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stepper: Replace PrinterHomingStepper with PrinterRail

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Update the code to use the term "rail" when dealing with a motor
controlled "axis".  A rail has a series of steppers and endstops that
control that motor controlled "axis".

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-06-22 11:44:25 -04:00
parent 93d0526a77
commit 0791c69499
7 changed files with 200 additions and 194 deletions
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158
klippy/stepper.py
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@ -6,6 +6,11 @@
import math, logging, collections
import homing, chelper
######################################################################
# Stepper enable pins
######################################################################
# Tracking of shared stepper enable pins
class StepperEnablePin:
def __init__(self, mcu_enable, enable_count=0):
@ -32,6 +37,11 @@ def lookup_enable_pin(ppins, pin):
pin_params['class'] = enable = StepperEnablePin(mcu_enable)
return enable
######################################################################
# Steppers
######################################################################
# Code storing the definitions for a stepper motor
class PrinterStepper:
def __init__(self, config):
@ -53,6 +63,7 @@ class PrinterStepper:
self.step_itersolve = self.mcu_stepper.step_itersolve
self.setup_itersolve = self.mcu_stepper.setup_itersolve
self.set_ignore_move = self.mcu_stepper.set_ignore_move
self.set_position = self.mcu_stepper.set_position
self.get_mcu_position = self.mcu_stepper.get_mcu_position
self.get_commanded_position = self.mcu_stepper.get_commanded_position
self.get_step_dist = self.mcu_stepper.get_step_dist
@ -75,8 +86,6 @@ class PrinterStepper:
2. * step_dist, max_halt_velocity, max_accel)
min_stop_interval = second_last_step_time - last_step_time
self.mcu_stepper.setup_min_stop_interval(min_stop_interval)
def set_position(self, pos):
self.mcu_stepper.set_position(pos)
def motor_enable(self, print_time, enable=0):
if self.need_motor_enable != (not enable):
self.enable.set_enable(print_time, enable)
@ -84,15 +93,29 @@ class PrinterStepper:
def is_motor_enabled(self):
return not self.need_motor_enable
# Support for stepper controlled linear axis with an endstop
class PrinterHomingStepper(PrinterStepper):
######################################################################
# Stepper controlled rails
######################################################################
# A motor control "rail" with one (or more) steppers and one (or more)
# endstops.
class PrinterRail:
def __init__(self, config, need_position_minmax=True,
default_position_endstop=None):
PrinterStepper.__init__(self, config)
# Endstop and its position
# Primary stepper
stepper = PrinterStepper(config)
self.steppers = [stepper]
self.name = stepper.get_name(short=True)
self.step_itersolve = stepper.step_itersolve
self.setup_itersolve = stepper.setup_itersolve
self.get_commanded_position = stepper.get_commanded_position
self.is_motor_enabled = stepper.is_motor_enabled
# Primary endstop and its position
ppins = config.get_printer().lookup_object('pins')
self.mcu_endstop = ppins.setup_pin('endstop', config.get('endstop_pin'))
self.add_to_endstop(self.mcu_endstop)
mcu_endstop = ppins.setup_pin('endstop', config.get('endstop_pin'))
self.endstops = [(mcu_endstop, self.name)]
stepper.add_to_endstop(mcu_endstop)
if default_position_endstop is None:
self.position_endstop = config.getfloat('position_endstop')
else:
@ -133,7 +156,7 @@ class PrinterHomingStepper(PrinterStepper):
'homing_endstop_accuracy', None, above=0.)
self.homing_endstop_accuracy = self.homing_endstop_phase = None
if self.homing_stepper_phases:
step_dist = self.get_step_dist()
self.homing_step_dist = step_dist = stepper.get_step_dist()
self.homing_endstop_phase = config.getint(
'homing_endstop_phase', None, minval=0
, maxval=self.homing_stepper_phases-1)
@ -149,7 +172,7 @@ class PrinterHomingStepper(PrinterStepper):
+ phase_offset)
if es_pos != self.position_endstop:
logging.info("Changing %s endstop position to %.3f"
" (from %.3f)", self.get_name(short=True),
" (from %.3f)", self.name,
es_pos, self.position_endstop)
self.position_endstop = es_pos
if endstop_accuracy is None:
@ -162,32 +185,17 @@ class PrinterHomingStepper(PrinterStepper):
endstop_accuracy / step_dist))
if self.homing_endstop_accuracy >= self.homing_stepper_phases // 2:
logging.info("Endstop for %s is not accurate enough for stepper"
" phase adjustment", self.get_name(short=True))
" phase adjustment", self.name)
self.homing_stepper_phases = None
if self.mcu_endstop.get_mcu().is_fileoutput():
if mcu_endstop.get_mcu().is_fileoutput():
self.homing_endstop_accuracy = self.homing_stepper_phases
def setup_cartesian_itersolve(self, axis):
ffi_main, ffi_lib = chelper.get_ffi()
self.setup_itersolve(ffi_main.gc(
ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free))
def get_range(self):
return self.position_min, self.position_max
def get_homing_info(self):
homing_info = collections.namedtuple('homing_info', [
'speed', 'position_endstop', 'retract_dist', 'positive_dir'])(
self.homing_speed, self.position_endstop,
self.homing_retract_dist, self.homing_positive_dir)
return homing_info
def get_endstops(self):
return [(self.mcu_endstop, self.get_name(short=True))]
def get_homed_offset(self):
if not self.homing_stepper_phases or self.need_motor_enable:
if not self.homing_stepper_phases:
return 0.
pos = self.mcu_stepper.get_mcu_position()
pos = self.steppers[0].get_mcu_position()
pos %= self.homing_stepper_phases
if self.homing_endstop_phase is None:
logging.info("Setting %s endstop phase to %d",
self.get_name(short=True), pos)
logging.info("Setting %s endstop phase to %d", self.name, pos)
self.homing_endstop_phase = pos
return 0.
delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
@ -196,57 +204,57 @@ class PrinterHomingStepper(PrinterStepper):
elif delta > self.homing_endstop_accuracy:
raise homing.EndstopError(
"Endstop %s incorrect phase (got %d vs %d)" % (
self.get_name(short=True), pos, self.homing_endstop_phase))
return delta * self.get_step_dist()
# Wrapper for dual stepper motor support
class PrinterMultiStepper(PrinterHomingStepper):
def __init__(self, config):
PrinterHomingStepper.__init__(self, config)
self.endstops = PrinterHomingStepper.get_endstops(self)
self.extras = []
self.all_step_itersolve = [self.step_itersolve]
for i in range(1, 99):
if not config.has_section(config.get_name() + str(i)):
break
extraconfig = config.getsection(config.get_name() + str(i))
extra = PrinterStepper(extraconfig)
self.extras.append(extra)
self.all_step_itersolve.append(extra.step_itersolve)
mcu_endstop = self.mcu_endstop
extraendstop = extraconfig.get('endstop_pin', None)
if extraendstop is not None:
ppins = config.get_printer().lookup_object('pins')
mcu_endstop = ppins.setup_pin('endstop', extraendstop)
self.endstops.append((mcu_endstop, extra.get_name(short=True)))
extra.add_to_endstop(mcu_endstop)
self.name, pos, self.homing_endstop_phase))
return delta * self.homing_step_dist
def get_range(self):
return self.position_min, self.position_max
def get_homing_info(self):
homing_info = collections.namedtuple('homing_info', [
'speed', 'position_endstop', 'retract_dist', 'positive_dir'])(
self.homing_speed, self.position_endstop,
self.homing_retract_dist, self.homing_positive_dir)
return homing_info
def get_steppers(self):
return list(self.steppers)
def get_endstops(self):
return list(self.endstops)
def add_extra_stepper(self, config):
stepper = PrinterStepper(config)
self.steppers.append(stepper)
self.step_itersolve = self.step_multi_itersolve
mcu_endstop = self.endstops[0][0]
endstop_pin = config.get('endstop_pin', None)
if endstop_pin is not None:
ppins = config.get_printer().lookup_object('pins')
mcu_endstop = ppins.setup_pin('endstop', endstop_pin)
self.endstops.append((mcu_endstop, stepper.get_name(short=True)))
stepper.add_to_endstop(mcu_endstop)
def add_to_endstop(self, mcu_endstop):
for stepper in self.steppers:
stepper.add_to_endstop(mcu_endstop)
def step_multi_itersolve(self, cmove):
for step_itersolve in self.all_step_itersolve:
step_itersolve(cmove)
for stepper in self.steppers:
stepper.step_itersolve(cmove)
def setup_cartesian_itersolve(self, axis):
ffi_main, ffi_lib = chelper.get_ffi()
self.setup_itersolve(ffi_main.gc(
ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free))
for extra in self.extras:
extra.setup_itersolve(ffi_main.gc(
for stepper in self.steppers:
stepper.setup_itersolve(ffi_main.gc(
ffi_lib.cartesian_stepper_alloc(axis), ffi_lib.free))
def set_max_jerk(self, max_halt_velocity, max_accel):
PrinterHomingStepper.set_max_jerk(self, max_halt_velocity, max_accel)
for extra in self.extras:
extra.set_max_jerk(max_halt_velocity, max_accel)
for stepper in self.steppers:
stepper.set_max_jerk(max_halt_velocity, max_accel)
def set_position(self, pos):
PrinterHomingStepper.set_position(self, pos)
for extra in self.extras:
extra.set_position(pos)
for stepper in self.steppers:
stepper.set_position(pos)
def motor_enable(self, print_time, enable=0):
PrinterHomingStepper.motor_enable(self, print_time, enable)
for extra in self.extras:
extra.motor_enable(print_time, enable)
def get_endstops(self):
return self.endstops
for stepper in self.steppers:
stepper.motor_enable(print_time, enable)
def LookupMultiHomingStepper(config):
if not config.has_section(config.get_name() + '1'):
return PrinterHomingStepper(config)
return PrinterMultiStepper(config)
# Wrapper for dual stepper motor support
def LookupMultiRail(config):
rail = PrinterRail(config)
for i in range(1, 99):
if not config.has_section(config.get_name() + str(i)):
break
rail.add_extra_stepper(config.getsection(config.get_name() + str(i)))
return rail