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uni_print_3d.py
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uni_print_3d.py
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# HAL file for BeagleBone + TCT paralell port cape with 5 steppers and 3D printer board
import os
from machinekit import rtapi as rt
from machinekit import hal
from machinekit import config as c
from fdm.config import velocity_extrusion as ve
from fdm.config import base
from fdm.config import storage
from fdm.config import motion
import hardware
# initialize the RTAPI command client
rt.init_RTAPI()
# loads the ini file passed by linuxcnc
c.load_ini(os.environ['INI_FILE_NAME'])
motion.setup_motion()
hardware.init_hardware()
storage.init_storage('storage.ini')
# Gantry component for Z Axis
base.init_gantry(axisIndex=2)
# reading functions
hardware.hardware_read()
base.gantry_read(gantryAxis=2, thread='servo-thread')
hal.addf('motion-command-handler', 'servo-thread')
numFans = c.find('FDM', 'NUM_FANS')
numExtruders = c.find('FDM', 'NUM_EXTRUDERS')
numLights = c.find('FDM', 'NUM_LIGHTS')
withAbp = c.find('FDM', 'ABP', False)
# Axis-of-motion Specific Configs (not the GUI)
ve.velocity_extrusion(extruders=numExtruders, thread='servo-thread')
# X [0] Axis
base.setup_stepper(section='AXIS_0', axisIndex=0, stepgenIndex=0)
# Y [1] Axis
base.setup_stepper(section='AXIS_1', axisIndex=1, stepgenIndex=1)
# Z [2] Axis
base.setup_stepper(section='AXIS_2', axisIndex=2, stepgenIndex=2,
thread='servo-thread', gantry=True, gantryJoint=0)
base.setup_stepper(section='AXIS_2', axisIndex=2, stepgenIndex=3,
gantry=True, gantryJoint=1)
# Extruder, velocity controlled
base.setup_stepper(section='EXTRUDER_0', stepgenIndex=4, velocitySignal='ve-extrude-vel')
# Extruder Multiplexer
base.setup_extruder_multiplexer(extruders=(numExtruders + int(withAbp)), thread='servo-thread')
# Stepper Multiplexer
multiplexSections = []
for i in range(0, numExtruders):
multiplexSections.append('EXTRUDER_%i' % i)
if withAbp: # not a very good solution
multiplexSections.append('ABP')
multiplexSections.append('ABP') # no this is no mistake, we need an additional section
hal.Pin('motion.digital-out-io-20').link('stepgen-4-control-type')
hal.net('stepgen-4-pos-cmd', 'motion.analog-out-io-50', 'hpg.stepgen.04.position-cmd')
hal.net('stepgen-4-pos-fb', 'motion.analog-in-50', 'hpg.stepgen.04.position-fb')
base.setup_stepper_multiplexer(stepgenIndex=4, sections=multiplexSections,
selSignal='extruder-sel', thread='servo-thread')
# Fans
for i in range(0, numFans):
base.setup_fan('f%i' % i, thread='servo-thread')
for i in range(0, numExtruders):
hardware.setup_exp('exp%i' % i)
# Temperature Signals
base.create_temperature_control(name='hbp', section='HBP',
hardwareOkSignal='temp-hw-ok',
thread='servo-thread')
for i in range(0, numExtruders):
base.create_temperature_control(name='e%i' % i, section='EXTRUDER_%i' % i,
coolingFan='f%i' % i, hotendFan='exp%i' % i,
hardwareOkSignal='temp-hw-ok',
thread='servo-thread')
# LEDs
for i in range(0, numLights):
base.setup_light('l%i' % i, thread='servo-thread')
# HB LED
hardware.setup_hbp_led(thread='servo-thread')
# Standard I/O - EStop, Enables, Limit Switches, Etc
errorSignals = ['gpio-hw-error', 'pwm-hw-error', 'temp-hw-error',
'watchdog-error', 'hbp-error']
for i in range(0, numExtruders):
errorSignals.append('e%i-error' % i)
base.setup_estop(errorSignals, thread='servo-thread')
base.setup_tool_loopback()
# Probe
base.setup_probe(thread='servo-thread')
# Setup Hardware
hardware.setup_hardware(thread='servo-thread')
# write out functions
hal.addf('motion-controller', 'servo-thread')
base.gantry_write(gantryAxis=2, thread='servo-thread')
hardware.hardware_write()
# Storage
storage.read_storage()
# start haltalk server after everything is initialized
# else binding the remote components on the UI might fail
hal.loadusr('haltalk', wait=True)