diff options
| -rw-r--r-- | klippy/extras/stepper_buzz.py | 20 | ||||
| -rw-r--r-- | klippy/mcu.py | 2 |
2 files changed, 20 insertions, 2 deletions
diff --git a/klippy/extras/stepper_buzz.py b/klippy/extras/stepper_buzz.py index 093dcbe8..a9cc5b80 100644 --- a/klippy/extras/stepper_buzz.py +++ b/klippy/extras/stepper_buzz.py @@ -4,11 +4,20 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import logging +import chelper + +BUZZ_VELOCITY = 4. class StepperBuzz: def __init__(self, config): self.printer = config.get_printer() self.steppers = {} + # 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_kinematics = ffi_main.gc( + ffi_lib.cartesian_stepper_alloc('x'), ffi_lib.free) def register_stepper(self, stepper, name): self.steppers[name] = stepper # Register STEPPER_BUZZ command @@ -16,6 +25,11 @@ class StepperBuzz: self.gcode.register_mux_command( 'STEPPER_BUZZ', 'STEPPER', name, self.cmd_STEPPER_BUZZ, desc=self.cmd_STEPPER_BUZZ_help) + def manual_move(self, print_time, stepper, start_pos, dist): + self.move_fill( + self.cmove, print_time, 0., abs(dist / BUZZ_VELOCITY), 0., + start_pos, 0., 0., dist, 0., 0., 0., BUZZ_VELOCITY, 0.) + stepper.step_itersolve(self.cmove) cmd_STEPPER_BUZZ_help = "Oscillate a given stepper to help id it" def cmd_STEPPER_BUZZ(self, params): name = self.gcode.get_str('STEPPER', params) @@ -31,12 +45,14 @@ class StepperBuzz: stepper.motor_enable(print_time, 1) print_time += .1 was_ignore = stepper.mcu_stepper.set_ignore_move(False) + prev_sk = stepper.mcu_stepper.setup_itersolve(self.stepper_kinematics) for i in range(10): - stepper.step_const(print_time, pos, 1., 4., 0.) + self.manual_move(print_time, stepper, 0., 1.) print_time += .3 - stepper.step_const(print_time, pos + 1., -1., 4., 0.) + self.manual_move(print_time, stepper, 1., -1.) toolhead.reset_print_time(print_time + .7) print_time = toolhead.get_last_move_time() + stepper.mcu_stepper.setup_itersolve(prev_sk) stepper.mcu_stepper.set_ignore_move(was_ignore) if need_motor_enable: print_time += .1 diff --git a/klippy/mcu.py b/klippy/mcu.py index d1f38c0e..820d8a4d 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -42,9 +42,11 @@ class MCU_stepper: self._step_dist = step_dist self._inv_step_dist = 1. / step_dist def setup_itersolve(self, sk): + old_sk = self._stepper_kinematics self._stepper_kinematics = sk self._ffi_lib.itersolve_set_stepcompress( sk, self._stepqueue, self._step_dist) + return old_sk def build_config(self): max_error = self._mcu.get_max_stepper_error() min_stop_interval = max(0., self._min_stop_interval - max_error) |