diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 142 |
1 files changed, 76 insertions, 66 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index aa35f76d..3190a325 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -9,24 +9,15 @@ import serialhdl, pins, chelper class error(Exception): pass -def parse_pin_extras(pin, can_pullup=False): - pullup = invert = 0 - if can_pullup and pin.startswith('^'): - pullup = 1 - pin = pin[1:].strip() - if pin.startswith('!'): - invert = 1 - pin = pin[1:].strip() - return pin, pullup, invert - STEPCOMPRESS_ERROR_RET = -989898989 class MCU_stepper: - def __init__(self, mcu, step_pin, dir_pin): + def __init__(self, mcu, pin_params): self._mcu = mcu self._oid = mcu.create_oid(self) - self._step_pin, pullup, self._invert_step = parse_pin_extras(step_pin) - self._dir_pin, pullup, self._invert_dir = parse_pin_extras(dir_pin) + self._step_pin = pin_params['pin'] + self._invert_step = pin_params['invert'] + self._dir_pin = self._invert_dir = None self._commanded_pos = 0 self._step_dist = self._inv_step_dist = 1. self._velocity_factor = self._accel_factor = 0. @@ -36,9 +27,14 @@ class MCU_stepper: self._ffi_lib = self._stepqueue = None self.print_to_mcu_time = mcu.print_to_mcu_time self.system_to_mcu_time = mcu.system_to_mcu_time - def set_min_stop_interval(self, min_stop_interval): + def setup_dir_pin(self, pin_params): + if pin_params['chip'] is not self._mcu: + raise pins.error("Stepper dir pin must be on same mcu as step pin") + self._dir_pin = pin_params['pin'] + self._invert_dir = pin_params['invert'] + def setup_min_stop_interval(self, min_stop_interval): self._min_stop_interval = min_stop_interval - def set_step_distance(self, step_dist): + def setup_step_distance(self, step_dist): self._step_dist = step_dist self._inv_step_dist = 1. / step_dist def build_config(self): @@ -144,12 +140,13 @@ class MCU_stepper: class MCU_endstop: error = error RETRY_QUERY = 1.000 - def __init__(self, mcu, pin): + def __init__(self, mcu, pin_params): self._mcu = mcu self._oid = mcu.create_oid(self) self._steppers = [] - self._pin, self._pullup, self._invert = parse_pin_extras( - pin, can_pullup=True) + self._pin = pin_params['pin'] + self._pullup = pin_params['pullup'] + self._invert = pin_params['invert'] self._cmd_queue = mcu.alloc_command_queue() self._home_cmd = self._query_cmd = None self._homing = False @@ -240,23 +237,27 @@ class MCU_endstop: return self._last_state.get('pin', self._invert) ^ self._invert class MCU_digital_out: - def __init__(self, mcu, pin, max_duration): + def __init__(self, mcu, pin_params): self._mcu = mcu self._oid = mcu.create_oid(self) - pin, pullup, self._invert = parse_pin_extras(pin) + self._pin = pin_params['pin'] + self._invert = pin_params['invert'] + self._max_duration = 2. self._last_clock = 0 self._last_value = None self._mcu_freq = 0. self._cmd_queue = mcu.alloc_command_queue() - mcu.add_config_cmd( - "config_digital_out oid=%d pin=%s default_value=%d" - " max_duration=TICKS(%f)" % ( - self._oid, pin, self._invert, max_duration)) self._set_cmd = None self.print_to_mcu_time = mcu.print_to_mcu_time self.system_to_mcu_time = mcu.system_to_mcu_time + def setup_max_duration(self, max_duration): + self._max_duration = max_duration def build_config(self): self._mcu_freq = self._mcu.get_mcu_freq() + self._mcu.add_config_cmd( + "config_digital_out oid=%d pin=%s default_value=%d" + " max_duration=TICKS(%f)" % ( + self._oid, self._pin, self._invert, self._max_duration)) self._set_cmd = self._mcu.lookup_command( "schedule_digital_out oid=%c clock=%u value=%c") def set_digital(self, mcu_time, value): @@ -275,37 +276,49 @@ class MCU_digital_out: self.set_digital(mcu_time, dval) class MCU_pwm: - def __init__(self, mcu, pin, cycle_time, hard_cycle_ticks, max_duration): + def __init__(self, mcu, pin_params): self._mcu = mcu - self._hard_cycle_ticks = hard_cycle_ticks + self._hard_pwm = False + self._cycle_time = 0.100 + self._max_duration = 2. self._oid = mcu.create_oid(self) - pin, pullup, self._invert = parse_pin_extras(pin) + self._pin = pin_params['pin'] + self._invert = pin_params['invert'] self._last_clock = 0 self._mcu_freq = 0. self._pwm_max = 0. self._cmd_queue = mcu.alloc_command_queue() - if hard_cycle_ticks: - mcu.add_config_cmd( - "config_pwm_out oid=%d pin=%s cycle_ticks=%d default_value=%d" - " max_duration=TICKS(%f)" % ( - self._oid, pin, hard_cycle_ticks, self._invert, - max_duration)) - else: - mcu.add_config_cmd( - "config_soft_pwm_out oid=%d pin=%s cycle_ticks=TICKS(%f)" - " default_value=%d max_duration=TICKS(%f)" % ( - self._oid, pin, cycle_time, self._invert, max_duration)) self._set_cmd = None self.print_to_mcu_time = mcu.print_to_mcu_time self.system_to_mcu_time = mcu.system_to_mcu_time + def setup_max_duration(self, max_duration): + self._max_duration = max_duration + def setup_cycle_time(self, cycle_time): + self._cycle_time = cycle_time + self._hard_pwm = False + def setup_hard_pwm(self, hard_cycle_ticks): + if not hard_cycle_ticks: + return + self._cycle_time = hard_cycle_ticks + self._hard_pwm = True def build_config(self): self._mcu_freq = self._mcu.get_mcu_freq() - if self._hard_cycle_ticks: + if self._hard_pwm: + self._mcu.add_config_cmd( + "config_pwm_out oid=%d pin=%s cycle_ticks=%d default_value=%d" + " max_duration=TICKS(%f)" % ( + self._oid, self._pin, self._cycle_time, self._invert, + self._max_duration)) self._pwm_max = self._mcu.serial.msgparser.get_constant_float( "PWM_MAX") self._set_cmd = self._mcu.lookup_command( "schedule_pwm_out oid=%c clock=%u value=%hu") else: + self._mcu.add_config_cmd( + "config_soft_pwm_out oid=%d pin=%s cycle_ticks=TICKS(%f)" + " default_value=%d max_duration=TICKS(%f)" % ( + self._oid, self._pin, self._cycle_time, self._invert, + self._max_duration)) self._pwm_max = self._mcu.serial.msgparser.get_constant_float( "SOFT_PWM_MAX") self._set_cmd = self._mcu.lookup_command( @@ -321,8 +334,9 @@ class MCU_pwm: self._last_clock = clock class MCU_adc: - def __init__(self, mcu, pin): + def __init__(self, mcu, pin_params): self._mcu = mcu + self._pin = pin_params['pin'] self._oid = mcu.create_oid(self) self._min_sample = self._max_sample = 0. self._sample_time = self._report_time = 0. @@ -332,20 +346,23 @@ class MCU_adc: self._inv_max_adc = 0. self._mcu_freq = 0. self._cmd_queue = mcu.alloc_command_queue() - mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % (self._oid, pin)) self._query_cmd = None mcu.add_init_callback(self._init_callback) - self._query_cmd = None + def setup_minmax(self, sample_time, sample_count, minval=0., maxval=1.): + self._sample_time = sample_time + self._sample_count = sample_count + self._min_sample = minval + self._max_sample = maxval + def setup_adc_callback(self, report_time, callback): + self._report_time = report_time + self._callback = callback def build_config(self): self._mcu_freq = self._mcu.get_mcu_freq() + self._mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % ( + self._oid, self._pin)) self._query_cmd = self._mcu.lookup_command( "query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c" " rest_ticks=%u min_value=%hu max_value=%hu") - def set_minmax(self, sample_time, sample_count, minval=0., maxval=1.): - self._sample_time = sample_time - self._sample_count = sample_count - self._min_sample = minval - self._max_sample = maxval def _init_callback(self): if not self._sample_count: return @@ -370,9 +387,6 @@ class MCU_adc: last_read_time = (next_clock - self._report_clock) / self._mcu_freq if self._callback is not None: self._callback(last_read_time, last_value) - def set_adc_callback(self, report_time, callback): - self._report_time = report_time - self._callback = callback class MCU: error = error @@ -398,7 +412,7 @@ class MCU: # Config building if printer.bglogger is not None: printer.bglogger.set_rollover_info("mcu", None) - self._config_error = config.error + pins.get_printer_pins(printer).register_chip("mcu", self) self._emergency_stop_cmd = self._reset_cmd = None self._oids = [] self._config_cmds = [] @@ -564,8 +578,7 @@ class MCU: updated_cmds.append(pins.update_command( cmd, self._mcu_freq, pnames)) except: - raise self._config_error("Unable to translate pin name: %s" % ( - cmd,)) + raise pins.error("Unable to translate pin name: %s" % (cmd,)) self._config_cmds = updated_cmds # Calculate config CRC @@ -617,6 +630,13 @@ class MCU: for cb in self._init_callbacks: cb() # Config creation helpers + def setup_pin(self, pin_params): + pcs = {'stepper': MCU_stepper, 'endstop': MCU_endstop, + 'digital_out': MCU_digital_out, 'pwm': MCU_pwm, 'adc': MCU_adc} + pin_type = pin_params['type'] + if pin_type not in pcs: + raise pins.error("pin type %s not supported on mcu" % (pin_type,)) + return pcs[pin_type](self, pin_params) def create_oid(self, oid): self._oids.append(oid) return len(self._oids) - 1 @@ -634,19 +654,6 @@ class MCU: return self.serial.msgparser.lookup_command(msgformat) def create_command(self, msg): return self.serial.msgparser.create_command(msg) - # Wrappers for mcu object creation - def create_stepper(self, step_pin, dir_pin): - return MCU_stepper(self, step_pin, dir_pin) - def create_endstop(self, pin): - return MCU_endstop(self, pin) - def create_digital_out(self, pin, max_duration=2.): - return MCU_digital_out(self, pin, max_duration) - def create_pwm(self, pin, cycle_time, hard_cycle_ticks=0, max_duration=2.): - if hard_cycle_ticks < 0: - return MCU_digital_out(self, pin, max_duration) - return MCU_pwm(self, pin, cycle_time, hard_cycle_ticks, max_duration) - def create_adc(self, pin): - return MCU_adc(self, pin) # Clock syncing def set_print_start_time(self, eventtime): clock = self.serial.get_clock(eventtime) @@ -687,3 +694,6 @@ class MCU: return self._printer.reactor.monotonic() def __del__(self): self.disconnect() + +def add_printer_objects(printer, config): + printer.add_object('mcu', MCU(printer, config.getsection('mcu'))) |