This is an implementation of the SOS fliltering algorithm that runs on the MCU.
The filter opperates on data in fixed point format to avoid use of the FPU as klipper does not support FPU usage.
This host object handles duties of initalizing and resetting the filter so client dont have to declare their own commands for these opperations. Clients can select how many integer bits they want to use for both the filter coefficients and the filters output value. An arbitrary number of filter sections can be configured. Filters can be designed on the fly with the SciPy library or loaded from another source.
Signed-off-by: Gareth Farrington <gareth@waves.ky>
Add a new G-Code command that can register a manual_stepper as an
additional axis on standard G-Code G1 commands.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* tests: Added a regression test for generic_cartesian kinematics
* kinematics: An intial implementation of generic_cartesian kinematics
* generic_cartesian: Refactored kinematics configuration API
* generic_cartesian: Use stepper instead of kinematic_stepper in configs
* generic_cartesian: Added SET_STEPPER_KINEMATICS command
* generic_cartesian: Fixed parsing of section names
* docs: Generic Caretsian kinematics documentation and config samples
* generic_cartesian: Implemented multi-mcu homing validation
* generic_cartesian: Fixed typos in docs, minor fixes
* generic_cartesian: Renamed `kinematics` option to `carriages`
* generic_cartesian: Moved kinematic_stepper.py file
* idex_modes: Internal refactoring of handling dual carriages
* stepper: Refactored the code to not store a reference to config object
* config: Updated example-generic-cartesian config
* generic_cartesian: Restricted SET_STEPPER_CARRIAGES and exported status
* idex_modes: Fixed handling stepper kinematics with input shaper enabled
* config: Updated configs and tests for SET_DUAL_CARRIAGE new params
* generic_cartesian: Avoid inheritance in the added classes
Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
Increase the confirmation rate of heater enable settings. This allows
the mcu to utilize faster internal speeds.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Separate homing operations (as called from probe:z_virtual_endstop)
from the normal probe command handling.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use the normal probe_session_start(), run_probe(),
pull_probed_results(), and end_probe_session() API from
ProbeSessionHelper. This removes the custom probing_move() callback.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Move the HomingViaProbeHelper() instance from ProbeSessionHelper to a
new ProbeEndstopSessionHelper class.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Currently, `MANUAL_STEPPER STOP_ON_ENDSTOP=1` type commands will move
until hitting the endstop, but it will still always consume the total
amount of move time. That is, following moves can't be started until
the total possible time of the homing move is completed.
Implement "drip moves" so that the code only schedules the movement in
small segments. This allows following movements to be scheduled
without a significant delay.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
`hall_filament_width_sensor` contains a runout sensor object internally.
This exposes those values in the API status result.
```
SEND: {"id":123,"method":"objects/query","params":{"objects":{"hall_filament_width_sensor":["enabled","filament_detected","is_active","Diameter","Raw"]}}}
GOT: b'{"id":123,"result":{"eventtime":199567.823596603,"status":{"hall_filament_width_sensor":{"enabled":true,"filament_detected":true,"is_active":true,"Diameter":1.9499999999999986,"Raw":6113}}}}'
```
The duplication of `is_active` and `enabled` seems confusing, but both
of these can be independently manipulated by GCode:
```
SEND: {"id":123,"method":"gcode/script","params":{"script":"DISABLE_FILAMENT_WIDTH_SENSOR"}}
GOT: b'{"id":123,"result":{}}'
SEND: {"id":123,"method":"objects/query","params":{"objects":{"hall_filament_width_sensor":["enabled","is_active"]}}}
GOT: b'{"id":123,"result":{"eventtime":199770.446013297,"status":{"hall_filament_width_sensor":{"enabled":true,"is_active":false}}}}'
SEND: {"id":123,"method":"gcode/script","params":{"script":"SET_FILAMENT_SENSOR SENSOR=hall_filament_width_sensor ENABLE=0"}}
GOT: b'{"id":123,"result":{}}'
SEND: {"id":123,"method":"objects/query","params":{"objects":{"hall_filament_width_sensor":["enabled","is_active"]}}}
GOT: b'{"id":123,"result":{"eventtime":199847.927726196,"status":{"hall_filament_width_sensor":{"enabled":false,"is_active":false}}}}'
```
Signed-off-by: Russell Cloran <rcloran@gmail.com>
Commit 70838797 added support for clearing the homing state in
SET_KINEMATIC_POSITION commands. However, it can be difficult to use
that support as the default for SET_KINEMATIC_POSITION is to set all
axes as homed.
Add a new SET_HOMED parameter to allow one to explicitly request which
axes to consider in a homed state.
Also introduce a CLEAR_HOMED parameter and prefer that to the existing
CLEAR parameter.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
