3D-printing/klipper
1
0
Fork 0
mirror of https://github.com/Klipper3d/klipper.git synced 2025-07-24 07:04:01 -06:00
Code Issues Projects Releases Packages Wiki Activity Actions 2

mcu: Initial support for multiple micro-controllers

Browse source 
Add initial support for controlling multiple independent
micro-controllers from a single Klippy host instance.  Add basic
support for synchronizing the clocks of the additional mcus to the
main mcu's clock.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-08-14 11:46:35 -04:00
parent cee200e509
commit 3ccecc568d
5 changed files with 172 additions and 53 deletions
Download patch file Download diff file Expand all files Collapse all files

17
klippy/toolhead.py
View file

@ -4,7 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import homing, cartesian, corexy, delta, extruder
import mcu, homing, cartesian, corexy, delta, extruder
# Common suffixes: _d is distance (in mm), _v is velocity (in
# mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in
@ -184,7 +184,8 @@ class ToolHead:
def __init__(self, printer, config):
self.printer = printer
self.reactor = printer.reactor
self.mcu = printer.objects['mcu']
self.all_mcus = mcu.get_printer_mcus(printer)
self.mcu = self.all_mcus[0]
self.max_velocity = config.getfloat('max_velocity', above=0.)
self.max_accel = config.getfloat('max_accel', above=0.)
self.max_accel_to_decel = config.getfloat(
@ -227,7 +228,8 @@ class ToolHead:
def update_move_time(self, movetime):
self.print_time += movetime
flush_to_time = self.print_time - self.move_flush_time
self.mcu.flush_moves(flush_to_time)
for m in self.all_mcus:
m.flush_moves(flush_to_time)
def get_next_move_time(self):
if not self.sync_print_time:
return self.print_time
@ -248,9 +250,10 @@ class ToolHead:
if sync_print_time or must_sync:
self.sync_print_time = True
self.move_queue.set_flush_time(self.buffer_time_high)
self.mcu.flush_moves(self.print_time)
self.need_check_stall = -1.
self.reactor.update_timer(self.flush_timer, self.reactor.NEVER)
for m in self.all_mcus:
m.flush_moves(self.print_time)
def get_last_move_time(self):
self._flush_lookahead()
return self.get_next_move_time()
@ -357,7 +360,8 @@ class ToolHead:
self.commanded_pos[3] = extrude_pos
# Misc commands
def check_active(self, eventtime):
self.mcu.check_active(self.print_time, eventtime)
for m in self.all_mcus:
m.check_active(self.print_time, eventtime)
if not self.sync_print_time:
return True
return self.print_time + 60. > self.mcu.estimated_print_time(eventtime)
@ -368,7 +372,8 @@ class ToolHead:
self.print_time, buffer_time, self.print_stall)
def force_shutdown(self):
try:
self.mcu.force_shutdown()
for m in self.all_mcus:
m.force_shutdown()
self.move_queue.reset()
self.reset_print_time()
except: