From 9d75c3b0cace034ef8d51be1b38b705db33ac793 Mon Sep 17 00:00:00 2001
From: Kevin O'Connor <kevin@koconnor.net>
Date: Thu, 24 Aug 2017 09:34:31 -0400
Subject: [PATCH] chipmisc: Add support for statically configured output pins
Allow digital and PWM output pins to be setup via new config
sections. This makes it easier to setup pin configurations.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
---
config/example-extras.cfg | 83 ++++++++++++++++++++++++++++++++++++
config/example.cfg | 38 +----------------
config/generic-rambo.cfg | 25 ++++++-----
config/makergear-m2-2012.cfg | 22 +++++-----
klippy/chipmisc.py | 43 +++++++++++++++++++
klippy/klippy.py | 4 +-
klippy/mcu.py | 52 ++++++++++++++++------
7 files changed, 193 insertions(+), 74 deletions(-)
create mode 100644 config/example-extras.cfg
create mode 100644 klippy/chipmisc.py
diff --git a/config/example-extras.cfg b/config/example-extras.cfg
new file mode 100644
index 000000000..ec9de90b4
--- /dev/null
+++ b/config/example-extras.cfg
@@ -0,0 +1,83 @@
+# This file serves as documentation for config parameters of
+# additional devices that may be configured on a printer. The snippets
+# in this file may be copied into the main printer.cfg file. See the
+# "example.cfg" file for description of common config parameters.
+
+
+# In a multi-extruder printer add an additional extruder section for
+# each additional extruder. The additional extruder sections should be
+# named "extruder1", "extruder2", "extruder3", and so on. See the
+# "extruder" section in example.cfg for a description of available
+# parameters.
+#[extruder1]
+#step_pin: ar36
+#dir_pin: ar34
+#...
+#deactivate_gcode:
+# A list of G-Code commands (one per line) to execute on a G-Code
+# tool change command (eg, "T1") that deactivates this extruder and
+# activates some other extruder. It only makes sense to define this
+# section on multi-extruder printers. The default is to not run any
+# special G-Code commands on deactivation.
+#activate_gcode:
+# A list of G-Code commands (one per line) to execute on a G-Code
+# tool change command (eg, "T0") that activates this extruder. It
+# only makes sense to define this section on multi-extruder
+# printers. The default is to not run any special G-Code commands on
+# activation.
+
+
+# Heater cooling fans (one may define any number of sections with a
+# "heater_fan" prefix). A "heater fan" is a fan that will be enabled
+# whenever its associated heater is active.
+#[heater_fan my_nozzle_fan]
+# See the "fan" section for fan configuration parameters.
+#pin: ar4
+# The remaining variables are specific to heater_fan.
+#heater: extruder
+# Name of the config section defining the heater that this fan is
+# associated with. The default is "extruder".
+#heater_temp: 50.0
+# A temperature (in Celsius) that the heater must drop below before
+# the fan is disabled. The default is 50 Celsius.
+
+
+# Statically configured digital output pins (one may define any number
+# of sections with a "static_digital_output" prefix). Pins configured
+# here will be setup as a GPIO output during MCU configuration.
+#[static_digital_output my_output_pins]
+#pins:
+# A comma separated list of pins to be set as GPIO output pins. The
+# pin will be set to a high level unless the pin name is prefaced
+# with "!". This parameter must be provided.
+
+
+# Statically configured PWM output pins (one may define any number of
+# sections with a "static_pwm_output" prefix). Pins configured here
+# will be setup as PWM outputs during MCU configuration.
+#[static_pwm_output my_output_pwm]
+#pin:
+# The pin to configure as PWM output. This parameter must be
+# provided.
+#value:
+# The value to statically set the PWM output to. This is typically
+# set to a number between 0.0 and 1.0 with 1.0 being full on and 0.0
+# being full off. However, the range may be changed with the 'scale'
+# parameter (see below). This parameter must be provided.
+#hard_pwm:
+# Set this value to force hardware PWM instead of software PWM. Set
+# to 1 to force a hardware PWM at the fastest rate; set to a higher
+# number to force hardware PWM with the given cycle time in clock
+# ticks. The default is to use software PWM.
+#cycle_time: 0.100
+# The amount of time (in seconds) per PWM cycle when using software
+# based PWM. The default is 0.100 seconds.
+#scale:
+# This parameter can be used to alter how the 'value' parameter is
+# interpreted. If provided, then the 'value' parameter should be
+# between 0.0 and 'scale'. This may be useful when configuring a PWM
+# pin that controls a stepper voltage reference. The 'scale' can be
+# set to the equivalent stepper amperage if the PWM were fully
+# enabled, and then the 'value' parameter can be specified using the
+# desired amperage for the stepper. The default is to not scale the
+# 'value' parameter.
diff --git a/config/example.cfg b/config/example.cfg
index 4bb805dbc..32ece8359 100644
--- a/config/example.cfg
+++ b/config/example.cfg
@@ -2,7 +2,8 @@
# copy and edit this file to configure a new cartesian style
# printer. For delta style printers, see the "example-delta.cfg"
# file. For corexy/h-bot style printers, see the "example-corexy.cfg"
-# file.
+# file. Only common config sections are described here - see the
+# "example-extras.cfg" file for configuring less common devices.
# DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
# FIRST. Incorrectly configured parameters may cause damage.
@@ -150,18 +151,6 @@ filament_diameter: 3.500
# otherwise cause retraction followed immediately by pressure
# buildup. This setting only applies if pressure_advance is
# non-zero. The default is 0.010 (10 milliseconds).
-#deactivate_gcode:
-# A list of G-Code commands (one per line) to execute on a G-Code
-# tool change command (eg, "T1") that deactivates this extruder and
-# activates some other extruder. It only makes sense to define this
-# section on multi-extruder printers. The default is to not run any
-# special G-Code commands on deactivation.
-#activate_gcode:
-# A list of G-Code commands (one per line) to execute on a G-Code
-# tool change command (eg, "T0") that activates this extruder. It
-# only makes sense to define this section on multi-extruder
-# printers. The default is to not run any special G-Code commands on
-# activation.
#
# The remaining variables describe the extruder heater.
heater_pin: ar10
@@ -217,15 +206,6 @@ max_temp: 210
# Maximum temperature (mcu will shutdown if temperature is above
# this value). This parameter must be provided.
-# In a multi-extruder printer add an additional extruder section for
-# each additional extruder. The additional extruder sections should be
-# named "extruder1", "extruder2", "extruder3", and so on. See the
-# "extruder" section above for a description of available parameters.
-#[extruder1]
-#step_pin: ar36
-#dir_pin: ar34
-#...
-
# The heater_bed section describes a heated bed (if present - omit
# section if not present).
[heater_bed]
@@ -323,17 +303,3 @@ max_z_accel: 30
# centripetal velocity cornering algorithm. A larger number will
# permit higher "cornering speeds" at the junction of two moves. The
# default is 0.02mm.
-
-# Heater cooling fans (one may define any number of sections with a
-# "heater_fan" prefix). A "heater fan" is a fan that will be enabled
-# whenever its associated heater is active.
-#[heater_fan my_nozzle_fan]
-# See the "fan" section for fan configuration parameters.
-#pin: ar4
-# The remaining variables are specific to heater_fan.
-#heater: extruder
-# Name of the config section defining the heater that this fan is
-# associated with. The default is "extruder".
-#heater_temp: 50.0
-# A temperature (in Celsius) that the heater must drop below before
-# the fan is disabled. The default is 50 Celsius.
diff --git a/config/generic-rambo.cfg b/config/generic-rambo.cfg
index f1cc0389c..f01eb82ff 100644
--- a/config/generic-rambo.cfg
+++ b/config/generic-rambo.cfg
@@ -77,19 +77,6 @@ pin: PH5
[mcu]
serial: /dev/ttyACM0
custom:
- # Turn off yellow led
- set_digital_out pin=PB7 value=0
- # Stepper micro-step pins
- set_digital_out pin=PG1 value=1
- set_digital_out pin=PG0 value=1
- set_digital_out pin=PK7 value=1
- set_digital_out pin=PG2 value=1
- set_digital_out pin=PK6 value=1
- set_digital_out pin=PK5 value=1
- set_digital_out pin=PK3 value=1
- set_digital_out pin=PK4 value=1
- #set_digital_out pin=PK2 value=1
- #set_digital_out pin=PK1 value=1
# Initialize digipot
send_spi_message pin=PD7 msg=0487 # X = ~0.75A
send_spi_message pin=PD7 msg=0587 # Y = ~0.75A
@@ -103,3 +90,15 @@ max_velocity: 300
max_accel: 3000
max_z_velocity: 5
max_z_accel: 100
+
+# Enable 16 micro-steps on steppers X, Y, Z, E0, E1
+[static_digital_output stepper_config]
+pins:
+ PG1, PG0,
+ PK7, PG2,
+ PK6, PK5,
+ PK3, PK4,
+ PK2, PK1
+
+[static_digital_output yellow_led]
+pins: !PB7
diff --git a/config/makergear-m2-2012.cfg b/config/makergear-m2-2012.cfg
index a2b0e89d3..1bf72a54d 100644
--- a/config/makergear-m2-2012.cfg
+++ b/config/makergear-m2-2012.cfg
@@ -77,17 +77,6 @@ hard_pwm: 1
[mcu]
serial: /dev/ttyACM0
custom:
- # Turn off yellow led
- set_digital_out pin=PB7 value=0
- # Stepper micro-step pins
- set_digital_out pin=PG1 value=1
- set_digital_out pin=PG0 value=1
- set_digital_out pin=PK7 value=1
- set_digital_out pin=PG2 value=1
- set_digital_out pin=PK6 value=1
- set_digital_out pin=PK5 value=1
- set_digital_out pin=PK3 value=1
- set_digital_out pin=PK4 value=1
# Initialize digipot
send_spi_message pin=PD7 msg=0487 # X = ~0.75A
send_spi_message pin=PD7 msg=0587 # Y = ~0.75A
@@ -101,3 +90,14 @@ max_velocity: 500
max_accel: 3000
max_z_velocity: 25
max_z_accel: 30
+
+# Enable 8 micro-steps on steppers X, Y, Z, E0
+[static_digital_output stepper_config]
+pins:
+ PG1, PG0,
+ PK7, PG2,
+ PK6, PK5,
+ PK3, PK4
+
+[static_digital_output yellow_led]
+pins: !PB7
diff --git a/klippy/chipmisc.py b/klippy/chipmisc.py
new file mode 100644
index 000000000..bdcb59d84
--- /dev/null
+++ b/klippy/chipmisc.py
@@ -0,0 +1,43 @@
+# Code to configure miscellaneous chips
+#
+# Copyright (C) 2017 Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import pins
+
+
+######################################################################
+# Statically configured output pins
+######################################################################
+
+class PrinterStaticDigitalOut:
+ def __init__(self, printer, config):
+ pin_list = [pin.strip() for pin in config.get('pins').split(',')]
+ for pin_desc in pin_list:
+ mcu_pin = pins.setup_pin(printer, 'digital_out', pin_desc)
+ mcu_pin.setup_static()
+
+class PrinterStaticPWM:
+ def __init__(self, printer, config):
+ mcu_pwm = pins.setup_pin(printer, 'pwm', config.get('pin'))
+ mcu_pwm.setup_max_duration(0.)
+ hard_pwm = config.getint('hard_pwm', None, minval=1)
+ if hard_pwm is None:
+ mcu_pwm.setup_cycle_time(config.getfloat(
+ 'cycle_time', 0.100, above=0.))
+ else:
+ mcu_pwm.setup_hard_pwm(hard_pwm)
+ scale = config.getfloat('scale', 1., above=0.)
+ value = config.getfloat('value', minval=0., maxval=scale)
+ mcu_pwm.setup_static_pwm(value / scale)
+
+
+######################################################################
+# Setup
+######################################################################
+
+def add_printer_objects(printer, config):
+ 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('static_pwm_output '):
+ printer.add_object(s.section, PrinterStaticPWM(printer, s))
diff --git a/klippy/klippy.py b/klippy/klippy.py
index d733c3a8e..f674720be 100644
--- a/klippy/klippy.py
+++ b/klippy/klippy.py
@@ -6,7 +6,7 @@
# This file may be distributed under the terms of the GNU GPLv3 license.
import sys, optparse, ConfigParser, logging, time, threading
import util, reactor, queuelogger, msgproto, gcode
-import pins, mcu, extruder, fan, heater, toolhead
+import pins, mcu, chipmisc, extruder, fan, heater, toolhead
message_ready = "Printer is ready"
@@ -172,7 +172,7 @@ class Printer:
ConfigLogger(self.fileconfig, self.bglogger)
# Create printer components
config = ConfigWrapper(self, 'printer')
- for m in [pins, mcu, extruder, fan, heater, toolhead]:
+ for m in [pins, mcu, chipmisc, extruder, fan, heater, toolhead]:
m.add_printer_objects(self, config)
self.mcu = self.objects['mcu']
# Validate that there are no undefined parameters in the config file
diff --git a/klippy/mcu.py b/klippy/mcu.py
index 4d0122864..1132ab42a 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -14,7 +14,6 @@ STEPCOMPRESS_ERROR_RET = -989898989
class MCU_stepper:
def __init__(self, mcu, pin_params):
self._mcu = mcu
- self._oid = mcu.create_oid()
self._step_pin = pin_params['pin']
self._invert_step = pin_params['invert']
self._dir_pin = self._invert_dir = None
@@ -23,7 +22,7 @@ class MCU_stepper:
self._velocity_factor = self._accel_factor = 0.
self._mcu_position_offset = 0
self._mcu_freq = self._min_stop_interval = 0.
- self._reset_cmd = self._get_position_cmd = None
+ self._oid = self._reset_cmd = self._get_position_cmd = None
self._ffi_lib = self._stepqueue = None
self.print_to_mcu_time = mcu.print_to_mcu_time
self.system_to_mcu_time = mcu.system_to_mcu_time
@@ -39,6 +38,7 @@ class MCU_stepper:
self._inv_step_dist = 1. / step_dist
def build_config(self):
self._mcu_freq = self._mcu.get_mcu_freq()
+ self._oid = self._mcu.create_oid()
self._velocity_factor = 1. / (self._mcu_freq * self._step_dist)
self._accel_factor = 1. / (self._mcu_freq**2 * self._step_dist)
max_error = self._mcu.get_max_stepper_error()
@@ -142,13 +142,12 @@ class MCU_endstop:
RETRY_QUERY = 1.000
def __init__(self, mcu, pin_params):
self._mcu = mcu
- self._oid = mcu.create_oid()
self._steppers = []
self._pin = pin_params['pin']
self._pullup = pin_params['pullup']
self._invert = pin_params['invert']
self._cmd_queue = mcu.alloc_command_queue()
- self._home_cmd = self._query_cmd = None
+ self._oid = self._home_cmd = self._query_cmd = None
self._homing = False
self._min_query_time = self._mcu_freq = 0.
self._next_query_clock = self._home_timeout_clock = 0
@@ -160,6 +159,7 @@ class MCU_endstop:
self._steppers.append(stepper)
def build_config(self):
self._mcu_freq = self._mcu.get_mcu_freq()
+ self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_end_stop oid=%d pin=%s pull_up=%d stepper_count=%d" % (
self._oid, self._pin, self._pullup, len(self._steppers)))
@@ -236,7 +236,8 @@ class MCU_endstop:
class MCU_digital_out:
def __init__(self, mcu, pin_params):
self._mcu = mcu
- self._oid = mcu.create_oid()
+ self._oid = None
+ self._static_value = None
self._pin = pin_params['pin']
self._invert = pin_params['invert']
self._max_duration = 2.
@@ -249,8 +250,15 @@ class MCU_digital_out:
self.system_to_mcu_time = mcu.system_to_mcu_time
def setup_max_duration(self, max_duration):
self._max_duration = max_duration
+ def setup_static(self):
+ self._static_value = not self._invert
def build_config(self):
self._mcu_freq = self._mcu.get_mcu_freq()
+ if self._static_value is not None:
+ self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % (
+ self._pin, self._static_value))
+ return
+ self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_digital_out oid=%d pin=%s default_value=%d"
" max_duration=TICKS(%f)" % (
@@ -278,7 +286,8 @@ class MCU_pwm:
self._hard_pwm = False
self._cycle_time = 0.100
self._max_duration = 2.
- self._oid = mcu.create_oid()
+ self._oid = None
+ self._static_value = None
self._pin = pin_params['pin']
self._invert = pin_params['invert']
self._last_clock = 0
@@ -298,26 +307,45 @@ class MCU_pwm:
return
self._cycle_time = hard_cycle_ticks
self._hard_pwm = True
+ def setup_static_pwm(self, value):
+ if self._invert:
+ self._static_value = 1. - value
+ else:
+ self._static_value = value
def build_config(self):
self._mcu_freq = self._mcu.get_mcu_freq()
if self._hard_pwm:
+ self._pwm_max = self._mcu.serial.msgparser.get_constant_float(
+ "PWM_MAX")
+ if self._static_value is not None:
+ value = int(self._static_value * self._pwm_max + 0.5)
+ self._mcu.add_config_cmd(
+ "set_pwm_out pin=%s cycle_ticks=%d value=%d" % (
+ self._pin, self._cycle_time, value))
+ return
+ self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_pwm_out oid=%d pin=%s cycle_ticks=%d default_value=%d"
" max_duration=TICKS(%f)" % (
self._oid, self._pin, self._cycle_time, self._invert,
self._max_duration))
- self._pwm_max = self._mcu.serial.msgparser.get_constant_float(
- "PWM_MAX")
self._set_cmd = self._mcu.lookup_command(
"schedule_pwm_out oid=%c clock=%u value=%hu")
else:
+ self._pwm_max = self._mcu.serial.msgparser.get_constant_float(
+ "SOFT_PWM_MAX")
+ if self._static_value is not None:
+ if self._static_value != 0. and self._static_value != 1.:
+ raise pins.error("static value on soft pwm not supported")
+ self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % (
+ self._pin, int(self._static_value)))
+ return
+ self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_soft_pwm_out oid=%d pin=%s cycle_ticks=TICKS(%f)"
" default_value=%d max_duration=TICKS(%f)" % (
self._oid, self._pin, self._cycle_time, self._invert,
self._max_duration))
- self._pwm_max = self._mcu.serial.msgparser.get_constant_float(
- "SOFT_PWM_MAX")
self._set_cmd = self._mcu.lookup_command(
"schedule_soft_pwm_out oid=%c clock=%u value=%hu")
def set_pwm(self, mcu_time, value):
@@ -334,12 +362,11 @@ class MCU_adc:
def __init__(self, mcu, pin_params):
self._mcu = mcu
self._pin = pin_params['pin']
- self._oid = mcu.create_oid()
self._min_sample = self._max_sample = 0.
self._sample_time = self._report_time = 0.
self._sample_count = 0
self._report_clock = 0
- self._callback = None
+ self._oid = self._callback = None
self._inv_max_adc = 0.
self._mcu_freq = 0.
self._cmd_queue = mcu.alloc_command_queue()
@@ -355,6 +382,7 @@ class MCU_adc:
if not self._sample_count:
return
self._mcu_freq = self._mcu.get_mcu_freq()
+ self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % (
self._oid, self._pin))
last_clock, last_clock_time = self._mcu.get_last_clock()