def load_hal_file(filename, ini=None):
sys.stdout.write("loading " + filename + '... ')
sys.stdout.flush()
_, ext = os.path.splitext(filename)
if ext == '.py':
from machinekit import rtapi
if not rtapi.__rtapicmd:
rtapi.init_RTAPI()
if ini is not None:
from machinekit import config
config.load_ini(ini)
globals_ = {}
with open(filename, 'r') as f:
data = compile(f.read(), filename, 'exec')
exec(data, globals_)
else:
command = 'halcmd'
if ini is not None:
command += ' -i ' + ini
command += ' -f ' + filename
subprocess.check_call(command, shell=True)
sys.stdout.write('done\n')
def main():
c.load_ini('hardware.ini')
init_hardware()
configure_stepgen()
create_rcomp()
setup_functions()
# ready to start the threads
hal.start_threads()
# start haltalk server after everything is initialized
# else binding the remote components on the UI might fail
hal.loadusr('haltalk', wait=True)
def load_hal_file(filename, ini=None):
sys.stdout.write("loading " + filename + '... ')
sys.stdout.flush()
_, ext = os.path.splitext(filename)
if ext == '.py':
from machinekit import rtapi
if not rtapi.__rtapicmd:
rtapi.init_RTAPI()
if ini is not None:
from machinekit import config
config.load_ini(ini)
execfile(filename)
else:
command = 'halcmd'
if ini is not None:
command += ' -i ' + ini
command += ' -f ' + filename
subprocess.check_call(command, shell=True)
sys.stdout.write('done\n')
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)
import os
from machinekit import rtapi as rt
from machinekit import hal
from machinekit import config as c
from fdm.config import velocity_extrusion as ve
from fdm.config import base
from fdm.config import storage
from fdm.config import motion
import cramps as hardware
# 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')
import attr
from aenum import Enum
from machinekit import hal
from machinekit import rtapi as rt
from machinekit import config as c
from pinconfig import io_map, pru0_input_pins
from servo import setup_servo
c.load_ini('hardware.ini')
PinDirection = Enum('PinDirection', 'IN OUT LOW HIGH')
@attr.s
class IOPin(object):
number = attr.ib(default='')
direction = attr.ib(default=PinDirection.IN)
def get_io_pin(id_, direction=PinDirection.IN):
port, pin = str(id_)[0], str(id_)[1:]
dir_ = 'in' if direction is PinDirection.IN else 'out'
return hal.pins['bb_gpio.p{}.{}-{}'.format(port, dir_, pin)]
def setup_storage():
hal.loadusr('hal_storage',
name='storage',
file='storage.ini',
# HAL file for Trinamic SPI configuration
import os
from machinekit import hal
from machinekit import rtapi as rt
from machinekit import config as c
#from fdm.config import motion
from fdm_local.config import motion
from fdm.config import base
import cramps as hardware
hal.epsilon[1] = 0.1
# 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()
# reading functions
hardware.hardware_read()
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='hm2_5i25.0.stepgen')
kalman.pin('dt').link(sigDt)
kalman.pin('new-angle').link(sigNewAngle)
kalman.pin('new-rate').link(sigNewRate)
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)
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()
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()
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()
# 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 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()
