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plus4的klipper版本

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whb0514
2024-09-02 13:37:34 +08:00
parent 653d7a8f6e
commit b90736975b
1006 changed files with 1195894 additions and 11114 deletions
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74
klippy/stepper.py
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@@ -5,6 +5,7 @@
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging, collections
import chelper
from extras.homing import Homing
class error(Exception):
pass
@@ -89,12 +90,12 @@ class MCU_stepper:
invert_step, step_pulse_ticks))
self._mcu.add_config_cmd("reset_step_clock oid=%d clock=0"
% (self._oid,), on_restart=True)
step_cmd_tag = self._mcu.lookup_command_tag(
"queue_step oid=%c interval=%u count=%hu add=%hi")
dir_cmd_tag = self._mcu.lookup_command_tag(
"set_next_step_dir oid=%c dir=%c")
self._reset_cmd_tag = self._mcu.lookup_command_tag(
"reset_step_clock oid=%c clock=%u")
step_cmd_tag = self._mcu.lookup_command(
"queue_step oid=%c interval=%u count=%hu add=%hi").get_command_tag()
dir_cmd_tag = self._mcu.lookup_command(
"set_next_step_dir oid=%c dir=%c").get_command_tag()
self._reset_cmd_tag = self._mcu.lookup_command(
"reset_step_clock oid=%c clock=%u").get_command_tag()
self._get_position_cmd = self._mcu.lookup_query_command(
"stepper_get_position oid=%c",
"stepper_position oid=%c pos=%i", oid=self._oid)
@@ -160,6 +161,8 @@ class MCU_stepper:
count = ffi_lib.stepcompress_extract_old(self._stepqueue, data, count,
start_clock, end_clock)
return (data, count)
def get_stepper_kinematics(self):
return self._stepper_kinematics
def set_stepper_kinematics(self, sk):
old_sk = self._stepper_kinematics
mcu_pos = 0
@@ -299,6 +302,9 @@ class PrinterRail:
self.steppers = []
self.endstops = []
self.endstop_map = {}
# Reverse homing
self.endstops_reverse = []
self.endstop_map_reverse = {}
self.add_extra_stepper(config)
mcu_stepper = self.steppers[0]
self.get_name = mcu_stepper.get_name
@@ -354,6 +360,21 @@ class PrinterRail:
raise config.error(
"Invalid homing_positive_dir / position_endstop in '%s'"
% (config.get_name(),))
# Reverse homing
if self.get_name() == "stepper_z":
if config.get('endstop_pin_reverse', None):
self.reversed = False
self.position_endstop_reverse = config.getfloat("position_endstop_reverse")
self.homing_positive_dir_reverse = config.getboolean('homing_positive_dir_reverse')
self.homing_speed_reverse = config.getfloat('homing_speed_reverse', self.homing_speed, above=0.)
self.homing_retract_dist_reverse = 0
self.printer = config.get_printer()
self.gcode = self.printer.lookup_object('gcode')
self.printer.register_event_handler("klippy:ready", self.handle_ready)
self.printer.register_event_handler("homing:home_rails_end", self.handle_reverse_home_rails_end)
def handle_ready(self):
gcode = self.printer.lookup_object('gcode')
gcode.register_command("REVERSE_HOMING", self.cmd_REVERSE_HOMING)
def get_range(self):
return self.position_min, self.position_max
def get_homing_info(self):
@@ -371,6 +392,23 @@ class PrinterRail:
def add_extra_stepper(self, config):
stepper = PrinterStepper(config, self.stepper_units_in_radians)
self.steppers.append(stepper)
# logging.info("%s begin to add stepper" % (stepper._name))
if stepper._name == "stepper_z" or stepper._name == "stepper_z1":
endstop_pin_reverse = config.get('endstop_pin_reverse', None)
# logging.info("%s begin to add mcu endstop" % (stepper._name))
# logging.info(endstop_pin_reverse)
if endstop_pin_reverse:
printer = config.get_printer()
ppins = printer.lookup_object('pins')
pin_params = ppins.parse_pin(endstop_pin_reverse, True, True)
pin_name = "%s:%s" % (pin_params['chip_name'], pin_params['pin'])
mcu_endstop_reverse = ppins.setup_pin('endstop', endstop_pin_reverse)
self.endstop_map_reverse[pin_name] = {'endstop': mcu_endstop_reverse,
'invert': pin_params['invert'],
'pullup': pin_params['pullup']}
name = stepper.get_name(short=True)
self.endstops_reverse.append((mcu_endstop_reverse, name))
mcu_endstop_reverse.add_stepper(stepper)
if self.endstops and config.get('endstop_pin', None) is None:
# No endstop defined - use primary endstop
self.endstops[0][0].add_stepper(stepper)
@@ -402,6 +440,30 @@ class PrinterRail:
"must specify the same pullup/invert settings" % (
self.get_name(), pin_name))
mcu_endstop.add_stepper(stepper)
def homing_params_switch(self):
self.reversed = not self.reversed
self.endstop_map, self.endstop_map_reverse = self.endstop_map_reverse, self.endstop_map
self.endstops, self.endstops_reverse = self.endstops_reverse, self.endstops
self.position_endstop, self.position_endstop_reverse = self.position_endstop_reverse, self.position_endstop
self.homing_positive_dir, self.homing_positive_dir_reverse = self.homing_positive_dir_reverse, self.homing_positive_dir
self.homing_retract_dist, self.homing_retract_dist_reverse = self.homing_retract_dist_reverse, self.homing_retract_dist
self.homing_speed, self.homing_speed_reverse = self.homing_speed_reverse, self.homing_speed
def cmd_REVERSE_HOMING(self, gcmd):
self.homing_params_switch()
try:
homing_state = Homing(self.printer)
homing_state.set_axes([2])
kin = self.printer.lookup_object('toolhead').get_kinematics()
kin.home(homing_state)
except self.printer.command_error:
if self.printer.is_shutdown():
raise self.printer.command_error(
"Homing failed due to printer shutdown")
self.printer.lookup_object('stepper_enable').motor_off()
raise
def handle_reverse_home_rails_end(self, homing_state, rails):
if self.reversed:
self.homing_params_switch()
def setup_itersolve(self, alloc_func, *params):
for stepper in self.steppers:
stepper.setup_itersolve(alloc_func, *params)