def test_check_net_args():
try:
hal.net()
except TypeError:
pass
try:
hal.net(None, "c1.s32out")
except TypeError:
pass
try:
hal.net("c1.s32out")
# TypeError: net: 'c1.s32out' is a pin - first argument must be a signal name
except TypeError:
pass
assert "noexiste" not in hal.signals
hal.net("noexiste", "c1.s32out")
assert "noexiste" in hal.signals
ne = hal.signals["noexiste"]
assert ne.writers == 1
assert ne.readers == 0
assert ne.bidirs == 0
try:
hal.net("floatsig1", "c1.s32out")
raise "should not happen"
except RuntimeError:
pass
def test_net_pin2pin():
try:
hal.net("c1.s32out", "c2.s32out")
# TypeError: net: 'c1.s32out' is a pin - first argument must be a signal name
raise "should not happen"
except TypeError:
pass
def test_net_pin2pin():
try:
hal.net("c1.s32out", "c2.s32out")
#TypeError: net: 'c1.s32out' is a pin - first argument must be a signal name
raise "should not happen"
except TypeError:
pass
def test_check_net_args():
try:
hal.net()
except TypeError:
pass
try:
hal.net(None, "c1.s32out")
except TypeError:
pass
try:
hal.net("c1.s32out")
# TypeError: net: 'c1.s32out' is a pin - first argument must be a signal name
except TypeError:
pass
assert "noexiste" not in hal.signals
hal.net("noexiste", "c1.s32out")
assert "noexiste" in hal.signals
ne = hal.signals["noexiste"]
assert ne.writers == 1
assert ne.readers == 0
assert ne.bidirs == 0
try:
hal.net("floatsig1", "c1.s32out")
raise "should not happen"
except RuntimeError:
pass
def test_net_match_nonexistant_signals():
l.log()
try:
hal.net("nosuchsig", "c1.s32out", "c2.s32out")
raise "should not happen"
except TypeError:
pass
def test_net_match_nonexistant_signals():
l.log()
try:
hal.net("nosuchsig", "c1.s32out", "c2.s32out")
raise "should not happen"
except TypeError:
pass
def test_net_existing_signal_with_bad_type():
hal.newsig("f", hal.HAL_FLOAT)
try:
hal.net("f", "c1.s32out")
raise "should not happen"
except TypeError:
pass
del hal.signals["f"]
def test_net_existing_signal_with_bad_type():
hal.newsig("f", hal.HAL_FLOAT)
try:
hal.net("f", "c1.s32out")
raise "should not happen"
except TypeError:
pass
del hal.signals["f"]
def test_net_existing_signal():
hal.newsig("s32", hal.HAL_S32)
assert hal.pins["c1.s32out"].linked == False
hal.net("s32", "c1.s32out")
assert hal.pins["c1.s32out"].linked == True
hal.newsig("s32too", hal.HAL_S32)
try:
hal.net("s32too", "c1.s32out")
raise "should not happen"
except RuntimeError:
pass
del hal.signals["s32"]
def test_net_existing_signal():
hal.newsig("s32", hal.HAL_S32)
assert hal.pins["c1.s32out"].linked == False
hal.net("s32", "c1.s32out")
assert hal.pins["c1.s32out"].linked == True
hal.newsig("s32too", hal.HAL_S32)
try:
hal.net("s32too", "c1.s32out")
raise "should not happen"
except RuntimeError:
pass
del hal.signals["s32"]
def test_net_existing_signal(self):
l.log()
hal.newsig("s32", hal.HAL_S32)
assert hal.pins["c1.s32out"].linked is False
hal.net("s32", "c1.s32out")
assert hal.pins["c1.s32out"].linked is True
hal.newsig("s32too", hal.HAL_S32)
try:
hal.net("s32too", "c1.s32out")
raise "should not happen"
except RuntimeError:
pass
del hal.signals["s32"]
assert 's32' not in hal.signals
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 setup_enable_chain():
"""
Create enable and enable_inv signal for the system
"""
main_enable = hal.net('main-enable', 'axis.0.amp-enable-out')
n = rtapi.newinst('not', 'main-enable.not')
hal.addf(n.name, SERVO_THREAD)
main_enable_inv = hal.newsig('main-enable-inv', hal.HAL_BIT)
n.pin('in').link('main-enable')
n.pin('out').link('main-enable-inv')
return (main_enable, main_enable_inv)
def setup_enable_chain():
"""
Create enable and enable_inv signal for the system
"""
main_enable = hal.net('main-enable', 'axis.0.amp-enable-out')
n = rtapi.newinst('not', 'main-enable.not')
hal.addf(n.name, SERVO_THREAD)
main_enable_inv = hal.newsig('main-enable-inv', hal.HAL_BIT)
n.pin('in').link('main-enable')
n.pin('out').link('main-enable-inv')
return (main_enable, main_enable_inv)
def test_net_pin2pin():
l.log()
# out to in is okay
hal.net("c1.s32out", "c2.s32in")
assert hal.pins["c1.s32out"].linked is True
assert hal.pins["c2.s32in"].linked is True
assert 'c1-s32out' in hal.signals
# cleanup
hal.pins["c1.s32out"].unlink()
hal.pins["c2.s32in"].unlink()
del hal.signals['c1-s32out']
assert 'c1-s32out' not in hal.signals
try:
hal.net("c2.s32out", "c1.s32out")
# TypeError: net: signal 'c2-s32out' can not add writer pin 'c1.s32out', it already has HAL_OUT pin 'c2.s32out
except TypeError:
pass
# cleanup
hal.pins["c2.s32out"].unlink()
del hal.signals['c2-s32out']
assert 'c2-s32out' not in hal.signals
def test_net_pin2pin():
l.log()
# out to in is okay
hal.net("c1.s32out", "c2.s32in")
assert hal.pins["c1.s32out"].linked is True
assert hal.pins["c2.s32in"].linked is True
assert 'c1-s32out' in hal.signals
# cleanup
hal.pins["c1.s32out"].unlink()
hal.pins["c2.s32in"].unlink()
del hal.signals['c1-s32out']
assert 'c1-s32out' not in hal.signals
try:
hal.net("c2.s32out", "c1.s32out")
# TypeError: net: signal 'c2-s32out' can not add writer pin 'c1.s32out', it already has HAL_OUT pin 'c2.s32out
except TypeError:
pass
# cleanup
hal.pins["c2.s32out"].unlink()
del hal.signals['c2-s32out']
assert 'c2-s32out' not in hal.signals
def setup_tool_loopback():
# create signals for tool loading loopback
hal.net('iocontrol.0.tool-prepare', 'iocontrol.0.tool-prepared')
hal.net('iocontrol.0.tool-change', 'iocontrol.0.tool-changed')
def test_net(self):
hal.net("square-wave", "charge-pump.out", "ringwrite.write")
sig_joint.link('%s.stepgen.0%s.position-cmd' % (card,i) )
# some more BBB cramps specific
if hardware == 'bbb-cramps':
hal.Pin('%s.stepgen.00.steppin' % card).set(813)
hal.Pin('%s.stepgen.00.dirpin' % card).set(812)
hal.Pin('%s.stepgen.01.steppin' % card).set(815)
hal.Pin('%s.stepgen.01.dirpin' % card).set(814)
hal.Pin('%s.stepgen.02.steppin' % card).set(819)
hal.Pin('%s.stepgen.02.dirpin' % card).set(818)
hal.Pin('%s.stepgen.03.steppin' % card).set(916)
hal.Pin('%s.stepgen.03.dirpin' % card).set(912)
hal.Pin('%s.stepgen.04.steppin' % card).set(917)
hal.Pin('%s.stepgen.04.dirpin' % card).set(918)
# Machine power (enale stepper drivers)
hal.net('emcmot.00.enable', 'bb_gpio.p9.out-23')
# Tie machine power signal to the CRAMPS LED
hal.net('emcmot.00.enable', 'bb_gpio.p9.out-25')
# set some better steps for video
for i in range(0, 4):
hal.Pin('%s.stepgen.0%s.position-scale' % (card, i)).set(4000)
if hardware == 'bbb-bebopr++':
hal.Pin('%s.stepgen.00.steppin' % card).set(812)
hal.Pin('%s.stepgen.00.dirpin' % card).set(811)
hal.Pin('%s.stepgen.01.steppin' % card).set(816)
hal.Pin('%s.stepgen.01.dirpin' % card).set(815)
hal.Pin('%s.stepgen.02.steppin' % card).set(915)
hal.Pin('%s.stepgen.02.dirpin' % card).set(923)
hal.Pin('%s.stepgen.03.steppin' % card).set(922)
hal.Pin('%s.stepgen.03.dirpin' % card).set(921)
def setup_tool_loopback():
hal.net('iocontrol.0.tool-prepare', 'iocontrol.0.tool-prepared')
hal.net('iocontrol.0.tool-change', 'iocontrol.0.tool-changed')
sig_joint.link('%s.stepgen.0%s.position-cmd' % (card, i))
# some more BBB cramps specific
if hardware == 'bbb-cramps':
hal.Pin('%s.stepgen.00.steppin' % card).set(813)
hal.Pin('%s.stepgen.00.dirpin' % card).set(812)
hal.Pin('%s.stepgen.01.steppin' % card).set(815)
hal.Pin('%s.stepgen.01.dirpin' % card).set(814)
hal.Pin('%s.stepgen.02.steppin' % card).set(819)
hal.Pin('%s.stepgen.02.dirpin' % card).set(818)
hal.Pin('%s.stepgen.03.steppin' % card).set(916)
hal.Pin('%s.stepgen.03.dirpin' % card).set(912)
hal.Pin('%s.stepgen.04.steppin' % card).set(917)
hal.Pin('%s.stepgen.04.dirpin' % card).set(918)
# Machine power (enale stepper drivers)
hal.net('emcmot.00.enable', 'bb_gpio.p9.out-23')
# Tie machine power signal to the CRAMPS LED
hal.net('emcmot.00.enable', 'bb_gpio.p9.out-25')
# set some better steps for video
for i in range(0, 4):
hal.Pin('%s.stepgen.0%s.position-scale' % (card, i)).set(4000)
if hardware == 'bbb-bebopr++':
hal.Pin('%s.stepgen.00.steppin' % card).set(812)
hal.Pin('%s.stepgen.00.dirpin' % card).set(811)
hal.Pin('%s.stepgen.01.steppin' % card).set(816)
hal.Pin('%s.stepgen.01.dirpin' % card).set(815)
hal.Pin('%s.stepgen.02.steppin' % card).set(915)
hal.Pin('%s.stepgen.02.dirpin' % card).set(923)
hal.Pin('%s.stepgen.03.steppin' % card).set(922)
hal.Pin('%s.stepgen.03.dirpin' % card).set(921)
(lambda s=__import__('signal'):
s.signal(s.SIGTERM, s.SIG_IGN))()
setup_module()
cfg = ConfigParser.ConfigParser()
cfg.read(os.getenv("MACHINEKIT_INI"))
uuid = cfg.get("MACHINEKIT", "MKUUID")
rt = rtapi.RTAPIcommand(uuid=uuid)
rt.loadrt("lutn");
rt.newinst("lutn","or2.0", "inputs=2", "function=0xe" )
rt.newinst("lutn","and2.0", "inputs=2", "function=0x8" )
hal.net("in0","and2.0.in0","or2.0.in0")
hal.net("in1","and2.0.in1","or2.0.in1")
in0 = hal.signals["in0"]
in1 = hal.signals["in1"]
rt.newthread("fast",1000000, use_fp=True)
hal.addf("or2.0.funct","fast")
hal.addf("and2.0.funct","fast")
hal.start_threads()
time.sleep(0.1)
a = hal.pins["and2.0.out"]
o = hal.pins["or2.0.out"]
assert o.get() == 0
(lambda s=__import__('signal'):
s.signal(s.SIGTERM, s.SIG_IGN))()
setup_module()
cfg = configparser.ConfigParser()
cfg.read(os.getenv("MACHINEKIT_INI"))
uuid = cfg.get("MACHINEKIT", "MKUUID")
rt = rtapi.RTAPIcommand(uuid=uuid)
rt.loadrt("lutn");
rt.newinst("lutn","or2.0", "inputs=2", "function=0xe" )
rt.newinst("lutn","and2.0", "inputs=2", "function=0x8" )
hal.net("in0","and2.0.in0","or2.0.in0")
hal.net("in1","and2.0.in1","or2.0.in1")
in0 = hal.signals["in0"]
in1 = hal.signals["in1"]
rt.newthread("fast",1000000, use_fp=True)
hal.addf("or2.0.funct","fast")
hal.addf("and2.0.funct","fast")
hal.start_threads()
time.sleep(0.1)
a = hal.pins["and2.0.out"]
o = hal.pins["or2.0.out"]
assert o.get() == 0
def test_check_net_args():
l.log()
try:
hal.net()
except TypeError:
pass
assert 'c1-s32out' not in hal.signals
try:
hal.net(None, "c1.s32out")
except TypeError:
pass
assert 'c1-s32out' not in hal.signals
# single pin argument
assert hal.pins["c1.s32out"].linked is False
try:
hal.net("c1.s32out")
# RuntimeError: net: at least one pin name expected
except RuntimeError:
pass
# XXX die beiden gehen daneben:
# der pin wird trotz runtime error gelinkt und das signal erzeugt:
# offensichtlich hal_net.pyx:39 vor dem test in hal_net.pyx:60
assert hal.pins["c1.s32out"].linked is False
assert 'c1-s32out' not in hal.signals
# single signal argument
try:
hal.net("noexiste")
# RuntimeError: net: at least one pin name expected
except RuntimeError:
pass
# two signals
hal.newsig('sig1', hal.HAL_FLOAT)
hal.newsig('sig2', hal.HAL_FLOAT)
try:
hal.net('sig1', 'sig2')
# NameError: no such pin: sig2
except NameError:
pass
assert "noexiste" not in hal.signals
hal.net("noexiste", "c1.s32out")
assert "noexiste" in hal.signals
ne = hal.signals["noexiste"]
assert ne.writers == 1
assert ne.readers == 0
assert ne.bidirs == 0
try:
hal.net("floatsig1", "c1.s32out")
raise "should not happen"
except RuntimeError:
pass
def test_net():
hal.net("square-wave","charge-pump.out","ringwrite.write")
def test_check_net_args():
l.log()
try:
hal.net()
except TypeError:
pass
assert 'c1-s32out' not in hal.signals
try:
hal.net(None, "c1.s32out")
except TypeError:
pass
assert 'c1-s32out' not in hal.signals
# single pin argument
assert hal.pins["c1.s32out"].linked is False
try:
hal.net("c1.s32out")
# RuntimeError: net: at least one pin name expected
except RuntimeError:
pass
# XXX die beiden gehen daneben:
# der pin wird trotz runtime error gelinkt und das signal erzeugt:
# offensichtlich hal_net.pyx:39 vor dem test in hal_net.pyx:60
assert hal.pins["c1.s32out"].linked is False
assert 'c1-s32out' not in hal.signals
# single signal argument
try:
hal.net("noexiste")
# RuntimeError: net: at least one pin name expected
except RuntimeError:
pass
# two signals
hal.newsig('sig1', hal.HAL_FLOAT)
hal.newsig('sig2', hal.HAL_FLOAT)
try:
hal.net('sig1', 'sig2')
# NameError: no such pin: sig2
except NameError:
pass
assert "noexiste" not in hal.signals
hal.net("noexiste", "c1.s32out")
assert "noexiste" in hal.signals
ne = hal.signals["noexiste"]
assert ne.writers == 1
assert ne.readers == 0
assert ne.bidirs == 0
try:
hal.net("floatsig1", "c1.s32out")
raise "should not happen"
except RuntimeError:
pass
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_estop_loopback():
# create signal for estop loopback
hal.net('iocontrol.0.user-enable-out', 'iocontrol.0.emc-enable-in')
def setup_tool_loopback():
# create signals for tool loading loopback
hal.net('iocontrol.0.tool-prepare', 'iocontrol.0.tool-prepared')
hal.net('iocontrol.0.tool-change', 'iocontrol.0.tool-changed')
base.setup_stepper(section='AXIS_2', axisIndex=2, stepgenIndex=3,
gantry=True, gantryJoint=1)
# Extruder, velocity controlled
base.setup_stepper(section='EXTRUDER_0', stepgenIndex=4, velocitySignal='ve-extrude-vel')
# Extruder Multiplexer
base.setup_extruder_multiplexer(extruders=(numExtruders + int(withAbp)), thread='servo-thread')
# Stepper Multiplexer
multiplexSections = []
for i in range(0, numExtruders):
multiplexSections.append('EXTRUDER_%i' % i)
if withAbp: # not a very good solution
multiplexSections.append('ABP')
multiplexSections.append('ABP') # no this is no mistake, we need an additional section
hal.Pin('motion.digital-out-io-20').link('stepgen-4-control-type')
hal.net('stepgen-4-pos-cmd', 'motion.analog-out-io-50', 'hpg.stepgen.04.position-cmd')
hal.net('stepgen-4-pos-fb', 'motion.analog-in-50', 'hpg.stepgen.04.position-fb')
base.setup_stepper_multiplexer(stepgenIndex=4, sections=multiplexSections,
selSignal='extruder-sel', thread='servo-thread')
# Fans
for i in range(0, numFans):
base.setup_fan('f%i' % i, thread='servo-thread')
for i in range(0, numExtruders):
hardware.setup_exp('exp%i' % i)
# Temperature Signals
base.create_temperature_control(name='hbp', section='HBP',
hardwareOkSignal='temp-hw-ok',
thread='servo-thread')
for i in range(0, numExtruders):
def setup_estop_loopback():
# create signal for estop loopback
hal.net('iocontrol.0.user-enable-out', 'iocontrol.0.emc-enable-in')
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)
base.setup_stepper(section='AXIS_2', axisIndex=2, stepgenIndex=3,
gantry=True, gantryJoint=1)
# Extruder, velocity controlled
base.setup_stepper(section='EXTRUDER_0', stepgenIndex=4, velocitySignal='ve-extrude-vel')
# Extruder Multiplexer
base.setup_extruder_multiplexer(extruders=(numExtruders + int(withAbp)), thread='servo-thread')
# Stepper Multiplexer
multiplexSections = []
for i in range(0, numExtruders):
multiplexSections.append('EXTRUDER_%i' % i)
if withAbp: # not a very good solution
multiplexSections.append('ABP')
multiplexSections.append('ABP') # no this is no mistake, we need an additional section
hal.Pin('motion.digital-out-io-20').link('stepgen-4-control-type')
hal.net('stepgen-4-pos-cmd', 'motion.analog-out-io-50', 'hpg.stepgen.04.position-cmd')
hal.net('stepgen-4-pos-fb', 'motion.analog-in-50', 'hpg.stepgen.04.position-fb')
base.setup_stepper_multiplexer(stepgenIndex=4, sections=multiplexSections,
selSignal='extruder-sel', thread='servo-thread')
# Fans
for i in range(0, numFans):
base.setup_fan('f%i' % i, thread='servo-thread')
for i in range(0, numExtruders):
hardware.setup_exp('exp%i' % i)
# Temperature Signals
base.create_temperature_control(name='hbp', section='HBP',
hardwareOkSignal='temp-hw-ok',
thread='servo-thread')
for i in range(0, numExtruders):