# Interface to Klipper micro-controller code
#
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import sys, os, zlib, logging, math
import serialhdl, pins, chelper, clocksync
class error(Exception):
pass
STEPCOMPRESS_ERROR_RET = -989898989
class MCU_stepper:
def __init__(self, mcu, pin_params):
self._mcu = mcu
self._oid = self._mcu.create_oid()
self._step_pin = pin_params['pin']
self._invert_step = pin_params['invert']
self._dir_pin = self._invert_dir = None
self._commanded_pos = self._mcu_position_offset = 0.
self._step_dist = self._inv_step_dist = 1.
self._min_stop_interval = 0.
self._reset_cmd = self._get_position_cmd = None
self._ffi_lib = self._stepqueue = None
def get_mcu(self):
return self._mcu
def setup_dir_pin(self, pin_params):
if pin_params['chip'] is not self._mcu:
raise pins.error("Stepper dir pin must be on same mcu as step pin")
self._dir_pin = pin_params['pin']
self._invert_dir = pin_params['invert']
def setup_min_stop_interval(self, min_stop_interval):
self._min_stop_interval = min_stop_interval
def setup_step_distance(self, step_dist):
self._step_dist = step_dist
self._inv_step_dist = 1. / step_dist
def build_config(self):
max_error = self._mcu.get_max_stepper_error()
min_stop_interval = max(0., self._min_stop_interval - max_error)
self._mcu.add_config_cmd(
"config_stepper oid=%d step_pin=%s dir_pin=%s"
" min_stop_interval=%d invert_step=%d" % (
self._oid, self._step_pin, self._dir_pin,
self._mcu.seconds_to_clock(min_stop_interval),
self._invert_step))
self._mcu.add_config_cmd(
"reset_step_clock oid=%d clock=0" % (self._oid,), is_init=True)
step_cmd = self._mcu.lookup_command(
"queue_step oid=%c interval=%u count=%hu add=%hi")
dir_cmd = self._mcu.lookup_command(
"set_next_step_dir oid=%c dir=%c")
self._reset_cmd = self._mcu.lookup_command(
"reset_step_clock oid=%c clock=%u")
self._get_position_cmd = self._mcu.lookup_command(
"stepper_get_position oid=%c")
ffi_main, self._ffi_lib = chelper.get_ffi()
self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc(
self._mcu.seconds_to_clock(max_error), step_cmd.msgid, dir_cmd.msgid,
self._invert_dir, self._oid),
self._ffi_lib.stepcompress_free)
self._mcu.register_stepqueue(self._stepqueue)
def get_oid(self):
return self._oid
def get_step_dist(self):
return self._step_dist
def set_position(self, pos):
steppos = pos * self._inv_step_dist
self._mcu_position_offset += self._commanded_pos - steppos
self._commanded_pos = steppos
def get_commanded_position(self):
return self._commanded_pos * self._step_dist
def get_mcu_position(self):
mcu_pos = self._commanded_pos + self._mcu_position_offset
if mcu_pos >= 0.:
return int(mcu_pos + 0.5)
return int(mcu_pos - 0.5)
def note_homing_start(self, homing_clock):
ret = self._ffi_lib.stepcompress_set_homing(
self._stepqueue, homing_clock)
if ret:
raise error("Internal error in stepcompress")
def note_homing_end(self, did_trigger=False):
ret = self._ffi_lib.stepcompress_set_homing(self._stepqueue, 0)
if ret:
raise error("Internal error in stepcompress")
ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0)
if ret:
raise error("Internal error in stepcompress")
data = (self._reset_cmd.msgid, self._oid, 0)
ret = self._ffi_lib.stepcompress_queue_msg(
self._stepqueue, data, len(data))
if ret:
raise error("Internal error in stepcompress")
if not did_trigger or self._mcu.is_fileoutput():
return
cmd = self._get_position_cmd.encode(self._oid)
params = self._mcu.send_with_response(cmd, 'stepper_position', self._oid)
pos = params['pos']
if self._invert_dir:
pos = -pos
self._mcu_position_offset = pos - self._commanded_pos
def step(self, print_time, sdir):
count = self._ffi_lib.stepcompress_push(
self._stepqueue, print_time, sdir)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count
def step_const(self, print_time, start_pos, dist, start_v, accel):
inv_step_dist = self._inv_step_dist
step_offset = self._commanded_pos - start_pos * inv_step_dist
count = self._ffi_lib.stepcompress_push_const(
self._stepqueue, print_time, step_offset, dist * inv_step_dist,
start_v * inv_step_dist, accel * inv_step_dist)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count
def step_delta(self, print_time, dist, start_v, accel
, height_base, startxy_d, arm_d, movez_r):
inv_step_dist = self._inv_step_dist
height = self._commanded_pos - height_base * inv_step_dist
count = self._ffi_lib.stepcompress_push_delta(
self._stepqueue, print_time, dist * inv_step_dist,
start_v * inv_step_dist, accel * inv_step_dist,
height, startxy_d * inv_step_dist, arm_d * inv_step_dist, movez_r)
if count == STEPCOMPRESS_ERROR_RET:
raise error("Internal error in stepcompress")
self._commanded_pos += count
class MCU_endstop:
class TimeoutError(Exception):
pass
RETRY_QUERY = 1.000
def __init__(self, mcu, pin_params):
self._mcu = mcu
self._steppers = []
self._pin = pin_params['pin']
self._pullup = pin_params['pullup']
self._invert = pin_params['invert']
self._cmd_queue = mcu.alloc_command_queue()
self._oid = self._home_cmd = self._query_cmd = None
self._homing = False
self._min_query_time = self._next_query_time = 0.
self._last_state = {}
def get_mcu(self):
return self._mcu
def add_stepper(self, stepper):
if stepper.get_mcu() is not self._mcu:
raise pins.error("Endstop and stepper must be on the same mcu")
self._steppers.append(stepper)
def get_steppers(self):
return list(self._steppers)
def build_config(self):
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_end_stop oid=%d pin=%s pull_up=%d stepper_count=%d" % (
self._oid, self._pin, self._pullup, len(self._steppers)))
self._mcu.add_config_cmd(
"end_stop_home oid=%d clock=0 sample_ticks=0 sample_count=0"
" rest_ticks=0 pin_value=0" % (self._oid,), is_init=True)
for i, s in enumerate(self._steppers):
self._mcu.add_config_cmd(
"end_stop_set_stepper oid=%d pos=%d stepper_oid=%d" % (
self._oid, i, s.get_oid()), is_init=True)
self._home_cmd = self._mcu.lookup_command(
"end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
" rest_ticks=%u pin_value=%c")
self._query_cmd = self._mcu.lookup_command("end_stop_query oid=%c")
self._mcu.register_msg(self._handle_end_stop_state, "end_stop_state"
, self._oid)
def home_start(self, print_time, sample_time, sample_count, rest_time):
clock = self._mcu.print_time_to_clock(print_time)
rest_ticks = int(rest_time * self._mcu.get_adjusted_freq())
self._homing = True
self._min_query_time = self._mcu.monotonic()
self._next_query_time = self._min_query_time + self.RETRY_QUERY
msg = self._home_cmd.encode(
self._oid, clock, self._mcu.seconds_to_clock(sample_time),
sample_count, rest_ticks, 1 ^ self._invert)
self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
for s in self._steppers:
s.note_homing_start(clock)
def home_wait(self, home_end_time):
eventtime = self._mcu.monotonic()
while self._check_busy(eventtime, home_end_time):
eventtime = self._mcu.pause(eventtime + 0.1)
def _handle_end_stop_state(self, params):
logging.debug("end_stop_state %s", params)
self._last_state = params
def _check_busy(self, eventtime, home_end_time=0.):
# Check if need to send an end_stop_query command
last_sent_time = self._last_state.get('#sent_time', -1.)
if last_sent_time >= self._min_query_time or self._mcu.is_fileoutput():
if not self._homing:
return False
if not self._last_state.get('homing', 0):
for s in self._steppers:
s.note_homing_end(did_trigger=True)
self._homing = False
return False
last_sent_print_time = self._mcu.estimated_print_time(last_sent_time)
if last_sent_print_time > home_end_time:
# Timeout - disable endstop checking
for s in self._steppers:
s.note_homing_end()
self._homing = False
msg = self._home_cmd.encode(self._oid, 0, 0, 0, 0, 0)
self._mcu.send(msg, reqclock=0, cq=self._cmd_queue)
raise self.TimeoutError("Timeout during endstop homing")
if self._mcu.is_shutdown():
raise error("MCU is shutdown")
if eventtime >= self._next_query_time:
self._next_query_time = eventtime + self.RETRY_QUERY
msg = self._query_cmd.encode(self._oid)
self._mcu.send(msg, cq=self._cmd_queue)
return True
def query_endstop(self, print_time):
self._homing = False
self._min_query_time = self._next_query_time = self._mcu.monotonic()
def query_endstop_wait(self):
eventtime = self._mcu.monotonic()
while self._check_busy(eventtime):
eventtime = self._mcu.pause(eventtime + 0.1)
return self._last_state.get('pin', self._invert) ^ self._invert
class MCU_digital_out:
def __init__(self, mcu, pin_params):
self._mcu = mcu
self._oid = None
self._pin = pin_params['pin']
self._invert = pin_params['invert']
self._start_value = self._shutdown_value = self._invert
self._static_value = None
self._max_duration = 2.
self._last_clock = 0
self._cmd_queue = mcu.alloc_command_queue()
self._set_cmd = None
def get_mcu(self):
return self._mcu
def setup_max_duration(self, max_duration):
self._max_duration = max_duration
def setup_static(self):
self._static_value = not self._invert
def setup_start_value(self, start_value, shutdown_value):
self._start_value = (not not start_value) ^ self._invert
self._shutdown_value = (not not shutdown_value) ^ self._invert
def build_config(self):
if self._static_value is not None:
self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % (
self._pin, self._static_value))
return
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_digital_out oid=%d pin=%s value=%d default_value=%d"
" max_duration=%d" % (
self._oid, self._pin, self._invert, self._shutdown_value,
self._mcu.seconds_to_clock(self._max_duration)))
self._set_cmd = self._mcu.lookup_command(
"schedule_digital_out oid=%c clock=%u value=%c")
def set_digital(self, print_time, value):
clock = self._mcu.print_time_to_clock(print_time)
msg = self._set_cmd.encode(
self._oid, clock, (not not value) ^ self._invert)
self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
, cq=self._cmd_queue)
self._last_clock = clock
def set_pwm(self, print_time, value):
self.set_digital(print_time, value >= 0.5)
class MCU_pwm:
def __init__(self, mcu, pin_params):
self._mcu = mcu
self._hard_pwm = False
self._cycle_time = 0.100
self._max_duration = 2.
self._oid = None
self._pin = pin_params['pin']
self._invert = pin_params['invert']
self._start_value = self._shutdown_value = float(self._invert)
self._static_value = None
self._last_clock = 0
self._pwm_max = 0.
self._cmd_queue = mcu.alloc_command_queue()
self._set_cmd = None
def get_mcu(self):
return self._mcu
def setup_max_duration(self, max_duration):
self._max_duration = max_duration
def setup_cycle_time(self, cycle_time):
self._cycle_time = cycle_time
self._hard_pwm = False
def setup_hard_pwm(self, hard_cycle_ticks):
if not hard_cycle_ticks:
return
self._cycle_time = hard_cycle_ticks
self._hard_pwm = True
def setup_static_pwm(self, value):
if self._invert:
value = 1. - value
self._static_value = max(0., min(1., value))
def setup_start_value(self, start_value, shutdown_value):
if self._invert:
start_value = 1. - start_value
shutdown_value = 1. - shutdown_value
self._start_value = max(0., min(1., start_value))
self._shutdown_value = max(0., min(1., shutdown_value))
def build_config(self):
if self._hard_pwm:
self._pwm_max = self._mcu.get_constant_float("PWM_MAX")
if self._static_value is not None:
value = int(self._static_value * self._pwm_max + 0.5)
self._mcu.add_config_cmd(
"set_pwm_out pin=%s cycle_ticks=%d value=%d" % (
self._pin, self._cycle_time, value))
return
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_pwm_out oid=%d pin=%s cycle_ticks=%d value=%d"
" default_value=%d max_duration=%d" % (
self._oid, self._pin, self._cycle_time,
self._start_value * self._pwm_max,
self._shutdown_value * self._pwm_max,
self._mcu.seconds_to_clock(self._max_duration)))
self._set_cmd = self._mcu.lookup_command(
"schedule_pwm_out oid=%c clock=%u value=%hu")
else:
self._pwm_max = self._mcu.get_constant_float("SOFT_PWM_MAX")
if self._static_value is not None:
if self._static_value not in [0., 1.]:
raise pins.error(
"static value must be 0.0 or 1.0 on soft pwm")
self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % (
self._pin, self._static_value >= 0.5))
return
if (self._start_value not in [0., 1.]
or self._shutdown_value not in [0., 1.]):
raise pins.error(
"start and shutdown values must be 0.0 or 1.0 on soft pwm")
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_soft_pwm_out oid=%d pin=%s cycle_ticks=%d value=%d"
" default_value=%d max_duration=%d" % (
self._oid, self._pin,
self._mcu.seconds_to_clock(self._cycle_time),
self._start_value >= 0.5, self._shutdown_value >= 0.5,
self._mcu.seconds_to_clock(self._max_duration)))
self._set_cmd = self._mcu.lookup_command(
"schedule_soft_pwm_out oid=%c clock=%u value=%hu")
def set_pwm(self, print_time, value):
clock = self._mcu.print_time_to_clock(print_time)
if self._invert:
value = 1. - value
value = int(max(0., min(1., value)) * self._pwm_max + 0.5)
msg = self._set_cmd.encode(self._oid, clock, value)
self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
, cq=self._cmd_queue)
self._last_clock = clock
class MCU_adc:
def __init__(self, mcu, pin_params):
self._mcu = mcu
self._pin = pin_params['pin']
self._min_sample = self._max_sample = 0.
self._sample_time = self._report_time = 0.
self._sample_count = 0
self._report_clock = 0
self._oid = self._callback = None
self._inv_max_adc = 0.
self._cmd_queue = mcu.alloc_command_queue()
def get_mcu(self):
return self._mcu
def setup_minmax(self, sample_time, sample_count, minval=0., maxval=1.):
self._sample_time = sample_time
self._sample_count = sample_count
self._min_sample = minval
self._max_sample = maxval
def setup_adc_callback(self, report_time, callback):
self._report_time = report_time
self._callback = callback
def build_config(self):
if not self._sample_count:
return
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % (
self._oid, self._pin))
clock = self._mcu.get_query_slot(self._oid)
sample_ticks = self._mcu.seconds_to_clock(self._sample_time)
mcu_adc_max = self._mcu.get_constant_float("ADC_MAX")
max_adc = self._sample_count * mcu_adc_max
self._inv_max_adc = 1.0 / max_adc
self._report_clock = self._mcu.seconds_to_clock(self._report_time)
min_sample = max(0, min(0xffff, int(self._min_sample * max_adc)))
max_sample = max(0, min(0xffff, int(
math.ceil(self._max_sample * max_adc))))
self._mcu.add_config_cmd(
"query_analog_in oid=%d clock=%d sample_ticks=%d sample_count=%d"
" rest_ticks=%d min_value=%d max_value=%d" % (
self._oid, clock, sample_ticks, self._sample_count,
self._report_clock, min_sample, max_sample), is_init=True)
self._mcu.register_msg(self._handle_analog_in_state, "analog_in_state"
, self._oid)
def _handle_analog_in_state(self, params):
last_value = params['value'] * self._inv_max_adc
next_clock = self._mcu.clock32_to_clock64(params['next_clock'])
last_read_clock = next_clock - self._report_clock
last_read_time = self._mcu.clock_to_print_time(last_read_clock)
if self._callback is not None:
self._callback(last_read_time, last_value)
class MCU:
error = error
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
if not (self._serialport.startswith("/dev/rpmsg_")
or self._serialport.startswith("/tmp/klipper_host_")):
baud = config.getint('baud', 250000, minval=2400)
self._serial = serialhdl.SerialReader(
printer.reactor, self._serialport, baud)
# Restarts
self._restart_method = 'command'
if baud:
rmethods = {m: m for m in ['arduino', 'command', 'rpi_usb']}
self._restart_method = config.getchoice(
'restart_method', rmethods, 'arduino')
self._reset_cmd = self._config_reset_cmd = None
self._emergency_stop_cmd = None
self._is_shutdown = False
self._shutdown_msg = ""
if printer.bglogger is not None:
printer.bglogger.set_rollover_info(self._name, None)
# Config building
pins.get_printer_pins(printer).register_chip(self._name, self)
self._oid_count = 0
self._config_objects = []
self._init_cmds = []
self._config_cmds = []
self._config_crc = None
self._pin_map = config.get('pin_map', None)
self._custom = config.get('custom', '')
self._mcu_freq = 0.
# Move command queuing
ffi_main, self._ffi_lib = chelper.get_ffi()
self._max_stepper_error = config.getfloat(
'max_stepper_error', 0.000025, minval=0.)
self._stepqueues = []
self._steppersync = None
# Stats
self._stats_sumsq_base = 0.
self._mcu_tick_avg = 0.
self._mcu_tick_stddev = 0.
self._mcu_tick_awake = 0.
# Serial callbacks
def handle_mcu_stats(self, params):
count = params['count']
tick_sum = params['sum']
c = 1.0 / (count * self._mcu_freq)
self._mcu_tick_avg = tick_sum * c
tick_sumsq = params['sumsq'] * self._stats_sumsq_base
self._mcu_tick_stddev = c * math.sqrt(count*tick_sumsq - tick_sum**2)
self._mcu_tick_awake = tick_sum / self._mcu_freq
def handle_shutdown(self, params):
if self._is_shutdown:
return
self._is_shutdown = True
self._shutdown_msg = msg = params['#msg']
logging.info("MCU '%s' %s: %s\n%s\n%s", self._name, params['#name'],
self._shutdown_msg, self._clocksync.dump_debug(),
self._serial.dump_debug())
prefix = "MCU '%s' shutdown: " % (self._name,)
if params['#name'] == 'is_shutdown':
prefix = "Previous MCU '%s' shutdown: " % (self._name,)
self._printer.invoke_async_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 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 MCU '%s' restart failed" % (self._name,))
def _connect_file(self, pace=False):
# In a debugging mode. Open debug output file and read data dictionary
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')
dfile = open(dict_fname, 'rb')
dict_data = dfile.read()
dfile.close()
self._serial.connect_file(outfile, dict_data)
self._clocksync.connect_file(self._serial, pace)
# Handle pacing
if not pace:
def dummy_estimated_print_time(eventtime):
return 0.
self.estimated_print_time = dummy_estimated_print_time
def _add_custom(self):
for line in self._custom.split('\n'):
line = line.strip()
cpos = line.find('#')
if cpos >= 0:
line = line[:cpos].strip()
if not line:
continue
self.add_config_cmd(line)
def _build_config(self):
# Build config commands
for co in self._config_objects:
co.build_config()
self._add_custom()
self._config_cmds.insert(0, "allocate_oids count=%d" % (
self._oid_count,))
# Resolve pin names
mcu = self._serial.msgparser.get_constant('MCU')
pnames = pins.get_pin_map(mcu, self._pin_map)
updated_cmds = []
for cmd in self._config_cmds:
try:
updated_cmds.append(pins.update_command(cmd, pnames))
except:
raise pins.error("Unable to translate pin name: %s" % (cmd,))
self._config_cmds = updated_cmds
# Calculate config CRC
self._config_crc = zlib.crc32('\n'.join(self._config_cmds)) & 0xffffffff
self.add_config_cmd("finalize_config crc=%d" % (self._config_crc,))
def _send_config(self):
msg = self.create_command("get_config")
if self.is_fileoutput():
config_params = {
'is_config': 0, 'move_count': 500, 'crc': self._config_crc}
else:
config_params = self.send_with_response(msg, 'config')
if not config_params['is_config']:
if self._restart_method == 'rpi_usb':
# Only configure mcu after usb power reset
self._check_restart("full reset before config")
# Send config commands
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("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 MCU '%s'" % (self._name,))
if self._config_crc != config_params['crc']:
self._check_restart("CRC mismatch")
raise error("MCU '%s' CRC does not match config" % (self._name,))
move_count = config_params['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 MCU '%s' (%d moves)" % (self._name, move_count),
"Loaded MCU '%s' %d commands (%s / %s)" % (
self._name, len(msgparser.messages_by_id),
msgparser.version, msgparser.build_versions),
"MCU '%s' config: %s" % (self._name, " ".join(
["%s=%s" % (k, v) for k, v in msgparser.config.items()]))]
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)
self._ffi_lib.steppersync_set_time(self._steppersync, 0., self._mcu_freq)
for c in self._init_cmds:
self.send(self.create_command(c))
def connect(self):
if self.is_fileoutput():
self._connect_file()
else:
if (self._restart_method == 'rpi_usb'
and not os.path.exists(self._serialport)):
# Try toggling usb power
self._check_restart("enable power")
self._serial.connect()
self._clocksync.connect(self._serial)
self._mcu_freq = self.get_constant_float('CLOCK_FREQ')
self._stats_sumsq_base = self.get_constant_float('STATS_SUMSQ_BASE')
self._emergency_stop_cmd = self.lookup_command("emergency_stop")
self._reset_cmd = self.try_lookup_command("reset")
self._config_reset_cmd = self.try_lookup_command("config_reset")
self.register_msg(self.handle_shutdown, 'shutdown')
self.register_msg(self.handle_shutdown, 'is_shutdown')
self.register_msg(self.handle_mcu_stats, 'stats')
self._build_config()
self._send_config()
# Config creation helpers
def setup_pin(self, pin_params):
pcs = {'stepper': MCU_stepper, 'endstop': MCU_endstop,
'digital_out': MCU_digital_out, 'pwm': MCU_pwm, 'adc': MCU_adc}
pin_type = pin_params['type']
if pin_type not in pcs:
raise pins.error("pin type %s not supported on mcu" % (pin_type,))
co = pcs[pin_type](self, pin_params)
self.add_config_object(co)
return co
def create_oid(self):
self._oid_count += 1
return self._oid_count - 1
def add_config_object(self, co):
self._config_objects.append(co)
def add_config_cmd(self, cmd, is_init=False):
if is_init:
self._init_cmds.append(cmd)
else:
self._config_cmds.append(cmd)
def get_query_slot(self, oid):
slot = self.seconds_to_clock(oid * .01)
t = int(self.estimated_print_time(self.monotonic()) + 1.5)
return self.print_time_to_clock(t) + slot
def register_stepqueue(self, stepqueue):
self._stepqueues.append(stepqueue)
def seconds_to_clock(self, time):
return int(time * self._mcu_freq)
def get_max_stepper_error(self):
return self._max_stepper_error
# Wrapper functions
def send(self, cmd, minclock=0, reqclock=0, cq=None):
self._serial.send(cmd, minclock, reqclock, cq=cq)
def send_with_response(self, cmd, name, oid=None):
return self._serial.send_with_response(cmd, name, oid)
def register_msg(self, cb, msg, oid=None):
self._serial.register_callback(cb, msg, oid)
def alloc_command_queue(self):
return self._serial.alloc_command_queue()
def create_command(self, msg):
return self._serial.msgparser.create_command(msg)
def lookup_command(self, msgformat):
return self._serial.msgparser.lookup_command(msgformat)
def try_lookup_command(self, msgformat):
try:
return self._serial.msgparser.lookup_command(msgformat)
except self._serial.msgparser.error as e:
return None
def get_constant_float(self, name):
return self._serial.msgparser.get_constant_float(name)
def print_time_to_clock(self, print_time):
return self._clocksync.print_time_to_clock(print_time)
def clock_to_print_time(self, clock):
return self._clocksync.clock_to_print_time(clock)
def estimated_print_time(self, eventtime):
return self._clocksync.estimated_print_time(eventtime)
def get_adjusted_freq(self):
return self._clocksync.get_adjusted_freq()
def clock32_to_clock64(self, clock32):
return self._clocksync.clock32_to_clock64(clock32)
def pause(self, waketime):
return self._printer.reactor.pause(waketime)
def monotonic(self):
return self._printer.reactor.monotonic()
# Restarts
def _restart_arduino(self):
logging.info("Attempting MCU '%s' reset", self._name)
self.disconnect()
serialhdl.arduino_reset(self._serialport, self._printer.reactor)
def _restart_via_command(self):
reactor = self._printer.reactor
if ((self._reset_cmd is None and self._config_reset_cmd is None)
or not self._clocksync.is_active(reactor.monotonic())):
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 MCU '%s' config_reset command", self._name)
self._is_shutdown = True
self.do_shutdown(force=True)
reactor.pause(reactor.monotonic() + 0.015)
self.send(self._config_reset_cmd.encode())
else:
# Attempt reset via 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()
def _restart_rpi_usb(self):
logging.info("Attempting MCU '%s' reset via rpi usb power", self._name)
self.disconnect()
chelper.run_hub_ctrl(0)
self._printer.reactor.pause(self._printer.reactor.monotonic() + 2.)
chelper.run_hub_ctrl(1)
def microcontroller_restart(self):
if self._restart_method == 'rpi_usb':
self._restart_rpi_usb()
elif self._restart_method == 'command':
self._restart_via_command()
else:
self._restart_arduino()
# Misc external commands
def is_fileoutput(self):
return self._printer.get_start_args().get('debugoutput') is not None
def is_shutdown(self):
return self._is_shutdown
def flush_moves(self, print_time):
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 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) or self.is_fileoutput():
return
logging.info("Timeout with MCU '%s' (eventtime=%f)",
self._name, eventtime)
self._printer.invoke_shutdown("Lost communication with MCU '%s'" % (
self._name,))
def stats(self, eventtime):
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 do_shutdown(self, force=False):
if self._emergency_stop_cmd is None or (self._is_shutdown and not force):
return
self.send(self._emergency_stop_cmd.encode())
def disconnect(self):
self._serial.disconnect()
if self._steppersync is not None:
self._ffi_lib.steppersync_free(self._steppersync)
self._steppersync = None
def __del__(self):
self.disconnect()
Common_MCU_errors = {
("Timer too close", "No next step", "Missed scheduling of next "): """
This is generally indicative of an intermittent
communication failure between micro-controller and host.""",
("ADC out of range",): """
This generally occurs when a heater temperature exceeds
its configured min_temp or max_temp.""",
("Rescheduled timer in the past", "Stepper too far in past"): """
This generally occurs when the micro-controller has been
requested to step at a rate higher than it is capable of
obtaining.""",
("Command request",): """
This generally occurs in response to an M112 G-Code command
or in response to an internal error in the host software.""",
}
def error_help(msg):
for prefixes, help_msg in Common_MCU_errors.items():
for prefix in prefixes:
if msg.startswith(prefix):
return help_msg
return ""
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]