1013 lines
47 KiB
Python
1013 lines
47 KiB
Python
# Interface to Klipper micro-controller code
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#
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# Copyright (C) 2016-2023 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import sys, os, zlib, logging, math
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import serialhdl, msgproto, pins, chelper, clocksync
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class error(Exception):
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pass
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######################################################################
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# Command transmit helper classes
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######################################################################
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# Class to retry sending of a query command until a given response is received
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class RetryAsyncCommand:
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TIMEOUT_TIME = 5.0
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RETRY_TIME = 0.500
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def __init__(self, serial, name, oid=None):
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self.serial = serial
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self.name = name
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self.oid = oid
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self.reactor = serial.get_reactor()
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self.completion = self.reactor.completion()
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self.min_query_time = self.reactor.monotonic()
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self.need_response = True
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self.serial.register_response(self.handle_callback, name, oid)
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def handle_callback(self, params):
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if self.need_response and params['#sent_time'] >= self.min_query_time:
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self.need_response = False
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self.reactor.async_complete(self.completion, params)
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def get_response(self, cmds, cmd_queue, minclock=0, reqclock=0):
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cmd, = cmds
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self.serial.raw_send_wait_ack(cmd, minclock, reqclock, cmd_queue)
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self.min_query_time = 0.
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first_query_time = query_time = self.reactor.monotonic()
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while 1:
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params = self.completion.wait(query_time + self.RETRY_TIME)
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if params is not None:
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self.serial.register_response(None, self.name, self.oid)
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return params
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query_time = self.reactor.monotonic()
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if query_time > first_query_time + self.TIMEOUT_TIME:
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self.serial.register_response(None, self.name, self.oid)
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raise serialhdl.error("Timeout on wait for '%s' response"
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% (self.name,))
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self.serial.raw_send(cmd, minclock, minclock, cmd_queue)
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# Wrapper around query commands
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class CommandQueryWrapper:
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def __init__(self, serial, msgformat, respformat, oid=None,
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cmd_queue=None, is_async=False, error=serialhdl.error):
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self._serial = serial
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self._cmd = serial.get_msgparser().lookup_command(msgformat)
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serial.get_msgparser().lookup_command(respformat)
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self._response = respformat.split()[0]
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self._oid = oid
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self._error = error
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self._xmit_helper = serialhdl.SerialRetryCommand
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if is_async:
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self._xmit_helper = RetryAsyncCommand
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if cmd_queue is None:
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cmd_queue = serial.get_default_command_queue()
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self._cmd_queue = cmd_queue
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def _do_send(self, cmds, minclock, reqclock):
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xh = self._xmit_helper(self._serial, self._response, self._oid)
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reqclock = max(minclock, reqclock)
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try:
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return xh.get_response(cmds, self._cmd_queue, minclock, reqclock)
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except serialhdl.error as e:
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raise self._error(str(e))
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def send(self, data=(), minclock=0, reqclock=0):
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return self._do_send([self._cmd.encode(data)], minclock, reqclock)
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def send_with_preface(self, preface_cmd, preface_data=(), data=(),
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minclock=0, reqclock=0):
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cmds = [preface_cmd._cmd.encode(preface_data), self._cmd.encode(data)]
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return self._do_send(cmds, minclock, reqclock)
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# Wrapper around command sending
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class CommandWrapper:
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def __init__(self, serial, msgformat, cmd_queue=None):
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self._serial = serial
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msgparser = serial.get_msgparser()
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self._cmd = msgparser.lookup_command(msgformat)
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if cmd_queue is None:
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cmd_queue = serial.get_default_command_queue()
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self._cmd_queue = cmd_queue
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self._msgtag = msgparser.lookup_msgtag(msgformat) & 0xffffffff
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def send(self, data=(), minclock=0, reqclock=0):
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cmd = self._cmd.encode(data)
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self._serial.raw_send(cmd, minclock, reqclock, self._cmd_queue)
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def send_wait_ack(self, data=(), minclock=0, reqclock=0):
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cmd = self._cmd.encode(data)
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self._serial.raw_send_wait_ack(cmd, minclock, reqclock, self._cmd_queue)
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def get_command_tag(self):
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return self._msgtag
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######################################################################
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# Wrapper classes for MCU pins
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######################################################################
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class MCU_trsync:
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REASON_ENDSTOP_HIT = 1
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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._trdispatch = trdispatch
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self._reactor = mcu.get_printer().get_reactor()
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self._steppers = []
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self._trdispatch_mcu = None
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self._oid = mcu.create_oid()
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self._cmd_queue = mcu.alloc_command_queue()
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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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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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if stepper in self._steppers:
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return
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self._steppers.append(stepper)
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def get_steppers(self):
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return list(self._steppers)
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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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mcu.add_config_cmd("config_trsync oid=%d" % (self._oid,))
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mcu.add_config_cmd(
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"trsync_start oid=%d report_clock=0 report_ticks=0 expire_reason=0"
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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(
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"trsync_set_timeout oid=%c clock=%u").get_command_tag()
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trigger_cmd = mcu.lookup_command("trsync_trigger oid=%c reason=%c")
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trigger_tag = trigger_cmd.get_command_tag()
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state_cmd = mcu.lookup_command(
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"trsync_state oid=%c can_trigger=%c trigger_reason=%c clock=%u")
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state_tag = state_cmd.get_command_tag()
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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.get_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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reason = params['trigger_reason']
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is_failure = (reason == self.REASON_COMMS_TIMEOUT)
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self._reactor.async_complete(tc, is_failure)
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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, report_offset,
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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 * .3)
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report_clock = clock + int(report_ticks * report_offset + .5)
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min_extend_ticks = int(report_ticks * .8 + .5)
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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, report_clock, report_ticks,
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self.REASON_COMMS_TIMEOUT],
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reqclock=report_clock)
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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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reqclock=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()
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return params['trigger_reason']
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TRSYNC_TIMEOUT = 0.025
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TRSYNC_SINGLE_MCU_TIMEOUT = 0.250
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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._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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self._rest_ticks = 0
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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._trsyncs = [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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trsyncs = {trsync.get_mcu(): trsync for trsync in self._trsyncs}
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trsync = trsyncs.get(stepper.get_mcu())
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if trsync is None:
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trsync = MCU_trsync(stepper.get_mcu(), self._trdispatch)
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self._trsyncs.append(trsync)
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trsync.add_stepper(stepper)
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# Check for unsupported multi-mcu shared stepper rails
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sname = stepper.get_name()
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if sname.startswith('stepper_'):
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for ot in self._trsyncs:
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for s in ot.get_steppers():
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if ot is not trsync and s.get_name().startswith(sname[:9]):
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cerror = self._mcu.get_printer().config_error
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raise cerror("Multi-mcu homing not supported on"
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" multi-mcu shared axis")
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def get_steppers(self):
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return [s for trsync in self._trsyncs for s in 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._oid, self._pin, self._pullup))
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self._mcu.add_config_cmd(
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"endstop_home oid=%d clock=0 sample_ticks=0 sample_count=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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# Lookup commands
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cmd_queue = self._trsyncs[0].get_command_queue()
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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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" rest_ticks=%u pin_value=%c trsync_oid=%c trigger_reason=%c",
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cq=cmd_queue)
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self._query_cmd = self._mcu.lookup_query_command(
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"endstop_query_state oid=%c",
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"endstop_state oid=%c homing=%c next_clock=%u pin_value=%c",
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oid=self._oid, cq=cmd_queue)
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def home_start(self, print_time, sample_time, sample_count, rest_time,
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triggered=True):
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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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self._rest_ticks = rest_ticks
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reactor = self._mcu.get_printer().get_reactor()
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self._trigger_completion = reactor.completion()
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expire_timeout = TRSYNC_TIMEOUT
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if len(self._trsyncs) == 1:
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expire_timeout = TRSYNC_SINGLE_MCU_TIMEOUT
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for i, trsync in enumerate(self._trsyncs):
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report_offset = float(i) / len(self._trsyncs)
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trsync.start(print_time, report_offset,
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self._trigger_completion, expire_timeout)
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etrsync = self._trsyncs[0]
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ffi_main, ffi_lib = chelper.get_ffi()
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ffi_lib.trdispatch_start(self._trdispatch, etrsync.REASON_HOST_REQUEST)
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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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sample_count, rest_ticks, triggered ^ self._invert,
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etrsync.get_oid(), etrsync.REASON_ENDSTOP_HIT], reqclock=clock)
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return self._trigger_completion
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def home_wait(self, home_end_time):
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etrsync = self._trsyncs[0]
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etrsync.set_home_end_time(home_end_time)
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if self._mcu.is_fileoutput():
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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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ffi_main, ffi_lib = chelper.get_ffi()
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ffi_lib.trdispatch_stop(self._trdispatch)
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res = [trsync.stop() for trsync in self._trsyncs]
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if any([r == etrsync.REASON_COMMS_TIMEOUT for r in res]):
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return -1.
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if res[0] != etrsync.REASON_ENDSTOP_HIT:
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return 0.
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if self._mcu.is_fileoutput():
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return home_end_time
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params = self._query_cmd.send([self._oid])
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next_clock = self._mcu.clock32_to_clock64(params['next_clock'])
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return self._mcu.clock_to_print_time(next_clock - self._rest_ticks)
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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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if self._mcu.is_fileoutput():
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return 0
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params = self._query_cmd.send([self._oid], minclock=clock)
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return params['pin_value'] ^ self._invert
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class MCU_digital_out:
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def __init__(self, mcu, pin_params):
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self._mcu = mcu
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self._oid = None
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self._mcu.register_config_callback(self._build_config)
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self._pin = pin_params['pin']
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self._invert = pin_params['invert']
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self._start_value = self._shutdown_value = self._invert
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self._max_duration = 2.
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self._last_clock = 0
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self._set_cmd = None
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def get_mcu(self):
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return self._mcu
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def setup_max_duration(self, max_duration):
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self._max_duration = max_duration
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def setup_start_value(self, start_value, shutdown_value):
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self._start_value = (not not start_value) ^ self._invert
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self._shutdown_value = (not not shutdown_value) ^ self._invert
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def _build_config(self):
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if self._max_duration and self._start_value != self._shutdown_value:
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raise pins.error("Pin with max duration must have start"
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" value equal to shutdown value")
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mdur_ticks = self._mcu.seconds_to_clock(self._max_duration)
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if mdur_ticks >= 1<<31:
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raise pins.error("Digital pin max duration too large")
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self._mcu.request_move_queue_slot()
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self._oid = self._mcu.create_oid()
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self._mcu.add_config_cmd(
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"config_digital_out oid=%d pin=%s value=%d default_value=%d"
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" max_duration=%d" % (self._oid, self._pin, self._start_value,
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self._shutdown_value, mdur_ticks))
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self._mcu.add_config_cmd("update_digital_out oid=%d value=%d"
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% (self._oid, self._start_value),
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on_restart=True)
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cmd_queue = self._mcu.alloc_command_queue()
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self._set_cmd = self._mcu.lookup_command(
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"queue_digital_out oid=%c clock=%u on_ticks=%u", cq=cmd_queue)
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def set_digital(self, print_time, value):
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clock = self._mcu.print_time_to_clock(print_time)
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self._set_cmd.send([self._oid, clock, (not not value) ^ self._invert],
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minclock=self._last_clock, reqclock=clock)
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self._last_clock = clock
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class MCU_pwm:
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def __init__(self, mcu, pin_params):
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self._mcu = mcu
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self._hardware_pwm = False
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self._cycle_time = 0.100
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self._max_duration = 2.
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self._oid = None
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self._mcu.register_config_callback(self._build_config)
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self._pin = pin_params['pin']
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self._invert = pin_params['invert']
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self._start_value = self._shutdown_value = float(self._invert)
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self._last_clock = 0
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self._pwm_max = 0.
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self._set_cmd = None
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def get_mcu(self):
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return self._mcu
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def setup_max_duration(self, max_duration):
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self._max_duration = max_duration
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def setup_cycle_time(self, cycle_time, hardware_pwm=False):
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self._cycle_time = cycle_time
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self._hardware_pwm = hardware_pwm
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def setup_start_value(self, start_value, shutdown_value):
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if self._invert:
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start_value = 1. - start_value
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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._max_duration and self._start_value != self._shutdown_value:
|
|
raise pins.error("Pin with max duration must have start"
|
|
" value equal to shutdown value")
|
|
cmd_queue = self._mcu.alloc_command_queue()
|
|
curtime = self._mcu.get_printer().get_reactor().monotonic()
|
|
printtime = self._mcu.estimated_print_time(curtime)
|
|
self._last_clock = self._mcu.print_time_to_clock(printtime + 0.200)
|
|
cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time)
|
|
mdur_ticks = self._mcu.seconds_to_clock(self._max_duration)
|
|
if mdur_ticks >= 1<<31:
|
|
raise pins.error("PWM pin max duration too large")
|
|
if self._hardware_pwm:
|
|
self._pwm_max = self._mcu.get_constant_float("PWM_MAX")
|
|
self._mcu.request_move_queue_slot()
|
|
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, cycle_ticks,
|
|
self._start_value * self._pwm_max,
|
|
self._shutdown_value * self._pwm_max, mdur_ticks))
|
|
svalue = int(self._start_value * self._pwm_max + 0.5)
|
|
self._mcu.add_config_cmd("queue_pwm_out oid=%d clock=%d value=%d"
|
|
% (self._oid, self._last_clock, svalue),
|
|
on_restart=True)
|
|
self._set_cmd = self._mcu.lookup_command(
|
|
"queue_pwm_out oid=%c clock=%u value=%hu", cq=cmd_queue)
|
|
return
|
|
# Software PWM
|
|
if self._shutdown_value not in [0., 1.]:
|
|
raise pins.error("shutdown value must be 0.0 or 1.0 on soft pwm")
|
|
if cycle_ticks >= 1<<31:
|
|
raise pins.error("PWM pin cycle time too large")
|
|
self._mcu.request_move_queue_slot()
|
|
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._start_value >= 1.0,
|
|
self._shutdown_value >= 0.5, mdur_ticks))
|
|
self._mcu.add_config_cmd(
|
|
"set_digital_out_pwm_cycle oid=%d cycle_ticks=%d"
|
|
% (self._oid, cycle_ticks))
|
|
self._pwm_max = float(cycle_ticks)
|
|
svalue = int(self._start_value * cycle_ticks + 0.5)
|
|
self._mcu.add_config_cmd(
|
|
"queue_digital_out oid=%d clock=%d on_ticks=%d"
|
|
% (self._oid, self._last_clock, svalue), is_init=True)
|
|
self._set_cmd = self._mcu.lookup_command(
|
|
"queue_digital_out oid=%c clock=%u on_ticks=%u", cq=cmd_queue)
|
|
def set_pwm(self, print_time, value):
|
|
if self._invert:
|
|
value = 1. - value
|
|
v = int(max(0., min(1., value)) * self._pwm_max + 0.5)
|
|
clock = self._mcu.print_time_to_clock(print_time)
|
|
self._set_cmd.send([self._oid, clock, v],
|
|
minclock=self._last_clock, reqclock=clock)
|
|
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 = self._range_check_count = 0
|
|
self._report_clock = 0
|
|
self._last_state = (0., 0.)
|
|
self._oid = self._callback = None
|
|
self._mcu.register_config_callback(self._build_config)
|
|
self._inv_max_adc = 0.
|
|
def get_mcu(self):
|
|
return self._mcu
|
|
def setup_minmax(self, sample_time, sample_count,
|
|
minval=0., maxval=1., range_check_count=0):
|
|
self._sample_time = sample_time
|
|
self._sample_count = sample_count
|
|
self._min_sample = minval
|
|
self._max_sample = maxval
|
|
self._range_check_count = range_check_count
|
|
def setup_adc_callback(self, report_time, callback):
|
|
self._report_time = report_time
|
|
self._callback = callback
|
|
def get_last_value(self):
|
|
return self._last_state
|
|
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 range_check_count=%d" % (
|
|
self._oid, clock, sample_ticks, self._sample_count,
|
|
self._report_clock, min_sample, max_sample,
|
|
self._range_check_count), is_init=True)
|
|
self._mcu.register_response(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)
|
|
self._last_state = (last_value, last_read_time)
|
|
if self._callback is not None:
|
|
self._callback(last_read_time, last_value)
|
|
|
|
|
|
######################################################################
|
|
# Main MCU class
|
|
######################################################################
|
|
|
|
class MCU:
|
|
error = error
|
|
def __init__(self, config, clocksync):
|
|
self._printer = printer = config.get_printer()
|
|
self._clocksync = clocksync
|
|
self._reactor = printer.get_reactor()
|
|
self._name = config.get_name()
|
|
if self._name.startswith('mcu '):
|
|
self._name = self._name[4:]
|
|
# Serial port
|
|
wp = "mcu '%s': " % (self._name)
|
|
self._serial = serialhdl.SerialReader(self._reactor, warn_prefix=wp)
|
|
self._baud = 0
|
|
self._canbus_iface = None
|
|
canbus_uuid = config.get('canbus_uuid', None)
|
|
if canbus_uuid is not None:
|
|
self._serialport = canbus_uuid
|
|
self._canbus_iface = config.get('canbus_interface', 'can0')
|
|
cbid = self._printer.load_object(config, 'canbus_ids')
|
|
cbid.add_uuid(config, canbus_uuid, self._canbus_iface)
|
|
else:
|
|
self._serialport = config.get('serial')
|
|
if not (self._serialport.startswith("/dev/rpmsg_")
|
|
or self._serialport.startswith("/tmp/klipper_host_")):
|
|
self._baud = config.getint('baud', 250000, minval=2400)
|
|
# Restarts
|
|
restart_methods = [None, 'arduino', 'cheetah', 'command', 'rpi_usb']
|
|
self._restart_method = 'command'
|
|
if self._baud:
|
|
rmethods = {m: m for m in restart_methods}
|
|
self._restart_method = config.getchoice('restart_method',
|
|
rmethods, None)
|
|
self._reset_cmd = self._config_reset_cmd = None
|
|
self._is_mcu_bridge = False
|
|
self._emergency_stop_cmd = None
|
|
self._is_shutdown = self._is_timeout = False
|
|
self._shutdown_clock = 0
|
|
self._shutdown_msg = ""
|
|
# Config building
|
|
printer.lookup_object('pins').register_chip(self._name, self)
|
|
self._oid_count = 0
|
|
self._config_callbacks = []
|
|
self._config_cmds = []
|
|
self._restart_cmds = []
|
|
self._init_cmds = []
|
|
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._reserved_move_slots = 0
|
|
self._stepqueues = []
|
|
self._steppersync = None
|
|
self._flush_callbacks = []
|
|
# Stats
|
|
self._get_status_info = {}
|
|
self._stats_sumsq_base = 0.
|
|
self._mcu_tick_avg = 0.
|
|
self._mcu_tick_stddev = 0.
|
|
self._mcu_tick_awake = 0.
|
|
# Register handlers
|
|
printer.register_event_handler("klippy:firmware_restart",
|
|
self._firmware_restart)
|
|
printer.register_event_handler("klippy:mcu_identify",
|
|
self._mcu_identify)
|
|
printer.register_event_handler("klippy:connect", self._connect)
|
|
printer.register_event_handler("klippy:shutdown", self._shutdown)
|
|
printer.register_event_handler("klippy:disconnect", self._disconnect)
|
|
# 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
|
|
diff = count*tick_sumsq - tick_sum**2
|
|
self._mcu_tick_stddev = c * math.sqrt(max(0., diff))
|
|
self._mcu_tick_awake = tick_sum / self._mcu_freq
|
|
def _handle_shutdown(self, params):
|
|
if self._is_shutdown:
|
|
return
|
|
self._is_shutdown = True
|
|
clock = params.get("clock")
|
|
if clock is not None:
|
|
self._shutdown_clock = self.clock32_to_clock64(clock)
|
|
self._shutdown_msg = msg = params['static_string_id']
|
|
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))
|
|
def _handle_starting(self, params):
|
|
if not self._is_shutdown:
|
|
self._printer.invoke_async_shutdown("MCU '%s' spontaneous restart"
|
|
% (self._name,))
|
|
# 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._reactor.pause(self._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 _send_config(self, prev_crc):
|
|
# Build config commands
|
|
for cb in self._config_callbacks:
|
|
cb()
|
|
self._config_cmds.insert(0, "allocate_oids count=%d"
|
|
% (self._oid_count,))
|
|
# Resolve pin names
|
|
mcu_type = self._serial.get_msgparser().get_constant('MCU')
|
|
ppins = self._printer.lookup_object('pins')
|
|
pin_resolver = ppins.get_pin_resolver(self._name)
|
|
for cmdlist in (self._config_cmds, self._restart_cmds, self._init_cmds):
|
|
for i, cmd in enumerate(cmdlist):
|
|
cmdlist[i] = pin_resolver.update_command(cmd)
|
|
# Calculate config CRC
|
|
encoded_config = '\n'.join(self._config_cmds).encode()
|
|
config_crc = zlib.crc32(encoded_config) & 0xffffffff
|
|
self.add_config_cmd("finalize_config crc=%d" % (config_crc,))
|
|
if prev_crc is not None and config_crc != prev_crc:
|
|
self._check_restart("CRC mismatch")
|
|
raise error("MCU '%s' CRC does not match config" % (self._name,))
|
|
# Transmit config messages (if needed)
|
|
self.register_response(self._handle_starting, 'starting')
|
|
try:
|
|
if prev_crc is None:
|
|
logging.info("Sending MCU '%s' printer configuration...",
|
|
self._name)
|
|
for c in self._config_cmds:
|
|
self._serial.send(c)
|
|
else:
|
|
for c in self._restart_cmds:
|
|
self._serial.send(c)
|
|
# Transmit init messages
|
|
for c in self._init_cmds:
|
|
self._serial.send(c)
|
|
except msgproto.enumeration_error as e:
|
|
enum_name, enum_value = e.get_enum_params()
|
|
if enum_name == 'pin':
|
|
# Raise pin name errors as a config error (not a protocol error)
|
|
raise self._printer.config_error(
|
|
"Pin '%s' is not a valid pin name on mcu '%s'"
|
|
% (enum_value, self._name))
|
|
raise
|
|
def _send_get_config(self):
|
|
get_config_cmd = self.lookup_query_command(
|
|
"get_config",
|
|
"config is_config=%c crc=%u is_shutdown=%c move_count=%hu")
|
|
if self.is_fileoutput():
|
|
return { 'is_config': 0, 'move_count': 500, 'crc': 0 }
|
|
config_params = get_config_cmd.send()
|
|
if self._is_shutdown:
|
|
raise error("MCU '%s' error during config: %s" % (
|
|
self._name, self._shutdown_msg))
|
|
if config_params['is_shutdown']:
|
|
raise error("Can not update MCU '%s' config as it is shutdown" % (
|
|
self._name,))
|
|
return config_params
|
|
def _log_info(self):
|
|
msgparser = self._serial.get_msgparser()
|
|
message_count = len(msgparser.get_messages())
|
|
version, build_versions = msgparser.get_version_info()
|
|
log_info = [
|
|
"Loaded MCU '%s' %d commands (%s / %s)"
|
|
% (self._name, message_count, version, build_versions),
|
|
"MCU '%s' config: %s" % (self._name, " ".join(
|
|
["%s=%s" % (k, v) for k, v in self.get_constants().items()]))]
|
|
return "\n".join(log_info)
|
|
def _connect(self):
|
|
config_params = self._send_get_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")
|
|
# Not configured - send config and issue get_config again
|
|
self._send_config(None)
|
|
config_params = self._send_get_config()
|
|
if not config_params['is_config'] and not self.is_fileoutput():
|
|
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,))
|
|
# Already configured - send init commands
|
|
self._send_config(config_params['crc'])
|
|
# Setup steppersync with the move_count returned by get_config
|
|
move_count = config_params['move_count']
|
|
if move_count < self._reserved_move_slots:
|
|
raise error("Too few moves available on MCU '%s'" % (self._name,))
|
|
ffi_main, ffi_lib = chelper.get_ffi()
|
|
self._steppersync = ffi_main.gc(
|
|
ffi_lib.steppersync_alloc(self._serial.get_serialqueue(),
|
|
self._stepqueues, len(self._stepqueues),
|
|
move_count-self._reserved_move_slots),
|
|
ffi_lib.steppersync_free)
|
|
ffi_lib.steppersync_set_time(self._steppersync, 0., self._mcu_freq)
|
|
# Log config information
|
|
move_msg = "Configured MCU '%s' (%d moves)" % (self._name, move_count)
|
|
logging.info(move_msg)
|
|
log_info = self._log_info() + "\n" + move_msg
|
|
self._printer.set_rollover_info(self._name, log_info, log=False)
|
|
def _mcu_identify(self):
|
|
if self.is_fileoutput():
|
|
self._connect_file()
|
|
else:
|
|
resmeth = self._restart_method
|
|
if resmeth == 'rpi_usb' and not os.path.exists(self._serialport):
|
|
# Try toggling usb power
|
|
self._check_restart("enable power")
|
|
try:
|
|
if self._canbus_iface is not None:
|
|
cbid = self._printer.lookup_object('canbus_ids')
|
|
nodeid = cbid.get_nodeid(self._serialport)
|
|
self._serial.connect_canbus(self._serialport, nodeid,
|
|
self._canbus_iface)
|
|
elif self._baud:
|
|
# Cheetah boards require RTS to be deasserted
|
|
# else a reset will trigger the built-in bootloader.
|
|
rts = (resmeth != "cheetah")
|
|
self._serial.connect_uart(self._serialport, self._baud, rts)
|
|
else:
|
|
self._serial.connect_pipe(self._serialport)
|
|
self._clocksync.connect(self._serial)
|
|
except serialhdl.error as e:
|
|
raise error(str(e))
|
|
logging.info(self._log_info())
|
|
ppins = self._printer.lookup_object('pins')
|
|
pin_resolver = ppins.get_pin_resolver(self._name)
|
|
for cname, value in self.get_constants().items():
|
|
if cname.startswith("RESERVE_PINS_"):
|
|
for pin in value.split(','):
|
|
pin_resolver.reserve_pin(pin, cname[13:])
|
|
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")
|
|
ext_only = self._reset_cmd is None and self._config_reset_cmd is None
|
|
msgparser = self._serial.get_msgparser()
|
|
mbaud = msgparser.get_constant('SERIAL_BAUD', None)
|
|
if self._restart_method is None and mbaud is None and not ext_only:
|
|
self._restart_method = 'command'
|
|
if msgparser.get_constant('CANBUS_BRIDGE', 0):
|
|
self._is_mcu_bridge = True
|
|
self._printer.register_event_handler("klippy:firmware_restart",
|
|
self._firmware_restart_bridge)
|
|
version, build_versions = msgparser.get_version_info()
|
|
self._get_status_info['mcu_version'] = version
|
|
self._get_status_info['mcu_build_versions'] = build_versions
|
|
self._get_status_info['mcu_constants'] = msgparser.get_constants()
|
|
self.register_response(self._handle_shutdown, 'shutdown')
|
|
self.register_response(self._handle_shutdown, 'is_shutdown')
|
|
self.register_response(self._handle_mcu_stats, 'stats')
|
|
# Config creation helpers
|
|
def setup_pin(self, pin_type, pin_params):
|
|
pcs = {'endstop': MCU_endstop,
|
|
'digital_out': MCU_digital_out, 'pwm': MCU_pwm, 'adc': MCU_adc}
|
|
if pin_type not in pcs:
|
|
raise pins.error("pin type %s not supported on mcu" % (pin_type,))
|
|
return pcs[pin_type](self, pin_params)
|
|
def create_oid(self):
|
|
self._oid_count += 1
|
|
return self._oid_count - 1
|
|
def register_config_callback(self, cb):
|
|
self._config_callbacks.append(cb)
|
|
def add_config_cmd(self, cmd, is_init=False, on_restart=False):
|
|
if is_init:
|
|
self._init_cmds.append(cmd)
|
|
elif on_restart:
|
|
self._restart_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._reactor.monotonic()) + 1.5)
|
|
return self.print_time_to_clock(t) + slot
|
|
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 get_printer(self):
|
|
return self._printer
|
|
def get_name(self):
|
|
return self._name
|
|
def register_response(self, cb, msg, oid=None):
|
|
self._serial.register_response(cb, msg, oid)
|
|
def alloc_command_queue(self):
|
|
return self._serial.alloc_command_queue()
|
|
def lookup_command(self, msgformat, cq=None):
|
|
return CommandWrapper(self._serial, msgformat, cq)
|
|
def lookup_query_command(self, msgformat, respformat, oid=None,
|
|
cq=None, is_async=False):
|
|
return CommandQueryWrapper(self._serial, msgformat, respformat, oid,
|
|
cq, is_async, self._printer.command_error)
|
|
def try_lookup_command(self, msgformat):
|
|
try:
|
|
return self.lookup_command(msgformat)
|
|
except self._serial.get_msgparser().error as e:
|
|
return None
|
|
def get_enumerations(self):
|
|
return self._serial.get_msgparser().get_enumerations()
|
|
def get_constants(self):
|
|
return self._serial.get_msgparser().get_constants()
|
|
def get_constant_float(self, name):
|
|
return self._serial.get_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 clock32_to_clock64(self, clock32):
|
|
return self._clocksync.clock32_to_clock64(clock32)
|
|
# Restarts
|
|
def _disconnect(self):
|
|
self._serial.disconnect()
|
|
self._steppersync = None
|
|
def _shutdown(self, force=False):
|
|
if (self._emergency_stop_cmd is None
|
|
or (self._is_shutdown and not force)):
|
|
return
|
|
self._emergency_stop_cmd.send()
|
|
def _restart_arduino(self):
|
|
logging.info("Attempting MCU '%s' reset", self._name)
|
|
self._disconnect()
|
|
serialhdl.arduino_reset(self._serialport, self._reactor)
|
|
def _restart_cheetah(self):
|
|
logging.info("Attempting MCU '%s' Cheetah-style reset", self._name)
|
|
self._disconnect()
|
|
serialhdl.cheetah_reset(self._serialport, self._reactor)
|
|
def _restart_via_command(self):
|
|
if ((self._reset_cmd is None and self._config_reset_cmd is None)
|
|
or not self._clocksync.is_active()):
|
|
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._shutdown(force=True)
|
|
self._reactor.pause(self._reactor.monotonic() + 0.015)
|
|
self._config_reset_cmd.send()
|
|
else:
|
|
# Attempt reset via reset command
|
|
logging.info("Attempting MCU '%s' reset command", self._name)
|
|
self._reset_cmd.send()
|
|
self._reactor.pause(self._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._reactor.pause(self._reactor.monotonic() + 2.)
|
|
chelper.run_hub_ctrl(1)
|
|
def _firmware_restart(self, force=False):
|
|
if self._is_mcu_bridge and not force:
|
|
return
|
|
if self._restart_method == 'rpi_usb':
|
|
self._restart_rpi_usb()
|
|
elif self._restart_method == 'command':
|
|
self._restart_via_command()
|
|
elif self._restart_method == 'cheetah':
|
|
self._restart_cheetah()
|
|
else:
|
|
self._restart_arduino()
|
|
def _firmware_restart_bridge(self):
|
|
self._firmware_restart(True)
|
|
# Move queue tracking
|
|
def register_stepqueue(self, stepqueue):
|
|
self._stepqueues.append(stepqueue)
|
|
def request_move_queue_slot(self):
|
|
self._reserved_move_slots += 1
|
|
def register_flush_callback(self, callback):
|
|
self._flush_callbacks.append(callback)
|
|
def flush_moves(self, print_time, clear_history_time):
|
|
if self._steppersync is None:
|
|
return
|
|
clock = self.print_time_to_clock(print_time)
|
|
if clock < 0:
|
|
return
|
|
for cb in self._flush_callbacks:
|
|
cb(print_time, clock)
|
|
clear_history_clock = \
|
|
max(0, self.print_time_to_clock(clear_history_time))
|
|
ret = self._ffi_lib.steppersync_flush(self._steppersync, clock,
|
|
clear_history_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() or self.is_fileoutput()
|
|
or self._is_timeout):
|
|
return
|
|
self._is_timeout = True
|
|
logging.info("Timeout with MCU '%s' (eventtime=%f)",
|
|
self._name, eventtime)
|
|
self._printer.invoke_shutdown("Lost communication with MCU '%s'" % (
|
|
self._name,))
|
|
# 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 get_shutdown_clock(self):
|
|
return self._shutdown_clock
|
|
def get_status(self, eventtime=None):
|
|
return dict(self._get_status_info)
|
|
def stats(self, eventtime):
|
|
load = "mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
|
|
self._mcu_tick_awake, self._mcu_tick_avg, self._mcu_tick_stddev)
|
|
stats = ' '.join([load, self._serial.stats(eventtime),
|
|
self._clocksync.stats(eventtime)])
|
|
parts = [s.split('=', 1) for s in stats.split()]
|
|
last_stats = {k:(float(v) if '.' in v else int(v)) for k, v in parts}
|
|
self._get_status_info['last_stats'] = last_stats
|
|
return False, '%s: %s' % (self._name, stats)
|
|
|
|
Common_MCU_errors = {
|
|
("Timer too close",): """
|
|
This often indicates the host computer is overloaded. Check
|
|
for other processes consuming excessive CPU time, high swap
|
|
usage, disk errors, overheating, unstable voltage, or
|
|
similar system problems on the host computer.""",
|
|
("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(config):
|
|
printer = config.get_printer()
|
|
reactor = printer.get_reactor()
|
|
mainsync = clocksync.ClockSync(reactor)
|
|
printer.add_object('mcu', MCU(config.getsection('mcu'), mainsync))
|
|
for s in config.get_prefix_sections('mcu '):
|
|
printer.add_object(s.section, MCU(
|
|
s, clocksync.SecondarySync(reactor, mainsync)))
|
|
|
|
def get_printer_mcu(printer, name):
|
|
if name == 'mcu':
|
|
return printer.lookup_object(name)
|
|
return printer.lookup_object('mcu ' + name)
|