pru: Support config_reset command to manually reset mcu
Add support for resetting the MCU via a software only mechanism. This is useful on the PRU. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -430,6 +430,8 @@ class MCU:
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self._shutdown_msg = ""
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self._timeout_timer = printer.reactor.register_timer(
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self.timeout_handler)
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self._restart_method = 'command'
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if baud:
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rmethods = {m: m for m in ['arduino', 'command', 'rpi_usb']}
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self._restart_method = config.getchoice(
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'restart_method', rmethods, 'arduino')
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@ -437,7 +439,8 @@ class MCU:
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if printer.bglogger is not None:
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printer.bglogger.set_rollover_info("mcu", None)
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pins.get_printer_pins(printer).register_chip("mcu", self)
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self._emergency_stop_cmd = self._reset_cmd = None
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self._emergency_stop_cmd = None
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self._reset_cmd = self._config_reset_cmd = None
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self._oid_count = 0
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self._config_objects = []
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self._init_cmds = []
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@ -502,10 +505,8 @@ class MCU:
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self._stats_sumsq_base = self.serial.msgparser.get_constant_float(
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'STATS_SUMSQ_BASE')
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self._emergency_stop_cmd = self.lookup_command("emergency_stop")
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try:
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self._reset_cmd = self.lookup_command("reset")
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except self.serial.msgparser.error as e:
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pass
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self._reset_cmd = self.try_lookup_command("reset")
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self._config_reset_cmd = self.try_lookup_command("config_reset")
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self.register_msg(self.handle_shutdown, 'shutdown')
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self.register_msg(self.handle_shutdown, 'is_shutdown')
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self.register_msg(self.handle_mcu_stats, 'stats')
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@ -560,11 +561,21 @@ class MCU:
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if self._restart_method == 'command':
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last_clock, last_clock_time = self.serial.get_last_clock()
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eventtime = reactor.monotonic()
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if (self._reset_cmd is None
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if ((self._reset_cmd is None and self._config_reset_cmd is None)
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or eventtime > last_clock_time + self.COMM_TIMEOUT):
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logging.info("Unable to issue reset command")
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return
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# Attempt reset via command
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if self._reset_cmd is None:
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# Attempt reset via config_reset command
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logging.info("Attempting a microcontroller config_reset command")
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self.is_shutdown = True
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self.force_shutdown()
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reactor.pause(reactor.monotonic() + 0.015)
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self.send(self._config_reset_cmd.encode())
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reactor.pause(reactor.monotonic() + 0.015)
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self.disconnect()
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return
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# Attempt reset via reset command
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logging.info("Attempting a microcontroller reset command")
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self.send(self._reset_cmd.encode())
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reactor.pause(reactor.monotonic() + 0.015)
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@ -682,6 +693,11 @@ class MCU:
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return self.serial.alloc_command_queue()
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def lookup_command(self, msgformat):
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return self.serial.msgparser.lookup_command(msgformat)
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def try_lookup_command(self, msgformat):
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try:
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return self.serial.msgparser.lookup_command(msgformat)
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except self.serial.msgparser.error as e:
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return None
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def create_command(self, msg):
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return self.serial.msgparser.create_command(msg)
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# Clock syncing
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@ -215,6 +215,25 @@ command_finalize_config(uint32_t *args)
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}
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DECL_COMMAND(command_finalize_config, "finalize_config crc=%u");
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// Attempt a full manual reset of the config
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void
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config_reset(uint32_t *args)
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{
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if (! sched_is_shutdown())
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shutdown("config_reset only available when shutdown");
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irq_disable();
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config_crc = 0;
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oid_count = 0;
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oids = NULL;
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move_free_list = NULL;
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move_list = NULL;
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move_count = move_item_size = 0;
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alloc_init();
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sched_timer_reset();
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sched_clear_shutdown();
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irq_enable();
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}
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/****************************************************************
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* Timing and load stats
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@ -10,6 +10,7 @@ void *oid_lookup(uint8_t oid, void *type);
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void *oid_alloc(uint8_t oid, void *type, uint16_t size);
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void *oid_next(uint8_t *i, void *type);
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void stats_update(uint32_t start, uint32_t cur);
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void config_reset(uint32_t *args);
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#define foreach_oid(pos,data,oidtype) \
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for (pos=-1; (data=oid_next(&pos, oidtype)); )
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@ -212,6 +212,9 @@ struct my_resource_table {
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* Startup
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****************************************************************/
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// Support config_reset
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DECL_COMMAND_FLAGS(config_reset, HF_IN_SHUTDOWN, "config_reset");
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// Main entry point
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int
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main(void)
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@ -165,8 +165,8 @@ sched_timer_dispatch(void)
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return next_waketime;
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}
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// Remove all user timers on a shutdown
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static void
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// Remove all user timers
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void
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sched_timer_reset(void)
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{
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timer_list = &deleted_timer;
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@ -29,6 +29,7 @@ struct task_wake {
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void sched_add_timer(struct timer*);
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void sched_del_timer(struct timer *del);
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unsigned int sched_timer_dispatch(void);
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void sched_timer_reset(void);
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void sched_wake_tasks(void);
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uint8_t sched_tasks_busy(void);
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void sched_wake_task(struct task_wake *w);
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