From 978777f09fa494db1b50fba58ea4e57d9b8479ac Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Sat, 20 Jan 2018 00:18:28 -0500
Subject: [PATCH] replicape: Move the replicape code from chipmisc.py to extras
directory
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
config/generic-replicape.cfg | 128 ++++++++++----------
klippy/chipmisc.py | 218 +---------------------------------
klippy/extras/replicape.py | 221 +++++++++++++++++++++++++++++++++++
3 files changed, 286 insertions(+), 281 deletions(-)
create mode 100644 klippy/extras/replicape.py
diff --git a/config/generic-replicape.cfg b/config/generic-replicape.cfg
index d9694beb1..de2761ab4 100644
--- a/config/generic-replicape.cfg
+++ b/config/generic-replicape.cfg
@@ -13,74 +13,10 @@
# See the example.cfg file for a description of available parameters.
-[stepper_x]
-step_pin: P8_17
-dir_pin: P8_26
-enable_pin: replicape:stepper_x_enable
-step_distance: .0125
-endstop_pin: ^P9_25
-position_endstop: 0
-position_max: 200
-homing_speed: 50
-
-[stepper_y]
-step_pin: P8_12
-dir_pin: P8_19
-enable_pin: replicape:stepper_y_enable
-step_distance: .0125
-endstop_pin: ^P9_23
-position_endstop: 0
-position_max: 200
-homing_speed: 50
-
-[stepper_z]
-step_pin: P8_13
-dir_pin: P8_14
-enable_pin: replicape:stepper_z_enable
-step_distance: 0.00025
-endstop_pin: ^P9_13
-position_endstop: 0
-position_max: 200
-
-[extruder]
-step_pin: P9_12
-dir_pin: P8_15
-enable_pin: replicape:stepper_e_enable
-step_distance: .002
-nozzle_diameter: 0.400
-filament_diameter: 1.750
-heater_pin: replicape:power_e
-sensor_type: EPCOS 100K B57560G104F
-sensor_pin: host:analog4
-control: pid
-pid_Kp: 22.2
-pid_Ki: 1.08
-pid_Kd: 114
-min_temp: 0
-max_temp: 250
-
-[heater_bed]
-heater_pin: replicape:power_hotbed
-sensor_type: EPCOS 100K B57560G104F
-sensor_pin: host:analog6
-control: watermark
-min_temp: 0
-max_temp: 130
-
-[fan]
-pin: replicape:power_fan0
-
[mcu]
serial: /dev/rpmsg_pru30
pin_map: beaglebone
-[printer]
-kinematics: cartesian
-max_velocity: 300
-max_accel: 3000
-max_z_velocity: 25
-max_z_accel: 30
-
[mcu host]
serial: /tmp/klipper_host_mcu
@@ -126,3 +62,67 @@ stepper_z_microstep_mode: spread16
stepper_z_current: 0.5
stepper_e_microstep_mode: 16
stepper_e_current: 0.5
+
+[stepper_x]
+step_pin: P8_17
+dir_pin: P8_26
+enable_pin: replicape:stepper_x_enable
+step_distance: .0125
+endstop_pin: ^P9_25
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: P8_12
+dir_pin: P8_19
+enable_pin: replicape:stepper_y_enable
+step_distance: .0125
+endstop_pin: ^P9_23
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: P8_13
+dir_pin: P8_14
+enable_pin: replicape:stepper_z_enable
+step_distance: 0.00025
+endstop_pin: ^P9_13
+position_endstop: 0
+position_max: 200
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 25
+max_z_accel: 30
+
+[extruder]
+step_pin: P9_12
+dir_pin: P8_15
+enable_pin: replicape:stepper_e_enable
+step_distance: .002
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: replicape:power_e
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: host:analog4
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: replicape:power_hotbed
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: host:analog6
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: replicape:power_fan0
diff --git a/klippy/chipmisc.py b/klippy/chipmisc.py
index 08b4bf0b3..611823eca 100644
--- a/klippy/chipmisc.py
+++ b/klippy/chipmisc.py
@@ -3,7 +3,7 @@
# Copyright (C) 2017,2018 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
-import pins, mcu
+import pins
######################################################################
@@ -78,227 +78,11 @@ class PrinterPin:
self.last_value_time = print_time
-######################################################################
-# Replicape board
-######################################################################
-
-REPLICAPE_MAX_CURRENT = 3.84
-REPLICAPE_SHIFT_REGISTER_BUS = 1
-REPLICAPE_SHIFT_REGISTER_DEVICE = 1
-REPLICAPE_PCA9685_BUS = 2
-REPLICAPE_PCA9685_ADDRESS = 0x70
-REPLICAPE_PCA9685_CYCLE_TIME = .001
-
-class pca9685_pwm:
- def __init__(self, replicape, channel, pin_params):
- self._replicape = replicape
- self._channel = channel
- if pin_params['type'] not in ['digital_out', 'pwm']:
- raise pins.error("Pin type not supported on replicape")
- self._mcu = replicape.host_mcu
- self._mcu.add_config_object(self)
- self._bus = REPLICAPE_PCA9685_BUS
- self._address = REPLICAPE_PCA9685_ADDRESS
- self._cycle_time = REPLICAPE_PCA9685_CYCLE_TIME
- self._max_duration = 2.
- self._oid = None
- self._invert = pin_params['invert']
- self._start_value = self._shutdown_value = float(self._invert)
- self._is_static = False
- self._last_clock = 0
- self._pwm_max = 0.
- self._cmd_queue = self._mcu.alloc_command_queue()
- self._set_cmd = None
- def get_mcu(self):
- return self._mcu
- def setup_max_duration(self, max_duration):
- self._max_duration = max_duration
- def setup_cycle_time(self, cycle_time):
- pass
- def setup_hard_pwm(self, hard_cycle_ticks):
- if hard_cycle_ticks:
- raise pins.error("pca9685 does not support hard_pwm parameter")
- def setup_start_value(self, start_value, shutdown_value, is_static=False):
- if is_static and start_value != shutdown_value:
- raise pins.error("Static pin can not have shutdown value")
- if self._invert:
- start_value = 1. - start_value
- shutdown_value = 1. - shutdown_value
- self._start_value = max(0., min(1., start_value))
- self._shutdown_value = max(0., min(1., shutdown_value))
- self._is_static = is_static
- self._replicape.note_pwm_start_value(
- self._channel, self._start_value, self._shutdown_value)
- def build_config(self):
- self._pwm_max = self._mcu.get_constant_float("PCA9685_MAX")
- cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time)
- if self._is_static:
- self._mcu.add_config_cmd(
- "set_pca9685_out bus=%d addr=%d channel=%d"
- " cycle_ticks=%d value=%d" % (
- self._bus, self._address, self._channel,
- cycle_ticks, self._start_value * self._pwm_max))
- return
- self._oid = self._mcu.create_oid()
- self._mcu.add_config_cmd(
- "config_pca9685 oid=%d bus=%d addr=%d channel=%d cycle_ticks=%d"
- " value=%d default_value=%d max_duration=%d" % (
- self._oid, self._bus, self._address, self._channel, cycle_ticks,
- self._start_value * self._pwm_max,
- self._shutdown_value * self._pwm_max,
- self._mcu.seconds_to_clock(self._max_duration)))
- self._set_cmd = self._mcu.lookup_command(
- "schedule_pca9685_out oid=%c clock=%u value=%hu")
- def set_pwm(self, print_time, value):
- clock = self._mcu.print_time_to_clock(print_time)
- if self._invert:
- value = 1. - value
- value = int(max(0., min(1., value)) * self._pwm_max + 0.5)
- self._replicape.note_pwm_enable(print_time, self._channel, value)
- msg = self._set_cmd.encode(self._oid, clock, value)
- self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
- , cq=self._cmd_queue)
- self._last_clock = clock
- def set_digital(self, print_time, value):
- if value:
- self.set_pwm(print_time, 1.)
- else:
- self.set_pwm(print_time, 0.)
-
-class ReplicapeDACEnable:
- def __init__(self, replicape, channel, pin_params):
- if pin_params['type'] != 'digital_out':
- raise pins.error("Replicape virtual enable pin must be digital_out")
- if pin_params['invert']:
- raise pins.error("Replicape virtual enable pin can not be inverted")
- self.mcu = replicape.host_mcu
- self.value = replicape.stepper_dacs[channel]
- self.pwm = pca9685_pwm(replicape, channel, pin_params)
- def get_mcu(self):
- return self.mcu
- def setup_max_duration(self, max_duration):
- self.pwm.setup_max_duration(max_duration)
- def set_digital(self, print_time, value):
- if value:
- self.pwm.set_pwm(print_time, self.value)
- else:
- self.pwm.set_pwm(print_time, 0.)
-
-ReplicapeStepConfig = {
- 'disable': None,
- '1': (1<<7)|(1<<5), '2': (1<<7)|(1<<5)|(1<<6), 'spread2': (1<<5),
- '4': (1<<7)|(1<<5)|(1<<4), '16': (1<<7)|(1<<5)|(1<<6)|(1<<4),
- 'spread4': (1<<5)|(1<<4), 'spread16': (1<<7), 'stealth4': (1<<7)|(1<<6),
- 'stealth16': 0
-}
-
-class Replicape:
- def __init__(self, printer, config):
- pins.get_printer_pins(printer).register_chip('replicape', self)
- revisions = {'B3': 'B3'}
- config.getchoice('revision', revisions)
- self.host_mcu = mcu.get_printer_mcu(printer, config.get('host_mcu'))
- # Setup enable pin
- self.mcu_pwm_enable = pins.setup_pin(
- printer, 'digital_out', config.get('enable_pin', '!P9_41'))
- self.mcu_pwm_enable.setup_max_duration(0.)
- self.mcu_pwm_start_value = self.mcu_pwm_shutdown_value = False
- # Setup power pins
- self.pins = {
- "power_e": (pca9685_pwm, 5), "power_h": (pca9685_pwm, 3),
- "power_hotbed": (pca9685_pwm, 4),
- "power_fan0": (pca9685_pwm, 7), "power_fan1": (pca9685_pwm, 8),
- "power_fan2": (pca9685_pwm, 9), "power_fan3": (pca9685_pwm, 10) }
- # Setup stepper config
- self.stepper_dacs = {}
- shift_registers = [1, 0, 0, 1, 1]
- for port, name in enumerate('xyzeh'):
- prefix = 'stepper_%s_' % (name,)
- sc = config.getchoice(
- prefix + 'microstep_mode', ReplicapeStepConfig, 'disable')
- if sc is None:
- continue
- sc |= shift_registers[port]
- if config.getboolean(prefix + 'chopper_off_time_high', False):
- sc |= 1<<3
- if config.getboolean(prefix + 'chopper_hysteresis_high', False):
- sc |= 1<<2
- if config.getboolean(prefix + 'chopper_blank_time_high', True):
- sc |= 1<<1
- shift_registers[port] = sc
- channel = port + 11
- cur = config.getfloat(
- prefix + 'current', above=0., maxval=REPLICAPE_MAX_CURRENT)
- self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT
- self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel)
- self.enabled_channels = {ch: False for cl, ch in self.pins.values()}
- self.disable_stepper_cmd = "send_spi bus=%d dev=%d msg=%s" % (
- REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
- "".join(["%02x" % (x,) for x in reversed(shift_registers)]))
- if [i for i in [0, 1, 2] if 11+i in self.stepper_dacs]:
- # Enable xyz steppers
- shift_registers[0] &= ~1
- if [i for i in [3, 4] if 11+i in self.stepper_dacs]:
- # Enable eh steppers
- shift_registers[3] &= ~1
- if (config.getboolean('standstill_power_down', False)
- and self.stepper_dacs):
- shift_registers[4] &= ~1
- self.enable_stepper_cmd = "send_spi bus=%d dev=%d msg=%s" % (
- REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
- "".join(["%02x" % (x,) for x in reversed(shift_registers)]))
- self.host_mcu.add_config_cmd(self.disable_stepper_cmd)
- self.last_stepper_time = 0.
- def note_pwm_start_value(self, channel, start_value, shutdown_value):
- self.mcu_pwm_start_value |= not not start_value
- self.mcu_pwm_shutdown_value |= not not shutdown_value
- self.mcu_pwm_enable.setup_start_value(
- self.mcu_pwm_start_value, self.mcu_pwm_shutdown_value)
- self.enabled_channels[channel] = not not start_value
- def note_pwm_enable(self, print_time, channel, value):
- is_enable = not not value
- if self.enabled_channels[channel] == is_enable:
- # Nothing to do
- return
- self.enabled_channels[channel] = is_enable
- # Check if need to set the pca9685 enable pin
- on_channels = [1 for c, e in self.enabled_channels.items() if e]
- if not on_channels:
- self.mcu_pwm_enable.set_digital(print_time, 0)
- elif is_enable and len(on_channels) == 1:
- self.mcu_pwm_enable.set_digital(print_time, 1)
- # Check if need to set the stepper enable lines
- if channel not in self.stepper_dacs:
- return
- on_dacs = [1 for c in self.stepper_dacs.keys()
- if self.enabled_channels[c]]
- if not on_dacs:
- cmd = self.disable_stepper_cmd
- elif is_enable and len(on_dacs) == 1:
- cmd = self.enable_stepper_cmd
- else:
- return
- print_time = max(print_time, self.last_stepper_time + PIN_MIN_TIME)
- clock = self.host_mcu.print_time_to_clock(print_time)
- # XXX - the send_spi message should be scheduled
- self.host_mcu.send(self.host_mcu.create_command(cmd),
- minclock=clock, reqclock=clock)
- def setup_pin(self, pin_params):
- pin = pin_params['pin']
- if pin not in self.pins:
- raise pins.error("Unknown replicape pin %s" % (pin,))
- pclass, channel = self.pins[pin]
- return pclass(self, channel, pin_params)
-
-
######################################################################
# Setup
######################################################################
def add_printer_objects(printer, config):
- if config.has_section('replicape'):
- printer.add_object('replicape', Replicape(
- printer, config.getsection('replicape')))
for s in config.get_prefix_sections('static_digital_output '):
printer.add_object(s.section, PrinterStaticDigitalOut(printer, s))
for s in config.get_prefix_sections('digital_output '):
diff --git a/klippy/extras/replicape.py b/klippy/extras/replicape.py
new file mode 100644
index 000000000..72ab45e9c
--- /dev/null
+++ b/klippy/extras/replicape.py
@@ -0,0 +1,221 @@
+# Code to configure miscellaneous chips
+#
+# Copyright (C) 2017,2018 Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import pins, mcu
+
+REPLICAPE_MAX_CURRENT = 3.84
+REPLICAPE_SHIFT_REGISTER_BUS = 1
+REPLICAPE_SHIFT_REGISTER_DEVICE = 1
+REPLICAPE_PCA9685_BUS = 2
+REPLICAPE_PCA9685_ADDRESS = 0x70
+REPLICAPE_PCA9685_CYCLE_TIME = .001
+PIN_MIN_TIME = 0.100
+
+class pca9685_pwm:
+ def __init__(self, replicape, channel, pin_params):
+ self._replicape = replicape
+ self._channel = channel
+ if pin_params['type'] not in ['digital_out', 'pwm']:
+ raise pins.error("Pin type not supported on replicape")
+ self._mcu = replicape.host_mcu
+ self._mcu.add_config_object(self)
+ self._bus = REPLICAPE_PCA9685_BUS
+ self._address = REPLICAPE_PCA9685_ADDRESS
+ self._cycle_time = REPLICAPE_PCA9685_CYCLE_TIME
+ self._max_duration = 2.
+ self._oid = None
+ self._invert = pin_params['invert']
+ self._start_value = self._shutdown_value = float(self._invert)
+ self._is_static = False
+ self._last_clock = 0
+ self._pwm_max = 0.
+ self._cmd_queue = self._mcu.alloc_command_queue()
+ self._set_cmd = None
+ def get_mcu(self):
+ return self._mcu
+ def setup_max_duration(self, max_duration):
+ self._max_duration = max_duration
+ def setup_cycle_time(self, cycle_time):
+ pass
+ def setup_hard_pwm(self, hard_cycle_ticks):
+ if hard_cycle_ticks:
+ raise pins.error("pca9685 does not support hard_pwm parameter")
+ def setup_start_value(self, start_value, shutdown_value, is_static=False):
+ if is_static and start_value != shutdown_value:
+ raise pins.error("Static pin can not have shutdown value")
+ if self._invert:
+ start_value = 1. - start_value
+ shutdown_value = 1. - shutdown_value
+ self._start_value = max(0., min(1., start_value))
+ self._shutdown_value = max(0., min(1., shutdown_value))
+ self._is_static = is_static
+ self._replicape.note_pwm_start_value(
+ self._channel, self._start_value, self._shutdown_value)
+ def build_config(self):
+ self._pwm_max = self._mcu.get_constant_float("PCA9685_MAX")
+ cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time)
+ if self._is_static:
+ self._mcu.add_config_cmd(
+ "set_pca9685_out bus=%d addr=%d channel=%d"
+ " cycle_ticks=%d value=%d" % (
+ self._bus, self._address, self._channel,
+ cycle_ticks, self._start_value * self._pwm_max))
+ return
+ self._oid = self._mcu.create_oid()
+ self._mcu.add_config_cmd(
+ "config_pca9685 oid=%d bus=%d addr=%d channel=%d cycle_ticks=%d"
+ " value=%d default_value=%d max_duration=%d" % (
+ self._oid, self._bus, self._address, self._channel, cycle_ticks,
+ self._start_value * self._pwm_max,
+ self._shutdown_value * self._pwm_max,
+ self._mcu.seconds_to_clock(self._max_duration)))
+ self._set_cmd = self._mcu.lookup_command(
+ "schedule_pca9685_out oid=%c clock=%u value=%hu")
+ def set_pwm(self, print_time, value):
+ clock = self._mcu.print_time_to_clock(print_time)
+ if self._invert:
+ value = 1. - value
+ value = int(max(0., min(1., value)) * self._pwm_max + 0.5)
+ self._replicape.note_pwm_enable(print_time, self._channel, value)
+ msg = self._set_cmd.encode(self._oid, clock, value)
+ self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
+ , cq=self._cmd_queue)
+ self._last_clock = clock
+ def set_digital(self, print_time, value):
+ if value:
+ self.set_pwm(print_time, 1.)
+ else:
+ self.set_pwm(print_time, 0.)
+
+class ReplicapeDACEnable:
+ def __init__(self, replicape, channel, pin_params):
+ if pin_params['type'] != 'digital_out':
+ raise pins.error("Replicape virtual enable pin must be digital_out")
+ if pin_params['invert']:
+ raise pins.error("Replicape virtual enable pin can not be inverted")
+ self.mcu = replicape.host_mcu
+ self.value = replicape.stepper_dacs[channel]
+ self.pwm = pca9685_pwm(replicape, channel, pin_params)
+ def get_mcu(self):
+ return self.mcu
+ def setup_max_duration(self, max_duration):
+ self.pwm.setup_max_duration(max_duration)
+ def set_digital(self, print_time, value):
+ if value:
+ self.pwm.set_pwm(print_time, self.value)
+ else:
+ self.pwm.set_pwm(print_time, 0.)
+
+ReplicapeStepConfig = {
+ 'disable': None,
+ '1': (1<<7)|(1<<5), '2': (1<<7)|(1<<5)|(1<<6), 'spread2': (1<<5),
+ '4': (1<<7)|(1<<5)|(1<<4), '16': (1<<7)|(1<<5)|(1<<6)|(1<<4),
+ 'spread4': (1<<5)|(1<<4), 'spread16': (1<<7), 'stealth4': (1<<7)|(1<<6),
+ 'stealth16': 0
+}
+
+class Replicape:
+ def __init__(self, config):
+ printer = config.get_printer()
+ pins.get_printer_pins(printer).register_chip('replicape', self)
+ revisions = {'B3': 'B3'}
+ config.getchoice('revision', revisions)
+ self.host_mcu = mcu.get_printer_mcu(printer, config.get('host_mcu'))
+ # Setup enable pin
+ self.mcu_pwm_enable = pins.setup_pin(
+ printer, 'digital_out', config.get('enable_pin', '!P9_41'))
+ self.mcu_pwm_enable.setup_max_duration(0.)
+ self.mcu_pwm_start_value = self.mcu_pwm_shutdown_value = False
+ # Setup power pins
+ self.pins = {
+ "power_e": (pca9685_pwm, 5), "power_h": (pca9685_pwm, 3),
+ "power_hotbed": (pca9685_pwm, 4),
+ "power_fan0": (pca9685_pwm, 7), "power_fan1": (pca9685_pwm, 8),
+ "power_fan2": (pca9685_pwm, 9), "power_fan3": (pca9685_pwm, 10) }
+ # Setup stepper config
+ self.stepper_dacs = {}
+ shift_registers = [1, 0, 0, 1, 1]
+ for port, name in enumerate('xyzeh'):
+ prefix = 'stepper_%s_' % (name,)
+ sc = config.getchoice(
+ prefix + 'microstep_mode', ReplicapeStepConfig, 'disable')
+ if sc is None:
+ continue
+ sc |= shift_registers[port]
+ if config.getboolean(prefix + 'chopper_off_time_high', False):
+ sc |= 1<<3
+ if config.getboolean(prefix + 'chopper_hysteresis_high', False):
+ sc |= 1<<2
+ if config.getboolean(prefix + 'chopper_blank_time_high', True):
+ sc |= 1<<1
+ shift_registers[port] = sc
+ channel = port + 11
+ cur = config.getfloat(
+ prefix + 'current', above=0., maxval=REPLICAPE_MAX_CURRENT)
+ self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT
+ self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel)
+ self.enabled_channels = {ch: False for cl, ch in self.pins.values()}
+ self.disable_stepper_cmd = "send_spi bus=%d dev=%d msg=%s" % (
+ REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
+ "".join(["%02x" % (x,) for x in reversed(shift_registers)]))
+ if [i for i in [0, 1, 2] if 11+i in self.stepper_dacs]:
+ # Enable xyz steppers
+ shift_registers[0] &= ~1
+ if [i for i in [3, 4] if 11+i in self.stepper_dacs]:
+ # Enable eh steppers
+ shift_registers[3] &= ~1
+ if (config.getboolean('standstill_power_down', False)
+ and self.stepper_dacs):
+ shift_registers[4] &= ~1
+ self.enable_stepper_cmd = "send_spi bus=%d dev=%d msg=%s" % (
+ REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
+ "".join(["%02x" % (x,) for x in reversed(shift_registers)]))
+ self.host_mcu.add_config_cmd(self.disable_stepper_cmd)
+ self.last_stepper_time = 0.
+ def note_pwm_start_value(self, channel, start_value, shutdown_value):
+ self.mcu_pwm_start_value |= not not start_value
+ self.mcu_pwm_shutdown_value |= not not shutdown_value
+ self.mcu_pwm_enable.setup_start_value(
+ self.mcu_pwm_start_value, self.mcu_pwm_shutdown_value)
+ self.enabled_channels[channel] = not not start_value
+ def note_pwm_enable(self, print_time, channel, value):
+ is_enable = not not value
+ if self.enabled_channels[channel] == is_enable:
+ # Nothing to do
+ return
+ self.enabled_channels[channel] = is_enable
+ # Check if need to set the pca9685 enable pin
+ on_channels = [1 for c, e in self.enabled_channels.items() if e]
+ if not on_channels:
+ self.mcu_pwm_enable.set_digital(print_time, 0)
+ elif is_enable and len(on_channels) == 1:
+ self.mcu_pwm_enable.set_digital(print_time, 1)
+ # Check if need to set the stepper enable lines
+ if channel not in self.stepper_dacs:
+ return
+ on_dacs = [1 for c in self.stepper_dacs.keys()
+ if self.enabled_channels[c]]
+ if not on_dacs:
+ cmd = self.disable_stepper_cmd
+ elif is_enable and len(on_dacs) == 1:
+ cmd = self.enable_stepper_cmd
+ else:
+ return
+ print_time = max(print_time, self.last_stepper_time + PIN_MIN_TIME)
+ clock = self.host_mcu.print_time_to_clock(print_time)
+ # XXX - the send_spi message should be scheduled
+ self.host_mcu.send(self.host_mcu.create_command(cmd),
+ minclock=clock, reqclock=clock)
+ def setup_pin(self, pin_params):
+ pin = pin_params['pin']
+ if pin not in self.pins:
+ raise pins.error("Unknown replicape pin %s" % (pin,))
+ pclass, channel = self.pins[pin]
+ return pclass(self, channel, pin_params)
+
+def load_config(config):
+ if config.get_name() != 'replicape':
+ raise config.error("Invalid replicape config name")
+ return Replicape(config)