mirror of
https://github.com/Dark98/Ender-3_V3_KE_Klipper.git
synced 2026-07-02 16:49:04 +00:00
liyongjie
112 lines
4.6 KiB
Python
112 lines
4.6 KiB
Python
# Support for button detection and callbacks
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#
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# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import mcu
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import time
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class DirZCtl:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.toolhead = None
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self.mcu = mcu.get_printer_mcu(self.printer, config.get('use_mcu'))
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self.oid = self.mcu.create_oid()
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self.steppers = []
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self.mcu.register_config_callback(self._build_config)
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self.mcu.register_response(self._handle_debug_dirzctl, "debug_dirzctl", self.oid)
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self.mcu.register_response(self._handle_result_dirzctl, "result_dirzctl", self.oid)
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self.printer.register_event_handler('klippy:mcu_identify', self._handle_mcu_identify)
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self.printer.register_event_handler("klippy:shutdown", self._handle_shutdown)
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self.printer.register_event_handler("klippy:disconnect", self._handle_disconnect)
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self.gcode = self.printer.lookup_object("gcode")
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self.gcode.register_command('DIRZCTL', self.cmd_DIRZCTL, desc=self.cmd_DIRZCTL_help)
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self.all_params = []
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self.hx711s = None
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self.mcu_freq = 72000000
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self.step_base = config.getfloat('step_base', default=2, minval=1, maxval=6)
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self.last_send_heart = 0.
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self.is_shutdown = True
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self.is_timeout = True
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pass
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def _handle_mcu_identify(self):
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self.hx711s = self.printer.lookup_object('hx711s')
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self.steppers = []
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self.toolhead = self.printer.lookup_object('toolhead')
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for stepper in self.toolhead.get_kinematics().get_steppers():
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if stepper.is_active_axis('z'):
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self.steppers.append(stepper)
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self.mcu_freq = self.mcu.get_constant_float('CLOCK_FREQ')
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# self.send_heart_beat_cmd = self.mcu.lookup_query_command(
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# "heart_beat_dirzctl oid=%c",
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# "heart_beat_dirzctl_result oid=%c",
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# oid=self.oid, cq=None)
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self.is_shutdown = False
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self.is_timeout = False
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pass
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def _build_config(self):
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self.mcu.add_config_cmd("config_dirzctl oid=%d z_count=%d" % (self.oid, len(self.steppers)))
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for i in range(len(self.steppers)):
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dir_pin, step_pin, ivt_dir, ivt_step = self.steppers[i].get_pin_info()
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self.mcu.add_config_cmd("add_dirzctl oid=%d index=%d dir_pin=%s step_pin=%s dir_invert=%d step_invert=%d" % (self.oid, i, dir_pin, step_pin, ivt_dir, ivt_step))
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# self.run_cmd = self.mcu.lookup_command("run_dirzctl oid=%c direct=%c step_us=%u step_cnt=%u is_ck_con=%c", cq=None)
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self.run_cmd = self.mcu.lookup_command("run_dirzctl oid=%c direct=%c step_us=%u step_cnt=%u", cq=None)
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pass
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def _handle_shutdown(self):
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self.is_shutdown = True
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pass
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def _handle_disconnect(self):
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self.is_timeout = True
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pass
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def _handle_debug_dirzctl(self, params):
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self.printer.lookup_object('prtouch').pnt_msg(str(params))
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pass
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def _handle_result_dirzctl(self, params):
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self.all_params.append(params)
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# self.printer.lookup_object('prtouch').pnt_msg(str(params))
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pass
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def get_params(self):
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return self.all_params, (self.all_params[0]['tick'] if len(self.all_params) > 0 else 0)
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def check_and_run(self, direct, step_us, step_cnt, wait_finish=True, is_ck_con=False):
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if self.is_shutdown or self.is_timeout:
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pass
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if step_cnt != 0:
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self.all_params = []
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# self.run_cmd.send([self.oid, direct, step_us, step_cnt, 1 if is_ck_con else 0])
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self.run_cmd.send([self.oid, direct, step_us, step_cnt])
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t_start = time.time()
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while not (self.is_shutdown or self.is_timeout) and wait_finish and ((time.time() - t_start) < (1.5 * 1000 * 1000 * step_us * step_cnt)) and len(self.all_params) != 2:
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self.hx711s.delay_s(0.05)
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pass
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def send_heart_beat(self):
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#if time.time() - self.last_send_heart > 0.1:
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# self.send_heart_beat_cmd.send([self.oid])
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# self.last_send_heart = time.time()
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pass
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cmd_DIRZCTL_help = "Test DIRZCTL."
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# DIRZCTL DIRECT=1 STEP_US=1500 STEP_CNT=100
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def cmd_DIRZCTL(self, gcmd):
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index = gcmd.get_int('INDEX', len(self.steppers), minval=0, maxval=len(self.steppers))
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direct = gcmd.get_int('DIRECT', 1, minval=0, maxval=1)
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step_us = gcmd.get_int('STEP_US', 1500, minval=4, maxval=100000)
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step_cnt = gcmd.get_int('STEP_CNT', 256, minval=0, maxval=10000)
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self.check_and_run(direct, step_us, step_cnt, False, False)
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pass
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def load_config(config):
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return DirZCtl(config)
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