mirror of https://github.com/Desuuuu/klipper.git
mcu: Move code around in MCU class to keep like code together
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
parent
f1b315e04f
commit
cee200e509
215
klippy/mcu.py
215
klippy/mcu.py
|
@ -395,26 +395,25 @@ class MCU:
|
||||||
self._clocksync = clocksync
|
self._clocksync = clocksync
|
||||||
# Serial port
|
# Serial port
|
||||||
self._serialport = config.get('serial', '/dev/ttyS0')
|
self._serialport = config.get('serial', '/dev/ttyS0')
|
||||||
if self._serialport.startswith("/dev/rpmsg_"):
|
baud = 0
|
||||||
# Beaglbone PRU
|
if not self._serialport.startswith("/dev/rpmsg_"):
|
||||||
baud = 0
|
|
||||||
else:
|
|
||||||
baud = config.getint('baud', 250000, minval=2400)
|
baud = config.getint('baud', 250000, minval=2400)
|
||||||
self._serial = serialhdl.SerialReader(
|
self._serial = serialhdl.SerialReader(
|
||||||
printer.reactor, self._serialport, baud)
|
printer.reactor, self._serialport, baud)
|
||||||
self._is_shutdown = False
|
# Restarts
|
||||||
self._shutdown_msg = ""
|
|
||||||
self._restart_method = 'command'
|
self._restart_method = 'command'
|
||||||
if baud:
|
if baud:
|
||||||
rmethods = {m: m for m in ['arduino', 'command', 'rpi_usb']}
|
rmethods = {m: m for m in ['arduino', 'command', 'rpi_usb']}
|
||||||
self._restart_method = config.getchoice(
|
self._restart_method = config.getchoice(
|
||||||
'restart_method', rmethods, 'arduino')
|
'restart_method', rmethods, 'arduino')
|
||||||
# Config building
|
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:
|
if printer.bglogger is not None:
|
||||||
printer.bglogger.set_rollover_info("mcu", None)
|
printer.bglogger.set_rollover_info("mcu", None)
|
||||||
|
# Config building
|
||||||
pins.get_printer_pins(printer).register_chip("mcu", self)
|
pins.get_printer_pins(printer).register_chip("mcu", self)
|
||||||
self._emergency_stop_cmd = None
|
|
||||||
self._reset_cmd = self._config_reset_cmd = None
|
|
||||||
self._oid_count = 0
|
self._oid_count = 0
|
||||||
self._config_objects = []
|
self._config_objects = []
|
||||||
self._init_cmds = []
|
self._init_cmds = []
|
||||||
|
@ -434,6 +433,7 @@ class MCU:
|
||||||
self._mcu_tick_avg = 0.
|
self._mcu_tick_avg = 0.
|
||||||
self._mcu_tick_stddev = 0.
|
self._mcu_tick_stddev = 0.
|
||||||
self._mcu_tick_awake = 0.
|
self._mcu_tick_awake = 0.
|
||||||
|
# Serial callbacks
|
||||||
def handle_mcu_stats(self, params):
|
def handle_mcu_stats(self, params):
|
||||||
count = params['count']
|
count = params['count']
|
||||||
tick_sum = params['sum']
|
tick_sum = params['sum']
|
||||||
|
@ -462,26 +462,6 @@ class MCU:
|
||||||
self._printer.request_exit('firmware_restart')
|
self._printer.request_exit('firmware_restart')
|
||||||
self._printer.reactor.pause(self._printer.reactor.monotonic() + 2.000)
|
self._printer.reactor.pause(self._printer.reactor.monotonic() + 2.000)
|
||||||
raise error("Attempt firmware restart failed")
|
raise error("Attempt firmware restart failed")
|
||||||
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()
|
|
||||||
def _connect_file(self, pace=False):
|
def _connect_file(self, pace=False):
|
||||||
# In a debugging mode. Open debug output file and read data dictionary
|
# In a debugging mode. Open debug output file and read data dictionary
|
||||||
out_fname = self._printer.get_start_args().get('debugoutput')
|
out_fname = self._printer.get_start_args().get('debugoutput')
|
||||||
|
@ -497,61 +477,6 @@ class MCU:
|
||||||
def dummy_estimated_print_time(eventtime):
|
def dummy_estimated_print_time(eventtime):
|
||||||
return 0.
|
return 0.
|
||||||
self.estimated_print_time = dummy_estimated_print_time
|
self.estimated_print_time = dummy_estimated_print_time
|
||||||
def check_active(self, print_time, eventtime):
|
|
||||||
if self._clocksync.is_active(eventtime):
|
|
||||||
return
|
|
||||||
logging.info("Timeout with firmware (eventtime=%f)", eventtime)
|
|
||||||
self._printer.note_mcu_error("Lost communication with firmware")
|
|
||||||
def disconnect(self):
|
|
||||||
self._serial.disconnect()
|
|
||||||
if self._steppersync is not None:
|
|
||||||
self._ffi_lib.steppersync_free(self._steppersync)
|
|
||||||
self._steppersync = None
|
|
||||||
def stats(self, eventtime):
|
|
||||||
msg = "mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
|
|
||||||
self._mcu_tick_awake, self._mcu_tick_avg, self._mcu_tick_stddev)
|
|
||||||
return ' '.join([self._serial.stats(eventtime),
|
|
||||||
self._clocksync.stats(eventtime), msg])
|
|
||||||
def force_shutdown(self):
|
|
||||||
self.send(self._emergency_stop_cmd.encode())
|
|
||||||
def microcontroller_restart(self):
|
|
||||||
reactor = self._printer.reactor
|
|
||||||
if self._restart_method == 'rpi_usb':
|
|
||||||
logging.info("Attempting a microcontroller reset via rpi usb power")
|
|
||||||
self.disconnect()
|
|
||||||
chelper.run_hub_ctrl(0)
|
|
||||||
reactor.pause(reactor.monotonic() + 2.000)
|
|
||||||
chelper.run_hub_ctrl(1)
|
|
||||||
return
|
|
||||||
if self._restart_method == 'command':
|
|
||||||
eventtime = reactor.monotonic()
|
|
||||||
if ((self._reset_cmd is None and self._config_reset_cmd is None)
|
|
||||||
or not self._clocksync.is_active(eventtime)):
|
|
||||||
logging.info("Unable to issue reset command")
|
|
||||||
return
|
|
||||||
if self._reset_cmd is None:
|
|
||||||
# Attempt reset via config_reset command
|
|
||||||
logging.info("Attempting a microcontroller config_reset command")
|
|
||||||
self._is_shutdown = True
|
|
||||||
self.force_shutdown()
|
|
||||||
reactor.pause(reactor.monotonic() + 0.015)
|
|
||||||
self.send(self._config_reset_cmd.encode())
|
|
||||||
reactor.pause(reactor.monotonic() + 0.015)
|
|
||||||
self.disconnect()
|
|
||||||
return
|
|
||||||
# Attempt reset via reset command
|
|
||||||
logging.info("Attempting a microcontroller reset command")
|
|
||||||
self.send(self._reset_cmd.encode())
|
|
||||||
reactor.pause(reactor.monotonic() + 0.015)
|
|
||||||
self.disconnect()
|
|
||||||
return
|
|
||||||
# Attempt reset via arduino mechanism
|
|
||||||
logging.info("Attempting a microcontroller reset")
|
|
||||||
self.disconnect()
|
|
||||||
serialhdl.arduino_reset(self._serialport, reactor)
|
|
||||||
def is_fileoutput(self):
|
|
||||||
return self._printer.get_start_args().get('debugoutput') is not None
|
|
||||||
# Configuration phase
|
|
||||||
def _add_custom(self):
|
def _add_custom(self):
|
||||||
for line in self._custom.split('\n'):
|
for line in self._custom.split('\n'):
|
||||||
line = line.strip()
|
line = line.strip()
|
||||||
|
@ -629,6 +554,26 @@ class MCU:
|
||||||
self._ffi_lib.steppersync_set_time(self._steppersync, 0., self._mcu_freq)
|
self._ffi_lib.steppersync_set_time(self._steppersync, 0., self._mcu_freq)
|
||||||
for c in self._init_cmds:
|
for c in self._init_cmds:
|
||||||
self.send(self.create_command(c))
|
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
|
# Config creation helpers
|
||||||
def setup_pin(self, pin_params):
|
def setup_pin(self, pin_params):
|
||||||
pcs = {'stepper': MCU_stepper, 'endstop': MCU_endstop,
|
pcs = {'stepper': MCU_stepper, 'endstop': MCU_endstop,
|
||||||
|
@ -649,12 +594,27 @@ class MCU:
|
||||||
self._init_cmds.append(cmd)
|
self._init_cmds.append(cmd)
|
||||||
else:
|
else:
|
||||||
self._config_cmds.append(cmd)
|
self._config_cmds.append(cmd)
|
||||||
def register_msg(self, cb, msg, oid=None):
|
def get_query_slot(self, oid):
|
||||||
self._serial.register_callback(cb, msg, 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):
|
def register_stepqueue(self, stepqueue):
|
||||||
self._stepqueues.append(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):
|
def alloc_command_queue(self):
|
||||||
return self._serial.alloc_command_queue()
|
return self._serial.alloc_command_queue()
|
||||||
|
def create_command(self, msg):
|
||||||
|
return self._serial.msgparser.create_command(msg)
|
||||||
def lookup_command(self, msgformat):
|
def lookup_command(self, msgformat):
|
||||||
return self._serial.msgparser.lookup_command(msgformat)
|
return self._serial.msgparser.lookup_command(msgformat)
|
||||||
def try_lookup_command(self, msgformat):
|
def try_lookup_command(self, msgformat):
|
||||||
|
@ -662,17 +622,8 @@ class MCU:
|
||||||
return self._serial.msgparser.lookup_command(msgformat)
|
return self._serial.msgparser.lookup_command(msgformat)
|
||||||
except self._serial.msgparser.error as e:
|
except self._serial.msgparser.error as e:
|
||||||
return None
|
return None
|
||||||
def create_command(self, msg):
|
|
||||||
return self._serial.msgparser.create_command(msg)
|
|
||||||
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 is_shutdown(self):
|
|
||||||
return self._is_shutdown
|
|
||||||
def get_constant_float(self, name):
|
def get_constant_float(self, name):
|
||||||
return self._serial.msgparser.get_constant_float(name)
|
return self._serial.msgparser.get_constant_float(name)
|
||||||
# Clock syncing
|
|
||||||
def print_time_to_clock(self, print_time):
|
def print_time_to_clock(self, print_time):
|
||||||
return self._clocksync.print_time_to_clock(print_time)
|
return self._clocksync.print_time_to_clock(print_time)
|
||||||
def clock_to_print_time(self, clock):
|
def clock_to_print_time(self, clock):
|
||||||
|
@ -683,15 +634,15 @@ class MCU:
|
||||||
return self._clocksync.get_adjusted_freq()
|
return self._clocksync.get_adjusted_freq()
|
||||||
def clock32_to_clock64(self, clock32):
|
def clock32_to_clock64(self, clock32):
|
||||||
return self._clocksync.clock32_to_clock64(clock32)
|
return self._clocksync.clock32_to_clock64(clock32)
|
||||||
def seconds_to_clock(self, time):
|
def pause(self, waketime):
|
||||||
return int(time * self._mcu_freq)
|
return self._printer.reactor.pause(waketime)
|
||||||
def get_max_stepper_error(self):
|
def monotonic(self):
|
||||||
return self._max_stepper_error
|
return self._printer.reactor.monotonic()
|
||||||
# Move command queuing
|
# Misc external commands
|
||||||
def send(self, cmd, minclock=0, reqclock=0, cq=None):
|
def is_fileoutput(self):
|
||||||
self._serial.send(cmd, minclock, reqclock, cq=cq)
|
return self._printer.get_start_args().get('debugoutput') is not None
|
||||||
def send_with_response(self, cmd, name, oid=None):
|
def is_shutdown(self):
|
||||||
return self._serial.send_with_response(cmd, name, oid)
|
return self._is_shutdown
|
||||||
def flush_moves(self, print_time):
|
def flush_moves(self, print_time):
|
||||||
if self._steppersync is None:
|
if self._steppersync is None:
|
||||||
return
|
return
|
||||||
|
@ -699,10 +650,58 @@ class MCU:
|
||||||
ret = self._ffi_lib.steppersync_flush(self._steppersync, clock)
|
ret = self._ffi_lib.steppersync_flush(self._steppersync, clock)
|
||||||
if ret:
|
if ret:
|
||||||
raise error("Internal error in stepcompress")
|
raise error("Internal error in stepcompress")
|
||||||
def pause(self, waketime):
|
def check_active(self, print_time, eventtime):
|
||||||
return self._printer.reactor.pause(waketime)
|
if self._clocksync.is_active(eventtime):
|
||||||
def monotonic(self):
|
return
|
||||||
return self._printer.reactor.monotonic()
|
logging.info("Timeout with firmware (eventtime=%f)", eventtime)
|
||||||
|
self._printer.note_mcu_error("Lost communication with firmware")
|
||||||
|
def stats(self, eventtime):
|
||||||
|
msg = "mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
|
||||||
|
self._mcu_tick_awake, self._mcu_tick_avg, self._mcu_tick_stddev)
|
||||||
|
return ' '.join([self._serial.stats(eventtime),
|
||||||
|
self._clocksync.stats(eventtime), msg])
|
||||||
|
def force_shutdown(self):
|
||||||
|
self.send(self._emergency_stop_cmd.encode())
|
||||||
|
def microcontroller_restart(self):
|
||||||
|
reactor = self._printer.reactor
|
||||||
|
if self._restart_method == 'rpi_usb':
|
||||||
|
logging.info("Attempting a microcontroller reset via rpi usb power")
|
||||||
|
self.disconnect()
|
||||||
|
chelper.run_hub_ctrl(0)
|
||||||
|
reactor.pause(reactor.monotonic() + 2.000)
|
||||||
|
chelper.run_hub_ctrl(1)
|
||||||
|
return
|
||||||
|
if self._restart_method == 'command':
|
||||||
|
eventtime = reactor.monotonic()
|
||||||
|
if ((self._reset_cmd is None and self._config_reset_cmd is None)
|
||||||
|
or not self._clocksync.is_active(eventtime)):
|
||||||
|
logging.info("Unable to issue reset command")
|
||||||
|
return
|
||||||
|
if self._reset_cmd is None:
|
||||||
|
# Attempt reset via config_reset command
|
||||||
|
logging.info("Attempting a microcontroller config_reset command")
|
||||||
|
self._is_shutdown = True
|
||||||
|
self.force_shutdown()
|
||||||
|
reactor.pause(reactor.monotonic() + 0.015)
|
||||||
|
self.send(self._config_reset_cmd.encode())
|
||||||
|
reactor.pause(reactor.monotonic() + 0.015)
|
||||||
|
self.disconnect()
|
||||||
|
return
|
||||||
|
# Attempt reset via reset command
|
||||||
|
logging.info("Attempting a microcontroller reset command")
|
||||||
|
self.send(self._reset_cmd.encode())
|
||||||
|
reactor.pause(reactor.monotonic() + 0.015)
|
||||||
|
self.disconnect()
|
||||||
|
return
|
||||||
|
# Attempt reset via arduino mechanism
|
||||||
|
logging.info("Attempting a microcontroller reset")
|
||||||
|
self.disconnect()
|
||||||
|
serialhdl.arduino_reset(self._serialport, reactor)
|
||||||
|
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):
|
def __del__(self):
|
||||||
self.disconnect()
|
self.disconnect()
|
||||||
|
|
||||||
|
|
Loading…
Reference in New Issue