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mcu: Initial support for multiple micro-controllers 

Add initial support for controlling multiple independent
micro-controllers from a single Klippy host instance.  Add basic
support for synchronizing the clocks of the additional mcus to the
main mcu's clock.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-08-14 11:46:35 -04:00
parent cee200e509
commit 3ccecc568d
5 changed files with 172 additions and 53 deletions
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11
config/example-extras.cfg
View File

@ -42,6 +42,17 @@
# the fan is disabled. The default is 50 Celsius.
# Additional micro-controllers (one may define any number of sections
# with an "mcu" prefix). Additional micro-controllers introduce
# additional pins that may be configured as heaters, steppers, fans,
# etc.. For example, if an "[mcu extra_mcu]" section is introduced,
# then pins such as "extra_mcu:ar9" may then be used elsewhere in the
# config (where "ar9" is a hardware pin name or alias name on the
# given mcu).
#[mcu my_extra_mcu]
# See the "mcu" section in example.cfg for configuration parameters.
# Statically configured digital output pins (one may define any number
# of sections with a "static_digital_output" prefix). Pins configured
# here will be setup as a GPIO output during MCU configuration.

58
klippy/clocksync.py
View File

@ -51,6 +51,8 @@ class ClockSync:
self.last_clock, self.last_clock_time)
def is_active(self, eventtime):
return self.queries_pending <= 4
def calibrate_clock(self, print_time, eventtime):
return (0., self.mcu_freq)
def get_clock(self, eventtime):
with self.lock:
last_clock = self.last_clock
@ -106,9 +108,8 @@ class ClockSync:
new_min_freq = (
clock_delta / (sent_time - self.last_clock_time))
logging.warning(
"High clock drift! Now %.0f:%.0f was %.0f:%.0f" % (
new_min_freq, new_max_freq,
self.min_freq, self.max_freq))
"High clock drift! Now %.0f:%.0f was %.0f:%.0f",
new_min_freq, new_max_freq, self.min_freq, self.max_freq)
self.min_freq, self.max_freq = new_min_freq, new_max_freq
min_time, max_time = sent_time, receive_time
# Update variables
@ -116,3 +117,54 @@ class ClockSync:
self.last_clock_time = max_time
self.last_clock_time_min = min_time
self.serial.set_clock_est(self.min_freq, max_time + 0.001, clock)
# Clock synching code for secondary MCUs (whose clocks are sync'ed to
# a primary MCU)
class SecondarySync(ClockSync):
def __init__(self, reactor, main_sync):
ClockSync.__init__(self, reactor)
self.main_sync = main_sync
self.clock_adj = (0., 0.)
def connect(self, serial):
ClockSync.connect(self, serial)
self.clock_adj = (0., self.mcu_freq)
curtime = self.reactor.monotonic()
main_print_time = self.main_sync.estimated_print_time(curtime)
local_print_time = self.estimated_print_time(curtime)
self.clock_adj = (main_print_time - local_print_time, self.mcu_freq)
self.calibrate_clock(0., curtime)
def connect_file(self, serial, pace=False):
ClockSync.connect_file(self, serial, pace)
self.clock_adj = (0., self.mcu_freq)
def print_time_to_clock(self, print_time):
adjusted_offset, adjusted_freq = self.clock_adj
return int((print_time - adjusted_offset) * adjusted_freq)
def clock_to_print_time(self, clock):
adjusted_offset, adjusted_freq = self.clock_adj
return clock / adjusted_freq + adjusted_offset
def get_adjusted_freq(self):
adjusted_offset, adjusted_freq = self.clock_adj
return adjusted_freq
def calibrate_clock(self, print_time, eventtime):
#logging.debug("calibrate: %.3f: %.6f vs %.6f",
# eventtime,
# self.estimated_print_time(eventtime),
# self.main_sync.estimated_print_time(eventtime))
with self.main_sync.lock:
ser_clock = self.main_sync.last_clock
ser_clock_time = self.main_sync.last_clock_time
ser_freq = self.main_sync.min_freq
main_mcu_freq = self.main_sync.mcu_freq
main_clock = (eventtime - ser_clock_time) * ser_freq + ser_clock
print_time = max(print_time, main_clock / main_mcu_freq)
main_sync_clock = (print_time + 2.) * main_mcu_freq
sync_time = ser_clock_time + (main_sync_clock - ser_clock) / ser_freq
print_clock = self.print_time_to_clock(print_time)
sync_clock = self.get_clock(sync_time)
adjusted_freq = .5 * (sync_clock - print_clock)
adjusted_offset = print_time - print_clock / adjusted_freq
self.clock_adj = (adjusted_offset, adjusted_freq)
return self.clock_adj

32
klippy/klippy.py
View File

@ -140,7 +140,7 @@ class Printer:
self.state_message = message_startup
self.run_result = None
self.fileconfig = None
self.mcu = None
self.mcus = []
def get_start_args(self):
return self.start_args
def _stats(self, eventtime, force_output=False):
@ -149,7 +149,7 @@ class Printer:
self.gcode.dump_debug()
self.need_dump_debug = False
toolhead = self.objects.get('toolhead')
if toolhead is None or self.mcu is None:
if toolhead is None:
return eventtime + 1.
is_active = toolhead.check_active(eventtime)
if not is_active and not force_output:
@ -157,7 +157,8 @@ class Printer:
out = []
out.append(self.gcode.stats(eventtime))
out.append(toolhead.stats(eventtime))
out.append(self.mcu.stats(eventtime))
for m in self.mcus:
out.append(m.stats(eventtime))
logging.info("Stats %.1f: %s" % (eventtime, ' '.join(out)))
return eventtime + 1.
def add_object(self, name, obj):
@ -175,7 +176,7 @@ class Printer:
config = ConfigWrapper(self, 'printer')
for m in [pins, mcu, chipmisc, toolhead, extruder, heater, fan]:
m.add_printer_objects(self, config)
self.mcu = self.objects['mcu']
self.mcus = mcu.get_printer_mcus(self)
# Validate that there are no undefined parameters in the config file
valid_sections = { s: 1 for s, o in self.all_config_options }
for section in self.fileconfig.sections():
@ -193,7 +194,8 @@ class Printer:
self.reactor.unregister_timer(self.connect_timer)
try:
self._load_config()
self.mcu.connect()
for m in self.mcus:
m.connect()
self.gcode.set_printer_ready(True)
self.state_message = message_ready
if self.start_args.get('debugoutput') is None:
@ -227,10 +229,10 @@ class Printer:
run_result = self.run_result
try:
self._stats(self.reactor.monotonic(), force_output=True)
if self.mcu is not None:
for m in self.mcus:
if run_result == 'firmware_restart':
self.mcu.microcontroller_restart()
self.mcu.disconnect()
m.microcontroller_restart()
m.disconnect()
except:
logging.exception("Unhandled exception during post run")
return run_result
@ -254,6 +256,15 @@ class Printer:
# Startup
######################################################################
def arg_dictionary(option, opt_str, value, parser):
key, fname = "dictionary", value
if '=' in value:
mcu_name, fname = value.split('=', 1)
key = "dictionary_" + mcu_name
if parser.values.dictionary is None:
parser.values.dictionary = {}
parser.values.dictionary[key] = fname
def main():
usage = "%prog [options] <config file>"
opts = optparse.OptionParser(usage)
@ -267,7 +278,8 @@ def main():
help="enable debug messages")
opts.add_option("-o", "--debugoutput", dest="debugoutput",
help="write output to file instead of to serial port")
opts.add_option("-d", "--dictionary", dest="dictionary",
opts.add_option("-d", "--dictionary", dest="dictionary", type="string",
action="callback", callback=arg_dictionary,
help="file to read for mcu protocol dictionary")
options, args = opts.parse_args()
if len(args) != 1:
@ -287,7 +299,7 @@ def main():
input_fd = util.create_pty(options.inputtty)
if options.debugoutput:
start_args['debugoutput'] = options.debugoutput
start_args['dictionary'] = options.dictionary
start_args.update(options.dictionary)
if options.logfile:
bglogger = queuelogger.setup_bg_logging(options.logfile, debuglevel)
else:

107
klippy/mcu.py
View File

@ -180,7 +180,7 @@ class MCU_endstop:
while self._check_busy(eventtime):
eventtime = self._mcu.pause(eventtime + 0.1)
def _handle_end_stop_state(self, params):
logging.debug("end_stop_state %s" % (params,))
logging.debug("end_stop_state %s", params)
self._last_state = params
def _check_busy(self, eventtime):
# Check if need to send an end_stop_query command
@ -393,6 +393,9 @@ class MCU:
def __init__(self, printer, config, clocksync):
self._printer = printer
self._clocksync = clocksync
self._name = config.section
if self._name.startswith('mcu '):
self._name = self._name[4:]
# Serial port
self._serialport = config.get('serial', '/dev/ttyS0')
baud = 0
@ -411,9 +414,9 @@ class MCU:
self._is_shutdown = False
self._shutdown_msg = ""
if printer.bglogger is not None:
printer.bglogger.set_rollover_info("mcu", None)
printer.bglogger.set_rollover_info(self._name, None)
# Config building
pins.get_printer_pins(printer).register_chip("mcu", self)
pins.get_printer_pins(printer).register_chip(self._name, self)
self._oid_count = 0
self._config_objects = []
self._init_cmds = []
@ -447,26 +450,32 @@ class MCU:
return
self._is_shutdown = True
self._shutdown_msg = msg = params['#msg']
logging.info("%s: %s" % (params['#name'], self._shutdown_msg))
logging.info("%s: %s", params['#name'], self._shutdown_msg)
self._serial.dump_debug()
prefix = "MCU shutdown: "
prefix = "MCU '%s' shutdown: " % (self._name,)
if params['#name'] == 'is_shutdown':
prefix = "Previous MCU shutdown: "
prefix = "Previous MCU '%s' shutdown: " % (self._name,)
self._printer.note_shutdown(prefix + msg + error_help(msg))
# Connection phase
def _check_restart(self, reason):
start_reason = self._printer.get_start_args().get("start_reason")
if start_reason == 'firmware_restart':
return
logging.info("Attempting automated firmware restart: %s" % (reason,))
logging.info("Attempting automated MCU '%s' restart: %s",
self._name, reason)
self._printer.request_exit('firmware_restart')
self._printer.reactor.pause(self._printer.reactor.monotonic() + 2.000)
raise error("Attempt firmware restart failed")
raise error("Attempt MCU '%s' restart failed" % (self._name,))
def _connect_file(self, pace=False):
# In a debugging mode. Open debug output file and read data dictionary
out_fname = self._printer.get_start_args().get('debugoutput')
start_args = self._printer.get_start_args()
if self._name == 'mcu':
out_fname = start_args.get('debugoutput')
dict_fname = start_args.get('dictionary')
else:
out_fname = start_args.get('debugoutput') + "-" + self._name
dict_fname = start_args.get('dictionary_' + self._name)
outfile = open(out_fname, 'wb')
dict_fname = self._printer.get_start_args().get('dictionary')
dfile = open(dict_fname, 'rb')
dict_data = dfile.read()
dfile.close()
@ -520,34 +529,36 @@ class MCU:
# Only configure mcu after usb power reset
self._check_restart("full reset before config")
# Send config commands
logging.info("Sending printer configuration...")
logging.info("Sending MCU '%s' printer configuration...",
self._name)
for c in self._config_cmds:
self.send(self.create_command(c))
if not self.is_fileoutput():
config_params = self.send_with_response(msg, 'config')
if not config_params['is_config']:
if self._is_shutdown:
raise error("Firmware error during config: %s" % (
self._shutdown_msg,))
raise error("Unable to configure printer")
raise error("MCU '%s' error during config: %s" % (
self._name, self._shutdown_msg))
raise error("Unable to configure MCU '%s'" % (self._name,))
else:
start_reason = self._printer.get_start_args().get("start_reason")
if start_reason == 'firmware_restart':
raise error("Failed automated reset of micro-controller")
raise error("Failed automated reset of MCU '%s'" % (self._name,))
if self._config_crc != config_params['crc']:
self._check_restart("CRC mismatch")
raise error("Printer CRC does not match config")
raise error("MCU '%s' CRC does not match config" % (self._name,))
move_count = config_params['move_count']
logging.info("Configured (%d moves)" % (move_count,))
logging.info("Configured MCU '%s' (%d moves)", self._name, move_count)
if self._printer.bglogger is not None:
msgparser = self._serial.msgparser
info = [
"Configured (%d moves)" % (move_count,),
"Loaded %d commands (%s)" % (
len(msgparser.messages_by_id), msgparser.version),
"MCU config: %s" % (" ".join(
"Configured MCU '%s' (%d moves)" % (self._name, move_count),
"Loaded MCU '%s' %d commands (%s)" % (
self._name, len(msgparser.messages_by_id),
msgparser.version),
"MCU '%s' config: %s" % (self._name, " ".join(
["%s=%s" % (k, v) for k, v in msgparser.config.items()]))]
self._printer.bglogger.set_rollover_info("mcu", "\n".join(info))
self._printer.bglogger.set_rollover_info(self._name, "\n".join(info))
self._steppersync = self._ffi_lib.steppersync_alloc(
self._serial.serialqueue, self._stepqueues, len(self._stepqueues),
move_count)
@ -647,25 +658,36 @@ class MCU:
if self._steppersync is None:
return
clock = self.print_time_to_clock(print_time)
if clock < 0:
return
ret = self._ffi_lib.steppersync_flush(self._steppersync, clock)
if ret:
raise error("Internal error in stepcompress")
raise error("Internal error in MCU '%s' stepcompress" % (
self._name,))
def check_active(self, print_time, eventtime):
if self._steppersync is None:
return
offset, freq = self._clocksync.calibrate_clock(print_time, eventtime)
self._ffi_lib.steppersync_set_time(self._steppersync, offset, freq)
if self._clocksync.is_active(eventtime):
return
logging.info("Timeout with firmware (eventtime=%f)", eventtime)
self._printer.note_mcu_error("Lost communication with firmware")
logging.info("Timeout with MCU '%s' (eventtime=%f)",
self._name, eventtime)
self._printer.note_mcu_error("Lost communication with MCU '%s'" % (
self._name,))
def stats(self, eventtime):
msg = "mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
self._mcu_tick_awake, self._mcu_tick_avg, self._mcu_tick_stddev)
return ' '.join([self._serial.stats(eventtime),
self._clocksync.stats(eventtime), msg])
msg = "%s: mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
self._name, self._mcu_tick_awake, self._mcu_tick_avg,
self._mcu_tick_stddev)
return ' '.join([msg, self._serial.stats(eventtime),
self._clocksync.stats(eventtime)])
def force_shutdown(self):
self.send(self._emergency_stop_cmd.encode())
def microcontroller_restart(self):
reactor = self._printer.reactor
if self._restart_method == 'rpi_usb':
logging.info("Attempting a microcontroller reset via rpi usb power")
logging.info("Attempting MCU '%s' reset via rpi usb power",
self._name)
self.disconnect()
chelper.run_hub_ctrl(0)
reactor.pause(reactor.monotonic() + 2.000)
@ -675,11 +697,13 @@ class MCU:
eventtime = reactor.monotonic()
if ((self._reset_cmd is None and self._config_reset_cmd is None)
or not self._clocksync.is_active(eventtime)):
logging.info("Unable to issue reset command")
logging.info("Unable to issue reset command on MCU '%s'",
self._name)
return
if self._reset_cmd is None:
# Attempt reset via config_reset command
logging.info("Attempting a microcontroller config_reset command")
logging.info("Attempting MCU '%s' config_reset command",
self._name)
self._is_shutdown = True
self.force_shutdown()
reactor.pause(reactor.monotonic() + 0.015)
@ -688,13 +712,13 @@ class MCU:
self.disconnect()
return
# Attempt reset via reset command
logging.info("Attempting a microcontroller reset command")
logging.info("Attempting MCU '%s' reset command", self._name)
self.send(self._reset_cmd.encode())
reactor.pause(reactor.monotonic() + 0.015)
self.disconnect()
return
# Attempt reset via arduino mechanism
logging.info("Attempting a microcontroller reset")
logging.info("Attempting MCU '%s' reset", self._name)
self.disconnect()
serialhdl.arduino_reset(self._serialport, reactor)
def disconnect(self):
@ -731,3 +755,18 @@ def error_help(msg):
def add_printer_objects(printer, config):
mainsync = clocksync.ClockSync(printer.reactor)
printer.add_object('mcu', MCU(printer, config.getsection('mcu'), mainsync))
for s in config.get_prefix_sections('mcu '):
printer.add_object(s.section, MCU(
printer, s, clocksync.SecondarySync(printer.reactor, mainsync)))
def get_printer_mcus(printer):
return [printer.objects[n] for n in sorted(printer.objects)
if n.startswith('mcu')]
def get_printer_mcu(printer, name):
mcu_name = name
if name != 'mcu':
mcu_name = 'mcu ' + name
if mcu_name not in printer.objects:
raise printer.config_error("Unknown MCU %s" % (name,))
return printer.objects[mcu_name]

17
klippy/toolhead.py
View File

@ -4,7 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging
import homing, cartesian, corexy, delta, extruder
import mcu, homing, cartesian, corexy, delta, extruder
# Common suffixes: _d is distance (in mm), _v is velocity (in
# mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in
@ -184,7 +184,8 @@ class ToolHead:
def __init__(self, printer, config):
self.printer = printer
self.reactor = printer.reactor
self.mcu = printer.objects['mcu']
self.all_mcus = mcu.get_printer_mcus(printer)
self.mcu = self.all_mcus[0]
self.max_velocity = config.getfloat('max_velocity', above=0.)
self.max_accel = config.getfloat('max_accel', above=0.)
self.max_accel_to_decel = config.getfloat(
@ -227,7 +228,8 @@ class ToolHead:
def update_move_time(self, movetime):
self.print_time += movetime
flush_to_time = self.print_time - self.move_flush_time
self.mcu.flush_moves(flush_to_time)
for m in self.all_mcus:
m.flush_moves(flush_to_time)
def get_next_move_time(self):
if not self.sync_print_time:
return self.print_time
@ -248,9 +250,10 @@ class ToolHead:
if sync_print_time or must_sync:
self.sync_print_time = True
self.move_queue.set_flush_time(self.buffer_time_high)
self.mcu.flush_moves(self.print_time)
self.need_check_stall = -1.
self.reactor.update_timer(self.flush_timer, self.reactor.NEVER)
for m in self.all_mcus:
m.flush_moves(self.print_time)
def get_last_move_time(self):
self._flush_lookahead()
return self.get_next_move_time()
@ -357,7 +360,8 @@ class ToolHead:
self.commanded_pos[3] = extrude_pos
# Misc commands
def check_active(self, eventtime):
self.mcu.check_active(self.print_time, eventtime)
for m in self.all_mcus:
m.check_active(self.print_time, eventtime)
if not self.sync_print_time:
return True
return self.print_time + 60. > self.mcu.estimated_print_time(eventtime)
@ -368,7 +372,8 @@ class ToolHead:
self.print_time, buffer_time, self.print_stall)
def force_shutdown(self):
try:
self.mcu.force_shutdown()
for m in self.all_mcus:
m.force_shutdown()
self.move_queue.reset()
self.reset_print_time()
except: