Accuracy is not as important as ensuring a message is never sent
before it can be received in the serialqueue code. So, use the
smallest frequency ever seen and add the minimum rtt time when setting
set_clock_est().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Use baud_adjust when determining the receive_time of a message read
from the serial port. This improves the accuracy of the clock
synchronization code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of tracking the minimum frequency ever observed, attempt to
track the actual frequency of the micro-controller (relative to the
host clock). This improves the stability of the secondary mcu clocks
when multiple mcus are configured.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for configuring and controlling the hardware specific to
the revision "B3" Replicape board.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Update the scripts used to install and "flash" the pru
micro-controller code. Also, add a "flash" script for the linux
micro-controller code. This makes it easier to install Klipper on a
Beaglebone board that uses a Replicape.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for reading analog values via the standard Linux IIO
interface. This can be used on Replicape boards to sample analog
input pins.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for sending SPI messages to devices via the standard Linux
SPI interface. This can be used to configure the shift registers on
Replicape boards.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for controlling pca9685 PWM drivers using the standard
Linux I2C interface. The pca9685 device is found on Replicape boards.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Add support for compiling the Klipper micro-controller code as a
real-time process capable of running on standard Linux systems.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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>
Don't directly access any of the mcu class variables externally from
the class. Add wrapper functions for those external callers that need
access to some internal state.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Implement the conversion from print_time to the local mcu's clock
within the C code. This simplifies the python code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Everywhere the data in get_last_clock() is used can be done just as
easily with estimated_print_time().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Now that the print_time is always synchronized with the mcu_time,
there is no longer a need to track mcu_time as a separate quantity.
Eliminate references to mcu_time from the code and pass print_time
directly in its place.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Instead of starting the print_time at zero, start it at the estimated
time of the main mcu's clock. This simplifies the code and it ensures
that print_time never goes backwards.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Make sure to initialize mcu_enable to None so that it is initialized
if no 'enable_pin' config value is provided.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Return the same information from stepcompress_push() that is returned
from stepcompress_push_const() and stpcompress_push_delta().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
If pru0 waits in sleep mode then a full beaglebone reboot is needed to
reprogram the pru0 firmware. For now, avoid using the "slp"
instruction as a workaround.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
On corexy, the stepper velocity of a diagonal move could be greater
than the maximum printer velocity. Account for that when setting the
maximum xy halt velocity in the mcu stepper config.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Allow pru0 to gather multiple outgoing message blocks into a single
rpmsg. This can reduce communication overhead.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Each irq flag must only be cleared after it has been serviced. This
fixes a race condition that could cause incoming commands to be
delayed for extended period.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Commit 4655a6bf allowed naks to be honored if receive_seq was greater
than the last retransmitted sequence. However, receive_seq is the
receiver's next sequence number, so a nak should only be processed if
it is one greater than that.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Make sure schedule_digital_out and schedule_pwm_out commands always go
out with a value that is in range for the particular command.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Make sure the ADC range sent to the MCU can be encoded into a 16bit
integer. Otherwise, if the provided min_temp/max_temp was outside the
range of possible values it could result in a spurious mcu shutdown.
In particular, the AD595 could not properly encode a min_temp of zero.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
It's possible for multiple blocks to be pending on the incoming
"rpmsg" stream. Don't sleep unless the input is confirmed to be
empty.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Extend the look-ahead mechanism to work between moves that contain Z
movement. This improves Klipper's handling of g-code produced in
"vase mode".
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Kevin O'Connor