diff options
| -rw-r--r-- | klippy/cartesian.py | 20 | ||||
| -rw-r--r-- | klippy/delta.py | 34 | ||||
| -rw-r--r-- | klippy/extruder.py | 16 | ||||
| -rw-r--r-- | klippy/stepper.py | 14 |
4 files changed, 55 insertions, 29 deletions
diff --git a/klippy/cartesian.py b/klippy/cartesian.py index 85746860..e386704c 100644 --- a/klippy/cartesian.py +++ b/klippy/cartesian.py @@ -13,6 +13,7 @@ class CartKinematics: steppers = ['stepper_x', 'stepper_y', 'stepper_z'] self.steppers = [stepper.PrinterStepper(printer, config.getsection(n)) for n in steppers] + self.need_motor_enable = True self.limits = [(1.0, -1.0)] * 3 self.stepper_pos = [0, 0, 0] def build_config(self): @@ -64,6 +65,14 @@ class CartKinematics: self.limits = [(1.0, -1.0)] * 3 for stepper in self.steppers: stepper.motor_enable(move_time, 0) + self.need_motor_enable = True + def check_motor_enable(self, move_time, move): + need_motor_enable = False + for i in StepList: + if move.axes_d[i]: + self.steppers[i].motor_enable(move_time, 1) + need_motor_enable |= self.steppers[i].need_motor_enable + self.need_motor_enable = need_motor_enable def query_endstops(self, move_time): return homing.QueryEndstops(["x", "y", "z"], self.steppers) def check_endstops(self, move): @@ -94,12 +103,15 @@ class CartKinematics: for i in StepList if axes_d[i]]) move.limit_speed(velocity_factor * move_d, accel_factor * move_d) def move(self, move_time, move): + if self.need_motor_enable: + self.check_motor_enable(move_time, move) inv_accel = 1. / move.accel inv_cruise_v = 1. / move.cruise_v for i in StepList: if not move.axes_d[i]: continue - mcu_time, so = self.steppers[i].prep_move(move_time) + mcu_stepper = self.steppers[i].mcu_stepper + mcu_time = mcu_stepper.print_to_mcu_time(move_time) inv_step_dist = self.steppers[i].inv_step_dist steps = move.axes_d[i] * inv_step_dist move_step_d = move.move_d / abs(steps) @@ -114,7 +126,7 @@ class CartKinematics: accel_time_offset = move.start_v * inv_accel accel_sqrt_offset = accel_time_offset**2 accel_steps = move.accel_r * steps - count = so.step_sqrt( + count = mcu_stepper.step_sqrt( mcu_time - accel_time_offset, accel_steps, step_offset , accel_sqrt_offset, accel_multiplier) step_pos += count @@ -125,7 +137,7 @@ class CartKinematics: #t = pos/cruise_v cruise_multiplier = move_step_d * inv_cruise_v cruise_steps = move.cruise_r * steps - count = so.step_factor( + count = mcu_stepper.step_factor( mcu_time, cruise_steps, step_offset, cruise_multiplier) step_pos += count step_offset += count - cruise_steps @@ -136,7 +148,7 @@ class CartKinematics: decel_time_offset = move.cruise_v * inv_accel decel_sqrt_offset = decel_time_offset**2 decel_steps = move.decel_r * steps - count = so.step_sqrt( + count = mcu_stepper.step_sqrt( mcu_time + decel_time_offset, decel_steps, step_offset , decel_sqrt_offset, -accel_multiplier) step_pos += count diff --git a/klippy/delta.py b/klippy/delta.py index 0fa8caf2..99233cf2 100644 --- a/klippy/delta.py +++ b/klippy/delta.py @@ -13,6 +13,7 @@ class DeltaKinematics: steppers = ['stepper_a', 'stepper_b', 'stepper_c'] self.steppers = [stepper.PrinterStepper(printer, config.getsection(n)) for n in steppers] + self.need_motor_enable = True radius = config.getfloat('delta_radius') arm_length = config.getfloat('delta_arm_length') self.arm_length2 = arm_length**2 @@ -105,6 +106,11 @@ class DeltaKinematics: self.limit_xy2 = -1. for stepper in self.steppers: stepper.motor_enable(move_time, 0) + self.need_motor_enable = True + def check_motor_enable(self, move_time): + for i in StepList: + self.steppers[i].motor_enable(move_time, 1) + self.need_motor_enable = False def query_endstops(self, move_time): return homing.QueryEndstops(["a", "b", "c"], self.steppers) def check_move(self, move): @@ -120,6 +126,8 @@ class DeltaKinematics: def move_z(self, move_time, move): if not move.axes_d[2]: return + if self.need_motor_enable: + self.check_motor_enable(move_time) inv_accel = 1. / move.accel inv_cruise_v = 1. / move.cruise_v for i in StepList: @@ -128,7 +136,8 @@ class DeltaKinematics: tower_d2 = towerx_d**2 + towery_d**2 height = math.sqrt(self.arm_length2 - tower_d2) + move.start_pos[2] - mcu_time, so = self.steppers[i].prep_move(move_time) + mcu_stepper = self.steppers[i].mcu_stepper + mcu_time = mcu_stepper.print_to_mcu_time(move_time) inv_step_dist = self.steppers[i].inv_step_dist step_dist = self.steppers[i].step_dist steps = move.axes_d[2] * inv_step_dist @@ -143,7 +152,7 @@ class DeltaKinematics: accel_time_offset = move.start_v * inv_accel accel_sqrt_offset = accel_time_offset**2 accel_steps = move.accel_r * steps - count = so.step_sqrt( + count = mcu_stepper.step_sqrt( mcu_time - accel_time_offset, accel_steps, step_offset , accel_sqrt_offset, accel_multiplier) step_pos += count @@ -154,7 +163,7 @@ class DeltaKinematics: #t = pos/cruise_v cruise_multiplier = step_dist * inv_cruise_v cruise_steps = move.cruise_r * steps - count = so.step_factor( + count = mcu_stepper.step_factor( mcu_time, cruise_steps, step_offset, cruise_multiplier) step_pos += count step_offset += count - cruise_steps @@ -165,7 +174,7 @@ class DeltaKinematics: decel_time_offset = move.cruise_v * inv_accel decel_sqrt_offset = decel_time_offset**2 decel_steps = move.decel_r * steps - count = so.step_sqrt( + count = mcu_stepper.step_sqrt( mcu_time + decel_time_offset, decel_steps, step_offset , decel_sqrt_offset, -accel_multiplier) step_pos += count @@ -175,6 +184,8 @@ class DeltaKinematics: if not axes_d[0] and not axes_d[1]: self.move_z(move_time, move) return + if self.need_motor_enable: + self.check_motor_enable(move_time) move_d = move.move_d movez_r = 0. inv_movexy_d = 1. / move_d @@ -243,44 +254,45 @@ class DeltaKinematics: step_dist = self.steppers[i].step_dist step_pos = self.stepper_pos[i] height = step_pos*step_dist - closestz - mcu_time, so = self.steppers[i].prep_move(move_time) + mcu_stepper = self.steppers[i].mcu_stepper + mcu_time = mcu_stepper.print_to_mcu_time(move_time) if accel_up_d > 0.: - count = so.step_delta_accel( + count = mcu_stepper.step_delta_accel( mcu_time - accel_time_offset, closest_d - accel_up_d, step_dist, closest_d + accel_offset, closest_height2, height, movez_r, accel_multiplier) step_pos += count height += count * step_dist if cruise_up_d > 0.: - count = so.step_delta_const( + count = mcu_stepper.step_delta_const( mcu_time + accel_t, closest_d - cruise_up_d, step_dist, closest_d - accel_d, closest_height2, height, movez_r, inv_cruise_v) step_pos += count height += count * step_dist if decel_up_d > 0.: - count = so.step_delta_accel( + count = mcu_stepper.step_delta_accel( mcu_time + decel_time_offset, closest_d - decel_up_d, step_dist, closest_d - decel_offset, closest_height2, height, movez_r, -accel_multiplier) step_pos += count height += count * step_dist if accel_down_d > 0.: - count = so.step_delta_accel( + count = mcu_stepper.step_delta_accel( mcu_time - accel_time_offset, closest_d - accel_down_d, -step_dist, closest_d + accel_offset, closest_height2, height, movez_r, accel_multiplier) step_pos += count height += count * step_dist if cruise_down_d > 0.: - count = so.step_delta_const( + count = mcu_stepper.step_delta_const( mcu_time + accel_t, closest_d - cruise_down_d, -step_dist, closest_d - accel_d, closest_height2, height, movez_r, inv_cruise_v) step_pos += count height += count * step_dist if decel_down_d > 0.: - count = so.step_delta_accel( + count = mcu_stepper.step_delta_accel( mcu_time + decel_time_offset, closest_d - decel_down_d, -step_dist, closest_d - decel_offset, closest_height2, height, movez_r, -accel_multiplier) diff --git a/klippy/extruder.py b/klippy/extruder.py index fb726fca..8b66dad6 100644 --- a/klippy/extruder.py +++ b/klippy/extruder.py @@ -11,6 +11,7 @@ class PrinterExtruder: self.heater = heater.PrinterHeater(printer, config) self.stepper = stepper.PrinterStepper(printer, config) self.pressure_advance = config.getfloat('pressure_advance', 0.) + self.need_motor_enable = True self.stepper_pos = 0 self.extrude_pos = 0. def build_config(self): @@ -19,6 +20,7 @@ class PrinterExtruder: self.stepper.build_config() def motor_off(self, move_time): self.stepper.motor_enable(move_time, 0) + self.need_motor_enable = True def check_move(self, move): if not self.heater.can_extrude: raise homing.EndstopError(move.end_pos, "Extrude below minimum temp") @@ -28,6 +30,9 @@ class PrinterExtruder: # Extrude only move - limit accel and velocity move.limit_speed(self.stepper.max_velocity, self.stepper.max_accel) def move(self, move_time, move): + if self.need_motor_enable: + self.stepper.motor_enable(move_time, 1) + self.need_motor_enable = False axis_d = move.axes_d[3] extrude_r = axis_d / move.move_d inv_accel = 1. / (move.accel * extrude_r) @@ -92,7 +97,8 @@ class PrinterExtruder: stepper_pos = self.stepper_pos inv_step_dist = self.stepper.inv_step_dist step_dist = self.stepper.step_dist - mcu_time, so = self.stepper.prep_move(move_time) + mcu_stepper = self.stepper.mcu_stepper + mcu_time = mcu_stepper.print_to_mcu_time(move_time) step_offset = stepper_pos - start_pos * inv_step_dist # Acceleration steps @@ -102,7 +108,7 @@ class PrinterExtruder: accel_time_offset = start_v * inv_accel accel_sqrt_offset = accel_time_offset**2 accel_steps = accel_d * inv_step_dist - count = so.step_sqrt( + count = mcu_stepper.step_sqrt( mcu_time - accel_time_offset, accel_steps, step_offset , accel_sqrt_offset, accel_multiplier) stepper_pos += count @@ -113,7 +119,7 @@ class PrinterExtruder: #t = pos/cruise_v cruise_multiplier = step_dist / cruise_v cruise_steps = cruise_d * inv_step_dist - count = so.step_factor( + count = mcu_stepper.step_factor( mcu_time, cruise_steps, step_offset, cruise_multiplier) stepper_pos += count step_offset += count - cruise_steps @@ -124,7 +130,7 @@ class PrinterExtruder: decel_time_offset = decel_v * inv_accel decel_sqrt_offset = decel_time_offset**2 decel_steps = decel_d * inv_step_dist - count = so.step_sqrt( + count = mcu_stepper.step_sqrt( mcu_time + decel_time_offset, decel_steps, step_offset , decel_sqrt_offset, -accel_multiplier) stepper_pos += count @@ -136,7 +142,7 @@ class PrinterExtruder: accel_time_offset = retract_v * inv_accel accel_sqrt_offset = accel_time_offset**2 accel_steps = -retract_d * inv_step_dist - count = so.step_sqrt( + count = mcu_stepper.step_sqrt( mcu_time - accel_time_offset, accel_steps, step_offset , accel_sqrt_offset, accel_multiplier) stepper_pos += count diff --git a/klippy/stepper.py b/klippy/stepper.py index 8324eebc..51abd093 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -64,18 +64,14 @@ class PrinterStepper: if endstop_pin is not None: self.mcu_endstop = mcu.create_endstop(endstop_pin, self.mcu_stepper) def motor_enable(self, move_time, enable=0): + if enable and self.need_motor_enable: + mcu_time = self.mcu_stepper.print_to_mcu_time(move_time) + self.mcu_stepper.reset_step_clock(mcu_time) if (self.mcu_enable is not None and self.mcu_enable.get_last_setting() != enable): mcu_time = self.mcu_enable.print_to_mcu_time(move_time) self.mcu_enable.set_digital(mcu_time, enable) - self.need_motor_enable = True - def prep_move(self, move_time): - mcu_time = self.mcu_stepper.print_to_mcu_time(move_time) - if self.need_motor_enable: - self.mcu_stepper.reset_step_clock(mcu_time) - self.motor_enable(move_time, 1) - self.need_motor_enable = False - return (mcu_time, self.mcu_stepper) + self.need_motor_enable = not enable def enable_endstop_checking(self, move_time, step_time): mcu_time = self.mcu_endstop.print_to_mcu_time(move_time) self.mcu_endstop.home(mcu_time, step_time) @@ -86,7 +82,7 @@ class PrinterStepper: self.mcu_endstop.query_endstop() return self.mcu_endstop def get_homed_offset(self): - if not self.homing_stepper_phases: + if not self.homing_stepper_phases or self.need_motor_enable: return 0 pos = self.mcu_endstop.get_last_position() pos %= self.homing_stepper_phases |