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pins: Support registering arbitrary chips that supply configurable pins

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Allow multiple chips to provide pin mappings (not just the main mcu
chip).  Move the pin parsing from the mcu.py code to pins.py and
support mapping from pin descriptions to their corresponding chips and
parameters.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-08-21 11:25:26 -04:00
parent 268834e4ae
commit ec7990796a
6 changed files with 166 additions and 100 deletions
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23
klippy/stepper.py
View file

@ -1,10 +1,10 @@
# Printer stepper support
#
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import homing
import homing, pins
class PrinterStepper:
def __init__(self, printer, config, name):
@ -13,14 +13,17 @@ class PrinterStepper:
self.step_dist = config.getfloat('step_distance', above=0.)
self.inv_step_dist = 1. / self.step_dist
self.min_stop_interval = 0.
step_pin = config.get('step_pin')
dir_pin = config.get('dir_pin')
self.mcu_stepper = printer.mcu.create_stepper(step_pin, dir_pin)
self.mcu_stepper.set_step_distance(self.step_dist)
self.mcu_stepper = pins.setup_pin(
printer, 'stepper', config.get('step_pin'))
dir_pin_params = pins.get_printer_pins(printer).parse_pin_desc(
config.get('dir_pin'), can_invert=True)
self.mcu_stepper.setup_dir_pin(dir_pin_params)
self.mcu_stepper.setup_step_distance(self.step_dist)
enable_pin = config.get('enable_pin', None)
if enable_pin is not None:
self.mcu_enable = printer.mcu.create_digital_out(enable_pin, 0)
self.mcu_enable = pins.setup_pin(printer, 'digital_out', enable_pin)
self.mcu_enable.setup_max_duration(0.)
self.need_motor_enable = True
def _dist_to_time(self, dist, start_velocity, accel):
# Calculate the time it takes to travel a distance with constant accel
@ -33,7 +36,7 @@ class PrinterStepper:
second_last_step_time = self._dist_to_time(
2. * self.step_dist, max_halt_velocity, max_accel)
min_stop_interval = second_last_step_time - last_step_time
self.mcu_stepper.set_min_stop_interval(min_stop_interval)
self.mcu_stepper.setup_min_stop_interval(min_stop_interval)
def motor_enable(self, move_time, enable=0):
if enable and self.need_motor_enable:
mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
@ -48,8 +51,8 @@ class PrinterHomingStepper(PrinterStepper):
def __init__(self, printer, config, name):
PrinterStepper.__init__(self, printer, config, name)
endstop_pin = config.get('endstop_pin', None)
self.mcu_endstop = printer.mcu.create_endstop(endstop_pin)
self.mcu_endstop = pins.setup_pin(
printer, 'endstop', config.get('endstop_pin'))
self.mcu_endstop.add_stepper(self.mcu_stepper)
self.position_min = config.getfloat('position_min', 0.)
self.position_max = config.getfloat(