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# Support for enable pins on stepper motor drivers
#
# Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
DISABLE_STALL_TIME = 0.100
# 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):
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)
# Automatic multiple pin enable lines
class StepperMultiEnablePin:
def __init__(self, enable_list):
self.enable_list = enable_list
def set_enable(self, print_time):
for en in self.enable_list:
en.set_enable(print_time)
def set_disable(self, print_time):
for en in self.enable_list:
en.set_disable(print_time)
# Resolve the 'enable_pin' stepper config setting
def lookup_enable_pin(ppins, pin_list):
if pin_list is None:
return StepperEnablePin(None, 9999)
enable_list = []
for pin in pin_list.split(','):
pin_params = ppins.lookup_pin(pin, can_invert=True,
share_type='stepper_enable')
enable = pin_params.get('class')
if enable is None:
mcu_enable = pin_params['chip'].setup_pin('digital_out', pin_params)
mcu_enable.setup_max_duration(0.)
pin_params['class'] = enable = StepperEnablePin(mcu_enable)
enable_list.append(enable)
if len(enable_list) == 1:
return enable_list[0]
return StepperMultiEnablePin(enable_list)
# Enable line tracking for each stepper motor
class EnableTracking:
def __init__(self, printer, stepper, pin):
self.stepper = stepper
self.is_motor_enabled = False
self.stepper.add_active_callback(self.motor_enable)
self.enable = lookup_enable_pin(printer.lookup_object('pins'), pin)
def motor_enable(self, print_time):
if not self.is_motor_enabled:
self.enable.set_enable(print_time)
self.is_motor_enabled = True
def motor_disable(self, print_time):
if self.is_motor_enabled:
# Enable stepper on future stepper movement
self.enable.set_disable(print_time)
self.is_motor_enabled = False
self.stepper.add_active_callback(self.motor_enable)
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)
# Register M18/M84 commands
gcode = self.printer.lookup_object('gcode')
gcode.register_command("M18", self.cmd_M18)
gcode.register_command("M84", self.cmd_M18)
def register_stepper(self, stepper, pin):
name = stepper.get_name()
self.enable_lines[name] = EnableTracking(self.printer, stepper, pin)
def motor_off(self):
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():
el.motor_disable(print_time)
self.printer.send_event("stepper_enable:motor_off", print_time)
toolhead.dwell(DISABLE_STALL_TIME)
logging.debug('; Max time of %f', print_time)
def _handle_request_restart(self, print_time):
self.motor_off()
def cmd_M18(self, params):
# Turn off motors
self.motor_off()
def is_motor_enabled(self, name):
return self.enable_lines[name].is_motor_enabled
def motor_enable(self, name, print_time):
self.enable_lines[name].motor_enable(print_time)
def motor_disable(self, name, print_time):
self.enable_lines[name].motor_disable(print_time)
def load_config(config):
return PrinterStepperEnable(config)
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