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stepper: Automatically detect and handle shared stepper enable lines

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It's common for multiple steppers to use the same stepper enable
line.  Detect this and only create a single digital_out oid on the
micro-controller.

Also, prohibit any other pin from being used multiple times in the
config file.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-01-10 14:49:00 -05:00
parent 265b9097d5
commit df6528715e
3 changed files with 47 additions and 16 deletions
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41
klippy/stepper.py
View file

@ -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