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* klippy: Support minimum/maximum value checks on configuration variablesKevin O'Connor2017-04-111-8/+14
| | | | | | | Verify that numeric parameters are in a sane range when reading the config. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: Change mcu_stepper.set_position() to take a location in millimetersKevin O'Connor2017-04-071-1/+1
| | | | | | | | | | Update the set_position() method to convert from millimeters to absolute step position. Also, update PrinterStepper.get_homed_offset() and mcu_stepper.get_commanded_position() to return millimeters. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: Pass constant velocity and acceleration directly to mcu_stepperKevin O'Connor2017-04-071-0/+1
| | | | | | | | Rename step_sqrt/step_factor to step_accel/step_const and have them directly take the velocity and acceleration in millimeters and seconds. This simplifies the kinematic classes. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* endstop: Support halting more than one stepper on triggerKevin O'Connor2017-04-031-1/+2
| | | | | | | | Extend the endstop code so that more than one stepper can be halted during endstop homing. Some kinematic setups (eg, corexy) require an endstop to support this. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Disable homing_endstop_accuracy errors on debug runsKevin O'Connor2017-03-311-0/+2
| | | | | | | If klippy is started in file output debugging, disable the homing_endstop_accuracy error check. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Fix set_min_stop_interval() calculationKevin O'Connor2017-03-161-4/+10
| | | | | | | | | | | The previous calculation was only valid if the stepper is always commanded to a position that is an exact multiple of the step_distance. The safety check was programmed with a value too large for other commanded positions, which could result in "No next step" errors. Fix by changing the calculation to use the worst case scenario. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* klippy: Eliminate high-level build_config phaseKevin O'Connor2017-03-131-22/+15
| | | | | | | | | | Now that the mcu objects can be created prior to connecting to the mcu, it is no longer necessary to separate the init and build_config phases in the high-level code. Move the mcu objection creation from the build_config phase to the init phase and eliminate the build_config phase. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: Delay setting of mcu_stepper.min_stop_intervalKevin O'Connor2017-03-131-4/+2
| | | | | | | | | Create a separate callback for setting the min_stop_interval. Also, move the setting of the stepper max_error from the stepper configs to the mcu config and rename it to max_stepper_error. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Change default max_error from 50us to 25usKevin O'Connor2016-12-281-1/+1
| | | | | | | | | Change the default compression error window (max_error) from 50us to 25us - it's common for stepper motor drivers to have 30us for their "pwm fixed off time" and it would be good for the steps to be scheduled within that time. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* gcode: Rework homing to use greenletsKevin O'Connor2016-12-091-2/+2
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* gcode: Rework endstop query to use greenletsKevin O'Connor2016-12-091-2/+0
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* toolhead: Specify maximum acceleration and velocity in toolhead classKevin O'Connor2016-12-011-10/+7
| | | | | | | | | | Change the config file so the maximum accel and velocity are specified in the "printer" section instead of the individual "stepper" sections. The underlying code limits the velocity and accel of the toolhead relative to the print object, so it makes sense to configure the system that was as well. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* klippy: Throw an exception if any required config parameter is missingKevin O'Connor2016-11-301-8/+10
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Raise an EndstopError if invalid phase found during homingKevin O'Connor2016-11-181-3/+4
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* homing: Create QueryEndstops class from gcodeKevin O'Connor2016-11-181-3/+5
| | | | | | | | | | | Create the QueryEndstops in the gcode handler instead of in the kinematic classes. This simplifies the gcode handler as it can directly register its response callback. Also, store the stepper name in the stepper class. Also, propagate the print_time of the query request to the mcu_endstop class. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Check if the motor needs to be enabled in the kinematic classesKevin O'Connor2016-11-141-9/+5
| | | | | | | Check for motor enable in the kinematic classes so it doesn't need to be checked on every move. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Reset the next step time on a stepper stopKevin O'Connor2016-11-141-1/+1
| | | | | | | | | Automatically reset the next step time to zero on a stepper_stop() call. This makes the host code simpler as it no longer needs to schedule an explicit reset_step_clock command on the step after a homing operation. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepcompress: Do all step rounding in C codeKevin O'Connor2016-11-131-2/+2
| | | | | | | | | | | | | | | | | Commits f0cefebf and 8f331f08 changed the way the code determined what steps to take on fractional steps. Unfortunately, it was possible in some situations for the C code to round differently from the python code which could result in warnings and lost steps. Change the code so that all fractional step handling is done in the C code. Implementing the step rounding logic in one location avoids any conflicts. In order to efficiently handle the step rounding in the C code, the C code has also been extended to directly send the "set_next_step_dir" command. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Return homing offset in steps instead of an absolute positionKevin O'Connor2016-10-131-5/+5
| | | | | | | | | | Rename get_homed_position() to get_homed_offset() and return the endstop position delta in steps instead of an absolute position relative to position_endstop. The conversion to absolute positions can be dependent on the type of kinematics in use, so is inappropriate to do in the low level stepper.py code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* homing: Support querying the current status of endstopsKevin O'Connor2016-09-221-0/+5
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: convert stepper, endstop, and digital_out to take mcu_timeKevin O'Connor2016-08-241-17/+12
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Support stepper phase adjustments when homingKevin O'Connor2016-07-281-0/+35
| | | | | | | Add support for enhancing the precision of endstop switches by also inspecting the phase of the stepper motor when the endstop triggers. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Have caller calculate max jerk velocityKevin O'Connor2016-07-221-2/+6
| | | | | | | | | | Allow the owner of the stepper object to cacluate the maximum step jerk velocity. This is used to ensure there is no communication error between mcu and host. Disable checking of jerk velocity for extruder stepper motors. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Store max_velocity/max_accel instead of max_step_velocity/accelKevin O'Connor2016-07-101-5/+4
| | | | | | | | All users of max_step_velocity and max_step_accel end up multiplying by step_dist anyway, so it's easier to store max_velocity and max_accel. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* Initial commit of source code.Kevin O'Connor2016-05-251-0/+67
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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