mcu: Allow each oid object to define its own build_config() method
Create a build_config() method on each oid object and call it just after connecting to the MCU. Move code that requires a connected state from the oid init to its new build_config method. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
1d796a4e24
commit
168cb95bd5
139
klippy/mcu.py
139
klippy/mcu.py
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@ -24,32 +24,37 @@ STEPCOMPRESS_ERROR_RET = -989898989
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class MCU_stepper:
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def __init__(self, mcu, step_pin, dir_pin, min_stop_interval, max_error):
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self._mcu = mcu
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self._oid = mcu.create_oid()
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self._oid = mcu.create_oid(self)
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self._max_error = max_error
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step_pin, pullup, invert_step = parse_pin_extras(step_pin)
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dir_pin, pullup, self._invert_dir = parse_pin_extras(dir_pin)
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self._mcu_freq = mcu.get_mcu_freq()
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max_error = int(max_error * self._mcu_freq)
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self.commanded_position = 0
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self._mcu_position_offset = 0
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self._mcu_freq = 0.
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mcu.add_config_cmd(
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"config_stepper oid=%d step_pin=%s dir_pin=%s"
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" min_stop_interval=TICKS(%.9f) invert_step=%d" % (
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self._oid, step_pin, dir_pin, min_stop_interval, invert_step))
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mcu.register_stepper(self)
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self._step_cmd = mcu.lookup_command(
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self._reset_cmd = self._get_position_cmd = None
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self.ffi_lib = self._stepqueue = None
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self.print_to_mcu_time = mcu.print_to_mcu_time
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def build_config(self):
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self._mcu_freq = self._mcu.get_mcu_freq()
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max_error = int(self._max_error * self._mcu_freq)
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step_cmd = self._mcu.lookup_command(
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"queue_step oid=%c interval=%u count=%hu add=%hi")
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self._dir_cmd = mcu.lookup_command(
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dir_cmd = self._mcu.lookup_command(
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"set_next_step_dir oid=%c dir=%c")
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self._reset_cmd = mcu.lookup_command(
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self._reset_cmd = self._mcu.lookup_command(
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"reset_step_clock oid=%c clock=%u")
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self._get_position_cmd = mcu.lookup_command(
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self._get_position_cmd = self._mcu.lookup_command(
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"stepper_get_position oid=%c")
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ffi_main, self.ffi_lib = chelper.get_ffi()
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self._stepqueue = ffi_main.gc(self.ffi_lib.stepcompress_alloc(
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max_error, self._step_cmd.msgid
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, self._dir_cmd.msgid, self._invert_dir, self._oid),
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max_error, step_cmd.msgid, dir_cmd.msgid,
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self._invert_dir, self._oid),
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self.ffi_lib.stepcompress_free)
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self.print_to_mcu_time = mcu.print_to_mcu_time
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def get_oid(self):
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return self._oid
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def set_position(self, pos):
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@ -144,7 +149,7 @@ class MCU_endstop:
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RETRY_QUERY = 1.000
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def __init__(self, mcu, pin, stepper):
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self._mcu = mcu
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self._oid = mcu.create_oid()
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self._oid = mcu.create_oid(self)
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self._stepper = stepper
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stepper_oid = stepper.get_oid()
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pin, pullup, self._invert = parse_pin_extras(pin, can_pullup=True)
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@ -152,18 +157,21 @@ class MCU_endstop:
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mcu.add_config_cmd(
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"config_end_stop oid=%d pin=%s pull_up=%d stepper_oid=%d" % (
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self._oid, pin, pullup, stepper_oid))
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self._home_cmd = mcu.lookup_command(
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"end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c")
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mcu.register_msg(self._handle_end_stop_state, "end_stop_state"
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, self._oid)
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self._query_cmd = mcu.lookup_command("end_stop_query oid=%c")
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self._home_cmd = self._query_cmd = None
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self._homing = False
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self._min_query_time = 0.
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self._min_query_time = self._mcu_freq = 0.
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self._next_query_clock = self._home_timeout_clock = 0
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self._mcu_freq = mcu.get_mcu_freq()
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self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY)
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self._retry_query_ticks = 0
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self._last_state = {}
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self.print_to_mcu_time = mcu.print_to_mcu_time
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def build_config(self):
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self._mcu_freq = self._mcu.get_mcu_freq()
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self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY)
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self._home_cmd = self._mcu.lookup_command(
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"end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c")
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self._query_cmd = self._mcu.lookup_command("end_stop_query oid=%c")
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self._mcu.register_msg(self._handle_end_stop_state, "end_stop_state"
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, self._oid)
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def home_start(self, mcu_time, rest_time):
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clock = int(mcu_time * self._mcu_freq)
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rest_ticks = int(rest_time * self._mcu_freq)
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@ -224,19 +232,22 @@ class MCU_endstop:
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class MCU_digital_out:
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def __init__(self, mcu, pin, max_duration):
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self._mcu = mcu
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self._oid = mcu.create_oid()
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self._oid = mcu.create_oid(self)
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pin, pullup, self._invert = parse_pin_extras(pin)
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self._last_clock = 0
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self._last_value = None
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self._mcu_freq = mcu.get_mcu_freq()
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self._mcu_freq = 0.
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self._cmd_queue = mcu.alloc_command_queue()
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mcu.add_config_cmd(
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"config_digital_out oid=%d pin=%s default_value=%d"
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" max_duration=TICKS(%f)" % (
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self._oid, pin, self._invert, max_duration))
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self._set_cmd = mcu.lookup_command(
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"schedule_digital_out oid=%c clock=%u value=%c")
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self._set_cmd = None
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self.print_to_mcu_time = mcu.print_to_mcu_time
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def build_config(self):
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self._mcu_freq = self._mcu.get_mcu_freq()
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self._set_cmd = self._mcu.lookup_command(
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"schedule_digital_out oid=%c clock=%u value=%c")
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def set_digital(self, mcu_time, value):
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clock = int(mcu_time * self._mcu_freq)
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msg = self._set_cmd.encode(self._oid, clock, value ^ self._invert)
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@ -256,10 +267,11 @@ class MCU_pwm:
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PWM_MAX = 255.
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def __init__(self, mcu, pin, cycle_time, hard_cycle_ticks, max_duration):
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self._mcu = mcu
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self._oid = mcu.create_oid()
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self._hard_cycle_ticks = hard_cycle_ticks
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self._oid = mcu.create_oid(self)
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pin, pullup, self._invert = parse_pin_extras(pin)
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self._last_clock = 0
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self._mcu_freq = mcu.get_mcu_freq()
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self._mcu_freq = 0.
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self._cmd_queue = mcu.alloc_command_queue()
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if hard_cycle_ticks:
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mcu.add_config_cmd(
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@ -267,16 +279,21 @@ class MCU_pwm:
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" max_duration=TICKS(%f)" % (
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self._oid, pin, hard_cycle_ticks, self._invert,
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max_duration))
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self._set_cmd = mcu.lookup_command(
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"schedule_pwm_out oid=%c clock=%u value=%c")
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else:
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mcu.add_config_cmd(
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"config_soft_pwm_out oid=%d pin=%s cycle_ticks=TICKS(%f)"
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" default_value=%d max_duration=TICKS(%f)" % (
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self._oid, pin, cycle_time, self._invert, max_duration))
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self._set_cmd = mcu.lookup_command(
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"schedule_soft_pwm_out oid=%c clock=%u value=%c")
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self._set_cmd = None
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self.print_to_mcu_time = mcu.print_to_mcu_time
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def build_config(self):
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self._mcu_freq = self._mcu.get_mcu_freq()
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if self._hard_cycle_ticks:
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self._set_cmd = self._mcu.lookup_command(
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"schedule_pwm_out oid=%c clock=%u value=%c")
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else:
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self._set_cmd = self._mcu.lookup_command(
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"schedule_soft_pwm_out oid=%c clock=%u value=%c")
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def set_pwm(self, mcu_time, value):
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clock = int(mcu_time * self._mcu_freq)
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if self._invert:
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@ -290,41 +307,46 @@ class MCU_pwm:
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class MCU_adc:
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def __init__(self, mcu, pin):
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self._mcu = mcu
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self._oid = mcu.create_oid()
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self._min_sample = 0
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self._max_sample = 0xffff
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self._sample_ticks = 0
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self._sample_count = 1
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self._oid = mcu.create_oid(self)
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self._min_sample = self._max_sample = 0.
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self._sample_time = self._report_time = 0.
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self._sample_count = 0
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self._report_clock = 0
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self._callback = None
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self._inv_max_adc = 0.
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self._mcu_freq = mcu.get_mcu_freq()
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self._mcu_freq = 0.
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self._cmd_queue = mcu.alloc_command_queue()
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mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % (self._oid, pin))
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self._query_cmd = None
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mcu.add_init_callback(self._init_callback)
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mcu.register_msg(self._handle_analog_in_state, "analog_in_state"
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, self._oid)
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self._query_cmd = mcu.lookup_command(
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self._query_cmd = None
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def build_config(self):
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self._mcu_freq = self._mcu.get_mcu_freq()
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self._report_clock = int(self._report_time * self._mcu_freq)
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self._mcu.register_msg(self._handle_analog_in_state, "analog_in_state"
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, self._oid)
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self._query_cmd = self._mcu.lookup_command(
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"query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c"
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" rest_ticks=%u min_value=%hu max_value=%hu")
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def set_minmax(self, sample_time, sample_count, minval=None, maxval=None):
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self._sample_ticks = int(sample_time * self._mcu_freq)
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def set_minmax(self, sample_time, sample_count, minval=0., maxval=1.):
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self._sample_time = sample_time
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self._sample_count = sample_count
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if minval is None:
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minval = 0
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if maxval is None:
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maxval = 0xffff
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mcu_adc_max = self._mcu.serial.msgparser.get_constant_float("ADC_MAX")
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max_adc = sample_count * mcu_adc_max
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self._min_sample = int(minval * max_adc)
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self._max_sample = min(0xffff, int(math.ceil(maxval * max_adc)))
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self._inv_max_adc = 1.0 / max_adc
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self._min_sample = minval
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self._max_sample = maxval
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def _init_callback(self):
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if not self._sample_count:
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return
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last_clock, last_clock_time = self._mcu.get_last_clock()
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clock = last_clock + int(self._mcu_freq * (1.0 + self._oid * 0.01)) # XXX
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sample_ticks = int(self._sample_time * self._mcu_freq)
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mcu_adc_max = self._mcu.serial.msgparser.get_constant_float("ADC_MAX")
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max_adc = self._sample_count * mcu_adc_max
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self._inv_max_adc = 1.0 / max_adc
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min_sample = int(self._min_sample * max_adc)
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max_sample = min(0xffff, int(math.ceil(self._max_sample * max_adc)))
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msg = self._query_cmd.encode(
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self._oid, clock, self._sample_ticks, self._sample_count
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, self._report_clock, self._min_sample, self._max_sample)
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self._oid, clock, sample_ticks, self._sample_count
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, self._report_clock, min_sample, max_sample)
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self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
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def _handle_analog_in_state(self, params):
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last_value = params['value'] * self._inv_max_adc
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@ -333,7 +355,7 @@ class MCU_adc:
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if self._callback is not None:
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self._callback(last_read_time, last_value)
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def set_adc_callback(self, report_time, callback):
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self._report_clock = int(report_time * self._mcu_freq)
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self._report_time = report_time
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self._callback = callback
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class MCU:
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@ -354,7 +376,7 @@ class MCU:
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self.timeout_handler)
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# Config building
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self._emergency_stop_cmd = self._clear_shutdown_cmd = None
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self._num_oids = 0
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self._oids = []
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self._config_cmds = []
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self._config_crc = None
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self._init_callbacks = []
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@ -452,9 +474,11 @@ class MCU:
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self.add_config_cmd(line)
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def build_config(self):
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# Build config commands
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for oid in self._oids:
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oid.build_config()
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self._add_custom()
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self._config_cmds.insert(0, "allocate_oids count=%d" % (
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self._num_oids,))
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len(self._oids),))
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# Resolve pin names
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mcu = self.serial.msgparser.get_constant('MCU')
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@ -509,10 +533,9 @@ class MCU:
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for cb in self._init_callbacks:
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cb()
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# Config creation helpers
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def create_oid(self):
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oid = self._num_oids
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self._num_oids += 1
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return oid
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def create_oid(self, oid):
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self._oids.append(oid)
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return len(self._oids) - 1
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def add_config_cmd(self, cmd):
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self._config_cmds.append(cmd)
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def add_init_callback(self, callback):
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