def __init__(self, printer, config):
self.printer = printer
self.is_pwm = 'pwm' in config.section.split()[0]
if self.is_pwm:
self.mcu_pin = pins.setup_pin(printer, 'pwm', config.get('pin'))
hard_pwm = config.getint('hard_pwm', None, minval=1)
if hard_pwm is None:
self.mcu_pin.setup_cycle_time(config.getfloat(
'cycle_time', 0.100, above=0.))
else:
self.mcu_pin.setup_hard_pwm(hard_pwm)
self.scale = config.getfloat('scale', 1., above=0.)
else:
self.mcu_pin = pins.setup_pin(
printer, 'digital_out', config.get('pin'))
self.scale = 1.
self.mcu_pin.setup_max_duration(0.)
self.last_value_time = 0.
self.last_value = config.getfloat(
'value', 0., minval=0., maxval=self.scale)
self.is_static = config.section.startswith('static_')
if self.is_static:
self.mcu_pin.setup_static_pwm(self.last_value / self.scale)
else:
self.mcu_pin.setup_start_value(
self.last_value, config.getfloat('shutdown_value', 0.,
minval=0., maxval=self.scale))
self.gcode = printer.objects['gcode']
self.gcode.register_command("SET_PIN", self.cmd_SET_PIN,
desc=self.cmd_SET_PIN_help)
def __init__(self, printer, config):
self.printer = printer
self.is_pwm = 'pwm' in config.get_name().split()[0]
if self.is_pwm:
self.mcu_pin = pins.setup_pin(printer, 'pwm', config.get('pin'))
cycle_time = config.getfloat('cycle_time', 0.100, above=0.)
hardware_pwm = config.getboolean('hardware_pwm', False)
self.mcu_pin.setup_cycle_time(cycle_time, hardware_pwm)
self.scale = config.getfloat('scale', 1., above=0.)
else:
self.mcu_pin = pins.setup_pin(printer, 'digital_out',
config.get('pin'))
self.scale = 1.
self.mcu_pin.setup_max_duration(0.)
self.last_value_time = 0.
self.last_value = config.getfloat(
'value', 0., minval=0., maxval=self.scale) / self.scale
self.is_static = config.get_name().startswith('static_')
if self.is_static:
self.mcu_pin.setup_start_value(self.last_value, self.last_value,
True)
else:
shutdown_value = config.getfloat(
'shutdown_value', 0., minval=0.,
maxval=self.scale) / self.scale
self.mcu_pin.setup_start_value(self.last_value, shutdown_value)
self.gcode = printer.lookup_object('gcode')
self.gcode.register_command("SET_PIN",
self.cmd_SET_PIN,
desc=self.cmd_SET_PIN_help)
def __init__(self, printer, config):
self.name = config.section
sensor_params = config.getchoice('sensor_type', Sensors)
self.sensor = sensor_params['class'](config, sensor_params)
self.min_temp = config.getfloat('min_temp', minval=0.)
self.max_temp = config.getfloat('max_temp', above=self.min_temp)
self.min_extrude_temp = config.getfloat(
'min_extrude_temp', 170., minval=self.min_temp, maxval=self.max_temp)
self.max_power = config.getfloat('max_power', 1., above=0., maxval=1.)
self.lock = threading.Lock()
self.last_temp = 0.
self.last_temp_time = 0.
self.target_temp = 0.
algos = {'watermark': ControlBangBang, 'pid': ControlPID}
algo = config.getchoice('control', algos)
heater_pin = config.get('heater_pin')
if algo is ControlBangBang and self.max_power == 1.:
self.mcu_pwm = pins.setup_pin(printer, 'digital_out', heater_pin)
else:
self.mcu_pwm = pins.setup_pin(printer, 'pwm', heater_pin)
self.mcu_pwm.setup_cycle_time(PWM_CYCLE_TIME)
self.mcu_pwm.setup_max_duration(MAX_HEAT_TIME)
self.mcu_adc = pins.setup_pin(printer, 'adc', config.get('sensor_pin'))
adc_range = [self.sensor.calc_adc(self.min_temp),
self.sensor.calc_adc(self.max_temp)]
self.mcu_adc.setup_minmax(SAMPLE_TIME, SAMPLE_COUNT,
minval=min(adc_range), maxval=max(adc_range))
self.mcu_adc.setup_adc_callback(REPORT_TIME, self.adc_callback)
is_fileoutput = self.mcu_adc.get_mcu().is_fileoutput()
self.can_extrude = self.min_extrude_temp <= 0. or is_fileoutput
self.control = algo(self, config)
# pwm caching
self.next_pwm_time = 0.
self.last_pwm_value = 0
def __init__(self, printer, config):
self.pins = {}
pin_list = [pin.strip() for pin in config.get('pins').split(',')]
for pin_desc in pin_list:
self.pins[pin_desc] = {
'last_value': 0,
'mcu_pin': pins.setup_pin(printer, 'digital_out', pin_desc)
}
self.pins[pin_desc]['mcu_pin'].setup_max_duration(0.)
def __init__(self, config):
printer = config.get_printer()
pins.get_printer_pins(printer).register_chip('replicape', self)
revisions = {'B3': 'B3'}
config.getchoice('revision', revisions)
self.host_mcu = mcu.get_printer_mcu(printer, config.get('host_mcu'))
# Setup enable pin
self.mcu_pwm_enable = pins.setup_pin(
printer, 'digital_out', config.get('enable_pin', '!P9_41'))
self.mcu_pwm_enable.setup_max_duration(0.)
self.mcu_pwm_start_value = self.mcu_pwm_shutdown_value = False
# Setup power pins
self.pins = {
"power_e": (pca9685_pwm, 5), "power_h": (pca9685_pwm, 3),
"power_hotbed": (pca9685_pwm, 4),
"power_fan0": (pca9685_pwm, 7), "power_fan1": (pca9685_pwm, 8),
"power_fan2": (pca9685_pwm, 9), "power_fan3": (pca9685_pwm, 10) }
# Setup stepper config
self.stepper_dacs = {}
shift_registers = [1, 0, 0, 1, 1]
for port, name in enumerate('xyzeh'):
prefix = 'stepper_%s_' % (name,)
sc = config.getchoice(
prefix + 'microstep_mode', ReplicapeStepConfig, 'disable')
if sc is None:
continue
sc |= shift_registers[port]
if config.getboolean(prefix + 'chopper_off_time_high', False):
sc |= 1<<3
if config.getboolean(prefix + 'chopper_hysteresis_high', False):
sc |= 1<<2
if config.getboolean(prefix + 'chopper_blank_time_high', True):
sc |= 1<<1
shift_registers[port] = sc
channel = port + 11
cur = config.getfloat(
prefix + 'current', above=0., maxval=REPLICAPE_MAX_CURRENT)
self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT
self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel)
self.enabled_channels = {ch: False for cl, ch in self.pins.values()}
self.disable_stepper_cmd = "send_spi bus=%d dev=%d msg=%s" % (
REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
"".join(["%02x" % (x,) for x in reversed(shift_registers)]))
if [i for i in [0, 1, 2] if 11+i in self.stepper_dacs]:
# Enable xyz steppers
shift_registers[0] &= ~1
if [i for i in [3, 4] if 11+i in self.stepper_dacs]:
# Enable eh steppers
shift_registers[3] &= ~1
if (config.getboolean('standstill_power_down', False)
and self.stepper_dacs):
shift_registers[4] &= ~1
self.enable_stepper_cmd = "send_spi bus=%d dev=%d msg=%s" % (
REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
"".join(["%02x" % (x,) for x in reversed(shift_registers)]))
self.host_mcu.add_config_cmd(self.disable_stepper_cmd)
self.last_stepper_time = 0.
def __init__(self, printer, config, name):
PrinterStepper.__init__(self, printer, config, name)
self.mcu_endstop = pins.setup_pin(printer, 'endstop',
config.get('endstop_pin'))
self.mcu_endstop.add_stepper(self.mcu_stepper)
self.position_min = config.getfloat('position_min', 0.)
self.position_max = config.getfloat('position_max',
0.,
above=self.position_min)
self.position_endstop = config.getfloat('position_endstop')
self.homing_speed = config.getfloat('homing_speed', 5.0, above=0.)
self.homing_positive_dir = config.getboolean('homing_positive_dir',
None)
if self.homing_positive_dir is None:
axis_len = self.position_max - self.position_min
if self.position_endstop <= self.position_min + axis_len / 4.:
self.homing_positive_dir = False
elif self.position_endstop >= self.position_max - axis_len / 4.:
self.homing_positive_dir = True
else:
raise config.error(
"Unable to infer homing_positive_dir in section '%s'" %
(config.section, ))
self.homing_retract_dist = config.getfloat('homing_retract_dist',
5.,
above=0.)
self.homing_stepper_phases = config.getint('homing_stepper_phases',
None,
minval=0)
endstop_accuracy = config.getfloat('homing_endstop_accuracy',
None,
above=0.)
self.homing_endstop_accuracy = self.homing_endstop_phase = None
if self.homing_stepper_phases:
self.homing_endstop_phase = config.getint(
'homing_endstop_phase',
None,
minval=0,
maxval=self.homing_stepper_phases - 1)
if endstop_accuracy is None:
self.homing_endstop_accuracy = self.homing_stepper_phases // 2 - 1
elif self.homing_endstop_phase is not None:
self.homing_endstop_accuracy = int(
math.ceil(endstop_accuracy * self.inv_step_dist / 2.))
else:
self.homing_endstop_accuracy = int(
math.ceil(endstop_accuracy * self.inv_step_dist))
if self.homing_endstop_accuracy >= self.homing_stepper_phases // 2:
logging.info(
"Endstop for %s is not accurate enough for stepper"
" phase adjustment" % (name, ))
self.homing_stepper_phases = None
if printer.get_start_args().get('debugoutput') is not None:
self.homing_endstop_accuracy = self.homing_stepper_phases
def __init__(self, printer, config, name):
self.name = name
self.step_dist = config.getfloat('step_distance', above=0.)
self.inv_step_dist = 1. / self.step_dist
self.min_stop_interval = 0.
self.mcu_stepper = pins.setup_pin(printer, 'stepper',
config.get('step_pin'))
dir_pin_params = pins.get_printer_pins(printer).parse_pin_desc(
config.get('dir_pin'), can_invert=True)
self.mcu_stepper.setup_dir_pin(dir_pin_params)
self.mcu_stepper.setup_step_distance(self.step_dist)
enable_pin = config.get('enable_pin', None)
if enable_pin is not None:
self.mcu_enable = pins.setup_pin(printer, 'digital_out',
enable_pin)
self.mcu_enable.setup_max_duration(0.)
self.need_motor_enable = True
def __init__(self, config):
self.last_fan_value = 0.
self.last_fan_time = 0.
self.max_power = config.getfloat('max_power', 1., above=0., maxval=1.)
self.kick_start_time = config.getfloat('kick_start_time', 0.1, minval=0.)
printer = config.get_printer()
self.mcu_fan = pins.setup_pin(printer, 'pwm', config.get('pin'))
self.mcu_fan.setup_max_duration(0.)
cycle_time = config.getfloat('cycle_time', 0.010, above=0.)
hardware_pwm = config.getboolean('hardware_pwm', False)
self.mcu_fan.setup_cycle_time(cycle_time, hardware_pwm)
def __init__(self, printer, config):
self.last_fan_value = 0.
self.last_fan_time = 0.
self.max_power = config.getfloat('max_power', 1., above=0., maxval=1.)
self.kick_start_time = config.getfloat('kick_start_time',
0.1,
minval=0.)
self.mcu_fan = pins.setup_pin(printer, 'pwm', config.get('pin'))
self.mcu_fan.setup_max_duration(0.)
self.mcu_fan.setup_cycle_time(PWM_CYCLE_TIME)
self.mcu_fan.setup_hard_pwm(config.getint('hard_pwm', 0))
def __init__(self, printer, config):
mcu_pwm = pins.setup_pin(printer, 'pwm', config.get('pin'))
mcu_pwm.setup_max_duration(0.)
hard_pwm = config.getint('hard_pwm', None, minval=1)
if hard_pwm is None:
mcu_pwm.setup_cycle_time(
config.getfloat('cycle_time', 0.100, above=0.))
else:
mcu_pwm.setup_hard_pwm(hard_pwm)
scale = config.getfloat('scale', 1., above=0.)
value = config.getfloat('value', minval=0., maxval=scale)
mcu_pwm.setup_static_pwm(value / scale)
def __init__(self, printer, config):
self.name = config.section
if self.name.startswith('stepper_'):
self.name = self.name[8:]
self.need_motor_enable = True
# Stepper definition
self.mcu_stepper = pins.setup_pin(printer, 'stepper',
config.get('step_pin'))
dir_pin_params = pins.get_printer_pins(printer).parse_pin_desc(
config.get('dir_pin'), can_invert=True)
self.mcu_stepper.setup_dir_pin(dir_pin_params)
self.step_dist = config.getfloat('step_distance', above=0.)
self.mcu_stepper.setup_step_distance(self.step_dist)
self.step_const = self.mcu_stepper.step_const
self.step_delta = self.mcu_stepper.step_delta
# Enable pin
enable_pin = config.get('enable_pin', None)
self.mcu_enable = None
if enable_pin is not None:
self.mcu_enable = pins.setup_pin(printer, 'digital_out',
enable_pin)
self.mcu_enable.setup_max_duration(0.)
def __init__(self, printer, config):
self.mcu_servo = pins.setup_pin(printer, 'pwm', config.get('pin'))
self.mcu_servo.setup_max_duration(0.)
self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
self.min_width = config.getfloat(
'minimum_pulse_width', .001, above=0., below=SERVO_SIGNAL_PERIOD)
self.max_width = config.getfloat(
'maximum_pulse_width', .002
, above=self.min_width, below=SERVO_SIGNAL_PERIOD)
self.max_angle = config.getfloat('maximum_servo_angle', 180.)
self.angle_to_width = (self.max_width - self.min_width) / self.max_angle
self.width_to_value = 1. / SERVO_SIGNAL_PERIOD
self.last_value = self.last_value_time = 0.
def __init__(self, printer, config):
self.name = config.section
if self.name.startswith('stepper_'):
self.name = self.name[8:]
self.need_motor_enable = True
# Stepper definition
self.mcu_stepper = pins.setup_pin(
printer, 'stepper', config.get('step_pin'))
dir_pin_params = pins.get_printer_pins(printer).lookup_pin(
'digital_out', config.get('dir_pin'))
self.mcu_stepper.setup_dir_pin(dir_pin_params)
self.step_dist = config.getfloat('step_distance', above=0.)
self.mcu_stepper.setup_step_distance(self.step_dist)
self.step_const = self.mcu_stepper.step_const
self.step_delta = self.mcu_stepper.step_delta
self.enable = lookup_enable_pin(printer, config.get('enable_pin', None))
def __init__(self, printer, config):
pins.get_printer_pins(printer).register_chip('replicape', self)
revisions = {'B3': 'B3'}
config.getchoice('revision', revisions)
self.host_mcu = mcu.get_printer_mcu(printer, config.get('host_mcu'))
# Setup enable pin
self.mcu_enable = pins.setup_pin(printer, 'digital_out',
config.get('enable_pin', '!P9_41'))
self.mcu_enable.setup_max_duration(0.)
self.enabled_channels = {}
# Setup power pins
self.pins = {
"power_e": (pca9685_pwm, 5),
"power_h": (pca9685_pwm, 3),
"power_hotbed": (pca9685_pwm, 4),
"power_fan0": (pca9685_pwm, 7),
"power_fan1": (pca9685_pwm, 8),
"power_fan2": (pca9685_pwm, 9),
"power_fan3": (pca9685_pwm, 10)
}
# Setup stepper config
self.stepper_dacs = {}
shift_registers = [1] * 5
for port, name in enumerate('xyzeh'):
prefix = 'stepper_%s_' % (name, )
sc = config.getchoice(prefix + 'microstep_mode',
ReplicapeStepConfig, 'disable')
if sc is None:
continue
if config.getboolean(prefix + 'chopper_off_time_high', False):
sc |= 1 << 3
if config.getboolean(prefix + 'chopper_hysteresis_high', False):
sc |= 1 << 2
if config.getboolean(prefix + 'chopper_blank_time_high', True):
sc |= 1 << 1
shift_registers[port] = sc
channel = port + 11
cur = config.getfloat(prefix + 'current',
above=0.,
maxval=REPLICAPE_MAX_CURRENT)
self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT
self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel)
shift_registers.reverse()
self.host_mcu.add_config_cmd(
"send_spi bus=%d dev=%d msg=%s" %
(REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
"".join(["%02x" % (x, ) for x in shift_registers])))
def __init__(self, config):
self.printer = config.get_printer()
self.mcu_servo = pins.setup_pin(self.printer, 'pwm', config.get('pin'))
self.mcu_servo.setup_max_duration(0.)
self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
self.min_width = config.getfloat(
'minimum_pulse_width', .001, above=0., below=SERVO_SIGNAL_PERIOD)
self.max_width = config.getfloat(
'maximum_pulse_width', .002
, above=self.min_width, below=SERVO_SIGNAL_PERIOD)
self.max_angle = config.getfloat('maximum_servo_angle', 180.)
self.angle_to_width = (self.max_width - self.min_width) / self.max_angle
self.width_to_value = 1. / SERVO_SIGNAL_PERIOD
self.last_value = self.last_value_time = 0.
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command("SET_SERVO", self.cmd_SET_SERVO,
desc=self.cmd_SET_SERVO_help)
def setup_pin(self, pin_params):
pin_name = pin_params['pin']
pin = self.printer.objects.get('multi_pin ' + pin_name)
if pin is not self:
if pin is None:
raise pins.error("multi_pin %s not configured" % (pin_name,))
return pin.setup_pin(pin_params)
if self.pin_type is not None:
raise pins.error("Can't setup multi_pin %s twice" % (pin_name,))
self.pin_type = pin_params['type']
invert = ""
if pin_params['invert']:
invert = "!"
self.mcu_pins = [
pins.setup_pin(self.printer, self.pin_type, invert + pin_desc)
for pin_desc in self.pin_list]
return self
def __init__(self, printer, config):
PrinterHomingStepper.__init__(self, printer, config)
self.endstops = PrinterHomingStepper.get_endstops(self)
self.extras = []
self.all_step_const = [self.step_const]
for i in range(1, 99):
if not config.has_section(config.section + str(i)):
break
extraconfig = config.getsection(config.section + str(i))
extra = PrinterStepper(printer, extraconfig)
self.extras.append(extra)
self.all_step_const.append(extra.step_const)
extraendstop = extraconfig.get('endstop_pin', None)
if extraendstop is not None:
mcu_endstop = pins.setup_pin(printer, 'endstop', extraendstop)
mcu_endstop.add_stepper(extra.mcu_stepper)
self.endstops.append((mcu_endstop, extra.name))
else:
self.mcu_endstop.add_stepper(extra.mcu_stepper)
self.step_const = self.step_multi_const
def __init__(self, printer, config):
PrinterStepper.__init__(self, printer, config)
# Endstop and its position
self.mcu_endstop = pins.setup_pin(printer, 'endstop',
config.get('endstop_pin'))
self.mcu_endstop.add_stepper(self.mcu_stepper)
self.position_endstop = config.getfloat('position_endstop')
# Axis range
self.position_min = config.getfloat('position_min', 0.)
self.position_max = config.getfloat('position_max',
0.,
above=self.position_min)
# Homing mechanics
self.homing_speed = config.getfloat('homing_speed', 5.0, above=0.)
self.homing_retract_dist = config.getfloat('homing_retract_dist',
5.,
above=0.)
self.homing_positive_dir = config.getboolean('homing_positive_dir',
None)
if self.homing_positive_dir is None:
axis_len = self.position_max - self.position_min
if self.position_endstop <= self.position_min + axis_len / 4.:
self.homing_positive_dir = False
elif self.position_endstop >= self.position_max - axis_len / 4.:
self.homing_positive_dir = True
else:
raise config.error(
"Unable to infer homing_positive_dir in section '%s'" %
(config.section, ))
# Endstop stepper phase position tracking
self.homing_stepper_phases = config.getint('homing_stepper_phases',
None,
minval=0)
endstop_accuracy = config.getfloat('homing_endstop_accuracy',
None,
above=0.)
self.homing_endstop_accuracy = self.homing_endstop_phase = None
if self.homing_stepper_phases:
self.homing_endstop_phase = config.getint(
'homing_endstop_phase',
None,
minval=0,
maxval=self.homing_stepper_phases - 1)
if self.homing_endstop_phase is not None:
# Adjust the endstop position so 0.0 is always at a full step
micro_steps = self.homing_stepper_phases // 4
phase_offset = (
((self.homing_endstop_phase + micro_steps // 2) %
micro_steps) - micro_steps // 2) * self.step_dist
full_step = micro_steps * self.step_dist
es_pos = (
int(self.position_endstop / full_step + .5) * full_step +
phase_offset)
if es_pos != self.position_endstop:
logging.info(
"Changing %s endstop position to %.3f"
" (from %.3f)", self.name, es_pos,
self.position_endstop)
self.position_endstop = es_pos
if endstop_accuracy is None:
self.homing_endstop_accuracy = self.homing_stepper_phases // 2 - 1
elif self.homing_endstop_phase is not None:
self.homing_endstop_accuracy = int(
math.ceil(endstop_accuracy * .5 / self.step_dist))
else:
self.homing_endstop_accuracy = int(
math.ceil(endstop_accuracy / self.step_dist))
if self.homing_endstop_accuracy >= self.homing_stepper_phases // 2:
logging.info(
"Endstop for %s is not accurate enough for stepper"
" phase adjustment", name)
self.homing_stepper_phases = None
if self.mcu_endstop.get_mcu().is_fileoutput():
self.homing_endstop_accuracy = self.homing_stepper_phases
def __init__(self, printer, config):
pin_list = [pin.strip() for pin in config.get('pins').split(',')]
for pin_desc in pin_list:
mcu_pin = pins.setup_pin(printer, 'digital_out', pin_desc)
mcu_pin.setup_static()