diff options
Diffstat (limited to 'klippy/chipmisc.py')
| -rw-r--r-- | klippy/chipmisc.py | 218 |
1 files changed, 1 insertions, 217 deletions
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 '): |