mcu: Enable trdispatch infrastructure during homing
Separate out trsync handling from endstop handling in mcu.py code. Enable the low-level trdispatch C code. This is in preparation for multi-mcu homing. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
e1f7748e1a
commit
983951443c
210
klippy/mcu.py
210
klippy/mcu.py
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@ -9,37 +9,143 @@ import serialhdl, msgproto, pins, chelper, clocksync
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class error(Exception):
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class error(Exception):
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pass
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pass
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class MCU_endstop:
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class MCU_trsync:
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RETRY_QUERY = 1.000
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REASON_ENDSTOP_HIT = 1
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def __init__(self, mcu, pin_params):
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REASON_COMMS_TIMEOUT = 2
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REASON_HOST_REQUEST = 3
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REASON_PAST_END_TIME = 4
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def __init__(self, mcu, trdispatch):
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self._mcu = mcu
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self._mcu = mcu
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self._steppers = []
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self._trdispatch = trdispatch
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self._pin = pin_params['pin']
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self._pullup = pin_params['pullup']
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self._invert = pin_params['invert']
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self._reactor = mcu.get_printer().get_reactor()
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self._reactor = mcu.get_printer().get_reactor()
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self._oid = self._home_cmd = self._query_cmd = None
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self._steppers = []
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self._ts_oid = self._trsync_start_cmd = self._trsync_trigger_cmd = None
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self._trdispatch_mcu = None
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self._mcu.register_config_callback(self._build_config)
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self._oid = mcu.create_oid()
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self._min_query_time = self._last_sent_time = self._end_home_time = 0.
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self._cmd_queue = mcu.alloc_command_queue()
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self._trigger_completion = self._home_completion = None
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self._trsync_start_cmd = self._trsync_set_timeout_cmd = None
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self._trsync_trigger_cmd = self._trsync_query_cmd = None
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self._stepper_stop_cmd = None
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self._trigger_completion = None
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self._home_end_clock = None
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mcu.register_config_callback(self._build_config)
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printer = mcu.get_printer()
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printer.register_event_handler("klippy:shutdown", self._shutdown)
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def get_mcu(self):
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def get_mcu(self):
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return self._mcu
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return self._mcu
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def get_oid(self):
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return self._oid
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def get_command_queue(self):
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return self._cmd_queue
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def add_stepper(self, stepper):
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def add_stepper(self, stepper):
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if stepper.get_mcu() is not self._mcu:
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raise pins.error("Endstop and stepper must be on the same mcu")
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if stepper in self._steppers:
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if stepper in self._steppers:
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return
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return
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self._steppers.append(stepper)
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self._steppers.append(stepper)
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def get_steppers(self):
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def get_steppers(self):
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return list(self._steppers)
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return list(self._steppers)
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def _build_config(self):
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def _build_config(self):
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mcu = self._mcu
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# Setup config
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# Setup config
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self._ts_oid = self._mcu.create_oid()
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mcu.add_config_cmd("config_trsync oid=%d" % (self._oid,))
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self._mcu.add_config_cmd("config_trsync oid=%d" % (self._ts_oid,))
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mcu.add_config_cmd(
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self._mcu.add_config_cmd("trsync_trigger oid=%d reason=0"
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"trsync_start oid=%d report_clock=0 report_ticks=0 expire_reason=0"
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% (self._ts_oid,), on_restart=True)
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% (self._oid,), on_restart=True)
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# Lookup commands
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self._trsync_start_cmd = mcu.lookup_command(
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"trsync_start oid=%c report_clock=%u report_ticks=%u"
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" expire_reason=%c", cq=self._cmd_queue)
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self._trsync_set_timeout_cmd = mcu.lookup_command(
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"trsync_set_timeout oid=%c clock=%u", cq=self._cmd_queue)
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self._trsync_trigger_cmd = mcu.lookup_command(
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"trsync_trigger oid=%c reason=%c", cq=self._cmd_queue)
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self._trsync_query_cmd = mcu.lookup_query_command(
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"trsync_trigger oid=%c reason=%c",
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"trsync_state oid=%c can_trigger=%c trigger_reason=%c clock=%u",
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oid=self._oid, cq=self._cmd_queue)
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self._stepper_stop_cmd = mcu.lookup_command(
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"stepper_stop_on_trigger oid=%c trsync_oid=%c", cq=self._cmd_queue)
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# Create trdispatch_mcu object
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set_timeout_tag = mcu.lookup_command_tag(
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"trsync_set_timeout oid=%c clock=%u")
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trigger_tag = mcu.lookup_command_tag("trsync_trigger oid=%c reason=%c")
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state_tag = mcu.lookup_command_tag(
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"trsync_state oid=%c can_trigger=%c trigger_reason=%c clock=%u")
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ffi_main, ffi_lib = chelper.get_ffi()
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self._trdispatch_mcu = ffi_main.gc(ffi_lib.trdispatch_mcu_alloc(
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self._trdispatch, mcu._serial.serialqueue, # XXX
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self._cmd_queue, self._oid, set_timeout_tag, trigger_tag,
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state_tag), ffi_lib.free)
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def _shutdown(self):
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tc = self._trigger_completion
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if tc is not None:
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self._trigger_completion = None
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tc.complete(False)
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def _handle_trsync_state(self, params):
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if not params['can_trigger']:
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tc = self._trigger_completion
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if tc is not None:
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self._trigger_completion = None
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self._reactor.async_complete(tc, True)
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elif self._home_end_clock is not None:
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clock = self._mcu.clock32_to_clock64(params['clock'])
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if clock >= self._home_end_clock:
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self._home_end_clock = None
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self._trsync_trigger_cmd.send([self._oid,
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self.REASON_PAST_END_TIME])
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def start(self, print_time, trigger_completion, expire_timeout):
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self._trigger_completion = trigger_completion
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self._home_end_clock = None
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clock = self._mcu.print_time_to_clock(print_time)
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expire_ticks = self._mcu.seconds_to_clock(expire_timeout)
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expire_clock = clock + expire_ticks
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report_ticks = self._mcu.seconds_to_clock(expire_timeout * .4)
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min_extend_ticks = self._mcu.seconds_to_clock(expire_timeout * .4 * .8)
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ffi_main, ffi_lib = chelper.get_ffi()
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ffi_lib.trdispatch_mcu_setup(self._trdispatch_mcu, clock, expire_clock,
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expire_ticks, min_extend_ticks)
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self._mcu.register_response(self._handle_trsync_state,
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"trsync_state", self._oid)
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self._trsync_start_cmd.send([self._oid, clock, report_ticks,
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self.REASON_COMMS_TIMEOUT])
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for s in self._steppers:
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self._stepper_stop_cmd.send([s.get_oid(), self._oid])
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self._trsync_set_timeout_cmd.send([self._oid, expire_clock])
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def set_home_end_time(self, home_end_time):
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self._home_end_clock = self._mcu.print_time_to_clock(home_end_time)
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def stop(self):
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self._mcu.register_response(None, "trsync_state", self._oid)
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self._trigger_completion = None
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if self._mcu.is_fileoutput():
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return self.REASON_ENDSTOP_HIT
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params = self._trsync_query_cmd.send([self._oid,
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self.REASON_HOST_REQUEST])
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for s in self._steppers:
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s.note_homing_end(did_trigger=True) # XXX
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return params['trigger_reason']
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class MCU_endstop:
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RETRY_QUERY = 1.000
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def __init__(self, mcu, pin_params):
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self._mcu = mcu
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self._pin = pin_params['pin']
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self._pullup = pin_params['pullup']
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self._invert = pin_params['invert']
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self._oid = self._mcu.create_oid()
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self._oid = self._mcu.create_oid()
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self._home_cmd = self._query_cmd = None
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self._mcu.register_config_callback(self._build_config)
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self._trigger_completion = None
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ffi_main, ffi_lib = chelper.get_ffi()
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self._trdispatch = ffi_main.gc(ffi_lib.trdispatch_alloc(), ffi_lib.free)
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self._trsync = MCU_trsync(mcu, self._trdispatch)
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def get_mcu(self):
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return self._mcu
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def add_stepper(self, stepper):
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if stepper.get_mcu() is not self._mcu:
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raise pins.error("Endstop and stepper must be on the same mcu")
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self._trsync.add_stepper(stepper)
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def get_steppers(self):
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return self._trsync.get_steppers()
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def _build_config(self):
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# Setup config
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self._mcu.add_config_cmd("config_endstop oid=%d pin=%s pull_up=%d"
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self._mcu.add_config_cmd("config_endstop oid=%d pin=%s pull_up=%d"
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% (self._oid, self._pin, self._pullup))
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% (self._oid, self._pin, self._pullup))
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self._mcu.add_config_cmd(
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self._mcu.add_config_cmd(
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@ -47,14 +153,7 @@ class MCU_endstop:
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" rest_ticks=0 pin_value=0 trsync_oid=0 trigger_reason=0"
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" rest_ticks=0 pin_value=0 trsync_oid=0 trigger_reason=0"
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% (self._oid,), on_restart=True)
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% (self._oid,), on_restart=True)
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# Lookup commands
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# Lookup commands
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cmd_queue = self._mcu.alloc_command_queue()
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cmd_queue = self._trsync.get_command_queue()
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self._trsync_start_cmd = self._mcu.lookup_command(
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"trsync_start oid=%c report_clock=%u report_ticks=%u"
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" expire_reason=%c", cq=cmd_queue)
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self._trsync_trigger_cmd = self._mcu.lookup_command(
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"trsync_trigger oid=%c reason=%c", cq=cmd_queue)
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self._stepper_stop_cmd = self._mcu.lookup_command(
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"stepper_stop_on_trigger oid=%c trsync_oid=%c", cq=cmd_queue)
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self._home_cmd = self._mcu.lookup_command(
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self._home_cmd = self._mcu.lookup_command(
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"endstop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
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"endstop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
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" rest_ticks=%u pin_value=%c trsync_oid=%c trigger_reason=%c",
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" rest_ticks=%u pin_value=%c trsync_oid=%c trigger_reason=%c",
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@ -67,55 +166,28 @@ class MCU_endstop:
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triggered=True):
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triggered=True):
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clock = self._mcu.print_time_to_clock(print_time)
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clock = self._mcu.print_time_to_clock(print_time)
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rest_ticks = self._mcu.print_time_to_clock(print_time+rest_time) - clock
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rest_ticks = self._mcu.print_time_to_clock(print_time+rest_time) - clock
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self._min_query_time = self._reactor.monotonic()
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reactor = self._mcu.get_printer().get_reactor()
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self._last_sent_time = 0.
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self._trigger_completion = reactor.completion()
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self._home_end_time = self._reactor.NEVER
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etrsync = self._trsync
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self._trigger_completion = self._reactor.completion()
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etrsync.start(print_time, self._trigger_completion, .250)
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self._mcu.register_response(self._handle_trsync_state,
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ffi_main, ffi_lib = chelper.get_ffi()
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"trsync_state", self._ts_oid)
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ffi_lib.trdispatch_start(self._trdispatch, etrsync.REASON_HOST_REQUEST)
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report_ticks = self._mcu.seconds_to_clock(0.100)
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self._trsync_start_cmd.send([self._ts_oid, clock, report_ticks, 0],
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reqclock=clock)
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for s in self._steppers:
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self._stepper_stop_cmd.send([s.get_oid(), self._ts_oid])
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self._home_cmd.send(
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self._home_cmd.send(
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[self._oid, clock, self._mcu.seconds_to_clock(sample_time),
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[self._oid, clock, self._mcu.seconds_to_clock(sample_time),
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sample_count, rest_ticks, triggered ^ self._invert,
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sample_count, rest_ticks, triggered ^ self._invert,
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self._ts_oid, 0], reqclock=clock)
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etrsync.get_oid(), etrsync.REASON_ENDSTOP_HIT], reqclock=clock)
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self._home_completion = self._reactor.register_callback(
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self._home_retry)
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return self._trigger_completion
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return self._trigger_completion
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def _handle_trsync_state(self, params):
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logging.debug("trsync_state %s", params)
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if params['#sent_time'] >= self._min_query_time:
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if params['can_trigger']:
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self._last_sent_time = params['#sent_time']
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else:
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self._min_query_time = self._reactor.NEVER
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self._reactor.async_complete(self._trigger_completion, True)
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def _home_retry(self, eventtime):
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if self._mcu.is_fileoutput():
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return True
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while 1:
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did_trigger = self._trigger_completion.wait(eventtime + 0.100)
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if did_trigger is not None:
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# Homing completed successfully
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return True
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# Check for timeout
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last = self._mcu.estimated_print_time(self._last_sent_time)
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if last > self._home_end_time or self._mcu.is_shutdown():
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return False
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def home_wait(self, home_end_time):
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def home_wait(self, home_end_time):
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self._home_end_time = home_end_time
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etrsync = self._trsync
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did_trigger = self._home_completion.wait()
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etrsync.set_home_end_time(home_end_time)
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self._trsync_trigger_cmd.send([self._ts_oid, 0])
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if self._mcu.is_fileoutput():
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self._mcu.register_response(None, "trsync_state", self._ts_oid)
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self._trigger_completion.complete(True)
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self._trigger_completion.wait()
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self._home_cmd.send([self._oid, 0, 0, 0, 0, 0, 0, 0])
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self._home_cmd.send([self._oid, 0, 0, 0, 0, 0, 0, 0])
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for s in self._steppers:
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ffi_main, ffi_lib = chelper.get_ffi()
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s.note_homing_end(did_trigger=did_trigger)
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ffi_lib.trdispatch_stop(self._trdispatch)
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if not self._trigger_completion.test():
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res = etrsync.stop()
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self._trigger_completion.complete(False)
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return res == etrsync.REASON_ENDSTOP_HIT
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return did_trigger
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def query_endstop(self, print_time):
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def query_endstop(self, print_time):
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clock = self._mcu.print_time_to_clock(print_time)
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clock = self._mcu.print_time_to_clock(print_time)
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if self._mcu.is_fileoutput():
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if self._mcu.is_fileoutput():
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