diff options
Diffstat (limited to 'klippy/chipmisc.py')
| -rw-r--r-- | klippy/chipmisc.py | 174 |
1 files changed, 173 insertions, 1 deletions
diff --git a/klippy/chipmisc.py b/klippy/chipmisc.py index 7e875a4f..de4a5b9c 100644 --- a/klippy/chipmisc.py +++ b/klippy/chipmisc.py @@ -3,7 +3,7 @@ # Copyright (C) 2017 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import pins +import pins, mcu ###################################################################### @@ -58,10 +58,182 @@ class ad5206: ###################################################################### +# 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._last_clock = 0 + self._pwm_max = 0. + self._cmd_queue = self._mcu.alloc_command_queue() + self._set_cmd = None + self._static_value = 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_static_pwm(self, value): + if self._invert: + value = 1. - value + self._static_value = max(0., min(1., 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._static_value is not None: + value = int(self._static_value * self._pwm_max + 0.5) + 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, value)) + 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 max_duration=%d" % ( + self._oid, self._bus, self._address, self._channel, + cycle_ticks, 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_enable(print_time, self._channel, not not 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) + self.last = 0 + 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.) + self.last = value + def get_last_setting(self): + return self.last + +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_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 note_enable(self, print_time, channel, is_enable): + if is_enable: + is_off = not self.enabled_channels + self.enabled_channels[channel] = 1 + if is_off: + self.mcu_enable.set_digital(print_time, 1) + elif channel in self.enabled_channels: + del self.enabled_channels[channel] + if not self.enabled_channels: + self.mcu_enable.set_digital(print_time, 0) + 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('static_pwm_output '): |