diff options
Diffstat (limited to 'klippy/extras/replicape.py')
| -rw-r--r-- | klippy/extras/replicape.py | 221 |
1 files changed, 221 insertions, 0 deletions
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) |