manual_stepper: Add an "extras" module for manually controlling a stepper

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

8 files changed, 201 insertions, 3 deletions

diff --git a/config/example-extras.cfg b/config/example-extras.cfg
index 5cd56902..987d5296 100644
--- a/config/example-extras.cfg
+++ b/config/example-extras.cfg
@@ -598,6 +598,25 @@
 #   with "!". This parameter must be provided.
 
 
+# Manual steppers (one may define any number of sections with a
+# "manual_stepper" prefix). These are steppers that are controlled by
+# the MANUAL_STEPPER g-code command. For example: "MANUAL_STEPPER
+# STEPPER=my_stepper MOVE=10 SPEED=5". See the docs/G-Codes.md file
+# for a description of the MANUAL_STEPPER command. The steppers are
+# not connected to the normal printer kinematics.
+#[manual_stepper my_stepper]
+#step_pin:
+#dir_pin:
+#enable_pin:
+#step_distance:
+#   See the "[stepper_x]" section in example.cfg for a description of
+#   these parameters.
+#endstop_pin:
+#   Endstop switch detection pin. If specified, then one may perform
+#   "homing moves" by adding a STOP_ON_ENDSTOP parameter to
+#   MANUAL_STEPPER movement commands.
+
+
 # Run-time configurable output pins (one may define any number of
 # sections with an "output_pin" prefix). Pins configured here will be
 # setup as output pins and one may modify them at run-time using
diff --git a/docs/G-Codes.md b/docs/G-Codes.md
index 38b90a13..77fd70e9 100644
--- a/docs/G-Codes.md
+++ b/docs/G-Codes.md
@@ -162,6 +162,21 @@ enabled:
 - `SET_SERVO SERVO=config_name [WIDTH=<seconds>] [ENABLE=<0|1>]`
 - `SET_SERVO SERVO=config_name [ANGLE=<degrees>] [ENABLE=<0|1>]`
 
+## Manual stepper Commands
+
+The following command is available when a "manual_stepper" config
+section is enabled:
+- `MANUAL_STEPPER STEPPER=config_name [ENABLE=[0|1]]
+  [SET_POSITION=<pos>]
+  [MOVE=<pos> SPEED=<speed> [STOP_ON_ENDSTOP=1]]`: This command will
+  alter the state of the stepper. Use the ENABLE parameter to
+  enable/disable the stepper. Use the SET_POSITION parameter to force
+  the stepper to think it is at the given position. Use the MOVE
+  parameter to request a movement to the given position at the given
+  SPEED. If STOP_ON_ENDSTOP is specified then the move will end early
+  should the endstop report as triggered (use STOP_ON_ENDSTOP=-1 to
+  stop early should the endstop report not triggered).
+
 ## Probe
 
 The following commands are available when a "probe" config section is
diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py
new file mode 100644
index 00000000..fdb9fc10
--- /dev/null
+++ b/klippy/extras/manual_stepper.py
@@ -0,0 +1,117 @@
+# Support for a manual controlled stepper
+#
+# Copyright (C) 2019  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import stepper, homing, chelper
+
+ENDSTOP_SAMPLE_TIME = .000015
+ENDSTOP_SAMPLE_COUNT = 4
+
+class ManualStepper:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        if config.get('endstop_pin', None) is not None:
+            self.can_home = True
+            self.stepper = stepper.PrinterRail(
+                config, need_position_minmax=False, default_position_endstop=0.)
+        else:
+            self.can_home = False
+            self.stepper = stepper.PrinterStepper(config)
+        self.next_cmd_time = 0.
+        # Setup iterative solver
+        ffi_main, ffi_lib = chelper.get_ffi()
+        self.cmove = ffi_main.gc(ffi_lib.move_alloc(), ffi_lib.free)
+        self.move_fill = ffi_lib.move_fill
+        self.stepper.setup_itersolve('cartesian_stepper_alloc', 'x')
+        self.stepper.set_max_jerk(9999999.9, 9999999.9)
+        # Register commands
+        stepper_name = config.get_name().split()[1]
+        self.gcode = self.printer.lookup_object('gcode')
+        self.gcode.register_mux_command('MANUAL_STEPPER', "STEPPER",
+                                        stepper_name, self.cmd_MANUAL_STEPPER,
+                                        desc=self.cmd_MANUAL_STEPPER_help)
+        self.printer.register_event_handler(
+            "toolhead:motor_off", self.handle_motor_off)
+    def sync_print_time(self):
+        toolhead = self.printer.lookup_object('toolhead')
+        print_time = toolhead.get_last_move_time()
+        if self.next_cmd_time > print_time:
+            toolhead.dwell(self.next_cmd_time - print_time)
+        else:
+            self.next_cmd_time = print_time
+    def do_enable(self, enable):
+        self.sync_print_time()
+        self.stepper.motor_enable(self.next_cmd_time, enable)
+        self.sync_print_time()
+    def do_set_position(self, setpos):
+        self.stepper.set_position([setpos, 0., 0.])
+    def do_move(self, movepos, speed):
+        self.sync_print_time()
+        cp = self.stepper.get_commanded_position()
+        dist = movepos - cp
+        move_t = abs(dist / speed)
+        self.move_fill(self.cmove, self.next_cmd_time, 0., move_t, 0.,
+                       cp, 0., 0., dist, 0., 0., 0., speed, 0.)
+        self.stepper.step_itersolve(self.cmove)
+        self.next_cmd_time += move_t
+        self.sync_print_time()
+    def do_homing_move(self, movepos, speed, triggered):
+        if not self.can_home:
+            raise self.gcode.error("No endstop for this manual stepper")
+        # Notify endstops of upcoming home
+        endstops = self.stepper.get_endstops()
+        for mcu_endstop, name in endstops:
+            mcu_endstop.home_prepare()
+        # Start endstop checking
+        self.sync_print_time()
+        for mcu_endstop, name in endstops:
+            min_step_dist = min([s.get_step_dist()
+                                 for s in mcu_endstop.get_steppers()])
+            mcu_endstop.home_start(
+                self.next_cmd_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT,
+                min_step_dist / speed, triggered=triggered)
+        # Issue move
+        self.do_move(movepos, speed)
+        # Wait for endstops to trigger
+        error = None
+        for mcu_endstop, name in endstops:
+            try:
+                mcu_endstop.home_wait(self.next_cmd_time)
+            except mcu_endstop.TimeoutError as e:
+                if error is None:
+                    error = "Failed to home %s: %s" % (name, str(e))
+        for mcu_endstop, name in endstops:
+            try:
+                mcu_endstop.home_finalize()
+            except homing.EndstopError as e:
+                if error is None:
+                    error = str(e)
+        self.sync_print_time()
+        if error is not None:
+            raise self.gcode.error(error)
+    cmd_MANUAL_STEPPER_help = "Command a manually configured stepper"
+    def cmd_MANUAL_STEPPER(self, params):
+        if 'ENABLE' in params:
+            self.do_enable(self.gcode.get_int('ENABLE', params))
+        if 'SET_POSITION' in params:
+            setpos = self.gcode.get_float('SET_POSITION', params)
+            self.do_set_position(setpos)
+        homing_move = self.gcode.get_int('STOP_ON_ENDSTOP', params, 0)
+        if homing_move:
+            movepos = self.gcode.get_float('MOVE', params)
+            speed = self.gcode.get_float('SPEED', params, above=0.)
+            if 'ENABLE' not in params and not self.stepper.is_motor_enabled():
+                self.do_enable(True)
+            self.do_homing_move(movepos, speed, homing_move > 0)
+        elif 'MOVE' in params:
+            movepos = self.gcode.get_float('MOVE', params)
+            speed = self.gcode.get_float('SPEED', params, above=0.)
+            if 'ENABLE' not in params and not self.stepper.is_motor_enabled():
+                self.do_enable(True)
+            self.do_move(movepos, speed)
+    def handle_motor_off(self, print_time):
+        self.do_enable(0)
+
+def load_config_prefix(config):
+    return ManualStepper(config)
diff --git a/klippy/extras/tmc2130.py b/klippy/extras/tmc2130.py
index acb1ca51..0374a747 100644
--- a/klippy/extras/tmc2130.py
+++ b/klippy/extras/tmc2130.py
@@ -129,7 +129,7 @@ def get_config_stealthchop(config, tmc_freq):
     velocity = config.getfloat('stealthchop_threshold', 0., minval=0.)
     if not velocity:
         return mres, False, 0
-    stepper_name = config.get_name().split()[1]
+    stepper_name = " ".join(config.get_name().split()[1:])
     stepper_config = config.getsection(stepper_name)
     step_dist = stepper_config.getfloat('step_distance')
     step_dist_256 = step_dist / (1 << mres)
@@ -144,7 +144,7 @@ def get_config_stealthchop(config, tmc_freq):
 class TMC2130:
     def __init__(self, config):
         self.printer = config.get_printer()
-        self.name = config.get_name().split()[1]
+        self.name = config.get_name().split()[-1]
         self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=4000000)
         # Allow virtual endstop to be created
         self.diag1_pin = config.get('diag1_pin', None)
diff --git a/klippy/extras/tmc2208.py b/klippy/extras/tmc2208.py
index 60bf5a20..ef476e3b 100644
--- a/klippy/extras/tmc2208.py
+++ b/klippy/extras/tmc2208.py
@@ -259,7 +259,7 @@ def decode_tmc2208_read(reg, data):
 class TMC2208:
     def __init__(self, config):
         self.printer = config.get_printer()
-        self.name = config.get_name().split()[1]
+        self.name = config.get_name().split()[-1]
         self.printer.register_event_handler("klippy:connect",
                                             self.handle_connect)
         # pin setup
diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index 9c7369e8..32bda0fc 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -372,6 +372,7 @@ class ToolHead:
         self.kin.motor_off(last_move_time)
         for ext in kinematics.extruder.get_printer_extruders(self.printer):
             ext.motor_off(last_move_time)
+        self.printer.send_event("toolhead:motor_off", last_move_time)
         self.dwell(STALL_TIME)
         logging.debug('; Max time of %f', last_move_time)
     def wait_moves(self):
diff --git a/test/klippy/manual_stepper.cfg b/test/klippy/manual_stepper.cfg
new file mode 100644
index 00000000..4ca734a3
--- /dev/null
+++ b/test/klippy/manual_stepper.cfg
@@ -0,0 +1,22 @@
+# Test config for manual_stepper
+[manual_stepper basic_stepper]
+step_pin: ar54
+dir_pin: ar55
+enable_pin: !ar38
+step_distance: .0125
+
+[manual_stepper homing_stepper]
+step_pin: ar60
+dir_pin: !ar61
+enable_pin: !ar56
+step_distance: .0125
+endstop_pin: ^ar14
+
+[mcu]
+serial: /dev/ttyACM0
+pin_map: arduino
+
+[printer]
+kinematics: none
+max_velocity: 300
+max_accel: 3000
diff --git a/test/klippy/manual_stepper.test b/test/klippy/manual_stepper.test
new file mode 100644
index 00000000..4f682331
--- /dev/null
+++ b/test/klippy/manual_stepper.test
@@ -0,0 +1,24 @@
+# Test case for manual_stepper
+CONFIG manual_stepper.cfg
+DICTIONARY atmega2560-16mhz.dict
+
+# Test basic moves
+MANUAL_STEPPER STEPPER=basic_stepper ENABLE=1
+MANUAL_STEPPER STEPPER=basic_stepper SET_POSITION=0
+MANUAL_STEPPER STEPPER=basic_stepper MOVE=10 SPEED=10
+MANUAL_STEPPER STEPPER=basic_stepper MOVE=5 SPEED=5
+MANUAL_STEPPER STEPPER=basic_stepper MOVE=12 SPEED=12
+MANUAL_STEPPER STEPPER=basic_stepper ENABLE=0
+
+# Test homing move
+MANUAL_STEPPER STEPPER=homing_stepper ENABLE=1
+MANUAL_STEPPER STEPPER=homing_stepper SET_POSITION=0
+MANUAL_STEPPER STEPPER=homing_stepper MOVE=10 SPEED=10
+MANUAL_STEPPER STEPPER=homing_stepper ENABLE=0
+
+# Test motor off
+M84
+
+# Verify stepper_buzz
+STEPPER_BUZZ STEPPER="manual_stepper basic_stepper"
+STEPPER_BUZZ STEPPER="manual_stepper homing_stepper"