diff options
| -rw-r--r-- | config/generic-replicape.cfg | 114 | ||||
| -rw-r--r-- | klippy/chipmisc.py | 218 | ||||
| -rw-r--r-- | klippy/extras/replicape.py | 221 |
3 files changed, 279 insertions, 274 deletions
diff --git a/config/generic-replicape.cfg b/config/generic-replicape.cfg index d9694beb..de2761ab 100644 --- a/config/generic-replicape.cfg +++ b/config/generic-replicape.cfg @@ -13,6 +13,56 @@ # See the example.cfg file for a description of available parameters. +[mcu] +serial: /dev/rpmsg_pru30 +pin_map: beaglebone + +[mcu host] +serial: /tmp/klipper_host_mcu + +# The "replicape" config section adds "replicape:stepper_x_enable" +# virtual stepper enable pins (for steppers x, y, z, e, and h) and +# "replicape:power_x" PWM output pins (for hotbed, e, h, fan0, fan1, +# fan2, and fan3) that may then be used elsewhere in the config file. +[replicape] +revision: B3 +# The replicape hardware revision. Currently only revision "B3" is +# supported. This parameter must be provided. +#enable_pin: !P9_41 +# The replicape global enable pin. The default is !P9_41. +host_mcu: host +# The name of the mcu config section that communicates with the +# Klipper "linux process" mcu instance. This parameter must be +# provided. +#standstill_power_down: False +# This parameter controls the CFG6_ENN line on all stepper +# motors. True sets the enable lines to "open". The default is +# False. +stepper_x_microstep_mode: spread16 +# This parameter controls the CFG1 and CFG2 pins of the given +# stepper motor driver. Available options are: disable, 1, 2, +# spread2, 4, 16, spread4, spread16, stealth4, and stealth16. The +# default is disable. +stepper_x_current: 0.5 +# The configured maximum current (in Amps) of the stepper motor +# driver. This parameter must be provided if the stepper is not in a +# disable mode. +#stepper_x_chopper_off_time_high: False +# This parameter controls the CFG0 pin of the stepper motor driver +# (True sets CFG0 high, False sets it low). The default is False. +#stepper_x_chopper_hysteresis_high: False +# This parameter controls the CFG4 pin of the stepper motor driver +# (True sets CFG4 high, False sets it low). The default is False. +#stepper_x_chopper_blank_time_high: True +# This parameter controls the CFG5 pin of the stepper motor driver +# (True sets CFG5 high, False sets it low). The default is True. +stepper_y_microstep_mode: spread16 +stepper_y_current: 0.5 +stepper_z_microstep_mode: spread16 +stepper_z_current: 0.5 +stepper_e_microstep_mode: 16 +stepper_e_current: 0.5 + [stepper_x] step_pin: P8_17 dir_pin: P8_26 @@ -42,6 +92,13 @@ endstop_pin: ^P9_13 position_endstop: 0 position_max: 200 +[printer] +kinematics: cartesian +max_velocity: 300 +max_accel: 3000 +max_z_velocity: 25 +max_z_accel: 30 + [extruder] step_pin: P9_12 dir_pin: P8_15 @@ -69,60 +126,3 @@ max_temp: 130 [fan] pin: replicape:power_fan0 - -[mcu] -serial: /dev/rpmsg_pru30 -pin_map: beaglebone - -[printer] -kinematics: cartesian -max_velocity: 300 -max_accel: 3000 -max_z_velocity: 25 -max_z_accel: 30 - -[mcu host] -serial: /tmp/klipper_host_mcu - -# The "replicape" config section adds "replicape:stepper_x_enable" -# virtual stepper enable pins (for steppers x, y, z, e, and h) and -# "replicape:power_x" PWM output pins (for hotbed, e, h, fan0, fan1, -# fan2, and fan3) that may then be used elsewhere in the config file. -[replicape] -revision: B3 -# The replicape hardware revision. Currently only revision "B3" is -# supported. This parameter must be provided. -#enable_pin: !P9_41 -# The replicape global enable pin. The default is !P9_41. -host_mcu: host -# The name of the mcu config section that communicates with the -# Klipper "linux process" mcu instance. This parameter must be -# provided. -#standstill_power_down: False -# This parameter controls the CFG6_ENN line on all stepper -# motors. True sets the enable lines to "open". The default is -# False. -stepper_x_microstep_mode: spread16 -# This parameter controls the CFG1 and CFG2 pins of the given -# stepper motor driver. Available options are: disable, 1, 2, -# spread2, 4, 16, spread4, spread16, stealth4, and stealth16. The -# default is disable. -stepper_x_current: 0.5 -# The configured maximum current (in Amps) of the stepper motor -# driver. This parameter must be provided if the stepper is not in a -# disable mode. -#stepper_x_chopper_off_time_high: False -# This parameter controls the CFG0 pin of the stepper motor driver -# (True sets CFG0 high, False sets it low). The default is False. -#stepper_x_chopper_hysteresis_high: False -# This parameter controls the CFG4 pin of the stepper motor driver -# (True sets CFG4 high, False sets it low). The default is False. -#stepper_x_chopper_blank_time_high: True -# This parameter controls the CFG5 pin of the stepper motor driver -# (True sets CFG5 high, False sets it low). The default is True. -stepper_y_microstep_mode: spread16 -stepper_y_current: 0.5 -stepper_z_microstep_mode: spread16 -stepper_z_current: 0.5 -stepper_e_microstep_mode: 16 -stepper_e_current: 0.5 diff --git a/klippy/chipmisc.py b/klippy/chipmisc.py index 08b4bf0b..611823ec 100644 --- a/klippy/chipmisc.py +++ b/klippy/chipmisc.py @@ -3,7 +3,7 @@ # Copyright (C) 2017,2018 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import pins, mcu +import pins ###################################################################### @@ -79,226 +79,10 @@ class PrinterPin: ###################################################################### -# Replicape board -###################################################################### - -REPLICAPE_MAX_CURRENT = 3.84 -REPLICAPE_SHIFT_REGISTER_BUS = 1 -REPLICAPE_SHIFT_REGISTER_DEVICE = 1 -REPLICAPE_PCA9685_BUS = 2 -REPLICAPE_PCA9685_ADDRESS = 0x70 -REPLICAPE_PCA9685_CYCLE_TIME = .001 - -class pca9685_pwm: - def __init__(self, replicape, channel, pin_params): - self._replicape = replicape - self._channel = channel - if pin_params['type'] not in ['digital_out', 'pwm']: - raise pins.error("Pin type not supported on replicape") - self._mcu = replicape.host_mcu - self._mcu.add_config_object(self) - self._bus = REPLICAPE_PCA9685_BUS - self._address = REPLICAPE_PCA9685_ADDRESS - self._cycle_time = REPLICAPE_PCA9685_CYCLE_TIME - self._max_duration = 2. - self._oid = None - self._invert = pin_params['invert'] - self._start_value = self._shutdown_value = float(self._invert) - self._is_static = False - self._last_clock = 0 - self._pwm_max = 0. - self._cmd_queue = self._mcu.alloc_command_queue() - self._set_cmd = None - def get_mcu(self): - return self._mcu - def setup_max_duration(self, max_duration): - self._max_duration = max_duration - def setup_cycle_time(self, cycle_time): - pass - def setup_hard_pwm(self, hard_cycle_ticks): - if hard_cycle_ticks: - raise pins.error("pca9685 does not support hard_pwm parameter") - def setup_start_value(self, start_value, shutdown_value, is_static=False): - if is_static and start_value != shutdown_value: - raise pins.error("Static pin can not have shutdown value") - if self._invert: - start_value = 1. - start_value - shutdown_value = 1. - shutdown_value - self._start_value = max(0., min(1., start_value)) - self._shutdown_value = max(0., min(1., shutdown_value)) - self._is_static = is_static - self._replicape.note_pwm_start_value( - self._channel, self._start_value, self._shutdown_value) - def build_config(self): - self._pwm_max = self._mcu.get_constant_float("PCA9685_MAX") - cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time) - if self._is_static: - self._mcu.add_config_cmd( - "set_pca9685_out bus=%d addr=%d channel=%d" - " cycle_ticks=%d value=%d" % ( - self._bus, self._address, self._channel, - cycle_ticks, self._start_value * self._pwm_max)) - return - self._oid = self._mcu.create_oid() - self._mcu.add_config_cmd( - "config_pca9685 oid=%d bus=%d addr=%d channel=%d cycle_ticks=%d" - " value=%d default_value=%d max_duration=%d" % ( - self._oid, self._bus, self._address, self._channel, cycle_ticks, - self._start_value * self._pwm_max, - self._shutdown_value * self._pwm_max, - self._mcu.seconds_to_clock(self._max_duration))) - self._set_cmd = self._mcu.lookup_command( - "schedule_pca9685_out oid=%c clock=%u value=%hu") - def set_pwm(self, print_time, value): - clock = self._mcu.print_time_to_clock(print_time) - if self._invert: - value = 1. - value - value = int(max(0., min(1., value)) * self._pwm_max + 0.5) - self._replicape.note_pwm_enable(print_time, self._channel, value) - msg = self._set_cmd.encode(self._oid, clock, value) - self._mcu.send(msg, minclock=self._last_clock, reqclock=clock - , cq=self._cmd_queue) - self._last_clock = clock - def set_digital(self, print_time, value): - if value: - self.set_pwm(print_time, 1.) - else: - self.set_pwm(print_time, 0.) - -class ReplicapeDACEnable: - def __init__(self, replicape, channel, pin_params): - if pin_params['type'] != 'digital_out': - raise pins.error("Replicape virtual enable pin must be digital_out") - if pin_params['invert']: - raise pins.error("Replicape virtual enable pin can not be inverted") - self.mcu = replicape.host_mcu - self.value = replicape.stepper_dacs[channel] - self.pwm = pca9685_pwm(replicape, channel, pin_params) - def get_mcu(self): - return self.mcu - def setup_max_duration(self, max_duration): - self.pwm.setup_max_duration(max_duration) - def set_digital(self, print_time, value): - if value: - self.pwm.set_pwm(print_time, self.value) - else: - self.pwm.set_pwm(print_time, 0.) - -ReplicapeStepConfig = { - 'disable': None, - '1': (1<<7)|(1<<5), '2': (1<<7)|(1<<5)|(1<<6), 'spread2': (1<<5), - '4': (1<<7)|(1<<5)|(1<<4), '16': (1<<7)|(1<<5)|(1<<6)|(1<<4), - 'spread4': (1<<5)|(1<<4), 'spread16': (1<<7), 'stealth4': (1<<7)|(1<<6), - 'stealth16': 0 -} - -class Replicape: - 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_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 note_pwm_start_value(self, channel, start_value, shutdown_value): - self.mcu_pwm_start_value |= not not start_value - self.mcu_pwm_shutdown_value |= not not shutdown_value - self.mcu_pwm_enable.setup_start_value( - self.mcu_pwm_start_value, self.mcu_pwm_shutdown_value) - self.enabled_channels[channel] = not not start_value - def note_pwm_enable(self, print_time, channel, value): - is_enable = not not value - if self.enabled_channels[channel] == is_enable: - # Nothing to do - return - self.enabled_channels[channel] = is_enable - # Check if need to set the pca9685 enable pin - on_channels = [1 for c, e in self.enabled_channels.items() if e] - if not on_channels: - self.mcu_pwm_enable.set_digital(print_time, 0) - elif is_enable and len(on_channels) == 1: - self.mcu_pwm_enable.set_digital(print_time, 1) - # Check if need to set the stepper enable lines - if channel not in self.stepper_dacs: - return - on_dacs = [1 for c in self.stepper_dacs.keys() - if self.enabled_channels[c]] - if not on_dacs: - cmd = self.disable_stepper_cmd - elif is_enable and len(on_dacs) == 1: - cmd = self.enable_stepper_cmd - else: - return - print_time = max(print_time, self.last_stepper_time + PIN_MIN_TIME) - clock = self.host_mcu.print_time_to_clock(print_time) - # XXX - the send_spi message should be scheduled - self.host_mcu.send(self.host_mcu.create_command(cmd), - minclock=clock, reqclock=clock) - def setup_pin(self, pin_params): - pin = pin_params['pin'] - if pin not in self.pins: - raise pins.error("Unknown replicape pin %s" % (pin,)) - pclass, channel = self.pins[pin] - return pclass(self, channel, pin_params) - - -###################################################################### # Setup ###################################################################### def add_printer_objects(printer, config): - if config.has_section('replicape'): - printer.add_object('replicape', Replicape( - printer, config.getsection('replicape'))) for s in config.get_prefix_sections('static_digital_output '): printer.add_object(s.section, PrinterStaticDigitalOut(printer, s)) for s in config.get_prefix_sections('digital_output '): diff --git a/klippy/extras/replicape.py b/klippy/extras/replicape.py new file mode 100644 index 00000000..72ab45e9 --- /dev/null +++ b/klippy/extras/replicape.py @@ -0,0 +1,221 @@ +# Code to configure miscellaneous chips +# +# Copyright (C) 2017,2018 Kevin O'Connor <kevin@koconnor.net> +# +# This file may be distributed under the terms of the GNU GPLv3 license. +import pins, mcu + +REPLICAPE_MAX_CURRENT = 3.84 +REPLICAPE_SHIFT_REGISTER_BUS = 1 +REPLICAPE_SHIFT_REGISTER_DEVICE = 1 +REPLICAPE_PCA9685_BUS = 2 +REPLICAPE_PCA9685_ADDRESS = 0x70 +REPLICAPE_PCA9685_CYCLE_TIME = .001 +PIN_MIN_TIME = 0.100 + +class pca9685_pwm: + def __init__(self, replicape, channel, pin_params): + self._replicape = replicape + self._channel = channel + if pin_params['type'] not in ['digital_out', 'pwm']: + raise pins.error("Pin type not supported on replicape") + self._mcu = replicape.host_mcu + self._mcu.add_config_object(self) + self._bus = REPLICAPE_PCA9685_BUS + self._address = REPLICAPE_PCA9685_ADDRESS + self._cycle_time = REPLICAPE_PCA9685_CYCLE_TIME + self._max_duration = 2. + self._oid = None + self._invert = pin_params['invert'] + self._start_value = self._shutdown_value = float(self._invert) + self._is_static = False + self._last_clock = 0 + self._pwm_max = 0. + self._cmd_queue = self._mcu.alloc_command_queue() + self._set_cmd = None + def get_mcu(self): + return self._mcu + def setup_max_duration(self, max_duration): + self._max_duration = max_duration + def setup_cycle_time(self, cycle_time): + pass + def setup_hard_pwm(self, hard_cycle_ticks): + if hard_cycle_ticks: + raise pins.error("pca9685 does not support hard_pwm parameter") + def setup_start_value(self, start_value, shutdown_value, is_static=False): + if is_static and start_value != shutdown_value: + raise pins.error("Static pin can not have shutdown value") + if self._invert: + start_value = 1. - start_value + shutdown_value = 1. - shutdown_value + self._start_value = max(0., min(1., start_value)) + self._shutdown_value = max(0., min(1., shutdown_value)) + self._is_static = is_static + self._replicape.note_pwm_start_value( + self._channel, self._start_value, self._shutdown_value) + def build_config(self): + self._pwm_max = self._mcu.get_constant_float("PCA9685_MAX") + cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time) + if self._is_static: + self._mcu.add_config_cmd( + "set_pca9685_out bus=%d addr=%d channel=%d" + " cycle_ticks=%d value=%d" % ( + self._bus, self._address, self._channel, + cycle_ticks, self._start_value * self._pwm_max)) + return + self._oid = self._mcu.create_oid() + self._mcu.add_config_cmd( + "config_pca9685 oid=%d bus=%d addr=%d channel=%d cycle_ticks=%d" + " value=%d default_value=%d max_duration=%d" % ( + self._oid, self._bus, self._address, self._channel, cycle_ticks, + self._start_value * self._pwm_max, + self._shutdown_value * self._pwm_max, + self._mcu.seconds_to_clock(self._max_duration))) + self._set_cmd = self._mcu.lookup_command( + "schedule_pca9685_out oid=%c clock=%u value=%hu") + def set_pwm(self, print_time, value): + clock = self._mcu.print_time_to_clock(print_time) + if self._invert: + value = 1. - value + value = int(max(0., min(1., value)) * self._pwm_max + 0.5) + self._replicape.note_pwm_enable(print_time, self._channel, value) + msg = self._set_cmd.encode(self._oid, clock, value) + self._mcu.send(msg, minclock=self._last_clock, reqclock=clock + , cq=self._cmd_queue) + self._last_clock = clock + def set_digital(self, print_time, value): + if value: + self.set_pwm(print_time, 1.) + else: + self.set_pwm(print_time, 0.) + +class ReplicapeDACEnable: + def __init__(self, replicape, channel, pin_params): + if pin_params['type'] != 'digital_out': + raise pins.error("Replicape virtual enable pin must be digital_out") + if pin_params['invert']: + raise pins.error("Replicape virtual enable pin can not be inverted") + self.mcu = replicape.host_mcu + self.value = replicape.stepper_dacs[channel] + self.pwm = pca9685_pwm(replicape, channel, pin_params) + def get_mcu(self): + return self.mcu + def setup_max_duration(self, max_duration): + self.pwm.setup_max_duration(max_duration) + def set_digital(self, print_time, value): + if value: + self.pwm.set_pwm(print_time, self.value) + else: + self.pwm.set_pwm(print_time, 0.) + +ReplicapeStepConfig = { + 'disable': None, + '1': (1<<7)|(1<<5), '2': (1<<7)|(1<<5)|(1<<6), 'spread2': (1<<5), + '4': (1<<7)|(1<<5)|(1<<4), '16': (1<<7)|(1<<5)|(1<<6)|(1<<4), + 'spread4': (1<<5)|(1<<4), 'spread16': (1<<7), 'stealth4': (1<<7)|(1<<6), + 'stealth16': 0 +} + +class Replicape: + 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 note_pwm_start_value(self, channel, start_value, shutdown_value): + self.mcu_pwm_start_value |= not not start_value + self.mcu_pwm_shutdown_value |= not not shutdown_value + self.mcu_pwm_enable.setup_start_value( + self.mcu_pwm_start_value, self.mcu_pwm_shutdown_value) + self.enabled_channels[channel] = not not start_value + def note_pwm_enable(self, print_time, channel, value): + is_enable = not not value + if self.enabled_channels[channel] == is_enable: + # Nothing to do + return + self.enabled_channels[channel] = is_enable + # Check if need to set the pca9685 enable pin + on_channels = [1 for c, e in self.enabled_channels.items() if e] + if not on_channels: + self.mcu_pwm_enable.set_digital(print_time, 0) + elif is_enable and len(on_channels) == 1: + self.mcu_pwm_enable.set_digital(print_time, 1) + # Check if need to set the stepper enable lines + if channel not in self.stepper_dacs: + return + on_dacs = [1 for c in self.stepper_dacs.keys() + if self.enabled_channels[c]] + if not on_dacs: + cmd = self.disable_stepper_cmd + elif is_enable and len(on_dacs) == 1: + cmd = self.enable_stepper_cmd + else: + return + print_time = max(print_time, self.last_stepper_time + PIN_MIN_TIME) + clock = self.host_mcu.print_time_to_clock(print_time) + # XXX - the send_spi message should be scheduled + self.host_mcu.send(self.host_mcu.create_command(cmd), + minclock=clock, reqclock=clock) + def setup_pin(self, pin_params): + pin = pin_params['pin'] + if pin not in self.pins: + raise pins.error("Unknown replicape pin %s" % (pin,)) + pclass, channel = self.pins[pin] + return pclass(self, channel, pin_params) + +def load_config(config): + if config.get_name() != 'replicape': + raise config.error("Invalid replicape config name") + return Replicape(config) |