal.net(velocitySignal, '%s.velocity-cmd' % stepgen)
def init_hardware():
watchList = []
# Python user-mode HAL module to read ADC value and generate a thermostat output for PWM
defaultThermistor = 'semitec_103GT_2'
hal.loadusr('hal_temp_atlas',
name='temp',
filter_size=20,
channels='00:%s,01:%s,02:%s,03:%s' %
(c.find('HBP', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_0', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_1', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_2', 'THERMISTOR', defaultThermistor)),
wait_name='temp')
watchList.append(['temp', 0.1])
base.usrcomp_status('temp', 'temp-hw', thread='servo-thread')
base.usrcomp_watchdog(watchList,
'estop-reset',
thread='servo-thread',
errorSignal='watchdog-error')
def init_hardware():
watchList = []
# load low-level drivers
rt.loadrt('hal_bb_gpio',
output_pins='816,822,823,824,825,826,914,923,925',
input_pins='807,808,809,810,817,911,913')
prubin = '%s/%s' % (c.Config().EMC2_RTLIB_DIR, c.find('PRUCONF', 'PRUBIN'))
rt.loadrt(c.find('PRUCONF', 'DRIVER'),
pru=0,
num_stepgens=6,
num_pwmgens=6,
prucode=prubin,
halname='hpg')
# Python user-mode HAL module to read ADC value and generate a thermostat output for PWM
defaultThermistor = 'semitec_103GT_2'
hal.loadusr('hal_temp_bbb',
name='temp',
interval=0.05,
filter_size=1,
cape_board='CRAMPS',
channels='04:%s,05:%s,02:%s,03:%s' %
(c.find('HBP', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_0', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_1', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_2', 'THERMISTOR', defaultThermistor)),
wait_name='temp')
watchList.append(['temp', 0.1])
base.usrcomp_status('temp', 'temp-hw', thread='servo-thread')
base.usrcomp_watchdog(watchList,
'estop-reset',
thread='servo-thread',
errorSignal='watchdog-error')
def init_hardware():
watchList = []
# load low-level drivers
rt.loadrt('hal_bb_gpio', output_pins='816,822,823,824,825,826,914,923,925', input_pins='807,808,809,810,817,911,913')
prubin = '%s/%s' % (c.Config().EMC2_RTLIB_DIR, c.find('PRUCONF', 'PRUBIN'))
rt.loadrt(c.find('PRUCONF', 'DRIVER'),
pru=0, num_stepgens=6, num_pwmgens=6,
prucode=prubin, halname='hpg')
# Python user-mode HAL module to read ADC value and generate a thermostat output for PWM
defaultThermistor = 'semitec_103GT_2'
hal.loadusr('hal_temp_bbb',
name='temp',
interval=0.05,
filter_size=1,
cape_board='CRAMPS',
channels='04:%s,05:%s,02:%s,03:%s'
% (c.find('HBP', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_0', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_1', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_2', 'THERMISTOR', defaultThermistor)),
wait_name='temp')
watchList.append(['temp', 0.1])
base.usrcomp_status('temp', 'temp-hw', thread='servo-thread')
base.usrcomp_watchdog(watchList, 'estop-reset', thread='servo-thread',
errorSignal='watchdog-error')
def __init__(self):
self.gpio = rtapi.loadrt('hal_bb_gpio',
output_pins='941',
input_pins='810,809,924,818,923,925,928,918,911,913')
self.hwconfig = hal.loadusr(USR_HAL_PATH + 'hal_replicape_B3_hwconfig',
name='replicape_hwconfig',
wait_name='replicape_hwconfig')
for i in xrange(5):
# Default: spreadMode, microstepping=1/16
self.hwconfig.pin('stepper.%i.mode' % i).set(config.find('FDM','STEPPER_%i_MODE' % i, 0x80))
super(ReplicapeB3A, self).__init__()
def __init__(self):
self.gpio = rtapi.loadrt('hal_bb_gpio',
output_pins='941',
input_pins='810,809,924,818,923,925,928,918,911,913')
self.hwconfig = hal.loadusr(USR_HAL_PATH + 'hal_replicape_B3_hwconfig',
name='replicape_hwconfig',
wait_name='replicape_hwconfig')
for i in xrange(5):
# Default: spreadMode, microstepping=1/16
self.hwconfig.pin('stepper.%i.mode' % i).set(config.find('FDM','STEPPER_%i_MODE' % i, 0x80))
super(ReplicapeB3A, self).__init__()
def setup_motion(kinematics='trivkins', tp='tp', num_aio=50, num_dio=21):
rt.loadrt(kinematics)
# rt.loadrt(tp)
# hostmot2 setup get names and config from ini file
hostmot2 = bool(c.find('HOSTMOT2', 'DRIVER'))
if hostmot2:
rt.loadrt('hostmot2')
os.system(
'halcmd newinst hm2_soc_ol hm2-socfpga0 already_programmed=1 -- config="num_pwmgens=1 num_stepgens=4"'
)
# rt.newinst(c.find('HOSTMOT2', 'DRIVER'),
# c.find('HOSTMOT2', 'DEVNAME'),
# "-- ",
# c.find('HOSTMOT2', 'CONFIG'))
# motion controller, get name and thread periods from ini file
rt.loadrt(c.find('EMCMOT', 'EMCMOT'),
servo_period_nsec=c.find('EMCMOT', 'SERVO_PERIOD'),
num_joints=c.find('TRAJ', 'AXES'),
num_aio=num_aio,
num_dio=num_dio)
def setup_limit_switches(replicape):
limit_x_sig = hal.newsig('limit-x', hal.HAL_BIT)
limit_x_sig.link('axis.0.home-sw-in')
limit_x_pos = config.find('AXIS_0', 'HOME_SEARCH_VEL', 0)
if limit_x_pos < 0:
replicape.get_limit_pin('X', False).link(limit_x_sig)
limit_x_sig.link('axis.0.neg-lim-sw-in')
if limit_x_pos > 0:
replicape.get_limit_pin('X', True).link(limit_x_sig)
limit_x_sig.link('axis.0.pos-lim-sw-in')
limit_y_sig = hal.newsig('limit-y', hal.HAL_BIT)
limit_y_sig.link('axis.1.home-sw-in')
limit_y_pos = config.find('AXIS_1', 'HOME_SEARCH_VEL', 0)
if limit_y_pos < 0:
replicape.get_limit_pin('Y', False).link(limit_y_sig)
limit_y_sig.link('axis.1.neg-lim-sw-in')
if limit_y_pos > 0:
replicape.get_limit_pin('Y', True).link(limit_y_sig)
limit_y_sig.link('axis.1.pos-lim-sw-in')
limit_z_sig = hal.newsig('limit-z', hal.HAL_BIT)
limit_z_sig.link('axis.2.home-sw-in')
limit_z_pos = config.find('AXIS_2', 'HOME_SEARCH_VEL', 0)
if limit_z_pos < 0:
replicape.get_limit_pin('Z', False).link(limit_z_sig)
limit_z_sig.link('axis.2.neg-lim-sw-in')
if limit_z_pos > 0:
replicape.get_limit_pin('Z', True).link(limit_z_sig)
limit_z_sig.link('axis.2.pos-lim-sw-in')
probe_pin = replicape.get_probe_pin();
if probe_pin is not None:
probe_sig = hal.newsig('limit-probe', hal.HAL_BIT)
probe_sig.link(probe_pin)
probe_sig.link('motion.probe-input')
def setup_limit_switches(replicape):
limit_x_sig = hal.newsig('limit-x', hal.HAL_BIT)
limit_x_sig.link('axis.0.home-sw-in')
limit_x_pos = config.find('AXIS_0', 'HOME_SEARCH_VEL', 0)
if limit_x_pos < 0:
replicape.get_limit_pin('X', False).link(limit_x_sig)
limit_x_sig.link('axis.0.neg-lim-sw-in')
if limit_x_pos > 0:
replicape.get_limit_pin('X', True).link(limit_x_sig)
limit_x_sig.link('axis.0.pos-lim-sw-in')
limit_y_sig = hal.newsig('limit-y', hal.HAL_BIT)
limit_y_sig.link('axis.1.home-sw-in')
limit_y_pos = config.find('AXIS_1', 'HOME_SEARCH_VEL', 0)
if limit_y_pos < 0:
replicape.get_limit_pin('Y', False).link(limit_y_sig)
limit_y_sig.link('axis.1.neg-lim-sw-in')
if limit_y_pos > 0:
replicape.get_limit_pin('Y', True).link(limit_y_sig)
limit_y_sig.link('axis.1.pos-lim-sw-in')
limit_z_sig = hal.newsig('limit-z', hal.HAL_BIT)
limit_z_sig.link('axis.2.home-sw-in')
limit_z_pos = config.find('AXIS_2', 'HOME_SEARCH_VEL', 0)
if limit_z_pos < 0:
replicape.get_limit_pin('Z', False).link(limit_z_sig)
limit_z_sig.link('axis.2.neg-lim-sw-in')
if limit_z_pos > 0:
replicape.get_limit_pin('Z', True).link(limit_z_sig)
limit_z_sig.link('axis.2.pos-lim-sw-in')
probe_pin = replicape.get_probe_pin();
if probe_pin is not None:
probe_sig = hal.newsig('limit-probe', hal.HAL_BIT)
probe_sig.link(probe_pin)
probe_sig.link('motion.probe-input')
def __init__(self, replicape, enable_sig, estop_reset_sig):
config_name = 'HBP'
thermistor = config.find(config_name, 'THERMISTOR', '')
if thermistor == '':
raise ValueError('[%s] THERMISTOR must be defined' % (config_name))
temp_hal = hal.loadusr(USR_HAL_PATH + 'hal_bbb_temp',
name='ThermHbp',
wait_name='ThermHbp',
cape_board='Replicape',
channel=replicape.get_hbp_adc_channel(),
thermistor=thermistor)
super(HbpTemperature, self).__init__(
temp_hal, replicape.get_hbp_pwm_pin(), replicape.get_hbp_on_pin(),
enable_sig, estop_reset_sig,
config_name, 'fdm-hbp', 'temp.hbp', 0)
def setup_linearDeltaKins(c):
# c.load_ini(os.environ['INI_FILE_NAME'])
deltaCfRod = c.find('MACHINE', 'CF_ROD')
deltaRadius = c.find('MACHINE', 'DELTA_R')
deltaJoin0Offset = c.find('MACHINE', 'JOINT_0_OFFSET', 0)
deltaJoin1Offset = c.find('MACHINE', 'JOINT_1_OFFSET', 0)
deltaJoin2Offset = c.find('MACHINE', 'JOINT_2_OFFSET', 0)
deltaJoin1AngleOffset = c.find('MACHINE', 'JOINT_1_ANGLE_OFFSET', 0)
deltaJoin2AngleOffset = c.find('MACHINE', 'JOINT_2_ANGLE_OFFSET', 0)
deltaJoin1RadiusOffset = c.find('MACHINE', 'JOINT_1_RADIUS_OFFSET', 0)
deltaJoin2RadiusOffset = c.find('MACHINE', 'JOINT_2_RADIUS_OFFSET', 0)
c.load_ini(os.environ['INI_FILE_NAME'])
hal.Pin('lineardeltakins.L').set(deltaCfRod)
hal.Pin('lineardeltakins.R').set(deltaRadius)
hal.Pin('lineardeltakins.J0off').set(deltaJoin0Offset)
hal.Pin('lineardeltakins.J1off').set(deltaJoin1Offset)
hal.Pin('lineardeltakins.J2off').set(deltaJoin2Offset)
hal.Pin('lineardeltakins.A1off').set(deltaJoin1AngleOffset)
hal.Pin('lineardeltakins.A2off').set(deltaJoin2AngleOffset)
hal.Pin('lineardeltakins.R1off').set(deltaJoin1RadiusOffset)
hal.Pin('lineardeltakins.R2off').set(deltaJoin2RadiusOffset)
def setup_linearDeltaKins(c):
# c.load_ini(os.environ['INI_FILE_NAME'])
deltaCfRod = c.find('MACHINE', 'CF_ROD')
deltaRadius = c.find('MACHINE', 'DELTA_R')
deltaJoin0Offset = c.find('MACHINE', 'JOINT_0_OFFSET',0)
deltaJoin1Offset = c.find('MACHINE', 'JOINT_1_OFFSET',0)
deltaJoin2Offset = c.find('MACHINE', 'JOINT_2_OFFSET',0)
deltaJoin1AngleOffset = c.find('MACHINE', 'JOINT_1_ANGLE_OFFSET',0)
deltaJoin2AngleOffset = c.find('MACHINE', 'JOINT_2_ANGLE_OFFSET',0)
deltaJoin1RadiusOffset = c.find('MACHINE', 'JOINT_1_RADIUS_OFFSET',0)
deltaJoin2RadiusOffset = c.find('MACHINE', 'JOINT_2_RADIUS_OFFSET',0)
c.load_ini(os.environ['INI_FILE_NAME'])
hal.Pin('lineardeltakins.L').set(deltaCfRod)
hal.Pin('lineardeltakins.R').set(deltaRadius)
hal.Pin('lineardeltakins.J0off').set(deltaJoin0Offset)
hal.Pin('lineardeltakins.J1off').set(deltaJoin1Offset)
hal.Pin('lineardeltakins.J2off').set(deltaJoin2Offset)
hal.Pin('lineardeltakins.A1off').set(deltaJoin1AngleOffset)
hal.Pin('lineardeltakins.A2off').set(deltaJoin2AngleOffset)
hal.Pin('lineardeltakins.R1off').set(deltaJoin1RadiusOffset)
hal.Pin('lineardeltakins.R2off').set(deltaJoin2RadiusOffset)
def __init__(self, replicape, index, enable_sig, estop_reset_sig):
config_name = 'EXTRUDER_%s' % (index)
thermistor = config.find(config_name, 'THERMISTOR', '')
if thermistor == '':
raise ValueError('[%s] THERMISTOR must be defined' % (config_name))
temp_hal = hal.loadusr(USR_HAL_PATH + 'hal_bbb_temp',
name='Therm%s' % (index),
wait_name='Therm%s' % (index),
cape_board='Replicape',
channel=replicape.get_extruder_adc_channel(index),
thermistor=thermistor)
super(ExtruderTemperature, self).__init__(
temp_hal, replicape.get_extruder_pwm_pin(index), replicape.get_extruder_on_pin(index),
enable_sig, estop_reset_sig,
config_name, 'fdm-e%s' % (index), 'temp.e%s' % (index),
index + 2
)
def check_version():
global BOARD_REV
# we use a 4.14.18-ti-rt-r33 kernel and have enable_uboot_overlays=1
# in /boot/uEnv.txt
# u-boot overlays do not use the slots file, so we take the board
# version from the INI file
# is there any way to find not just the loaded cape name, but also
# its version (short of reading the cape eeprom)?
# we check in /sys/proc/cmdline for the REPLICAPE cape
#
# with open('/sys/devices/platform/bone_capemgr/slots', 'r') as file:
# content = file.read()
content = subprocess.check_output(['cat','/proc/cmdline'])
if re.search('capes=BB-BONE-REPLICAP', content) is None:
raise RuntimeError('Replicape not found. Is the cape mounted?')
content = config.find('FDM','BOARD_REV')
if (content is not None) and (content in ['B3A', 'A4A']):
BOARD_REV = content
else:
raise RuntimeError('BOARD_REV not set in ini file. Set to B3A or A4A!')
def setup_motion(kinematics='trivkins', tp='tp', num_aio=50, num_dio=21):
rt.loadrt(kinematics)
# rt.loadrt(tp)
# hostmot2 setup get names and config from ini file
hostmot2 = bool(c.find('HOSTMOT2', 'DRIVER'))
if hostmot2:
rt.loadrt('hostmot2')
rt.newinst(c.find('HOSTMOT2', 'DRIVER'), c.find('HOSTMOT2', 'DEVNAME'),
"-- ", c.find('HOSTMOT2', 'CONFIG'))
# motion controller, get name and thread periods from ini file
rt.loadrt(c.find('EMCMOT', 'EMCMOT'),
servo_period_nsec=c.find('EMCMOT', 'SERVO_PERIOD'),
num_joints=c.find('TRAJ', 'AXES'),
num_aio=num_aio,
num_dio=num_dio,
tp=tp,
kins=kinematics)
def check_version():
global BOARD_REV
# we use a 4.14.18-ti-rt-r33 kernel and have enable_uboot_overlays=1
# in /boot/uEnv.txt
# u-boot overlays do not use the slots file, so we take the board
# version from the INI file
# is there any way to find not just the loaded cape name, but also
# its version (short of reading the cape eeprom)?
# we check in /sys/proc/cmdline for the REPLICAPE cape
#
# with open('/sys/devices/platform/bone_capemgr/slots', 'r') as file:
# content = file.read()
content = subprocess.check_output(['cat','/proc/cmdline'])
if re.search('capes=BB-BONE-REPLICAP', content) is None:
raise RuntimeError('Replicape not found. Is the cape mounted?')
content = config.find('FDM','BOARD_REV')
if (content is not None) and (content in ['B3A', 'A4A']):
BOARD_REV = content
else:
raise RuntimeError('BOARD_REV not set in ini file. Set to B3A or A4A!')
def setup_fans(replicape):
if NUM_FANS == 0:
return
en = config.find('FDM','SYSTEM_FAN', 0)
fan_out = [None] * NUM_FANS
fan_scale = [None] * NUM_FANS
fan_in = [None] * NUM_FANS
#on-board pwm input is 0.0 to 1.0, M106 sends 0 to 255
for i in xrange(NUM_FANS):
fan_out[i] = hal.newsig('fan-out-%d' % i, hal.HAL_FLOAT)
replicape.get_fan_pwm_pin(i).link(fan_out[i])
# the system fan is connected to the last fan pwm output
if (int(en) > 0) and (i == NUM_FANS-1):
fan_out[i].set(1.0)
else:
fan_in[i] = hal.newsig('fan-in-%d' % i, hal.HAL_FLOAT)
fan_in[i].link('motion.analog-out-io-%d' % (FAN_IO_START + i))
fan_scale[i] = rtapi.newinst('div2', 'fan%d.div2.scale-pwm' % i)
hal.addf(fan_scale[i].name, SERVO_THREAD)
fan_scale[i].pin('in0').link(fan_in[i])
fan_scale[i].pin('in1').set(255.0)
fan_scale[i].pin('out').link(fan_out[i])
def _init_config(self, config):
configs = [
(self.filament_dia_sig, ['FILAMENT_DIAMETER', 'FILAMENT_DIA'], '3'),
(self.extrude_scale_sig, ['EXTRUDE_SCALE'], '1'),
(self.accel_gain_sig, ['ACCELERATION_GAIN'], '0.05'),
(self.max_jog_vel_sig, ['MAX_JOG_VELOCITY', 'MAX_VELOCITY'], '40'),
(self.retract_len_sig, ['RETRACT_LENGTH', 'RETRACT_LEN'], '3'),
(self.retract_vel_sig, ['RETRACT_VELOCITY', 'RETRACT_VEL'], '60')
]
for i in configs:
(signal, config_names, config_default) = i
v = None
for config_name in config_names:
v = config.find('EXTRUDER_%d' % self.nr, config_name)
if v is not None:
break
if v is None:
v = config_default
if v is None:
raise ValueError('Config [EXTRUDER_%d] %s must be defined' % (self.nr, config_nammes[0]))
float_v = float(v)
signal.set(float_v)
def setup_fans(replicape):
if NUM_FANS == 0:
return
en = config.find('FDM', 'SYSTEM_FAN', 0)
fan_out = [None] * NUM_FANS
fan_scale = [None] * NUM_FANS
fan_in = [None] * NUM_FANS
#on-board pwm input is 0.0 to 1.0, M106 sends 0 to 255
for i in xrange(NUM_FANS):
fan_out[i] = hal.newsig('fan-out-%d' % i, hal.HAL_FLOAT)
replicape.get_fan_pwm_pin(i).link(fan_out[i])
# the system fan is connected to the last fan pwm output
if (int(en) > 0) and (i == NUM_FANS - 1):
fan_out[i].set(1.0)
else:
fan_in[i] = hal.newsig('fan-in-%d' % i, hal.HAL_FLOAT)
fan_in[i].link('motion.analog-out-io-%d' % (FAN_IO_START + i))
fan_scale[i] = rtapi.newinst('div2', 'fan%d.div2.scale-pwm' % i)
hal.addf(fan_scale[i].name, SERVO_THREAD)
fan_scale[i].pin('in0').link(fan_in[i])
fan_scale[i].pin('in1').set(255.0)
fan_scale[i].pin('out').link(fan_out[i])
def __init__(self):
self.pru = rtapi.loadrt('hal_pru_generic',
pru=0, num_stepgens=5, num_pwmgens=0, halname='hpg',
prucode='%s/rt-preempt/pru_generic.bin' % (config.Config().EMC2_RTLIB_DIR))
# 4.14.18-ti-rt-r33 kernel and rt-preempt
hal.addf('hpg.capture-position', SERVO_THREAD)
hal.addf('hpg.update', SERVO_THREAD)
hal.addf('bb_gpio.read', SERVO_THREAD)
hal.addf('bb_gpio.write', SERVO_THREAD)
minvel = config.find('TRAJ','MIN_VELOCITY', 0.001)
for i in xrange(5):
self.get_pru_pin('stepgen.%02i.dirsetup' % i).set(200)
self.get_pru_pin('stepgen.%02i.dirhold' % i).set(200)
self.get_pru_pin('stepgen.%02i.steplen' % i).set(1000)
self.get_pru_pin('stepgen.%02i.stepspace' % i).set(1000)
self.get_pru_pin('stepgen.%02i.dirpin' % i).set(self.pru_dir_pin(i))
self.get_pru_pin('stepgen.%02i.steppin' % i).set(self.pru_step_pin(i))
# setting to zero: pru_generic adapts to maximum velocity and acceleration
# see http://www.machinekit.io/docs/man/man9/hal_pru_generic/
self.get_pru_pin('stepgen.%02i.maxvel' % i).set(0)
self.get_pru_pin('stepgen.%02i.maxaccel' % i).set(0)
# use new pru stepgen minvel pin to avoid pru hunting problem (without PID loop)
# see this discussion https://groups.google.com/forum/#!topic/machinekit/ATEwvfgoIb4
# except for extruder(s)
if i < 3 :
self.get_pru_pin('stepgen.%02i.minvel' % i).set(minvel)
self.pwm = hal.loadusr(USR_HAL_PATH + 'hal_replicape_pwm',
name='replicape_pwm',
wait_name='replicape_pwm')
self.watchdog_sigs = []
for pin in self.get_watchdog_pins():
s = hal.newsig('replicape.watchdog.%d' % len(self.watchdog_sigs), hal.HAL_BIT)
pin.link(s)
self.watchdog_sigs.append(s)
def _init_config(self, config):
configs = [
(self.filament_dia_sig, ['FILAMENT_DIAMETER',
'FILAMENT_DIA'], '3'),
(self.extrude_scale_sig, ['EXTRUDE_SCALE'], '1'),
(self.accel_gain_sig, ['ACCELERATION_GAIN'], '0.05'),
(self.max_jog_vel_sig, ['MAX_JOG_VELOCITY', 'MAX_VELOCITY'], '40'),
(self.retract_len_sig, ['RETRACT_LENGTH', 'RETRACT_LEN'], '3'),
(self.retract_vel_sig, ['RETRACT_VELOCITY', 'RETRACT_VEL'], '60')
]
for i in configs:
(signal, config_names, config_default) = i
v = None
for config_name in config_names:
v = config.find('EXTRUDER_%d' % self.nr, config_name)
if v is not None:
break
if v is None:
v = config_default
if v is None:
raise ValueError('Config [EXTRUDER_%d] %s must be defined' %
(self.nr, config_names[0]))
float_v = float(v)
signal.set(float_v)
def setup_stepper(stepgenIndex,
section,
axisIndex=None,
stepgenType='hpg.stepgen',
gantry=False,
gantryJoint=0,
velocitySignal=None,
thread=None):
stepgen = '%s.%02i' % (stepgenType, stepgenIndex)
if axisIndex is not None:
axis = 'axis.%i' % axisIndex
hasMotionAxis = (axisIndex is not None) and (not gantry
or gantryJoint == 0)
velocityControlled = velocitySignal is not None
# axis enable chain
enableIndex = axisIndex
if axisIndex is None:
enableIndex = 0 # use motor enable signal
enable = hal.Signal('emcmot-%i-enable' % enableIndex, hal.HAL_BIT)
if hasMotionAxis:
enable.link('%s.amp-enable-out' % axis)
enable.link('%s.enable' % stepgen)
# expose timing parameters so we can multiplex them later
sigBase = 'stepgen-%i' % stepgenIndex
dirsetup = hal.newsig('%s-dirsetup' % sigBase, hal.HAL_U32)
dirhold = hal.newsig('%s-dirhold' % sigBase, hal.HAL_U32)
steplen = hal.newsig('%s-steplen' % sigBase, hal.HAL_U32)
stepspace = hal.newsig('%s-stepspace' % sigBase, hal.HAL_U32)
scale = hal.newsig('%s-scale' % sigBase, hal.HAL_FLOAT)
maxVel = hal.newsig('%s-max-vel' % sigBase, hal.HAL_FLOAT)
maxAcc = hal.newsig('%s-max-acc' % sigBase, hal.HAL_FLOAT)
controlType = hal.newsig('%s-control-type' % sigBase, hal.HAL_BIT)
hal.Pin('%s.dirsetup' % stepgen).link(dirsetup)
hal.Pin('%s.dirhold' % stepgen).link(dirhold)
dirsetup.set(c.find(section, 'DIRSETUP'))
dirhold.set(c.find(section, 'DIRHOLD'))
hal.Pin('%s.steplen' % stepgen).link(steplen)
hal.Pin('%s.stepspace' % stepgen).link(stepspace)
steplen.set(c.find(section, 'STEPLEN'))
stepspace.set(c.find(section, 'STEPSPACE'))
hal.Pin('%s.position-scale' % stepgen).link(scale)
scale.set(c.find(section, 'SCALE'))
hal.Pin('%s.maxvel' % stepgen).link(maxVel)
hal.Pin('%s.maxaccel' % stepgen).link(maxAcc)
maxVel.set(c.find(section, 'STEPGEN_MAX_VEL'))
maxAcc.set(c.find(section, 'STEPGEN_MAX_ACC'))
hal.Pin('%s.control-type' % stepgen).link(controlType)
# position command and feedback
if not velocityControlled:
if hasMotionAxis: # per axis fb and cmd
posCmd = hal.newsig('emcmot-%i-pos-cmd' % axisIndex, hal.HAL_FLOAT)
posCmd.link('%s.motor-pos-cmd' % axis)
if not gantry:
posCmd.link('%s.position-cmd' % stepgen)
else:
posCmd.link('gantry.%i.position-cmd' % axisIndex)
posFb = hal.newsig('emcmot-%i-pos-fb' % axisIndex, hal.HAL_FLOAT)
posFb.link('%s.motor-pos-fb' % axis)
if not gantry:
posFb.link('%s.position-fb' % stepgen)
else:
posFb.link('gantry.%i.position-fb' % axisIndex)
if gantry: # per joint fb and cmd
posCmd = hal.newsig(
'emcmot-%i-%i-pos-cmd' % (axisIndex, gantryJoint),
hal.HAL_FLOAT)
posCmd.link('gantry.%i.joint.%02i.pos-cmd' %
(axisIndex, gantryJoint))
posCmd.link('%s.position-cmd' % stepgen)
posFb = hal.newsig(
'emcmot-%i-%i-pos-fb' % (axisIndex, gantryJoint),
hal.HAL_FLOAT)
posFb.link('%s.position-fb' % stepgen)
posFb.link('gantry.%i.joint.%02i.pos-fb' %
(axisIndex, gantryJoint))
else: # velocity control
hal.net(velocitySignal, '%s.velocity-cmd' % stepgen)
controlType.set(1) # enable velocity control
# limits
if hasMotionAxis:
limitHome = hal.newsig('limit-%i-home' % axisIndex, hal.HAL_BIT)
limitMin = hal.newsig('limit-%i-min' % axisIndex, hal.HAL_BIT)
limitMax = hal.newsig('limit-%i-max' % axisIndex, hal.HAL_BIT)
limitHome.link('%s.home-sw-in' % axis)
limitMin.link('%s.neg-lim-sw-in' % axis)
limitMax.link('%s.pos-lim-sw-in' % axis)
if gantry:
if gantryJoint == 0:
axisHoming = hal.newsig('emcmot-%i-homing' % axisIndex,
hal.HAL_BIT)
axisHoming.link('%s.homing' % axis)
hal.Pin('gantry.%i.search-vel' % axisIndex).set(
c.find(section, 'HOME_SEARCH_VEL'))
hal.Pin('gantry.%i.homing' % axisIndex).link(axisHoming)
hal.Pin('gantry.%i.home' % axisIndex).link(limitHome)
or2 = rt.newinst('or2', 'or2.limit-%i-min' % axisIndex)
hal.addf(or2.name, thread)
or2.pin('out').link(limitMin)
or2 = rt.newinst('or2', 'or2.limit-%i-max' % axisIndex)
hal.addf(or2.name, thread)
or2.pin('out').link(limitMax)
limitHome = hal.newsig('limit-%i-%i-home' % (axisIndex, gantryJoint),
hal.HAL_BIT)
limitMin = hal.newsig('limit-%i-%i-min' % (axisIndex, gantryJoint),
hal.HAL_BIT)
limitMax = hal.newsig('limit-%i-%i-max' % (axisIndex, gantryJoint),
hal.HAL_BIT)
homeOffset = hal.Signal('home-offset-%i-%i' % (axisIndex, gantryJoint),
hal.HAL_FLOAT)
limitHome.link('gantry.%i.joint.%02i.home' % (axisIndex, gantryJoint))
limitMin.link('or2.limit-%i-min.in%i' % (axisIndex, gantryJoint))
limitMax.link('or2.limit-%i-max.in%i' % (axisIndex, gantryJoint))
homeOffset.link('gantry.%i.joint.%02i.home-offset' %
(axisIndex, gantryJoint))
storage.setup_gantry_storage(axisIndex, gantryJoint)
def create_temperature_control(name,
section,
thread,
hardwareOkSignal=None,
coolingFan=None,
hotendFan=None):
tempSet = hal.newsig('%s-temp-set' % name, hal.HAL_FLOAT)
tempMeas = hal.newsig('%s-temp-meas' % name, hal.HAL_FLOAT)
tempInRange = hal.newsig('%s-temp-in-range' % name, hal.HAL_BIT)
tempPwm = hal.newsig('%s-temp-pwm' % name, hal.HAL_FLOAT)
tempPwmMax = hal.newsig('%s-temp-pwm-max' % name, hal.HAL_FLOAT)
tempLimitMin = hal.newsig('%s-temp-limit-min' % name, hal.HAL_FLOAT)
tempLimitMax = hal.newsig('%s-temp-limit-max' % name, hal.HAL_FLOAT)
tempStandby = hal.newsig('%s-temp-standby' % name, hal.HAL_FLOAT)
tempInLimit = hal.newsig('%s-temp-in-limit' % name, hal.HAL_BIT)
tempThermOk = hal.newsig('%s-temp-therm-ok' % name, hal.HAL_BIT)
error = hal.newsig('%s-error' % name, hal.HAL_BIT)
active = hal.newsig('%s-active' % name, hal.HAL_BIT)
tempPidPgain = hal.newsig('%s-temp-pid-Pgain' % name, hal.HAL_FLOAT)
tempPidIgain = hal.newsig('%s-temp-pid-Igain' % name, hal.HAL_FLOAT)
tempPidDgain = hal.newsig('%s-temp-pid-Dgain' % name, hal.HAL_FLOAT)
tempPidMaxerrorI = hal.newsig('%s-temp-pid-maxerrorI' % name,
hal.HAL_FLOAT)
tempPidOut = hal.newsig('%s-temp-pid-out' % name, hal.HAL_FLOAT)
tempPidBias = hal.newsig('%s-temp-pid-bias' % name, hal.HAL_FLOAT)
tempRangeMin = hal.newsig('%s-temp-range-min' % name, hal.HAL_FLOAT)
tempRangeMax = hal.newsig('%s-temp-range-max' % name, hal.HAL_FLOAT)
noErrorIn = hal.newsig('%s-no-error-in' % name, hal.HAL_BIT)
errorIn = hal.newsig('%s-error-in' % name, hal.HAL_BIT)
tempPidBiasOut = tempPidBias
# coolingFan compensation
if coolingFan:
tempPidFanBias = hal.newsig('%s-temp-pid-fan-bias' % name,
hal.HAL_FLOAT)
tempPidBiasOut = hal.newsig('%s-temp-pid-bias-out' % name,
hal.HAL_FLOAT)
scale = rt.newinst('scale', 'scale.%s-temp-pid-fan-bias' % name)
hal.addf(scale.name, thread)
scale.pin('in').link('%s.pwm' % coolingFan)
scale.pin('out').link(tempPidFanBias)
scale.pin('gain').set(c.find(section, 'FAN_BIAS'))
sum2 = rt.newinst('sum2', 'sum2.%s-temp-pid-bias' % name)
hal.addf(sum2.name, thread)
sum2.pin('in0').link(tempPidBias)
sum2.pin('in1').link(tempPidFanBias)
sum2.pin('out').link(tempPidBiasOut)
# PID
pid = rt.newinst('pid', 'pid.%s' % name)
hal.addf('%s.do-pid-calcs' % pid.name, thread)
pid.pin('enable').link('emcmot-0-enable') # motor enable
pid.pin('feedback').link(tempMeas)
pid.pin('command').link(tempSet)
pid.pin('output').link(tempPidOut)
pid.pin('maxoutput').link(tempPwmMax)
pid.pin('bias').link(tempPidBias)
pid.pin('Pgain').link(tempPidPgain)
pid.pin('Igain').link(tempPidIgain)
pid.pin('Dgain').link(tempPidDgain)
pid.pin('maxerrorI').link(tempPidMaxerrorI)
# Limit heater PWM to positive values
# PWM mimics hm2 implementation, which generates output for negative values
limit1 = rt.newinst('limit1', 'limit.%s-temp-heaterl' % name)
hal.addf(limit1.name, thread)
limit1.pin('in').link(tempPidOut)
limit1.pin('out').link(tempPwm)
limit1.pin('min').set(0.0)
limit1.pin('max').link(tempPwmMax)
# Temperature checking
sum2 = rt.newinst('sum2', 'sum2.%s-temp-range-pos' % name)
hal.addf(sum2.name, thread)
sum2.pin('in0').link(tempSet)
sum2.pin('in1').set(c.find(section, 'TEMP_RANGE_POS_ERROR'))
sum2.pin('out').link(tempRangeMax)
sum2 = rt.newinst('sum2', 'sum2.%s-temp-range-neg' % name)
hal.addf(sum2.name, thread)
sum2.pin('in0').link(tempSet)
sum2.pin('in1').set(c.find(section, 'TEMP_RANGE_NEG_ERROR'))
sum2.pin('out').link(tempRangeMin)
#the output of this component will say if measured temperature is in range of set value
wcomp = rt.newinst('wcomp', 'wcomp.%s-temp-in-range' % name)
hal.addf(wcomp.name, thread)
wcomp.pin('min').link(tempRangeMin)
wcomp.pin('max').link(tempRangeMax)
wcomp.pin('in').link(tempMeas)
wcomp.pin('out').link(tempInRange)
# limit the output temperature to prevent damage when thermistor is broken/removed
wcomp = rt.newinst('wcomp', 'wcomp.%s-temp-in-limit' % name)
hal.addf(wcomp.name, thread)
wcomp.pin('min').link(tempLimitMin)
wcomp.pin('max').link(tempLimitMax)
wcomp.pin('in').link(tempMeas)
wcomp.pin('out').link(tempInLimit)
# check the thermistor
# net e0.temp.meas => thermistor-check.e0.temp
# net e0.temp.in-range => not.e0-temp-range.in
# net e0.temp.in-range_n <= not.e0-temp-range.out
# net e0.temp.in-range_n => thermistor-check.e0.enable
# net e0.heaterl => thermistor-check.e0.pid
# net e0.therm-ok <= thermistor-check.e0.no-error
# no error chain
and3 = rt.newinst('andn', 'and3.%s-no-error-in' % name, pincount=3)
hal.addf(and3.name, thread)
and3.pin('in0').link(tempThermOk)
and3.pin('in1').link(tempInLimit)
if hardwareOkSignal:
and3.pin('in2').link(hardwareOkSignal)
else:
and3.pin('in2').set(True)
and3.pin('out').link(noErrorIn)
tempThermOk.set(True) # thermistor checking for now disabled
notComp = rt.newinst('not', 'not.%s-error-in' % name)
hal.addf(notComp.name, thread)
notComp.pin('in').link(noErrorIn)
notComp.pin('out').link(errorIn)
safetyLatch = rt.newinst('safety_latch', 'safety-latch.%s-error' % name)
hal.addf(safetyLatch.name, thread)
safetyLatch.pin('error-in').link(errorIn)
safetyLatch.pin('error-out').link(error)
safetyLatch.pin('reset').link('estop-reset')
safetyLatch.pin('threshold').set(500) # 500ms error
safetyLatch.pin('latching').set(True)
# active chain
comp = rt.newinst('comp', 'comp.%s-active' % name)
hal.addf(comp.name, thread)
comp.pin('in0').set(0.0001)
comp.pin('hyst').set(0.0)
comp.pin('in1').link(tempPwm)
comp.pin('out').link(active)
# Thermistor checking
# setp thermistor-check.e0.wait 9.0
# setp thermistor-check.e0.min-pid 1.5 # disable0.25
# setp thermistor-check.e0.min-temp 1.5
# net e0.pid.bias => thermistor-check.e0.bias
# Hotend fan
if hotendFan:
comp = rt.newinst('comp', 'comp.%s-pwm-enable' % hotendFan)
hal.addf(comp.name, thread)
comp.pin('in0').set(c.find(section, 'HOTEND_FAN_THRESHOLD', 50.0))
comp.pin('in1').link(tempMeas)
comp.pin('hyst').set(c.find(section, 'HOTEND_FAN_HYST', 2.0))
comp.pin('out').link('%s-pwm-enable' % hotendFan)
hal.Signal('%s-pwm' % hotendFan).set(1.0)
rcomps.create_temperature_rcomp(name)
motion.setup_temperature_io(name)
# init parameter signals
tempLimitMin.set(c.find(section, 'TEMP_LIMIT_MIN'))
tempLimitMax.set(c.find(section, 'TEMP_LIMIT_MAX'))
tempStandby.set(c.find(section, 'TEMP_STANDBY'))
tempPwmMax.set(c.find(section, 'PWM_MAX'))
tempPidPgain.set(c.find(section, 'PID_PGAIN'))
tempPidIgain.set(c.find(section, 'PID_IGAIN'))
tempPidDgain.set(c.find(section, 'PID_DGAIN'))
tempPidMaxerrorI.set(c.find(section, 'PID_MAXERRORI'))
tempPidBias.set(c.find(section, 'PID_BIAS'))
# HAL file for BeagleBone + TCT paralell port cape with 5 steppers and 3D printer board
import os
from machinekit import rtapi as rt
from machinekit import hal
from machinekit import config as c
from config import base
from config import motion
# initialize the RTAPI command client
rt.init_RTAPI()
# loads the ini file passed by linuxcnc
c.load_ini(os.environ["INI_FILE_NAME"])
motion.setup_motion(kinematics=c.find("KINS", "KINEMATICS"))
# reading functions
hal.addf("motion-command-handler", "servo-thread")
# define gantry joints
base.init_gantry(axisIndex=1, joints=2, latching=True)
# Axis-of-motion Specific Configs (not the GUI)
# X [J0] Axis
base.setup_stepper(section="AXIS_0", axisIndex=0, stepgenIndex=0, stepgenType="sim")
# Y [J1] Axis
base.setup_stepper(section="AXIS_1", axisIndex=1, stepgenIndex=1, gantry=True, gantryJoint=0, stepgenType="sim")
# YY[J2] Axis
base.setup_stepper(section="AXIS_1", axisIndex=1, stepgenIndex=2, gantry=True, gantryJoint=1, stepgenType="sim")
# Z [J3] Axis
def velocity_extrusion(extruders, thread):
''' Velocity extrusion support '''
# from motion/ui
crossSection = hal.newsig('ve-cross-section', hal.HAL_FLOAT)
crossSectionIn = hal.newsig('ve-cross-section-in', hal.HAL_FLOAT)
lineWidth = hal.newsig('ve-line-width', hal.HAL_FLOAT)
lineHeight = hal.newsig('ve-line-height', hal.HAL_FLOAT)
filamentDia = hal.newsig('ve-filament-dia', hal.HAL_FLOAT)
extrudeScale = hal.newsig('ve-extrude-scale', hal.HAL_FLOAT)
extrudeAccelAdjGain = hal.newsig('ve-extrude-accel-adj-gain', hal.HAL_FLOAT)
retractVel = hal.newsig('ve-retract-vel', hal.HAL_FLOAT)
retractLen = hal.newsig('ve-retract-len', hal.HAL_FLOAT)
maxVelocity = hal.newsig('ve-max-velocity', hal.HAL_FLOAT)
# helper signals
nozzleVel = hal.newsig('ve-nozzle-vel', hal.HAL_FLOAT)
nozzleDischarge = hal.newsig('ve-nozzle-discharge', hal.HAL_FLOAT)
filamentDiaSquared = hal.newsig('ve-filament-dia-squared', hal.HAL_FLOAT)
filamentArea = hal.newsig('ve-filament-area', hal.HAL_FLOAT)
extrudeRate = hal.newsig('ve-extrude-rate', hal.HAL_FLOAT)
extrudeRateScaled = hal.newsig('ve-extrude-rate-scaled', hal.HAL_FLOAT)
extrudeAccel = hal.newsig('ve-extrude-accel', hal.HAL_FLOAT)
extrudeAccelAdj = hal.newsig('ve-extrude-accel-adj', hal.HAL_FLOAT)
extrudeRateAdj = hal.newsig('ve-extrude-rate-adj', hal.HAL_FLOAT)
extruderEn = hal.newsig('ve-extruder-en', hal.HAL_BIT)
retractVelNeg = hal.newsig('ve-retract-vel-neg', hal.HAL_FLOAT)
retractTime = hal.newsig('ve-retract-time', hal.HAL_FLOAT)
retract = hal.newsig('ve-retract', hal.HAL_BIT)
extrudeVel = hal.newsig('ve-extrude-vel', hal.HAL_FLOAT)
baseVel = hal.newsig('ve-base-vel', hal.HAL_FLOAT)
nozzleVel.link('motion.current-vel')
mult2 = rt.newinst('mult2', 'mult2.ve-cross-section')
hal.addf(mult2.name, thread)
mult2.pin('in0').link(lineWidth)
mult2.pin('in1').link(lineHeight)
mult2.pin('out').link(crossSectionIn)
outToIo = rt.newinst('out_to_io', 'out-to-io.ve-cross-section')
hal.addf(outToIo.name, thread)
outToIo.pin('in-float').link(crossSectionIn)
outToIo.pin('out-float').link(crossSection)
# multiply area with speed and we get discharge (mm^3 per second)
mult2 = rt.newinst('mult2', 'mult2.ve-nozzle-discharge')
hal.addf(mult2.name, thread)
mult2.pin('in0').link(crossSection)
mult2.pin('in1').link(nozzleVel)
mult2.pin('out').link(nozzleDischarge)
# calculate filament cross section area
# PI divided by 4
mult2 = rt.newinst('mult2', 'mult2.ve-filament-dia')
hal.addf(mult2.name, thread)
mult2.pin('in0').link(filamentDia)
mult2.pin('in1').link(filamentDia)
mult2.pin('out').link(filamentDiaSquared)
mult2 = rt.newinst('mult2', 'mult2.ve-filament-area')
hal.addf(mult2.name, thread)
mult2.pin('in0').set(math.pi / 4)
mult2.pin('in1').link(filamentDiaSquared)
mult2.pin('out').link(filamentArea)
# calculate extrude rate
div2 = rt.newinst('div2', 'div2.ve-extrude-rate')
hal.addf(div2.name, thread)
div2.pin('in0').link(nozzleDischarge)
div2.pin('in1').link(filamentArea)
div2.pin('out').link(extrudeRate)
# scale extrude rate
mult2 = rt.newinst('mult2', 'mult2.ve-extrude-rate-scaled')
hal.addf(mult2.name, thread)
mult2.pin('in0').link(extrudeRate)
mult2.pin('in1').link(extrudeScale)
mult2.pin('out').link(extrudeRateScaled)
# these are used for a small offset in velocity during acceleration (buildup pressure inside
# the nozzle because of the current speed. Take the maximum accel you've specified in .ini
# get acceleration into lincurve
ddt = rt.newinst('ddt', 'ddt.ve-extruder-accel')
hal.addf(ddt.name, thread)
ddt.pin('in').link(extrudeRateScaled)
ddt.pin('out').link(extrudeAccel)
mult2 = rt.newinst('mult2', 'mult2.ve-extrude-accel-adj')
hal.addf(mult2.name, thread)
mult2.pin('in0').link(extrudeAccel)
mult2.pin('in1').link(extrudeAccelAdjGain)
mult2.pin('out').link(extrudeAccelAdj)
# get adjusted speed for adding to current speed during acceleration
sum2 = rt.newinst('sum2', 'sum2.ve-extrude-rate-adj')
hal.addf(sum2.name, thread)
sum2.pin('in0').link(extrudeRateScaled)
sum2.pin('in1').link(extrudeAccelAdj)
sum2.pin('out').link(extrudeRateAdj)
# negative retract velocity
neg = rt.newinst('neg', 'neg.ve-rectract-vel-neg')
hal.addf(neg.name, thread)
neg.pin('in').link(retractVel)
neg.pin('out').link(retractVelNeg)
# calculate retract time
div2 = rt.newinst('div2', 'div2.ve-retract-time')
hal.addf(div2.name, thread)
div2.pin('in0').link(retractLen)
div2.pin('in1').link(retractVel)
div2.pin('out').link(retractTime)
# We want the retract-charge to run for a fixed time:
# when sel0 set to "1" meaning motion with extrusion" the on the rising edge
# there will temporarily be also sel1 which is high, meaning a pre-charge because the
# sel combination is 11
# when sel1 set to "0" meaning decoupling motion with extrusion" then the falling edge
# will trigger a 01 combination, meaning a retract
# trigger a retract/unretract move when extruder is enable or disabled
oneshot = rt.newinst('oneshot', 'oneshot.ve-retract')
hal.addf(oneshot.name, thread)
oneshot.pin('rising').set(True)
oneshot.pin('falling').set(True)
oneshot.pin('retriggerable').set(True)
oneshot.pin('width').link(retractTime)
oneshot.pin('in').link(extruderEn)
oneshot.pin('out').link(retract)
retract += 'motion.feed-hold' # stop motion until retract/unretract finished
# jogging needs to be inserted here
velocity_jog(extruders, thread)
# now the solution of Andy Pugh for automatically retracting/priming
#00 = motion without extrusion, jog
#01 = retract
#10 = motion with extrusion
#11 = unretract, pre-charge
mux4 = rt.newinst('mux4', 'mux4.ve-extrude-vel')
hal.addf(mux4.name, thread)
mux4.pin('in0').link(baseVel)
mux4.pin('in1').link(retractVelNeg)
mux4.pin('in2').link(extrudeRateAdj)
mux4.pin('in3').link(retractVel)
mux4.pin('out').link(extrudeVel)
mux4.pin('sel0').link(retract)
mux4.pin('sel1').link(extruderEn)
sections = [[retractLen, 'RETRACT_LEN'],
[retractVel, 'RETRACT_VEL'],
[filamentDia, 'FILAMENT_DIA'],
[maxVelocity, 'MAX_VELOCITY'],
[extrudeScale, 'EXTRUDE_SCALE']]
for section in sections:
ioMux = rt.newinst('io_muxn',
'io-mux%i.%s' % (extruders, section[0].name),
pincount=extruders)
hal.addf(ioMux.name, thread)
ioMux.pin('out').link(section[0])
ioMux.pin('sel').link('extruder-sel')
for n in range(0, extruders):
signal = hal.newsig('%s-e%i' % (section[0].name, n), hal.HAL_FLOAT)
ioMux.pin('in%i' % n).link(signal)
signal.set(c.find('EXTRUDER_%i' % n, section[1]))
extrudeAccelAdjGain.set(0.05)
if baseVel.writers < 1: # can only write when jogging not configured
baseVel.set(0.0)
rcomps.create_ve_params_rcomp()
storage.setup_ve_storage(extruders=extruders)
motion.setup_ve_io()
def setup_hardware(thread):
# PWM
#hal.Pin('hm2_5i25.0.pwmgen.00.pwm_frequency').set(20000) # 100Hz
# os.system('halcmd setp hm2_5i25.0.pwmgen.00.pwm_frequency 20000')
# HBP
# hal.Pin('hm2_5i25.0.pwmgen.00.enable').set(True)
# hal.Pin('hm2_5i25.0.pwmgen.00.value').link('hbp-temp-pwm')
# Spindle
spindlespeed = hal.newsig('spindle-speed', hal.HAL_FLOAT)
spindleon = hal.newsig('spindle-on', hal.HAL_BIT)
spindlespeeddiv = hal.newsig('spindle-speed-20', hal.HAL_FLOAT)
spindlepwmspeed = hal.newsig('spindle-pwm-speed', hal.HAL_FLOAT)
spindlepwmspeedlimited = hal.newsig('spindle-pwm-speed-limited',
hal.HAL_FLOAT)
# spindlespeed.link('motion.spindle-speed-out-rps')
spindlespeed.link('motion.spindle-speed-out')
spindleon.link('motion.spindle-on')
os.system('halcmd setp hm2_5i25.0.gpio.070.is_output true')
# halold.Param('hm2_5i25.0.gpio.070.is_output').set(true)
# os.system('halcmd setp hm2_5i25.0.gpio.071.invert_output true')
hal.Pin('hm2_5i25.0.gpio.070.out').link(spindleon)
## hal.Pin('hm2_5i25.0.pwmgen.02.enable').set(True)
hal.Pin('hm2_5i25.0.pwmgen.00.enable').link(spindleon)
div2 = rt.newinst('div2', 'div2.spindlespeed-divfac')
hal.addf(div2.name, 'servo-thread')
div2.pin('in0').link(spindlespeed)
div2.pin('in1').set(c.find('SPINDLE', 'DIVFACTOR'))
div2.pin('out').link(spindlespeeddiv)
sum2 = rt.newinst('sum2', 'sum2.spindle-speed-add')
hal.addf(sum2.name, 'servo-thread')
sum2.pin('in0').set(c.find('SPINDLE', 'ADDFACTOR'))
sum2.pin('in1').link(spindlespeeddiv)
sum2.pin('out').link(spindlepwmspeed)
# limit1 = rt.newinst('limit1', 'limit1.spindle-pwm-speed-limited')
# hal.addf(limit1.name, thread)
# limit1.pin('in').link(spindlepwmspeed)
# limit1.pin('out').link(spindlepwmspeedlimited)
# limit1.pin('min').set(0.05) # prevent users from setting 0 as jog velocity
# limit1.pin('max').set(c.find('SPINDLE', 'LIMIT'))
# hal.Pin('hm2_5i25.0.pwmgen.00.value').link(spindlepwmspeedlimited)
hal.Pin('hm2_5i25.0.pwmgen.00.value').link(spindlepwmspeed)
os.system('halcmd setp hm2_5i25.0.gpio.018.invert_output true')
# hal.Pin('hm2_5i25.0.gpio.018.invert_output').set(true)
# hal.Param('hm2_5i25.0.pwmgen.00.scale').set(c.find('SPINDLE', 'MAXRPM'))
# os.system('halcmd setp hm2_5i25.0.pwmgen.00.scale 12000')
# cmd = "halcmd setp hm2_5i25.0.pwmgen.00.scale %s "%(c.find('SPINDLE', 'MAXRPM'))
# os.system(cmd)
os.system("halcmd setp hm2_5i25.0.pwmgen.00.scale %s " %
(c.find('SPINDLE', 'MAXRPM')))
# configure extruders
# for n in range(0, 1):
# hal.Pin('hm2_5i25.0.pwmgen.%02i.enable' % (n + 1)).set(True)
# hal.Pin('hm2_5i25.0.pwmgen.%02i.value' % (n + 1)).link('e%i-temp-pwm' % n)
# configure fans
# for n in range(0, 2):
# hal.Pin('hm2_5i25.0.pwmgen.%02i.enable' % (n + 3)).link('f%i-pwm-enable' % n)
# hal.Pin('hm2_5i25.0.pwmgen.%02i.value' % (n + 3)).link('f%i-pwm' % n)
# hal.Signal('f%i-pwm-enable' % n).set(True)
# configure exps
# for n in range(0, 1):
# hal.Pin('hm2_5i25.0.pwmgen.%02i.enable' % (n + 5)).link('exp%i-pwm-enable' % n)
# hal.Pin('hm2_5i25.0.pwmgen.%02i.value' % (n + 5)).link('exp%i-pwm' % n)
# hal.Signal('exp%i-pwm' % n).set(1.0)
# configure leds
# none
# GPIO
# Adjust as needed for your switch polarity
hal.Pin('hm2_5i25.0.gpio.024.in_not').link('limit-0-home') # X
hal.Pin('hm2_5i25.0.gpio.025.in').link('limit-1-0-home') # YL
hal.Pin('hm2_5i25.0.gpio.026.in').link('limit-1-1-home') # YR
hal.Pin('hm2_5i25.0.gpio.027.in_not').link('limit-2-home') # Z
# hal.Pin('hm2_5i25.0.gpio.036.in_not').link('limit-0-max') # X
# hal.Pin('hm2_5i25.0.gpio.026.in_not').link('limit-1-home') # Y
# hal.Pin('hm2_5i25.0.gpio.030.in_not').link('limit-0-home') # X
# hal.Pin('hm2_5i25.0.gpio.071.in_not').link('limit-0-home') # X
# hal.Pin('hm2_5i25.0.gpio.024.in').link('limit-2-0-home') # ZLF
# hal.Pin('hm2_5i25.0.gpio.025.in').link('limit-2-1-home') # ZRF
# hal.Pin('hm2_5i25.0.gpio.026.in').link('limit-2-2-home') # ZLB
# hal.Pin('hm2_5i25.0.gpio.027.in').link('limit-2-3-home') # ZRB
# hal.Pin('hm2_5i25.0.gpio.024.in_not').link('limit-2-0-home') # ZLF
# hal.Pin('hm2_5i25.0.gpio.025.in_not').link('limit-2-1-home') # ZRF
# hal.Pin('hm2_5i25.0.gpio.026.in_not').link('limit-2-2-home') # ZLB
# hal.Pin('hm2_5i25.0.gpio.027.in_not').link('limit-2-3-home') # ZRB
# hal.Pin('hm2_5i25.0.gpio.025.in').link('limit-0-max') # X
# hal.Pin('hm2_5i25.0.gpio.026.in').link('limit-1-home') # Y
# hal.Pin('hm2_5i25.0.gpio.028.in').link('limit-2-0-home') # ZR
# hal.Pin('hm2_5i25.0.gpio.029.in').link('limit-2-1-home') # ZL
# probe ... 74CBTD3861
hal.Pin('hm2_5i25.0.capsense.00.trigged').link('probe-signal') #
os.system('halcmd setp hm2_5i25.0.capsense.00.hysteresis 0x44444444')
# hm2_5i25.0.pin('capsense.00.hysteresis').set(c.find('PROBE', 'HYSTERESIS'))
# hm2_5i25.0.pin('capsense.00.hysteresis').set(0x44444444))
# hm2_5i25.0.pin('hysteresis').set(c.find('PROBE', 'HYSTERESIS'))
# hm2_5i25.0.pin('hysteresis').set(17476)
# hal.pin('hm2_5i25.0.capsense.00.hysteresis').set(1000))
# ADC
# hal.Pin('hm2_5i25.0.nano_soc_adc.ch.0.out').link('temp.ch-00.input')
# hal.Pin('hm2_5i25.0.nano_soc_adc.ch.1.out').link('temp.ch-01.input')
# hal.Pin('hm2_5i25.0.nano_soc_adc.ch.2.out').link('temp.ch-02.input')
# hal.Pin('hm2_5i25.0.nano_soc_adc.ch.3.out').link('temp.ch-03.input')
# hal.Pin('temp.ch-00.value').link('hbp-temp-meas')
# hal.Pin('temp.ch-01.value').link('e0-temp-meas')
# hal.Pin('temp.ch-02.value').link('e1-temp-meas')
# hal.Pin('temp.ch-03.value').link('e2-temp-meas')
# machine power
os.system('halcmd setp hm2_5i25.0.gpio.033.is_output true')
hal.Pin('hm2_5i25.0.gpio.033.out').link('emcmot-0-enable')
# Monitor estop input from hardware
hal.Pin('hm2_5i25.0.gpio.034.in_not').link('estop-in')
# drive estop-sw
os.system('halcmd setp hm2_5i25.0.gpio.035.is_output true')
os.system('halcmd setp hm2_5i25.0.gpio.035.invert_output true')
hal.Pin('hm2_5i25.0.gpio.035.out').link('estop-out')
# Tie machine power signal to the Parport Cape LED
# Feel free to tie any other signal you like to the LED
os.system('halcmd setp hm2_5i25.0.gpio.031.is_output true')
hal.Pin('hm2_5i25.0.gpio.031.out').link('emcmot-0-enable')
# link emcmot.xx.enable to stepper driver enable signals
os.system('halcmd setp hm2_5i25.0.gpio.032.is_output true')
os.system('halcmd setp hm2_5i25.0.gpio.032.invert_output true')
hal.Pin('hm2_5i25.0.gpio.032.out').link('emcmot-0-enable')
def __init__(self, temp_hal, pwm_pin, on_pin,
enable_sig, estop_reset_sig,
config_name, comp_name, hal_name, motion_pin_number):
self.temp_hal = temp_hal
comp = hal.RemoteComponent(comp_name, timer=100)
comp_limit_min_pin = comp.newpin('temp.limit.min', hal.HAL_FLOAT, hal.HAL_IN)
comp_limit_max_pin = comp.newpin('temp.limit.max', hal.HAL_FLOAT, hal.HAL_IN)
comp_standby_pin = comp.newpin('temp.standby', hal.HAL_FLOAT, hal.HAL_IN)
comp_meas_pin = comp.newpin('temp.meas', hal.HAL_FLOAT, hal.HAL_IN)
comp_set_pin = comp.newpin('temp.set', hal.HAL_FLOAT, hal.HAL_IO)
comp_in_range_pin = comp.newpin('temp.in-range', hal.HAL_BIT, hal.HAL_IN)
comp_active_pin = comp.newpin('active', hal.HAL_BIT, hal.HAL_IN)
comp_error_pin = comp.newpin('error', hal.HAL_BIT, hal.HAL_IN)
comp.ready()
# -- General Signals --
meas_sig = hal.newsig('%s.meas' % hal_name, hal.HAL_FLOAT)
meas_sig.link(temp_hal.pin('value'))
meas_sig.link(comp_meas_pin)
meas_sig.link('motion.analog-in-%02d' % motion_pin_number)
set_sig = hal.newsig('%s.set' % hal_name, hal.HAL_FLOAT)
set_sig.link(comp_set_pin)
set_sig.link('motion.analog-out-io-%02d' % motion_pin_number)
limit_min_sig = hal.newsig('%s.limit.min' % hal_name, hal.HAL_FLOAT)
limit_min_sig.link(comp_limit_min_pin)
limit_min_sig.set(config.find(config_name, 'TEMP_LIMIT_MIN', 0.0))
limit_max_sig = hal.newsig('%s.limit.max' % hal_name, hal.HAL_FLOAT)
limit_max_sig.link(comp_limit_max_pin)
limit_max_sig.set(config.find(config_name, 'TEMP_LIMIT_MAX', 30.0))
standby_sig = hal.newsig('%s.standby' % hal_name, hal.HAL_FLOAT)
standby_sig.link(comp_standby_pin)
standby_sig.set(config.find(config_name, 'TEMP_STANDBY', 15.0))
on_sig = hal.newsig('%s.on' % hal_name, hal.HAL_BIT)
on_sig.link(on_pin)
on_sig.link(comp_active_pin)
error_sig = hal.newsig('%s.error' % hal_name, hal.HAL_BIT)
self.error_sig = error_sig
error_sig.link(comp_error_pin)
self.temp_watchdog_sig = hal.newsig('%s.watchdog' % hal_name, hal.HAL_BIT)
temp_hal.pin('watchdog').link(self.temp_watchdog_sig)
# -- Measurement --
# In-Range Signal
in_range_sig = hal.newsig('%s.in-range' % hal_name, hal.HAL_BIT)
in_range_sig.link(comp_in_range_pin)
in_range_sig.link('motion.digital-in-%02d' % motion_pin_number)
range_lb_sum = rtapi.newinst('sum2', '%s.range.lb.sum2' % hal_name)
hal.addf(range_lb_sum.name, SERVO_THREAD)
range_ub_sum = rtapi.newinst('sum2', '%s.range.ub.sum2' % hal_name)
hal.addf(range_ub_sum.name, SERVO_THREAD)
range_lb_sig = hal.newsig('%s.range.lb' % hal_name, hal.HAL_FLOAT)
range_ub_sig = hal.newsig('%s.range.ub' % hal_name, hal.HAL_FLOAT)
range_lb_sum.pin('in0').link(set_sig)
range_lb_sum.pin('in1').set(float(config.find(config_name, 'TEMP_RANGE_NEG_ERROR', -1.0)))
range_lb_sum.pin('out').link(range_lb_sig)
range_ub_sum.pin('in0').link(set_sig)
range_ub_sum.pin('in1').set(float(config.find(config_name, 'TEMP_RANGE_POS_ERROR', 1.0)))
range_ub_sum.pin('out').link(range_ub_sig)
range_wcomp = rtapi.newinst('wcomp', '%s.range.wcomp' % hal_name)
hal.addf(range_wcomp.name, SERVO_THREAD)
range_wcomp.pin('min').link(range_lb_sig)
range_wcomp.pin('max').link(range_ub_sig)
range_wcomp.pin('in').link(meas_sig)
range_wcomp.pin('out').link(in_range_sig)
# -- Output --
pwm_raw_sig = hal.newsig('%s.pwm_raw' % hal_name, hal.HAL_FLOAT)
pwm_sig = hal.newsig('%s.pwm' % hal_name, hal.HAL_FLOAT)
pwm_max = float(config.find(config_name, 'PWM_MAX', 1.0))
# PID
pid = rtapi.newinst('at_pid', '%s.pid' % hal_name)
hal.addf(pid.name + '.do-pid-calcs', SERVO_THREAD)
pid.pin('enable').link(enable_sig)
pid.pin('feedback').link(meas_sig)
pid.pin('command').link(set_sig)
pid.pin('output').link(pwm_raw_sig)
pid.pin('maxoutput').set(pwm_max)
pid.pin('Pgain').set(float(config.find(config_name, 'PID_PGAIN', 0)))
pid.pin('Igain').set(float(config.find(config_name, 'PID_IGAIN', 0)))
pid.pin('Dgain').set(float(config.find(config_name, 'PID_DGAIN', 0)))
pid.pin('maxerrorI').set(float(config.find(config_name, 'PID_MAXERRORI', 1.0)))
pid.pin('bias').set(float(config.find(config_name, 'PID_BIAS', 0.0)))
# PWM Limit (PID can output negative values)
pwm_limit = rtapi.newinst('limit1', '%s.limit1.pwm' % hal_name)
hal.addf(pwm_limit.name, SERVO_THREAD)
pwm_limit.pin('min').set(0.0)
pwm_limit.pin('max').set(pwm_max)
pwm_limit.pin('in').link(pwm_raw_sig)
pwm_limit.pin('out').link(pwm_sig)
pwm_pin.link(pwm_sig)
# -- Safety Check --
check_limit_ok_sig = hal.newsig('%s.check.limit-ok' % hal_name, hal.HAL_BIT)
limit_wcomp = rtapi.newinst('wcomp', '%s.check.limit.wcomp' % hal_name)
hal.addf(limit_wcomp.name, SERVO_THREAD)
limit_wcomp.pin('min').link(limit_min_sig)
limit_wcomp.pin('max').link(limit_max_sig)
limit_wcomp.pin('in').link(meas_sig)
limit_wcomp.pin('out').link(check_limit_ok_sig)
out_range_sig = hal.newsig('%s.out-range' % hal_name, hal.HAL_BIT)
out_range_not = rtapi.newinst('not', '%s.out-range.not' % hal_name)
hal.addf(out_range_not.name, SERVO_THREAD)
out_range_not.pin('in').link(in_range_sig)
out_range_not.pin('out').link(out_range_sig)
thermistor_check_enable_sig = hal.newsig('%s.check.therm.enable' % hal_name, hal.HAL_BIT)
thermistor_check_enable_and = rtapi.newinst('and2', '%s.check.therm.enable.and2' % hal_name)
hal.addf(thermistor_check_enable_and.name, SERVO_THREAD)
thermistor_check_enable_and.pin('in0').link(enable_sig)
thermistor_check_enable_and.pin('in1').link(out_range_sig)
thermistor_check_enable_and.pin('out').link(thermistor_check_enable_sig)
check_thermistor_ok_sig = hal.newsig('%s.check.therm-ok' % hal_name, hal.HAL_BIT)
thermistor_check = rtapi.newinst('thermistor_check', '%s.check.therm-check' % hal_name)
hal.addf(thermistor_check.name, SERVO_THREAD)
thermistor_check.pin('enable').link(thermistor_check_enable_sig)
thermistor_check.pin('pid').link(pwm_sig)
thermistor_check.pin('temp').link(meas_sig)
thermistor_check.pin('min-pid').set(float(config.find(config_name, 'CHECK_MIN_PID', 0.25)))
thermistor_check.pin('min-temp').set(float(config.find(config_name, 'CHECK_MIN_TEMP', 2.0)))
thermistor_check.pin('wait').set(float(config.find(config_name, 'CHECK_WAIT', 30.0)))
thermistor_check.pin('no-error').link(check_thermistor_ok_sig)
check_all_ok_sig = hal.newsig('%s.check.all-ok' % hal_name, hal.HAL_BIT)
check_all_ok = rtapi.newinst('and2', '%s.check.all.and2' % hal_name)
hal.addf(check_all_ok.name, SERVO_THREAD)
check_all_ok.pin('in0').link(check_limit_ok_sig)
check_all_ok.pin('in1').link(check_thermistor_ok_sig)
check_all_ok.pin('out').link(check_all_ok_sig)
check_error_sig = hal.newsig('%s.check.error' % hal_name, hal.HAL_BIT)
check_error = rtapi.newinst('not', '%s.check.error.not' % hal_name)
hal.addf(check_error.name, SERVO_THREAD)
check_error.pin('in').link(check_all_ok_sig)
check_error.pin('out').link(check_error_sig)
error_latch = rtapi.newinst('flipflop', '%s.check.error.flipflop' % hal_name)
hal.addf(error_latch.name, SERVO_THREAD)
error_latch.pin('set').link(check_error_sig)
error_latch.pin('reset').link(estop_reset_sig)
error_latch.pin('out').link(error_sig)
name='storage',
file='storage.ini',
autosave=True,
wait_name='storage')
def readStorage():
hal.Pin('storage.read-trigger').set(True) # trigger read
rt.init_RTAPI()
c.load_ini('hardware.ini')
rt.loadrt('hal_bb_gpio', output_pins='915,917,838,840')
rt.loadrt('hal_arm335xQEP', encoders='eQEP0,eQEP2')
rt.loadrt(c.find('PRUCONF', 'DRIVER'),
'prucode=' + c.find('PRUCONF', 'PRUBIN'),
pru=0,
num_pwmgens=7,
halname='hpg')
# storage
setupStorage()
# pru pwmgens
hal.Pin('hpg.pwmgen.00.pwm_period').set(500000)
# motor left
hal.Pin('hpg.pwmgen.00.out.00.pin').set(911)
hal.Pin('hpg.pwmgen.00.out.01.pin').set(913)
# motor right
hal.Pin('hpg.pwmgen.00.out.02.pin').set(808)
# HAL file for BeagleBone + TCT paralell port cape with 5 steppers and 3D printer board
import os
from machinekit import rtapi as rt
from machinekit import hal
from machinekit import config as c
from config import base
from config import motion
# initialize the RTAPI command client
rt.init_RTAPI()
# loads the ini file passed by linuxcnc
c.load_ini(os.environ['INI_FILE_NAME'])
motion.setup_motion(kinematics=c.find('KINS','KINEMATICS'))
# reading functions
hal.addf('motion-command-handler', 'servo-thread')
# Axis-of-motion Specific Configs (not the GUI)
# X [0] Axis
base.setup_stepper(section='AXIS_0', axisIndex=0, stepgenIndex=0, stepgenType='sim')
# Y [1] Axis
base.setup_stepper(section='AXIS_1', axisIndex=1, stepgenIndex=1, stepgenType='sim')
# Z [2] Axis
base.setup_stepper(section='AXIS_2', axisIndex=2, stepgenIndex=2, stepgenType='sim')
# Z [2] Axis
base.setup_stepper(section='AXIS_3', axisIndex=3, stepgenIndex=3, stepgenType='sim')
# Z [2] Axis
base.setup_stepper(section='AXIS_4', axisIndex=4, stepgenIndex=4, stepgenType='sim')
# initialize the RTAPI command client
rt.init_RTAPI()
# loads the ini file passed by linuxcnc
c.load_ini(os.environ['INI_FILE_NAME'])
motion.setup_motion()
hardware.init_hardware()
storage.init_storage('storage.ini')
# reading functions
hardware.hardware_read()
hal.addf('motion-command-handler', 'servo-thread')
hal.addf('motion-controller', 'servo-thread')
numFans = c.find('FDM', 'NUM_FANS')
numExtruders = c.find('FDM', 'NUM_EXTRUDERS')
numLights = c.find('FDM', 'NUM_LIGHTS')
hasHbp = c.find('FDM', 'HAS_HBP')
# Axis-of-motion Specific Configs (not the GUI)
ve.velocity_extrusion(extruders=numExtruders, thread='servo-thread')
# X [0] Axis
base.setup_stepper(section='AXIS_0', axisIndex=0, stepgenIndex=0, thread='servo-thread')
# Y [1] Axis
base.setup_stepper(section='AXIS_1', axisIndex=1, stepgenIndex=1, thread='servo-thread')
# Z [2] Axis
base.setup_stepper(section='AXIS_2', axisIndex=2, stepgenIndex=2, thread='servo-thread')
# Extruder, velocity controlled
for i in range(0, numExtruders):
base.setup_stepper(section='EXTRUDER_%i' % i, stepgenIndex=3,
def init_hardware():
config.load_ini(os.environ['INI_FILE_NAME'])
check_version()
# we need to make the gpio pins used by the pru visible to userspace (??) in /sys/class/gpio
os.system('sudo ' + HARDWARE_PATH + 'set_pru_gpio.sh')
rtapi.init_RTAPI()
error_sigs = []
watchdog_sigs = []
global AXIS_TOTAL
AXIS_TOTAL = int(config.find('TRAJ', 'AXES', '3'))
if AXIS_TOTAL < 3:
raise RuntimeError("AXES must be >= 3")
global EXTRUDER_TOTAL
EXTRUDER_TOTAL = int(config.find('FDM', 'EXTRUDERS', '1'))
if EXTRUDER_TOTAL < 1:
raise RuntimeError("EXTRUDERS must be >= 1")
global NUM_FANS
NUM_FANS = int(config.find('FDM','NUM_FANS', 4))
system_fan = int(config.find('FDM','SYSTEM_FAN', 0))
if (NUM_FANS < system_fan):
raise RuntimeError("NUM_FANS must be >= 1 if SYSTEM_FAN > 0")
if (NUM_FANS > 4) or (NUM_FANS < 0 ):
raise RuntimeError("NUM_FANS must be > 0 and < 5")
rtapi.loadrt('tp')
if config.find('MACHINE','DELTA_R') is not None:
kinematics = 'lineardeltakins'
rtapi.loadrt(kinematics)
hal.Pin('lineardeltakins.L').set(config.find('MACHINE', 'CF_ROD'))
hal.Pin('lineardeltakins.R').set(config.find('MACHINE', 'DELTA_R'))
else:
kinematics = 'trivkins'
rtapi.loadrt(kinematics)
rtapi.loadrt(config.find('EMCMOT', 'EMCMOT'),
servo_period_nsec=config.find('EMCMOT', 'SERVO_PERIOD'),
num_joints=str(AXIS_TOTAL),
num_aio=51,
num_dio=21,
kins = kinematics)
hal.addf('motion-command-handler', SERVO_THREAD)
hal.addf('motion-controller', SERVO_THREAD)
estop_reset = hal.newsig('estop-reset', hal.HAL_BIT)
(main_enable, main_enable_inv) = setup_enable_chain()
if BOARD_REV == 'B3A':
replicape = hardware.ReplicapeB3A()
if BOARD_REV == 'A4A':
replicape = hardware.ReplicapeA4A()
watchdog_sigs.extend(replicape.get_watchdog_sigs())
replicape.link_enable(main_enable, main_enable_inv)
(joint_commands, joint_feedbacks) = setup_joints()
for i in xrange(AXIS_TOTAL):
setup_axis(replicape, joint_commands[i], joint_feedbacks[i], i)
setup_limit_switches(replicape)
extruder_sel_sig = hal.newsig('extruder-sel', hal.HAL_S32)
setup_extruders(replicape, extruder_sel_sig)
for i in xrange(EXTRUDER_TOTAL):
t = ExtruderTemperature(replicape, i, main_enable, estop_reset)
error_sigs.append(t.get_error_sig())
watchdog_sigs.append(t.get_temp_watchdog_sig())
if config.find('HBP', 'THERMISTOR'):
t = HbpTemperature(replicape, main_enable, estop_reset)
error_sigs.append(t.get_error_sig())
watchdog_sigs.append(t.get_temp_watchdog_sig())
# setup_system_fan(replicape)
setup_fans(replicape)
setup_estop(error_sigs, watchdog_sigs, estop_reset, SERVO_THREAD)
connect_tool_changer()
ENC_A = io_map[20]
EN1 = io_map[21]
EN2 = io_map[22]
IN1 = io_map[23]
IN2 = io_map[24]
output_pins = [EN1, EN2]
input_pins = [IS1, IS2]
output_pins_joined = ','.join(str(x) for x in output_pins)
input_pins_joined = ','.join(str(x) for x in input_pins)
rt.loadrt('hal_bb_gpio',
output_pins=output_pins_joined,
input_pins=input_pins_joined)
rt.loadrt(c.find('PRUCONF', 'DRIVER'),
'prucode={}/{}'.format(c.Config().EMC2_RTLIB_DIR,
c.find('PRUCONF', 'PRUBIN')),
pru=0,
num_stepgens=0,
num_pwmgens=2,
num_encoders=1,
halname='hpg')
hpg = hal.Component('hpg')
hpg.pin('pwmgen.00.out.00.pin').set(IN1)
hpg.pin('pwmgen.00.out.01.pin').set(IN2)
hpg.pin('encoder.00.chan.00.A-pin').set(pru0_input_pins[ENC_A])
hpg.pin('encoder.00.chan.00.B-pin').set(pru0_input_pins[ENC_B])
hpg.pin('encoder.00.chan.00.index-pin').set(17) # ignore
def create_temperature_control(name, section, thread, hardwareOkSignal=None,
coolingFan=None, hotendFan=None):
tempSet = hal.newsig('%s-temp-set' % name, hal.HAL_FLOAT)
tempMeas = hal.newsig('%s-temp-meas' % name, hal.HAL_FLOAT)
tempInRange = hal.newsig('%s-temp-in-range' % name, hal.HAL_BIT)
tempPwm = hal.newsig('%s-temp-pwm' % name, hal.HAL_FLOAT)
tempPwmMax = hal.newsig('%s-temp-pwm-max' % name, hal.HAL_FLOAT)
tempLimitMin = hal.newsig('%s-temp-limit-min' % name, hal.HAL_FLOAT)
tempLimitMax = hal.newsig('%s-temp-limit-max' % name, hal.HAL_FLOAT)
tempStandby = hal.newsig('%s-temp-standby' % name, hal.HAL_FLOAT)
tempInLimit = hal.newsig('%s-temp-in-limit' % name, hal.HAL_BIT)
tempThermOk = hal.newsig('%s-temp-therm-ok' % name, hal.HAL_BIT)
error = hal.newsig('%s-error' % name, hal.HAL_BIT)
active = hal.newsig('%s-active' % name, hal.HAL_BIT)
tempPidPgain = hal.newsig('%s-temp-pid-Pgain' % name, hal.HAL_FLOAT)
tempPidIgain = hal.newsig('%s-temp-pid-Igain' % name, hal.HAL_FLOAT)
tempPidDgain = hal.newsig('%s-temp-pid-Dgain' % name, hal.HAL_FLOAT)
tempPidMaxerrorI = hal.newsig('%s-temp-pid-maxerrorI' % name, hal.HAL_FLOAT)
tempPidOut = hal.newsig('%s-temp-pid-out' % name, hal.HAL_FLOAT)
tempPidBias = hal.newsig('%s-temp-pid-bias' % name, hal.HAL_FLOAT)
tempRangeMin = hal.newsig('%s-temp-range-min' % name, hal.HAL_FLOAT)
tempRangeMax = hal.newsig('%s-temp-range-max' % name, hal.HAL_FLOAT)
noErrorIn = hal.newsig('%s-no-error-in' % name, hal.HAL_BIT)
errorIn = hal.newsig('%s-error-in' % name, hal.HAL_BIT)
# reset set temperature when estop is cleared
reset = rt.newinst('reset', 'reset.%s-temp-set' % name)
hal.addf(reset.name, thread)
reset.pin('reset-float').set(0.0)
reset.pin('out-float').link(tempSet)
reset.pin('rising').set(True)
reset.pin('falling').set(False)
reset.pin('trigger').link('estop-reset')
tempPidBiasOut = tempPidBias
# coolingFan compensation
if coolingFan:
tempPidFanBias = hal.newsig('%s-temp-pid-fan-bias' % name, hal.HAL_FLOAT)
tempPidBiasOut = hal.newsig('%s-temp-pid-bias-out' % name, hal.HAL_FLOAT)
scale = rt.newinst('scale', 'scale.%s-temp-pid-fan-bias' % name)
hal.addf(scale.name, thread)
scale.pin('in').link('%s.pwm' % coolingFan)
scale.pin('out').link(tempPidFanBias)
scale.pin('gain').set(c.find(section, 'FAN_BIAS'))
sum2 = rt.newinst('sum2', 'sum2.%s-temp-pid-bias' % name)
hal.addf(sum2.name, thread)
sum2.pin('in0').link(tempPidBias)
sum2.pin('in1').link(tempPidFanBias)
sum2.pin('out').link(tempPidBiasOut)
# PID
pid = rt.newinst('pid', 'pid.%s' % name)
hal.addf('%s.do-pid-calcs' % pid.name, thread)
pid.pin('enable').link('emcmot-0-enable') # motor enable
pid.pin('feedback').link(tempMeas)
pid.pin('command').link(tempSet)
pid.pin('output').link(tempPidOut)
pid.pin('maxoutput').link(tempPwmMax)
pid.pin('bias').link(tempPidBias)
pid.pin('Pgain').link(tempPidPgain)
pid.pin('Igain').link(tempPidIgain)
pid.pin('Dgain').link(tempPidDgain)
pid.pin('maxerrorI').link(tempPidMaxerrorI)
# Limit heater PWM to positive values
# PWM mimics hm2 implementation, which generates output for negative values
limit1 = rt.newinst('limit1', 'limit.%s-temp-heaterl' % name)
hal.addf(limit1.name, thread)
limit1.pin('in').link(tempPidOut)
limit1.pin('out').link(tempPwm)
limit1.pin('min').set(0.0)
limit1.pin('max').link(tempPwmMax)
# Temperature checking
sum2 = rt.newinst('sum2', 'sum2.%s-temp-range-pos' % name)
hal.addf(sum2.name, thread)
sum2.pin('in0').link(tempSet)
sum2.pin('in1').set(c.find(section, 'TEMP_RANGE_POS_ERROR'))
sum2.pin('out').link(tempRangeMax)
sum2 = rt.newinst('sum2', 'sum2.%s-temp-range-neg' % name)
hal.addf(sum2.name, thread)
sum2.pin('in0').link(tempSet)
sum2.pin('in1').set(c.find(section, 'TEMP_RANGE_NEG_ERROR'))
sum2.pin('out').link(tempRangeMin)
#the output of this component will say if measured temperature is in range of set value
wcomp = rt.newinst('wcomp', 'wcomp.%s-temp-in-range' % name)
hal.addf(wcomp.name, thread)
wcomp.pin('min').link(tempRangeMin)
wcomp.pin('max').link(tempRangeMax)
wcomp.pin('in').link(tempMeas)
wcomp.pin('out').link(tempInRange)
# limit the output temperature to prevent damage when thermistor is broken/removed
wcomp = rt.newinst('wcomp', 'wcomp.%s-temp-in-limit' % name)
hal.addf(wcomp.name, thread)
wcomp.pin('min').link(tempLimitMin)
wcomp.pin('max').link(tempLimitMax)
wcomp.pin('in').link(tempMeas)
wcomp.pin('out').link(tempInLimit)
# check the thermistor
# net e0.temp.meas => thermistor-check.e0.temp
# net e0.temp.in-range => not.e0-temp-range.in
# net e0.temp.in-range_n <= not.e0-temp-range.out
# net e0.temp.in-range_n => thermistor-check.e0.enable
# net e0.heaterl => thermistor-check.e0.pid
# net e0.therm-ok <= thermistor-check.e0.no-error
# no error chain
and3 = rt.newinst('andn', 'and3.%s-no-error-in' % name, pincount=3)
hal.addf(and3.name, thread)
and3.pin('in0').link(tempThermOk)
and3.pin('in1').link(tempInLimit)
if hardwareOkSignal:
and3.pin('in2').link(hardwareOkSignal)
else:
and3.pin('in2').set(True)
and3.pin('out').link(noErrorIn)
tempThermOk.set(True) # thermistor checking for now disabled
notComp = rt.newinst('not', 'not.%s-error-in' % name)
hal.addf(notComp.name, thread)
notComp.pin('in').link(noErrorIn)
notComp.pin('out').link(errorIn)
safetyLatch = rt.newinst('safety_latch', 'safety-latch.%s-error' % name)
hal.addf(safetyLatch.name, thread)
safetyLatch.pin('error-in').link(errorIn)
safetyLatch.pin('error-out').link(error)
safetyLatch.pin('reset').link('estop-reset')
safetyLatch.pin('threshold').set(500) # 500ms error
safetyLatch.pin('latching').set(True)
# active chain
comp = rt.newinst('comp', 'comp.%s-active' % name)
hal.addf(comp.name, thread)
comp.pin('in0').set(0.0001)
comp.pin('hyst').set(0.0)
comp.pin('in1').link(tempPwm)
comp.pin('out').link(active)
# Thermistor checking
# setp thermistor-check.e0.wait 9.0
# setp thermistor-check.e0.min-pid 1.5 # disable0.25
# setp thermistor-check.e0.min-temp 1.5
# net e0.pid.bias => thermistor-check.e0.bias
# Hotend fan
if hotendFan:
comp = rt.newinst('comp', 'comp.%s-pwm-enable' % hotendFan)
hal.addf(comp.name, thread)
comp.pin('in0').set(c.find(section, 'HOTEND_FAN_THRESHOLD', 50.0))
comp.pin('in1').link(tempMeas)
comp.pin('hyst').set(c.find(section, 'HOTEND_FAN_HYST', 2.0))
comp.pin('out').link('%s-pwm-enable' % hotendFan)
hal.Signal('%s-pwm' % hotendFan).set(1.0)
rcomps.create_temperature_rcomp(name)
motion.setup_temperature_io(name)
# init parameter signals
tempLimitMin.set(c.find(section, 'TEMP_LIMIT_MIN'))
tempLimitMax.set(c.find(section, 'TEMP_LIMIT_MAX'))
tempStandby.set(c.find(section, 'TEMP_STANDBY'))
tempPwmMax.set(c.find(section, 'PWM_MAX'))
tempPidPgain.set(c.find(section, 'PID_PGAIN'))
tempPidIgain.set(c.find(section, 'PID_IGAIN'))
tempPidDgain.set(c.find(section, 'PID_DGAIN'))
tempPidMaxerrorI.set(c.find(section, 'PID_MAXERRORI'))
tempPidBias.set(c.find(section, 'PID_BIAS'))
logging.debug("starting motion")
motion.setup_motion()
logging.debug("motion should be started")
hardware.init_hardware()
logging.debug("done init")
storage.init_storage('storage.ini')
# reading functions
hw = True
if hw:
hardware.hardware_read()
hal.addf('motion-command-handler', 'servo-thread')
hal.addf('motion-controller', 'servo-thread')
numFans = c.find('FDM', 'NUM_FANS')
numExtruders = c.find('FDM', 'NUM_EXTRUDERS')
numLights = c.find('FDM', 'NUM_LIGHTS')
logging.debug("fans %i extruders %i lights %i" %
(numFans, numExtruders, numLights))
#raw_input()
# Axis-of-motion Specific Configs (not the GUI)
ve.velocity_extrusion(extruders=numExtruders, thread='servo-thread')
# X [0] Axis
base.setup_stepper(section='AXIS_0',
stepgenType='hps',
axisIndex=0,
velocitySignal=None,
stepgenIndex=0,
thread='servo-thread')
# Y [1] Axis
def setup_joints():
"""
Create joints commands and feedbacks signal for the system
"""
commands = [None] * AXIS_TOTAL
feedbacks = [None] * AXIS_TOTAL
for i in xrange(AXIS_TOTAL):
commands[i] = hal.newsig('machine.joint.%d.command' % i, hal.HAL_FLOAT)
feedbacks[i] = hal.newsig('machine.joint.%d.feedback' % i, hal.HAL_FLOAT)
core_xy = config.find('FDM','CORE_XY')
if core_xy is not None and int(core_xy) > 0:
sum_cmd_a = rtapi.newinst('sum2', 'corexy.sum2.cmd.a')
sum_fb_x = rtapi.newinst('sum2', 'corexy.sum2.fb.x')
sum_cmd_b = rtapi.newinst('sum2', 'corexy.sum2.cmd.b')
sum_fb_y = rtapi.newinst('sum2', 'corexy.sum2.fb.y')
hal.addf(sum_cmd_a.name, SERVO_THREAD)
hal.addf(sum_cmd_b.name, SERVO_THREAD)
hal.addf(sum_fb_x.name, SERVO_THREAD)
hal.addf(sum_fb_y.name, SERVO_THREAD)
sum_cmd_a.pin('gain0').set(1)
sum_cmd_a.pin('gain1').set(1)
sum_cmd_b.pin('gain0').set(1)
sum_cmd_b.pin('gain1').set(-1)
sum_fb_x.pin('gain0').set(0.5)
sum_fb_x.pin('gain1').set(0.5)
sum_fb_y.pin('gain0').set(0.5)
sum_fb_y.pin('gain1').set(-0.5)
corex_cmd = hal.newsig('machine.joint.corex.command', hal.HAL_FLOAT)
corey_cmd = hal.newsig('machine.joint.corey.command', hal.HAL_FLOAT)
corex_cmd.link('axis.0.motor-pos-cmd')
corey_cmd.link('axis.1.motor-pos-cmd')
sum_cmd_a.pin('in0').link(corex_cmd)
sum_cmd_a.pin('in1').link(corey_cmd)
sum_cmd_b.pin('in0').link(corex_cmd)
sum_cmd_b.pin('in1').link(corey_cmd)
sum_cmd_a.pin('out').link(commands[0])
sum_cmd_b.pin('out').link(commands[1])
sum_fb_x.pin('in0').link(feedbacks[0])
sum_fb_x.pin('in1').link(feedbacks[1])
sum_fb_y.pin('in0').link(feedbacks[0])
sum_fb_y.pin('in1').link(feedbacks[1])
sum_fb_x.pin('out').link('axis.0.motor-pos-fb')
sum_fb_y.pin('out').link('axis.1.motor-pos-fb')
else:
commands[0].link('axis.0.motor-pos-cmd')
feedbacks[0].link('axis.0.motor-pos-fb')
commands[1].link('axis.1.motor-pos-cmd')
feedbacks[1].link('axis.1.motor-pos-fb')
for i in xrange(AXIS_TOTAL):
if i >= 2:
commands[i].link('axis.%d.motor-pos-cmd' % i)
feedbacks[i].link('axis.%d.motor-pos-fb' % i)
return (commands, feedbacks)
def init_hardware():
check_version()
rtapi.init_RTAPI()
config.load_ini(os.environ['INI_FILE_NAME'])
error_sigs = []
watchdog_sigs = []
global AXIS_TOTAL
AXIS_TOTAL = int(config.find('TRAJ', 'AXES', '3'))
if AXIS_TOTAL < 3:
raise RuntimeError("AXES must be >= 3")
global EXTRUDER_TOTAL
EXTRUDER_TOTAL = int(config.find('FDM', 'EXTRUDERS', '1'))
if EXTRUDER_TOTAL < 1:
raise RuntimeError("EXTRUDERS must be >= 1")
rtapi.loadrt('tp')
rtapi.loadrt('trivkins')
rtapi.loadrt(config.find('EMCMOT', 'EMCMOT'),
servo_period_nsec=config.find('EMCMOT', 'SERVO_PERIOD'),
num_joints=str(AXIS_TOTAL),
num_aio=51,
num_dio=21)
hal.addf('motion-command-handler', SERVO_THREAD)
hal.addf('motion-controller', SERVO_THREAD)
estop_reset = hal.newsig('estop-reset', hal.HAL_BIT)
(main_enable, main_enable_inv) = setup_enable_chain()
if BOARD_REV == 'B3A':
replicape = hardware.ReplicapeB3A()
if BOARD_REV == 'A4A':
replicape = hardware.ReplicapeA4A()
watchdog_sigs.extend(replicape.get_watchdog_sigs())
replicape.link_enable(main_enable, main_enable_inv)
(joint_commands, joint_feedbacks) = setup_joints()
for i in xrange(AXIS_TOTAL):
setup_axis(replicape, joint_commands[i], joint_feedbacks[i], i)
setup_limit_switches(replicape)
extruder_sel_sig = hal.newsig('extruder-sel', hal.HAL_S32)
setup_extruders(replicape, extruder_sel_sig)
for i in xrange(EXTRUDER_TOTAL):
t = ExtruderTemperature(replicape, i, main_enable, estop_reset)
error_sigs.append(t.get_error_sig())
watchdog_sigs.append(t.get_temp_watchdog_sig())
if config.find('HBP', 'THERMISTOR'):
t = HbpTemperature(replicape, main_enable, estop_reset)
error_sigs.append(t.get_error_sig())
watchdog_sigs.append(t.get_temp_watchdog_sig())
setup_system_fan(replicape)
setup_estop(error_sigs, watchdog_sigs, estop_reset, SERVO_THREAD)
connect_tool_changer()
# initialize the RTAPI command client
rt.init_RTAPI()
# loads the ini file passed by linuxcnc
c.load_ini(os.environ['INI_FILE_NAME'])
motion.setup_motion()
hardware.init_hardware()
storage.init_storage('storage.ini')
# reading functions
hardware.hardware_read()
hal.addf('motion-command-handler', 'servo-thread')
hal.addf('motion-controller', 'servo-thread')
numFans = c.find('FDM', 'NUM_FANS')
numExtruders = c.find('FDM', 'NUM_EXTRUDERS')
numLights = c.find('FDM', 'NUM_LIGHTS')
# Axis-of-motion Specific Configs (not the GUI)
ve.velocity_extrusion(extruders=numExtruders, thread='servo-thread')
# X [0] Axis
base.setup_stepper(section='AXIS_0', axisIndex=0, stepgenIndex=0, thread='servo-thread')
# Y [1] Axis
base.setup_stepper(section='AXIS_1', axisIndex=1, stepgenIndex=1, thread='servo-thread')
# Z [2] Axis
base.setup_stepper(section='AXIS_2', axisIndex=2, stepgenIndex=2, thread='servo-thread')
# Extruder, velocity controlled
for i in range(0, numExtruders):
base.setup_stepper(section='EXTRUDER_%i' % i, stepgenIndex=3,
velocitySignal='ve-extrude-vel', thread='servo-thread')
def init_hardware():
watchList = []
# load low-level drivers
rt.loadrt('hal_bb_gpio', output_pins='807,819,826,926', input_pins='941')
prubin = '%s/%s' % (c.Config().EMC2_RTLIB_DIR, c.find('PRUCONF', 'PRUBIN'))
rt.loadrt(c.find('PRUCONF', 'DRIVER'),
pru=0,
num_stepgens=5,
num_pwmgens=0,
prucode=prubin,
halname='hpg')
# Python user-mode HAL module to interface with an I2C gpio extender
hal.loadusr('hal_gpio_mcp23017',
name='i2c-gpio',
bus_id=2,
address=32,
interval=0.05,
delay=2.5,
input_pins='A00,A01,A02,A03,A04,A05,A06,A07,B06,B07',
output_pins='B00,B01,B02,B03,B04,B05',
wait_name='i2c-gpio')
watchList.append(['i2c-gpio', 0.1])
# Python user-mode HAL module to interface with an I2C PWM generator
hal.loadusr('hal_pwm_pca9685',
name='i2c-pwm',
bus_id=2,
address=67,
interval=0.1,
delay=2.6,
wait_name='i2c-pwm')
watchList.append(['i2c-pwm', 0.2])
# Python user-mode HAL module to interface with an I2C ADC and convert it to temperature
defaultThermistor = 'semitec_103GT_2'
hal.loadusr(
'hal_temp_ads7828',
name='i2c-temp',
bus_id=2,
address=72,
interval=0.05,
delay=2.7,
filter_size=1,
channels='00:%s,01:%s,02:%s,03:%s,04:%s,05:none,06:none,07:none' %
(c.find('HBP', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_0', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_1', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_2', 'THERMISTOR', defaultThermistor),
c.find('EXTRUDER_3', 'THERMISTOR', defaultThermistor)),
wait_name='i2c-temp')
watchList.append(['i2c-temp', 0.1])
base.usrcomp_status('i2c-gpio', 'gpio-hw', thread='servo-thread')
base.usrcomp_status('i2c-pwm', 'pwm-hw', thread='servo-thread')
base.usrcomp_status('i2c-temp', 'temp-hw', thread='servo-thread')
base.usrcomp_watchdog(watchList,
'estop-reset',
thread='servo-thread',
errorSignal='watchdog-error')
rt.init_RTAPI()
c.load_ini(os.environ['INI_FILE_NAME'])
motion.setup_motion()
storage.init_storage('storage.ini')
# Gantry component for Z Axis
base.init_gantry(axisIndex=2)
base.gantry_read(gantryAxis=2, thread='servo-thread')
hal.addf('motion-command-handler', 'servo-thread')
# setup axis feedback
limits = [
[c.find('AXIS_0', 'MAX_LIMIT') - 0.2, c.find('AXIS_0', 'MAX_LIMIT')],
[c.find('AXIS_1', 'MAX_LIMIT') - 0.2, c.find('AXIS_1', 'MAX_LIMIT')],
[c.find('AXIS_2', 'MIN_LIMIT'), 0.0]
]
for n in range(c.find('TRAJ', 'AXES')):
axisPos = hal.newsig('axis-%i-pos' % n, hal.HAL_FLOAT)
hal.Pin('axis.%i.motor-pos-cmd' % n).link(axisPos)
hal.Pin('axis.%i.motor-pos-fb' % n).link(axisPos)
# fake limits
limitHome = hal.newsig('limit-%i-home' % n, hal.HAL_BIT)
hal.Pin('axis.%i.home-sw-in' % n).link(limitHome)
wcomp = rt.newinst('wcomp', 'wcomp.axis-%i-home' % n)
hal.addf(wcomp.name, 'servo-thread')
wcomp.pin('in').link(axisPos)
def setupStorage():
hal.loadusr('hal_storage', name='storage', file='storage.ini',
autosave=True, wait_name='storage')
def readStorage():
hal.Pin('storage.read-trigger').set(True) # trigger read
rt.init_RTAPI()
c.load_ini('hardware.ini')
rt.loadrt('hal_bb_gpio', output_pins='915,917,838,840')
rt.loadrt('hal_arm335xQEP', encoders='eQEP0,eQEP2')
rt.loadrt(c.find('PRUCONF', 'DRIVER'), 'prucode=' + c.find('PRUCONF', 'PRUBIN'), pru=0, num_pwmgens=7, halname='hpg')
# storage
setupStorage()
# pru pwmgens
hal.Pin('hpg.pwmgen.00.pwm_period').set(500000)
# motor left
hal.Pin('hpg.pwmgen.00.out.00.pin').set(911)
hal.Pin('hpg.pwmgen.00.out.01.pin').set(913)
# motor right
hal.Pin('hpg.pwmgen.00.out.02.pin').set(808)
hal.Pin('hpg.pwmgen.00.out.03.pin').set(810)
baseThread = 'base_thread'
rt.newthread(baseThread, 1000000, fp=True)
# initialize the RTAPI command client
rt.init_RTAPI()
# loads the ini file passed by linuxcnc
c.load_ini(os.environ['INI_FILE_NAME'])
motion.setup_motion('lineardeltakins')
hardware.init_hardware()
storage.init_storage('storage.ini')
# reading functions
hardware.hardware_read()
hal.addf('motion-command-handler', 'servo-thread')
hal.addf('motion-controller', 'servo-thread')
numFans = c.find('FDM', 'NUM_FANS')
numExtruders = c.find('FDM', 'NUM_EXTRUDERS')
numLights = c.find('FDM', 'NUM_LIGHTS')
hasHbp = c.find('FDM', 'HAS_HBP')
# Axis-of-motion Specific Configs (not the GUI)
ve.velocity_extrusion(extruders=numExtruders, thread='servo-thread')
# X [0] Axis
base.setup_stepper(section='AXIS_0',
axisIndex=0,
stepgenIndex=0,
thread='servo-thread')
# Y [1] Axis
base.setup_stepper(section='AXIS_1',
axisIndex=1,
stepgenIndex=1,
# loads the ini file passed by linuxcnc
c.load_ini(os.environ['INI_FILE_NAME'])
motion.setup_motion()
hardware.init_hardware()
storage.init_storage('storage.ini')
# Gantry component for Z Axis
base.init_gantry(axisIndex=2)
# reading functions
hardware.hardware_read()
base.gantry_read(gantryAxis=2, thread='servo-thread')
hal.addf('motion-command-handler', 'servo-thread')
numFans = c.find('FDM', 'NUM_FANS')
numExtruders = c.find('FDM', 'NUM_EXTRUDERS')
numLights = c.find('FDM', 'NUM_LIGHTS')
withAbp = c.find('FDM', 'ABP', False)
# Axis-of-motion Specific Configs (not the GUI)
ve.velocity_extrusion(extruders=numExtruders, thread='servo-thread')
# X [0] Axis
base.setup_stepper(section='AXIS_0', axisIndex=0, stepgenIndex=0)
# Y [1] Axis
base.setup_stepper(section='AXIS_1', axisIndex=1, stepgenIndex=1)
# Z [2] Axis
base.setup_stepper(section='AXIS_2', axisIndex=2, stepgenIndex=2,
thread='servo-thread', gantry=True, gantryJoint=0)
base.setup_stepper(section='AXIS_2', axisIndex=2, stepgenIndex=3,
gantry=True, gantryJoint=1)
def setup_stepper(stepgenIndex, section, axisIndex=None,
stepgenType='hpg.stepgen', gantry=False,
gantryJoint=0, velocitySignal=None, thread=None):
stepgen = '%s.%02i' % (stepgenType, stepgenIndex)
if axisIndex is not None:
axis = 'axis.%i' % axisIndex
hasMotionAxis = (axisIndex is not None) and (not gantry or gantryJoint == 0)
velocityControlled = velocitySignal is not None
# axis enable chain
enableIndex = axisIndex
if axisIndex is None:
enableIndex = 0 # use motor enable signal
enable = hal.Signal('emcmot-%i-enable' % enableIndex, hal.HAL_BIT)
if hasMotionAxis:
enable.link('%s.amp-enable-out' % axis)
enable.link('%s.enable' % stepgen)
# expose timing parameters so we can multiplex them later
sigBase = 'stepgen-%i' % stepgenIndex
dirsetup = hal.newsig('%s-dirsetup' % sigBase, hal.HAL_U32)
dirhold = hal.newsig('%s-dirhold' % sigBase, hal.HAL_U32)
steplen = hal.newsig('%s-steplen' % sigBase, hal.HAL_U32)
stepspace = hal.newsig('%s-stepspace' % sigBase, hal.HAL_U32)
scale = hal.newsig('%s-scale' % sigBase, hal.HAL_FLOAT)
maxVel = hal.newsig('%s-max-vel' % sigBase, hal.HAL_FLOAT)
maxAcc = hal.newsig('%s-max-acc' % sigBase, hal.HAL_FLOAT)
controlType = hal.newsig('%s-control-type' % sigBase, hal.HAL_BIT)
hal.Pin('%s.dirsetup' % stepgen).link(dirsetup)
hal.Pin('%s.dirhold' % stepgen).link(dirhold)
dirsetup.set(c.find(section, 'DIRSETUP'))
dirhold.set(c.find(section, 'DIRHOLD'))
hal.Pin('%s.steplen' % stepgen).link(steplen)
hal.Pin('%s.stepspace' % stepgen).link(stepspace)
steplen.set(c.find(section, 'STEPLEN'))
stepspace.set(c.find(section, 'STEPSPACE'))
hal.Pin('%s.position-scale' % stepgen).link(scale)
scale.set(c.find(section, 'SCALE'))
hal.Pin('%s.maxvel' % stepgen).link(maxVel)
hal.Pin('%s.maxaccel' % stepgen).link(maxAcc)
maxVel.set(c.find(section, 'STEPGEN_MAX_VEL'))
maxAcc.set(c.find(section, 'STEPGEN_MAX_ACC'))
hal.Pin('%s.control-type' % stepgen).link(controlType)
# position command and feedback
if not velocityControlled:
if hasMotionAxis: # per axis fb and cmd
posCmd = hal.newsig('emcmot-%i-pos-cmd' % axisIndex, hal.HAL_FLOAT)
posCmd.link('%s.motor-pos-cmd' % axis)
if not gantry:
posCmd.link('%s.position-cmd' % stepgen)
else:
posCmd.link('gantry.%i.position-cmd' % axisIndex)
posFb = hal.newsig('emcmot-%i-pos-fb' % axisIndex, hal.HAL_FLOAT)
posFb.link('%s.motor-pos-fb' % axis)
if not gantry:
posFb.link('%s.position-fb' % stepgen)
else:
posFb.link('gantry.%i.position-fb' % axisIndex)
if gantry: # per joint fb and cmd
posCmd = hal.newsig('emcmot-%i-%i-pos-cmd' % (axisIndex, gantryJoint), hal.HAL_FLOAT)
posCmd.link('gantry.%i.joint.%02i.pos-cmd' % (axisIndex, gantryJoint))
posCmd.link('%s.position-cmd' % stepgen)
posFb = hal.newsig('emcmot-%i-%i-pos-fb' % (axisIndex, gantryJoint), hal.HAL_FLOAT)
posFb.link('%s.position-fb' % stepgen)
posFb.link('gantry.%i.joint.%02i.pos-fb' % (axisIndex, gantryJoint))
else: # velocity control
hal.net(velocitySignal, '%s.velocity-cmd' % stepgen)
controlType.set(1) # enable velocity control
# limits
if hasMotionAxis:
limitHome = hal.newsig('limit-%i-home' % axisIndex, hal.HAL_BIT)
limitMin = hal.newsig('limit-%i-min' % axisIndex, hal.HAL_BIT)
limitMax = hal.newsig('limit-%i-max' % axisIndex, hal.HAL_BIT)
limitHome.link('%s.home-sw-in' % axis)
limitMin.link('%s.neg-lim-sw-in' % axis)
limitMax.link('%s.pos-lim-sw-in' % axis)
if gantry:
if gantryJoint == 0:
axisHoming = hal.newsig('emcmot-%i-homing' % axisIndex, hal.HAL_BIT)
axisHoming.link('%s.homing' % axis)
hal.Pin('gantry.%i.search-vel' % axisIndex).set(c.find(section, 'HOME_SEARCH_VEL'))
hal.Pin('gantry.%i.homing' % axisIndex).link(axisHoming)
hal.Pin('gantry.%i.home' % axisIndex).link(limitHome)
or2 = rt.newinst('or2', 'or2.limit-%i-min' % axisIndex)
hal.addf(or2.name, thread)
or2.pin('out').link(limitMin)
or2 = rt.newinst('or2', 'or2.limit-%i-max' % axisIndex)
hal.addf(or2.name, thread)
or2.pin('out').link(limitMax)
limitHome = hal.newsig('limit-%i-%i-home' % (axisIndex, gantryJoint),
hal.HAL_BIT)
limitMin = hal.newsig('limit-%i-%i-min' % (axisIndex, gantryJoint),
hal.HAL_BIT)
limitMax = hal.newsig('limit-%i-%i-max' % (axisIndex, gantryJoint),
hal.HAL_BIT)
homeOffset = hal.Signal('home-offset-%i-%i' % (axisIndex, gantryJoint),
hal.HAL_FLOAT)
limitHome.link('gantry.%i.joint.%02i.home' % (axisIndex, gantryJoint))
limitMin.link('or2.limit-%i-min.in%i' % (axisIndex, gantryJoint))
limitMax.link('or2.limit-%i-max.in%i' % (axisIndex, gantryJoint))
homeOffset.link('gantry.%i.joint.%02i.home-offset' % (axisIndex, gantryJoint))
storage.setup_gantry_storage(axisIndex, gantryJoint)
def setup_joints():
"""
Create joints commands and feedbacks signal for the system
"""
commands = [None] * AXIS_TOTAL
feedbacks = [None] * AXIS_TOTAL
for i in xrange(AXIS_TOTAL):
commands[i] = hal.newsig('machine.joint.%d.command' % i, hal.HAL_FLOAT)
feedbacks[i] = hal.newsig('machine.joint.%d.feedback' % i, hal.HAL_FLOAT)
core_xy = config.find('FDM','CORE_XY')
if core_xy is not None and int(core_xy) > 0:
sum_cmd_a = rtapi.newinst('sum2', 'corexy.sum2.cmd.a')
sum_fb_x = rtapi.newinst('sum2', 'corexy.sum2.fb.x')
sum_cmd_b = rtapi.newinst('sum2', 'corexy.sum2.cmd.b')
sum_fb_y = rtapi.newinst('sum2', 'corexy.sum2.fb.y')
hal.addf(sum_cmd_a.name, SERVO_THREAD)
hal.addf(sum_cmd_b.name, SERVO_THREAD)
hal.addf(sum_fb_x.name, SERVO_THREAD)
hal.addf(sum_fb_y.name, SERVO_THREAD)
sum_cmd_a.pin('gain0').set(1)
sum_cmd_a.pin('gain1').set(1)
sum_cmd_b.pin('gain0').set(1)
sum_cmd_b.pin('gain1').set(-1)
sum_fb_x.pin('gain0').set(0.5)
sum_fb_x.pin('gain1').set(0.5)
sum_fb_y.pin('gain0').set(0.5)
sum_fb_y.pin('gain1').set(-0.5)
corex_cmd = hal.newsig('machine.joint.corex.command', hal.HAL_FLOAT)
corey_cmd = hal.newsig('machine.joint.corey.command', hal.HAL_FLOAT)
corex_cmd.link('axis.0.motor-pos-cmd')
corey_cmd.link('axis.1.motor-pos-cmd')
sum_cmd_a.pin('in0').link(corex_cmd)
sum_cmd_a.pin('in1').link(corey_cmd)
sum_cmd_b.pin('in0').link(corex_cmd)
sum_cmd_b.pin('in1').link(corey_cmd)
sum_cmd_a.pin('out').link(commands[0])
sum_cmd_b.pin('out').link(commands[1])
sum_fb_x.pin('in0').link(feedbacks[0])
sum_fb_x.pin('in1').link(feedbacks[1])
sum_fb_y.pin('in0').link(feedbacks[0])
sum_fb_y.pin('in1').link(feedbacks[1])
sum_fb_x.pin('out').link('axis.0.motor-pos-fb')
sum_fb_y.pin('out').link('axis.1.motor-pos-fb')
else:
commands[0].link('axis.0.motor-pos-cmd')
feedbacks[0].link('axis.0.motor-pos-fb')
commands[1].link('axis.1.motor-pos-cmd')
feedbacks[1].link('axis.1.motor-pos-fb')
for i in xrange(AXIS_TOTAL):
if i >= 2:
commands[i].link('axis.%d.motor-pos-cmd' % i)
feedbacks[i].link('axis.%d.motor-pos-fb' % i)
return (commands, feedbacks)