diff options
Diffstat (limited to 'klippy/extras/stepper_enable.py')
| -rw-r--r-- | klippy/extras/stepper_enable.py | 72 |
1 files changed, 49 insertions, 23 deletions
diff --git a/klippy/extras/stepper_enable.py b/klippy/extras/stepper_enable.py index 2bad7555..f4a8e29d 100644 --- a/klippy/extras/stepper_enable.py +++ b/klippy/extras/stepper_enable.py @@ -7,40 +7,44 @@ import logging DISABLE_STALL_TIME = 0.100 + # Tracking of shared stepper enable pins class StepperEnablePin: def __init__(self, mcu_enable, enable_count): self.mcu_enable = mcu_enable self.enable_count = enable_count self.is_dedicated = True + def set_enable(self, print_time): if not self.enable_count: self.mcu_enable.set_digital(print_time, 1) self.enable_count += 1 + def set_disable(self, print_time): self.enable_count -= 1 if not self.enable_count: self.mcu_enable.set_digital(print_time, 0) + def setup_enable_pin(printer, pin): if pin is None: # No enable line (stepper always enabled) enable = StepperEnablePin(None, 9999) enable.is_dedicated = False return enable - ppins = printer.lookup_object('pins') - pin_params = ppins.lookup_pin(pin, can_invert=True, - share_type='stepper_enable') - enable = pin_params.get('class') + ppins = printer.lookup_object("pins") + pin_params = ppins.lookup_pin(pin, can_invert=True, share_type="stepper_enable") + enable = pin_params.get("class") if enable is not None: # Shared enable line enable.is_dedicated = False return enable - mcu_enable = pin_params['chip'].setup_pin('digital_out', pin_params) - mcu_enable.setup_max_duration(0.) - enable = pin_params['class'] = StepperEnablePin(mcu_enable, 0) + mcu_enable = pin_params["chip"].setup_pin("digital_out", pin_params) + mcu_enable.setup_max_duration(0.0) + enable = pin_params["class"] = StepperEnablePin(mcu_enable, 0) return enable + # Enable line tracking for each stepper motor class EnableTracking: def __init__(self, stepper, enable): @@ -49,14 +53,17 @@ class EnableTracking: self.callbacks = [] self.is_enabled = False self.stepper.add_active_callback(self.motor_enable) + def register_state_callback(self, callback): self.callbacks.append(callback) + def motor_enable(self, print_time): if not self.is_enabled: for cb in self.callbacks: cb(print_time, True) self.enable.set_enable(print_time) self.is_enabled = True + def motor_disable(self, print_time): if self.is_enabled: # Enable stepper on future stepper movement @@ -65,31 +72,39 @@ class EnableTracking: self.enable.set_disable(print_time) self.is_enabled = False self.stepper.add_active_callback(self.motor_enable) + def is_motor_enabled(self): return self.is_enabled + def has_dedicated_enable(self): return self.enable.is_dedicated + # Global stepper enable line tracking class PrinterStepperEnable: def __init__(self, config): self.printer = config.get_printer() self.enable_lines = {} - self.printer.register_event_handler("gcode:request_restart", - self._handle_request_restart) + self.printer.register_event_handler( + "gcode:request_restart", self._handle_request_restart + ) # Register M18/M84 commands - gcode = self.printer.lookup_object('gcode') + gcode = self.printer.lookup_object("gcode") gcode.register_command("M18", self.cmd_M18) gcode.register_command("M84", self.cmd_M18) - gcode.register_command("SET_STEPPER_ENABLE", - self.cmd_SET_STEPPER_ENABLE, - desc=self.cmd_SET_STEPPER_ENABLE_help) + gcode.register_command( + "SET_STEPPER_ENABLE", + self.cmd_SET_STEPPER_ENABLE, + desc=self.cmd_SET_STEPPER_ENABLE_help, + ) + def register_stepper(self, config, mcu_stepper): name = mcu_stepper.get_name() - enable = setup_enable_pin(self.printer, config.get('enable_pin', None)) + enable = setup_enable_pin(self.printer, config.get("enable_pin", None)) self.enable_lines[name] = EnableTracking(mcu_stepper, enable) + def motor_off(self): - toolhead = self.printer.lookup_object('toolhead') + toolhead = self.printer.lookup_object("toolhead") toolhead.dwell(DISABLE_STALL_TIME) print_time = toolhead.get_last_move_time() for el in self.enable_lines.values(): @@ -97,8 +112,9 @@ class PrinterStepperEnable: toolhead.get_kinematics().clear_homing_state("xyz") self.printer.send_event("stepper_enable:motor_off", print_time) toolhead.dwell(DISABLE_STALL_TIME) + def motor_debug_enable(self, stepper, enable): - toolhead = self.printer.lookup_object('toolhead') + toolhead = self.printer.lookup_object("toolhead") toolhead.dwell(DISABLE_STALL_TIME) print_time = toolhead.get_last_move_time() el = self.enable_lines[stepper] @@ -109,30 +125,40 @@ class PrinterStepperEnable: el.motor_disable(print_time) logging.info("%s has been manually disabled", stepper) toolhead.dwell(DISABLE_STALL_TIME) + def get_status(self, eventtime): - steppers = { name: et.is_motor_enabled() - for (name, et) in self.enable_lines.items() } - return {'steppers': steppers} + steppers = { + name: et.is_motor_enabled() for (name, et) in self.enable_lines.items() + } + return {"steppers": steppers} + def _handle_request_restart(self, print_time): self.motor_off() + def cmd_M18(self, gcmd): # Turn off motors self.motor_off() + cmd_SET_STEPPER_ENABLE_help = "Enable/disable individual stepper by name" + def cmd_SET_STEPPER_ENABLE(self, gcmd): - stepper_name = gcmd.get('STEPPER', None) + stepper_name = gcmd.get("STEPPER", None) if stepper_name not in self.enable_lines: - gcmd.respond_info('SET_STEPPER_ENABLE: Invalid stepper "%s"' - % (stepper_name,)) + gcmd.respond_info( + 'SET_STEPPER_ENABLE: Invalid stepper "%s"' % (stepper_name,) + ) return - stepper_enable = gcmd.get_int('ENABLE', 1) + stepper_enable = gcmd.get_int("ENABLE", 1) self.motor_debug_enable(stepper_name, stepper_enable) + def lookup_enable(self, name): if name not in self.enable_lines: raise self.printer.config_error("Unknown stepper '%s'" % (name,)) return self.enable_lines[name] + def get_steppers(self): return list(self.enable_lines.keys()) + def load_config(config): return PrinterStepperEnable(config) |