mirror of https://github.com/Desuuuu/klipper.git
mcu: Add support for connecting to devices on a CAN bus
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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babde17c4c
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041692828c
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@ -39,9 +39,16 @@ Configuration of the primary micro-controller.
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serial:
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# The serial port to connect to the MCU. If unsure (or if it
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# changes) see the "Where's my serial port?" section of the FAQ.
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# This parameter must be provided.
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# This parameter must be provided when using a serial port.
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#baud: 250000
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# The baud rate to use. The default is 250000.
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#canbus_uuid:
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# If using a device connected to a CAN bus then this sets the unique
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# chip identifier to connect to. This value must be provided when using
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# CAN bus for communication.
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#canbus_interface:
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# If using a device connected to a CAN bus then this sets the CAN
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# network interface to use. The default is 'can0'.
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#pin_map:
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# This option may be used to enable Arduino pin name aliases. The
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# default is to not enable the aliases.
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@ -0,0 +1,24 @@
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# Support for tracking canbus node ids
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#
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# Copyright (C) 2021 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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class PrinterCANBus:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.ids = {}
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def add_uuid(self, config, canbus_uuid, canbus_iface):
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if canbus_uuid in self.ids:
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raise config.error("Duplicate canbus_uuid")
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new_id = len(self.ids)
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self.ids[canbus_uuid] = new_id
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return new_id
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def get_nodeid(self, canbus_uuid):
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if canbus_uuid not in self.ids:
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raise self.printer.config_error("Unknown canbus_uuid %s"
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% (canbus_uuid,))
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return self.ids[canbus_uuid]
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def load_config(config):
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return PrinterCANBus(config)
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@ -415,12 +415,20 @@ class MCU:
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if self._name.startswith('mcu '):
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self._name = self._name[4:]
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# Serial port
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self._serialport = config.get('serial')
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self._serial = serialhdl.SerialReader(self._reactor)
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self._baud = 0
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self._canbus_iface = None
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canbus_uuid = config.get('canbus_uuid', None)
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if canbus_uuid is not None:
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self._serialport = canbus_uuid
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self._canbus_iface = config.get('canbus_interface', 'can0')
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cbid = self._printer.load_object(config, 'canbus_ids')
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cbid.add_uuid(config, canbus_uuid, self._canbus_iface)
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else:
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self._serialport = config.get('serial')
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if not (self._serialport.startswith("/dev/rpmsg_")
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or self._serialport.startswith("/tmp/klipper_host_")):
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self._baud = config.getint('baud', 250000, minval=2400)
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self._serial = serialhdl.SerialReader(self._reactor)
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# Restarts
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restart_methods = [None, 'arduino', 'cheetah', 'command', 'rpi_usb']
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self._restart_method = 'command'
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@ -617,7 +625,12 @@ class MCU:
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# Try toggling usb power
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self._check_restart("enable power")
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try:
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if self._baud:
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if self._canbus_iface is not None:
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cbid = self._printer.lookup_object('canbus_ids')
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nodeid = cbid.get_nodeid(self._serialport)
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self._serial.connect_canbus(self._serialport, nodeid,
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self._canbus_iface)
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elif self._baud:
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# Cheetah boards require RTS to be deasserted
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# else a reset will trigger the built-in bootloader.
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rts = (resmeth != "cheetah")
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