diff options
Diffstat (limited to 'klippy/stepper.py')
| -rw-r--r-- | klippy/stepper.py | 41 |
1 files changed, 31 insertions, 10 deletions
diff --git a/klippy/stepper.py b/klippy/stepper.py index dc1242a1..61d59568 100644 --- a/klippy/stepper.py +++ b/klippy/stepper.py @@ -1,11 +1,38 @@ # Printer stepper support # -# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. import math, logging import homing, pins +# Tracking of shared stepper enable pins +class StepperEnablePin: + def __init__(self, mcu_enable, enable_count=0): + self.mcu_enable = mcu_enable + self.enable_count = enable_count + def set_enable(self, print_time, enable): + if enable: + if not self.enable_count: + self.mcu_enable.set_digital(print_time, 1) + self.enable_count += 1 + else: + self.enable_count -= 1 + if not self.enable_count: + self.mcu_enable.set_digital(print_time, 0) + +def lookup_enable_pin(printer, pin): + if pin is None: + return StepperEnablePin(None, 9999) + pin_params = pins.get_printer_pins(printer).lookup_pin( + 'digital_out', pin, 'stepper_enable') + enable = pin_params.get('class') + if enable is None: + mcu_enable = pin_params['chip'].setup_pin(pin_params) + mcu_enable.setup_max_duration(0.) + pin_params['class'] = enable = StepperEnablePin(mcu_enable) + return enable + # Code storing the definitions for a stepper motor class PrinterStepper: def __init__(self, printer, config): @@ -23,12 +50,7 @@ class PrinterStepper: self.mcu_stepper.setup_step_distance(self.step_dist) self.step_const = self.mcu_stepper.step_const self.step_delta = self.mcu_stepper.step_delta - # Enable pin - enable_pin = config.get('enable_pin', None) - self.mcu_enable = None - if enable_pin is not None: - self.mcu_enable = pins.setup_pin(printer, 'digital_out', enable_pin) - self.mcu_enable.setup_max_duration(0.) + self.enable = lookup_enable_pin(printer, config.get('enable_pin', None)) def _dist_to_time(self, dist, start_velocity, accel): # Calculate the time it takes to travel a distance with constant accel time_offset = start_velocity / accel @@ -44,9 +66,8 @@ class PrinterStepper: def set_position(self, pos): self.mcu_stepper.set_position(pos) def motor_enable(self, print_time, enable=0): - if (self.mcu_enable is not None - and self.need_motor_enable != (not enable)): - self.mcu_enable.set_digital(print_time, enable) + if self.need_motor_enable != (not enable): + self.enable.set_enable(print_time, enable) self.need_motor_enable = not enable # Support for stepper controlled linear axis with an endstop |