Refactor Replicape hardware details into a board detection module

configs/default.cfg

@@ -291,8 +291,6 @@ max_rise_temp_E = 10.0
 max_fall_temp_E = 10.0
 min_temp_E = 20.0
 max_temp_E = 250.0
-path_adc_E = /sys/bus/iio/devices/iio:device0/in_voltage4_raw
-mosfet_E = 5
 onoff_E = False
 prefix_E = T0
 max_power_E = 1.0
@@ -306,8 +304,6 @@ max_rise_temp_H = 10.0
 max_fall_temp_H = 10.0
 min_temp_H = 20.0
 max_temp_H = 250.0
-path_adc_H = /sys/bus/iio/devices/iio:device0/in_voltage5_raw
-mosfet_H = 3
 onoff_H = False
 prefix_H = T1
 max_power_H = 1.0
@@ -321,8 +317,6 @@ max_rise_temp_A = 10.0
 max_fall_temp_A = 10.0
 min_temp_A = 20.0
 max_temp_A = 250.0
-path_adc_A = /sys/bus/iio/devices/iio:device0/in_voltage0_raw
-mosfet_A = 11
 onoff_A = False
 prefix_A = T2
 max_power_A = 1.0
@@ -336,8 +330,6 @@ max_rise_temp_B = 10.0
 max_fall_temp_B = 10.0
 min_temp_B = 20.0
 max_temp_B = 250.0
-path_adc_B = /sys/bus/iio/devices/iio:device0/in_voltage3_raw
-mosfet_B = 12
 onoff_B = False
 prefix_B = T3
 max_power_B = 1.0
@@ -351,8 +343,6 @@ max_rise_temp_C = 10.0
 max_fall_temp_C = 10.0
 min_temp_C = 20.0
 max_temp_C = 250.0
-path_adc_C = /sys/bus/iio/devices/iio:device0/in_voltage2_raw
-mosfet_C = 13
 onoff_C = False
 prefix_C = T4
 max_power_C = 1.0
@@ -366,8 +356,6 @@ max_rise_temp_HBP = 10.0
 max_fall_temp_HBP = 10.0
 min_temp_HBP = 20.0
 max_temp_HBP = 250.0
-path_adc_HBP = /sys/bus/iio/devices/iio:device0/in_voltage6_raw
-mosfet_HBP = 4
 onoff_HBP = False
 prefix_HBP = B
 max_power_HBP = 1.0
@@ -383,8 +371,6 @@ has_a = False
 has_b = False
 has_c = False
 
-inputdev = /dev/input/by-path/platform-ocp:gpio_keys-event
-
 # Number of cycles to wait between checking
 # end stops. CPU frequency is 200 MHz
 end_stop_delay_cycles = 1000
@@ -399,22 +385,6 @@ invert_Y2 = False
 invert_Z1 = False
 invert_Z2 = False
 
-pin_X1 = GPIO3_21
-pin_X2 = GPIO0_30
-pin_Y1 = GPIO1_17
-pin_Y2 = GPIO3_17
-pin_Z1 = GPIO0_31
-pin_Z2 = GPIO0_4
-
-# On A4A you'll need pin_Y2 = GPIO1_19
-
-keycode_X1 = 112
-keycode_X2 = 113
-keycode_Y1 = 114
-keycode_Y2 = 115
-keycode_Z1 = 116
-keycode_Z2 = 117
-
 # If one endstop is hit, which steppers and directions are masked.
 #   The list is comma separated and has format
 #     x_cw = stepper x clockwise (independent of direction_x)

redeem/CascadingConfigParser.py

@@ -59,35 +59,6 @@ def timestamp(self):
       ts = max(ts, os.lstat(printer_cfg).st_mtime)
     return ts
 
-  def parse_capes(self):
-    """ Read the name and revision of each cape on the BeagleBone """
-    self.replicape_revision = None
-    self.reach_revision = None
-
-    import glob
-    paths = glob.glob("/sys/bus/i2c/devices/[1-2]-005[4-7]/*/nvmem")
-    paths.extend(glob.glob("/sys/bus/i2c/devices/[1-2]-005[4-7]/nvmem/at24-[1-4]/nvmem"))
-    #paths.append(glob.glob("/sys/bus/i2c/devices/[1-2]-005[4-7]/eeprom"))
-    for i, path in enumerate(paths):
-      try:
-        with open(path, "rb") as f:
-          data = f.read(120)
-          name = data[58:74].strip()
-          if name == "BB-BONE-REPLICAP":
-            self.replicape_revision = data[38:42]
-            self.replicape_data = data
-            self.replicape_path = path
-          elif name[:13] == "BB-BONE-REACH":
-            self.reach_revision = data[38:42]
-            self.reach_data = data
-            self.reach_path = path
-          if self.replicape_revision != None and self.reach_revision != None:
-            break
-      except IOError as e:
-        pass
-    # Parameters from the hardware
-    self.setup_key()
-
   def get_default_settings(self):
     fs = []
     for config_file in self.config_files:
@@ -163,25 +134,6 @@ def check(self, filename):
       logging.warning("{} contains errors.".format(filename))
     return local_ok
 
-  def setup_key(self):
-    """ Get the generated key from the config or create one """
-    self.replicape_key = "".join(struct.unpack('20c', self.replicape_data[100:120]))
-    logging.debug("Found Replicape key: '" + self.replicape_key + "'")
-    if self.replicape_key == '\x00' * 20:
-      logging.debug("Replicape key invalid")
-      import random
-      import string
-      self.replicape_key = ''.join(
-          random.SystemRandom().choice(string.ascii_uppercase + string.digits) for _ in range(20))
-      self.replicape_data = self.replicape_data[:100] + self.replicape_key
-      logging.debug("New Replicape key: '" + self.replicape_key + "'")
-      #logging.debug("".join(struct.unpack('20c', self.new_replicape_data[100:120])))
-      try:
-        with open(self.replicape_path, "wb") as f:
-          f.write(self.replicape_data[:120])
-      except IOError as e:
-        logging.warning("Unable to write new key to EEPROM")
-
 
 if __name__ == '__main__':
   logging.basicConfig(

redeem/Printer.py

@@ -45,8 +45,11 @@ class Printer:
   def __init__(self):
     self.steppers = {}
     self.heaters = {}
+    self.thermistor_inputs = {}
     self.thermistors = {}
     self.mosfets = {}
+    self.end_stop_inputs = {}
+    self.end_stop_keycodes = {}
     self.end_stops = {}
     self.fans = []
     self.cold_ends = []

redeem/PruFirmware.py

@@ -314,7 +314,7 @@ def make_config_file(self):
       end_stop_delay = self.config.getint('Endstops', 'end_stop_delay_cycles')
       configFile.write("#define END_STOP_DELAY " + str(end_stop_delay) + "\n")
 
-      revision = self.printer.config.replicape_revision.strip('0')
+      revision = self.printer.revision.strip('0')
 
       # Note that these are all cycle counts of the 200MHz PRU - 1 cycle is 5ns
       if revision.startswith('A'):    # DRV8825

redeem/Redeem.py

@@ -22,6 +22,8 @@
 """
 
 import glob
+import importlib
+import inspect
 import logging
 import logging.handlers
 import os
@@ -32,6 +34,7 @@
 import Queue
 import numpy as np
 import sys
+import boards.probe
 
 from Mosfet import Mosfet
 from Stepper import *
@@ -121,7 +124,7 @@ def __init__(self, config_location="/etc/redeem"):
       printer.config.check(printer_path)
     printer.config.check(os.path.join(config_location, 'local.cfg'))
 
-    # Get the revision and loglevel from the Config file
+    # Get the loglevel from the Config file
     level = self.printer.config.getint('System', 'loglevel')
     if level > 0:
       logging.getLogger().setLevel(level)
@@ -137,99 +140,37 @@ def __init__(self, config_location="/etc/redeem"):
       logging.getLogger().addHandler(printer.redeem_logging_handler)
       logging.info("-- Logfile configured --")
 
-    # Find out which capes are connected
-    self.printer.config.parse_capes()
-    self.revision = self.printer.config.replicape_revision
-    if self.revision:
-      logging.info("Found Replicape rev. {}".format(self.revision))
+    # probe for the actual hardware
+    boards.probe.probe_all_boards(self.printer)
+
+    if hasattr(self.printer, "board"):
+      logging.info("Found board: %s %s", self.printer.board, self.printer.revision)
     else:
-      logging.warning("Oh no! No Replicape present!")
-      self.revision = "0B3A"
-    # We set it to 5 axis by default
-    Printer.NUM_AXES = 5
-    if self.printer.config.reach_revision:
-      logging.info("Found Reach rev. " + self.printer.config.reach_revision)
-    if self.printer.config.reach_revision == "00A0":
-      Printer.NUM_AXES = 8
-    elif self.printer.config.reach_revision == "00B0":
-      Printer.NUM_AXES = 7
-
-    if self.revision in ["00A4", "0A4A", "00A3"]:
-      PWM.set_frequency(100)
-    elif self.revision in ["00B1", "00B2", "00B3", "0B3A"]:
-      PWM.set_frequency(1000)
+      logging.error("No printer control board found - exiting")
+      sys.exit()
 
     # Init the Watchdog timer
     printer.watchdog = Watchdog()
 
-    # Enable PWM and steppers
-    printer.enable = Enable("P9_41")
-    printer.enable.set_disabled()
-
     printer.NUM_EXTRUDERS = printer.config.getint('Steppers', 'number_of_extruders')
 
-    # Init the Paths
     printer.axis_config = printer.config.getint('Geometry', 'axis_config')
 
-    # Init the end stops
-    EndStop.inputdev = self.printer.config.get("Endstops", "inputdev")
-    # Set up key listener
-    Key_pin.listener = Key_pin_listener(EndStop.inputdev)
-
     homing_only_endstops = self.printer.config.get('Endstops', 'homing_only_endstops')
 
     for es in ["Z2", "Y2", "X2", "Z1", "Y1",
                "X1"]:    # Order matches end stop inversion mask in Firmware
-      pin = self.printer.config.get("Endstops", "pin_" + es)
-      keycode = self.printer.config.getint("Endstops", "keycode_" + es)
+      pin = self.printer.end_stop_inputs[es]
+      keycode = self.printer.end_stop_keycodes[es]
       invert = self.printer.config.getboolean("Endstops", "invert_" + es)
       self.printer.end_stops[es] = EndStop(printer, pin, keycode, es, invert)
-      self.printer.end_stops[es].stops = self.printer.config.get('Endstops',
-                                                                 'end_stop_' + es + '_stops')
+      self.printer.end_stops[es].stops = printer.config.get('Endstops', 'end_stop_' + es + '_stops')
 
     # activate all the endstops
     self.printer.set_active_endstops()
 
     # Init the 5 Stepper motors (step, dir, fault, DAC channel, name)
     Stepper.printer = printer
-    if self.revision == "00A3":
-      printer.steppers["X"] = Stepper_00A3("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, "X")
-      printer.steppers["Y"] = Stepper_00A3("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, "Y")
-      printer.steppers["Z"] = Stepper_00A3("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, "Z")
-      printer.steppers["E"] = Stepper_00A3("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, "E")
-      printer.steppers["H"] = Stepper_00A3("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, "H")
-    elif self.revision == "00B1":
-      printer.steppers["X"] = Stepper_00B1("GPIO0_27", "GPIO1_29", "GPIO2_4", 11, 0, "X")
-      printer.steppers["Y"] = Stepper_00B1("GPIO1_12", "GPIO0_22", "GPIO2_5", 12, 1, "Y")
-      printer.steppers["Z"] = Stepper_00B1("GPIO0_23", "GPIO0_26", "GPIO0_15", 13, 2, "Z")
-      printer.steppers["E"] = Stepper_00B1("GPIO1_28", "GPIO1_15", "GPIO2_1", 14, 3, "E")
-      printer.steppers["H"] = Stepper_00B1("GPIO1_13", "GPIO1_14", "GPIO2_3", 15, 4, "H")
-    elif self.revision == "00B2":
-      printer.steppers["X"] = Stepper_00B2("GPIO0_27", "GPIO1_29", "GPIO2_4", 11, 0, "X")
-      printer.steppers["Y"] = Stepper_00B2("GPIO1_12", "GPIO0_22", "GPIO2_5", 12, 1, "Y")
-      printer.steppers["Z"] = Stepper_00B2("GPIO0_23", "GPIO0_26", "GPIO0_15", 13, 2, "Z")
-      printer.steppers["E"] = Stepper_00B2("GPIO1_28", "GPIO1_15", "GPIO2_1", 14, 3, "E")
-      printer.steppers["H"] = Stepper_00B2("GPIO1_13", "GPIO1_14", "GPIO2_3", 15, 4, "H")
-    elif self.revision in ["00B3", "0B3A"]:
-      printer.steppers["X"] = Stepper_00B3("GPIO0_27", "GPIO1_29", 90, 11, 0, "X")
-      printer.steppers["Y"] = Stepper_00B3("GPIO1_12", "GPIO0_22", 91, 12, 1, "Y")
-      printer.steppers["Z"] = Stepper_00B3("GPIO0_23", "GPIO0_26", 92, 13, 2, "Z")
-      printer.steppers["E"] = Stepper_00B3("GPIO1_28", "GPIO1_15", 93, 14, 3, "E")
-      printer.steppers["H"] = Stepper_00B3("GPIO1_13", "GPIO1_14", 94, 15, 4, "H")
-    elif self.revision in ["00A4", "0A4A"]:
-      printer.steppers["X"] = Stepper_00A4("GPIO0_27", "GPIO1_29", "GPIO2_4", 0, 0, "X")
-      printer.steppers["Y"] = Stepper_00A4("GPIO1_12", "GPIO0_22", "GPIO2_5", 1, 1, "Y")
-      printer.steppers["Z"] = Stepper_00A4("GPIO0_23", "GPIO0_26", "GPIO0_15", 2, 2, "Z")
-      printer.steppers["E"] = Stepper_00A4("GPIO1_28", "GPIO1_15", "GPIO2_1", 3, 3, "E")
-      printer.steppers["H"] = Stepper_00A4("GPIO1_13", "GPIO1_14", "GPIO2_3", 4, 4, "H")
-    # Init Reach steppers, if present.
-    if printer.config.reach_revision == "00A0":
-      printer.steppers["A"] = Stepper_reach_00A4("GPIO2_2", "GPIO1_18", "GPIO0_14", 5, 5, "A")
-      printer.steppers["B"] = Stepper_reach_00A4("GPIO1_16", "GPIO0_5", "GPIO0_14", 6, 6, "B")
-      printer.steppers["C"] = Stepper_reach_00A4("GPIO0_3", "GPIO3_19", "GPIO0_14", 7, 7, "C")
-    elif printer.config.reach_revision == "00B0":
-      printer.steppers["A"] = Stepper_reach_00B0("GPIO1_16", "GPIO0_5", "GPIO0_3", 5, 5, "A")
-      printer.steppers["B"] = Stepper_reach_00B0("GPIO2_2", "GPIO0_14", "GPIO0_3", 6, 6, "B")
 
     # Enable the steppers and set the current, steps pr mm and
     # microstepping
@@ -271,14 +212,9 @@ def __init__(self, config_location="/etc/redeem"):
 
     # Make Mosfets, temperature sensors and extruders
     heaters = ["E", "H", "HBP"]
-    if self.printer.config.reach_revision:
-      heaters.extend(["A", "B", "C"])
     for e in heaters:
-      # Mosfets
-      channel = self.printer.config.getint("Heaters", "mosfet_" + e)
-      self.printer.mosfets[e] = Mosfet(channel)
       # Thermistors
-      adc = self.printer.config.get("Heaters", "path_adc_" + e)
+      adc = self.printer.thermistor_inputs[e]
       if not self.printer.config.has_option("Heaters", "sensor_" + e):
         sensor = self.printer.config.get("Heaters", "temp_chart_" + e)
         logging.warning("Deprecated config option temp_chart_" + e + " use sensor_" + e +
@@ -310,26 +246,6 @@ def __init__(self, config_location="/etc/redeem"):
           'Heaters', 'max_fall_temp_' + e)
       self.printer.heaters[e].max_power = self.printer.config.getfloat('Heaters', 'max_power_' + e)
 
-    # Init the three fans. Argument is PWM channel number
-    self.printer.fans = []
-    if self.revision == "00A3":
-      self.printer.fans.append(Fan(0))
-      self.printer.fans.append(Fan(1))
-      self.printer.fans.append(Fan(2))
-    elif self.revision == "0A4A":
-      self.printer.fans.append(Fan(8))
-      self.printer.fans.append(Fan(9))
-      self.printer.fans.append(Fan(10))
-    elif self.revision in ["00B1", "00B2", "00B3", "0B3A"]:
-      self.printer.fans.append(Fan(7))
-      self.printer.fans.append(Fan(8))
-      self.printer.fans.append(Fan(9))
-      self.printer.fans.append(Fan(10))
-    if printer.config.reach_revision == "00A0":
-      self.printer.fans.append(Fan(14))
-      self.printer.fans.append(Fan(15))
-      self.printer.fans.append(Fan(7))
-
     # Set default value for all fans
     for i, f in enumerate(self.printer.fans):
       f.set_value(self.printer.config.getfloat('Fans', "default-fan-{}-value".format(i)))

redeem/boards/probe.py

@@ -0,0 +1,5 @@
+import replicape
+
+
+def probe_all_boards(printer):
+  replicape.probe_replicape(printer)