mirror of https://github.com/Desuuuu/klipper.git
docs: LinuxMCU doc & script (#2956)
Signed-off-by: Lucio Tarantino <lucio.tarantino@gmail.com>
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Lucio Tarantino
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# This file contains an example configuration with RPi as secondary mcu
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# See both the example.cfg and example-extras.cfg file for a
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# description of available parameters.
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# The rpi microcontroller is used as secondary.
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# Typically, both the X and Y axes
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# are connected to the main micro-controller. The rpi microcontroller is used
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# on non time-critical functions such as enclosure sensors, additional fan or
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# light sources
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[mcu host]
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serial: /tmp/klipper_host_mcu
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# Example1: A led strip controlled by the GPIO20 on the RPi
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[output_pin caselight]
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pin: host:gpio20
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# You can also write the pin in extended form by specifying
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# the reference gpiochip.
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#pin: host:gpiochip0/gpio20
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[gcode_macro TOGGLE_CASELIGHT]
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gcode:
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SET_PIN PIN=caselight VALUE={(not printer['output_pin caselight'].value)|int}
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# Example2: Using the i2c bus of the RPi to read a sensor
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[temperature_sensor enclosure_temp]
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sensor_type: HTU21D
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i2c_mcu: host
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i2c_bus: i2c.1
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htu21d_hold_master: False
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[gcode_macro QUERY_ENCLOSURE]
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default_parameter_SENSOR: htu21d enclosure_temp
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gcode:
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{printer.gcode.action_respond_info(
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"Temperature: %.2f C\n"
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"Humidity: %.2f%%" % (
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printer[SENSOR].temperature,
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printer[SENSOR].humidity))}
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# Example 3:Using a pin on another gpiochip connected to the RPi
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# (in this case on an MCP23017)
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[fan]
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pin: host:gpiochip2/gpio7
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@ -0,0 +1,148 @@
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This document describes the process of running Klipper on a RPi
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and use the same RPi as secondary mcu.
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Why use RPi as a secondary MCU?
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===============================
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Often the MCUs dedicated to controlling 3D printers have a limited and
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pre-configured number of exposed pins to manage the main printing
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functions (thermal resistors, extruders, steppers ...).
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Using the RPi where Klipper is installed as a secondary MCU gives the
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possibility to directly use the GPIOs and the buses (i2c, spi) of the RPi
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inside klipper without using Octoprint plugins (if used) or external
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programs giving the ability to control everything within the print GCODE.
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**Warning**: If your platform is a _Beaglebone_ and you have correctly followed the installation steps, the linux mcu is already installed and configured for your system.
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Install the rc script
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=====================
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If you want to use the host as a secondary MCU the klipper_mcu process must run before the klippy process.
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After installing Klipper, install the script. run:
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```
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cd ~/klipper/
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sudo cp "./scripts/klipper-mcu-start.sh" /etc/init.d/klipper_mcu
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sudo update-rc.d klipper_mcu defaults
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```
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Building the micro-controller code
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==================================
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To compile the Klipper micro-controller code, start by configuring it
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for the "Linux process":
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```
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cd ~/klipper/
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make menuconfig
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```
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To build and install the new micro-controller code, run:
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```
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sudo service klipper stop
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make flash
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sudo service klipper start
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```
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Remaining configuration
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=======================
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Complete the installation by configuring Klipper secondary MCU
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following the instructions in
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[RasperryPi example config](../config/example-rasperry-pi.cfg) and
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[Multi MCU example config](../config/example-multi-mcu.cfg).
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Optional: Identify the correct gpiochip
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=======================================
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On Rasperry and on many clones the pins exposed on the GPIO belong to the first gpiochip. They can therefore be used on klipper simply by referring them with the name `gpio0..n`.
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However, there are cases in which the exposed pins belong to gpiochips other than the first. For example in the case of some OrangePi models or if a Port Expander is used. In these cases it is useful to use the commands to access the _Linux GPIO character device_ to verify the configuration.
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To install the _Linux GPIO character device - binary_ on a debian based distro like octopi run:
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```
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sudo apt-get install gpiod
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```
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To check available gpiochip run:
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```
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gpiodetect
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```
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To check the pin number and the pin availability tun:
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```
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gpioinfo
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```
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The chosen pin can thus be used within the configuration as `gpiochip<n>/gpio<o>` where **n** is the chip number as seen by the `gpiodetect` command and **o** is the line number seen by the` gpioinfo` command.
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***Warning:*** only gpio marked as `unused` can be used. It is not possible for a _line_ to be used by multiple processes simultaneously.
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For example on a RPi 3B+ where klipper use the GPIO20 for a switch:
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```
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$ gpiodetect
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gpiochip0 [pinctrl-bcm2835] (54 lines)
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gpiochip1 [raspberrypi-exp-gpio] (8 lines)
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$ gpioinfo
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gpiochip0 - 54 lines:
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line 0: unnamed unused input active-high
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line 1: unnamed unused input active-high
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line 2: unnamed unused input active-high
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line 3: unnamed unused input active-high
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line 4: unnamed unused input active-high
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line 5: unnamed unused input active-high
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line 6: unnamed unused input active-high
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line 7: unnamed unused input active-high
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line 8: unnamed unused input active-high
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line 9: unnamed unused input active-high
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line 10: unnamed unused input active-high
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line 11: unnamed unused input active-high
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line 12: unnamed unused input active-high
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line 13: unnamed unused input active-high
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line 14: unnamed unused input active-high
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line 15: unnamed unused input active-high
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line 16: unnamed unused input active-high
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line 17: unnamed unused input active-high
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line 18: unnamed unused input active-high
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line 19: unnamed unused input active-high
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line 20: unnamed "klipper" output active-high [used]
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line 21: unnamed unused input active-high
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line 22: unnamed unused input active-high
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line 23: unnamed unused input active-high
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line 24: unnamed unused input active-high
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line 25: unnamed unused input active-high
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line 26: unnamed unused input active-high
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line 27: unnamed unused input active-high
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line 28: unnamed unused input active-high
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line 29: unnamed "led0" output active-high [used]
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line 30: unnamed unused input active-high
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line 31: unnamed unused input active-high
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line 32: unnamed unused input active-high
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line 33: unnamed unused input active-high
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line 34: unnamed unused input active-high
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line 35: unnamed unused input active-high
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line 36: unnamed unused input active-high
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line 37: unnamed unused input active-high
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line 38: unnamed unused input active-high
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line 39: unnamed unused input active-high
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line 40: unnamed unused input active-high
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line 41: unnamed unused input active-high
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line 42: unnamed unused input active-high
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line 43: unnamed unused input active-high
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line 44: unnamed unused input active-high
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line 45: unnamed unused input active-high
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line 46: unnamed unused input active-high
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line 47: unnamed unused input active-high
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line 48: unnamed unused input active-high
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line 49: unnamed unused input active-high
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line 50: unnamed unused input active-high
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line 51: unnamed unused input active-high
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line 52: unnamed unused input active-high
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line 53: unnamed unused input active-high
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gpiochip1 - 8 lines:
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line 0: unnamed unused input active-high
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line 1: unnamed unused input active-high
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line 2: unnamed "led1" output active-low [used]
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line 3: unnamed unused input active-high
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line 4: unnamed unused input active-high
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line 5: unnamed unused input active-high
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line 6: unnamed unused input active-high
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line 7: unnamed unused input active-high
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```
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@ -15,6 +15,12 @@ sync
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# Restart (if system install script present)
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if [ -f /etc/init.d/klipper_pru ]; then
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echo "Attempting host MCU restart..."
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echo "Attempting host PRU restart..."
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service klipper_pru restart
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fi
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# Restart (if system install script present)
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if [ -f /etc/init.d/klipper_mcu ]; then
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echo "Attempting host MCU restart..."
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service klipper_mcu restart
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fi
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#!/bin/sh
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# System startup script to start the MCU Linux firmware
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### BEGIN INIT INFO
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# Provides: klipper_mcu
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# Required-Start: $local_fs
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# Required-Stop:
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# Default-Start: 3 4 5
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# Default-Stop: 0 1 2 6
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# Short-Description: Klipper_MCU daemon
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# Description: Starts the MCU for Klipper.
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### END INIT INFO
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PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
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DESC="klipper_mcu startup"
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NAME="klipper_mcu"
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KLIPPER_HOST_MCU=/usr/local/bin/klipper_mcu
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KLIPPER_HOST_ARGS="-r"
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PIDFILE=/var/run/klipper_mcu.pid
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. /lib/lsb/init-functions
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mcu_host_stop()
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{
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# Shutdown existing Klipper instance (if applicable). The goal is to
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# put the GPIO pins in a safe state.
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if [ -c /tmp/klipper_host_mcu ]; then
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log_daemon_msg "Attempting to shutdown host mcu..."
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set -e
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( echo "FORCE_SHUTDOWN" > /tmp/klipper_host_mcu ) 2> /dev/null || ( log_action_msg "Firmware busy! Please shutdown Klipper and then retry." && exit 1 )
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sleep 1
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( echo "FORCE_SHUTDOWN" > /tmp/klipper_host_mcu ) 2> /dev/null || ( log_action_msg "Firmware busy! Please shutdown Klipper and then retry." && exit 1 )
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sleep 1
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set +e
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fi
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log_daemon_msg "Stopping klipper host mcu" $NAME
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killproc -p $PIDFILE $KLIPPER_HOST_MCU
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}
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mcu_host_start()
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{
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[ -x $KLIPPER_HOST_MCU ] || return
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if [ -c /tmp/klipper_host_mcu ]; then
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mcu_host_stop
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fi
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log_daemon_msg "Starting klipper MCU" $NAME
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start-stop-daemon --start --quiet --exec $KLIPPER_HOST_MCU \
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--background --pidfile $PIDFILE --make-pidfile \
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-- $KLIPPER_HOST_ARGS
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log_end_msg $?
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}
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case "$1" in
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start)
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mcu_host_start
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;;
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stop)
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mcu_host_stop
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;;
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restart)
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$0 stop
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$0 start
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;;
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reload|force-reload)
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log_daemon_msg "Reloading configuration not supported" $NAME
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log_end_msg 1
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;;
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status)
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status_of_proc -p $PIDFILE $KLIPPER_HOST_MCU $NAME && exit 0 || exit $?
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;;
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*) log_action_msg "Usage: /etc/init.d/klipper_mcu {start|stop|status|restart|reload|force-reload}"
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exit 2
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;;
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esac
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exit 0
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