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hub-ctrl: Add support for micro-controller reset via RPi usb power toggling 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-04-13 12:09:37 -04:00
parent 9f9e3e61d6
commit daff83ee9a
6 changed files with 480 additions and 22 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
config/example.cfg
View File

@ -245,9 +245,12 @@ pin_map: arduino
# default is to not enable the aliases.
#restart_method: arduino
# This controls the mechanism the host will use to reset the
# micro-controller. The choices are 'arduino' and 'command'. The
# 'arduino' method (toggle DTR; set baud to 1200) is common on
# Arduino boards and clones. The 'command' method involves sending a
# micro-controller. The choices are 'arduino', 'rpi_usb', and
# 'command'. The 'arduino' method (toggle DTR; set baud to 1200) is
# common on Arduino boards and clones. The 'rpi_usb' method is
# useful on Raspberry Pi boards with micro-controllers powered over
# USB - it briefly disables power to all USB ports to accomplish a
# micro-controller reset. The 'command' method involves sending a
# Klipper command to the micro-controller so that it can reset
# itself. The default is 'arduino'.
custom:

2
docs/Installation.md
View File

@ -24,7 +24,7 @@ following commands:
```
sudo apt-get update
sudo apt-get install libncurses-dev
sudo apt-get install libncurses-dev libusb-dev
sudo apt-get install avrdude gcc-avr binutils-avr avr-libc # AVR toolchain
sudo apt-get install bossa-cli libnewlib-arm-none-eabi # ARM toolchain
```

41
klippy/chelper.py
View File

@ -1,11 +1,16 @@
# Wrapper around C helper code
#
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import os, logging
import cffi
######################################################################
# c_helper.so compiling
######################################################################
COMPILE_CMD = "gcc -Wall -g -O2 -shared -fPIC -o %s %s"
SOURCE_FILES = ['stepcompress.c', 'serialqueue.c', 'pyhelper.c']
DEST_LIB = "c_helper.so"
@ -79,14 +84,14 @@ def get_mtimes(srcdir, filelist):
return out
# Check if the code needs to be compiled
def check_build_code(srcdir):
src_times = get_mtimes(srcdir, SOURCE_FILES + OTHER_FILES)
obj_times = get_mtimes(srcdir, [DEST_LIB])
def check_build_code(srcdir, target, sources, cmd, other_files=[]):
src_times = get_mtimes(srcdir, sources + other_files)
obj_times = get_mtimes(srcdir, [target])
if not obj_times or max(src_times) > min(obj_times):
logging.info("Building C code module")
srcfiles = [os.path.join(srcdir, fname) for fname in SOURCE_FILES]
destlib = os.path.join(srcdir, DEST_LIB)
os.system(COMPILE_CMD % (destlib, ' '.join(srcfiles)))
logging.info("Building C code module %s" % (target,))
srcfiles = [os.path.join(srcdir, fname) for fname in sources]
destlib = os.path.join(srcdir, target)
os.system(cmd % (destlib, ' '.join(srcfiles)))
FFI_main = None
FFI_lib = None
@ -97,7 +102,8 @@ def get_ffi():
global FFI_main, FFI_lib, pyhelper_logging_callback
if FFI_lib is None:
srcdir = os.path.dirname(os.path.realpath(__file__))
check_build_code(srcdir)
check_build_code(srcdir, DEST_LIB, SOURCE_FILES, COMPILE_CMD
, OTHER_FILES)
FFI_main = cffi.FFI()
FFI_main.cdef(defs_stepcompress)
FFI_main.cdef(defs_serialqueue)
@ -110,3 +116,20 @@ def get_ffi():
"void(const char *)", logging_callback)
FFI_lib.set_python_logging_callback(pyhelper_logging_callback)
return FFI_main, FFI_lib
######################################################################
# hub-ctrl hub power controller
######################################################################
HC_COMPILE_CMD = "gcc -Wall -g -O2 -o %s %s -lusb"
HC_SOURCE_FILES = ['hub-ctrl.c']
HC_SOURCE_DIR = '../lib/hub-ctrl'
HC_TARGET = "hub-ctrl"
HC_CMD = "sudo %s/hub-ctrl -h 0 -P 2 -p %d"
def run_hub_ctrl(enable_power):
srcdir = os.path.dirname(os.path.realpath(__file__))
hubdir = os.path.join(srcdir, HC_SOURCE_DIR)
check_build_code(hubdir, HC_TARGET, HC_SOURCE_FILES, HC_COMPILE_CMD)
os.system(HC_CMD % (hubdir, enable_power))

34
klippy/mcu.py
View File

@ -1,9 +1,9 @@
# Multi-processor safe interface to micro-controller
#
# Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import sys, zlib, logging, math
import sys, os, zlib, logging, math
import serialhdl, pins, chelper
class error(Exception):
@ -381,7 +381,7 @@ class MCU:
self._is_fileoutput = False
self._timeout_timer = printer.reactor.register_timer(
self.timeout_handler)
rmethods = {m: m for m in ['arduino', 'command']}
rmethods = {m: m for m in ['arduino', 'command', 'rpi_usb']}
self._restart_method = config.getchoice(
'restart_method', rmethods, 'arduino')
# Config building
@ -424,8 +424,19 @@ class MCU:
self.serial.dump_debug()
self._printer.note_shutdown(self._shutdown_msg)
# Connection phase
def _check_restart(self, reason):
if self._printer.get_startup_state() == 'firmware_restart':
return
logging.info("Attempting automated firmware restart: %s" % (reason,))
self._printer.request_exit('firmware_restart')
self._printer.reactor.pause(self._printer.reactor.monotonic() + 2.000)
raise error("Attempt firmware restart failed")
def connect(self):
if not self._is_fileoutput:
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._printer.reactor.update_timer(
self._timeout_timer, self.monotonic() + self.COMM_TIMEOUT)
@ -478,6 +489,13 @@ class MCU:
self.send(self._clear_shutdown_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':
last_clock, last_clock_time = self.serial.get_last_clock()
eventtime = reactor.monotonic()
@ -539,6 +557,9 @@ class MCU:
else:
config_params = self.serial.send_with_response(msg, 'config')
if not config_params['is_config']:
if self._restart_method == 'rpi_usb':
# Only configure mcu after usb power reset
self._check_restart("full reset before config")
# Send config commands
logging.info("Sending printer configuration...")
for c in self._config_cmds:
@ -551,12 +572,7 @@ class MCU:
self._shutdown_msg,))
raise error("Unable to configure printer")
if self._config_crc != config_params['crc']:
if self._printer.get_startup_state() != 'firmware_restart':
# Attempt a firmware restart to fix the CRC error
logging.info(
"Printer CRC mismatch - attempting firmware restart")
self._printer.request_exit('firmware_restart')
self._printer.reactor.pause(0.100)
self._check_restart("CRC mismatch")
raise error("Printer CRC does not match config")
move_count = config_params['move_count']
logging.info("Configured (%d moves)" % (move_count,))

4
lib/README
View File

@ -10,3 +10,7 @@ The cmsis-sam3x8e directory contains code from the Arduino project:
version 1.5.1 (extracted on 20160608). It has been modified to
compile with gcc's LTO feature. See cmsis-sam3x8e.patch for the
modifications.
The hub-ctrl directory contains code from:
https://github.com/codazoda/hub-ctrl.c/
revision 42095e522859059e8a5f4ec05c1e3def01a870a9.

412
lib/hub-ctrl/hub-ctrl.c Normal file
View File

@ -0,0 +1,412 @@
/*
* Copyright (C) 2006 Free Software Initiative of Japan
*
* Author: NIIBE Yutaka <gniibe at fsij.org>
*
* This file can be distributed under the terms and conditions of the
* GNU General Public License version 2 (or later).
*
*/
#include <errno.h>
#include <usb.h>
#include <stdio.h>
#include <string.h>
#define USB_RT_HUB (USB_TYPE_CLASS | USB_RECIP_DEVICE)
#define USB_RT_PORT (USB_TYPE_CLASS | USB_RECIP_OTHER)
#define USB_PORT_FEAT_POWER 8
#define USB_PORT_FEAT_INDICATOR 22
#define USB_DIR_IN 0x80 /* to host */
#define COMMAND_SET_NONE 0
#define COMMAND_SET_LED 1
#define COMMAND_SET_POWER 2
#define HUB_LED_GREEN 2
static void
usage (const char *progname)
{
fprintf (stderr,
"Usage: %s [{-h HUBNUM | -b BUSNUM -d DEVNUM}] \\\n"
" [-P PORT] [{-p [VALUE]|-l [VALUE]}]\n", progname);
}
static void
exit_with_usage (const char *progname)
{
usage (progname);
exit (1);
}
#define HUB_CHAR_LPSM 0x0003
#define HUB_CHAR_PORTIND 0x0080
struct usb_hub_descriptor {
unsigned char bDescLength;
unsigned char bDescriptorType;
unsigned char bNbrPorts;
unsigned char wHubCharacteristics[2];
unsigned char bPwrOn2PwrGood;
unsigned char bHubContrCurrent;
unsigned char data[0];
};
#define CTRL_TIMEOUT 1000
#define USB_STATUS_SIZE 4
#define MAX_HUBS 128
struct hub_info {
int busnum, devnum;
struct usb_device *dev;
int nport;
int indicator_support;
};
static struct hub_info hubs[MAX_HUBS];
static int number_of_hubs_with_feature;
static void
hub_port_status (usb_dev_handle *uh, int nport)
{
int i;
printf(" Hub Port Status:\n");
for (i = 0; i < nport; i++)
{
char buf[USB_STATUS_SIZE];
int ret;
ret = usb_control_msg (uh,
USB_ENDPOINT_IN | USB_TYPE_CLASS | USB_RECIP_OTHER,
USB_REQ_GET_STATUS,
0, i + 1,
buf, USB_STATUS_SIZE,
CTRL_TIMEOUT);
if (ret < 0)
{
fprintf (stderr,
"cannot read port %d status, %s (%d)\n",
i + 1, strerror(errno), errno);
break;
}
printf(" Port %d: %02x%02x.%02x%02x", i + 1,
buf[3], buf [2],
buf[1], buf [0]);
printf("%s%s%s%s%s",
(buf[2] & 0x10) ? " C_RESET" : "",
(buf[2] & 0x08) ? " C_OC" : "",
(buf[2] & 0x04) ? " C_SUSPEND" : "",
(buf[2] & 0x02) ? " C_ENABLE" : "",
(buf[2] & 0x01) ? " C_CONNECT" : "");
printf("%s%s%s%s%s%s%s%s%s%s\n",
(buf[1] & 0x10) ? " indicator" : "",
(buf[1] & 0x08) ? " test" : "",
(buf[1] & 0x04) ? " highspeed" : "",
(buf[1] & 0x02) ? " lowspeed" : "",
(buf[1] & 0x01) ? " power" : "",
(buf[0] & 0x10) ? " RESET" : "",
(buf[0] & 0x08) ? " oc" : "",
(buf[0] & 0x04) ? " suspend" : "",
(buf[0] & 0x02) ? " enable" : "",
(buf[0] & 0x01) ? " connect" : "");
}
}
static int
usb_find_hubs (int listing, int verbose, int busnum, int devnum, int hub)
{
struct usb_bus *busses;
struct usb_bus *bus;
number_of_hubs_with_feature = 0;
busses = usb_get_busses();
if (busses == NULL)
{
perror ("failed to access USB");
return -1;
}
for (bus = busses; bus; bus = bus->next)
{
struct usb_device *dev;
for (dev = bus->devices; dev; dev = dev->next)
{
usb_dev_handle *uh;
int print = 0;
if (dev->descriptor.bDeviceClass != USB_CLASS_HUB)
continue;
if (listing
|| (verbose
&& ((atoi (bus->dirname) == busnum && dev->devnum == devnum)
|| hub == number_of_hubs_with_feature)))
print = 1;
uh = usb_open (dev);
if (uh != NULL)
{
char buf[1024];
int len;
int nport;
struct usb_hub_descriptor *uhd = (struct usb_hub_descriptor *)buf;
if ((len = usb_control_msg (uh, USB_DIR_IN | USB_RT_HUB,
USB_REQ_GET_DESCRIPTOR,
USB_DT_HUB << 8, 0,
buf, sizeof (buf), CTRL_TIMEOUT))
> sizeof (struct usb_hub_descriptor))
{
if (!(uhd->wHubCharacteristics[0] & HUB_CHAR_PORTIND)
&& (uhd->wHubCharacteristics[0] & HUB_CHAR_LPSM) >= 2)
continue;
if (print)
printf ("Hub #%d at %s:%03d\n",
number_of_hubs_with_feature,
bus->dirname, dev->devnum);
switch ((uhd->wHubCharacteristics[0] & HUB_CHAR_LPSM))
{
case 0:
if (print)
fprintf (stderr, " INFO: ganged switching.\n");
break;
case 1:
if (print)
fprintf (stderr, " INFO: individual power switching.\n");
break;
case 2:
case 3:
if (print)
fprintf (stderr, " WARN: No power switching.\n");
break;
}
if (print
&& !(uhd->wHubCharacteristics[0] & HUB_CHAR_PORTIND))
fprintf (stderr, " WARN: Port indicators are NOT supported.\n");
}
else
{
perror ("Can't get hub descriptor");
usb_close (uh);
continue;
}
nport = buf[2];
hubs[number_of_hubs_with_feature].busnum = atoi (bus->dirname);
hubs[number_of_hubs_with_feature].devnum = dev->devnum;
hubs[number_of_hubs_with_feature].dev = dev;
hubs[number_of_hubs_with_feature].indicator_support =
(uhd->wHubCharacteristics[0] & HUB_CHAR_PORTIND)? 1 : 0;
hubs[number_of_hubs_with_feature].nport = nport;
number_of_hubs_with_feature++;
if (verbose)
hub_port_status (uh, nport);
usb_close (uh);
}
}
}
return number_of_hubs_with_feature;
}
int
get_hub (int busnum, int devnum)
{
int i;
for (i = 0; i < number_of_hubs_with_feature; i++)
if (hubs[i].busnum == busnum && hubs[i].devnum == devnum)
return i;
return -1;
}
/*
* HUB-CTRL - program to control port power/led of USB hub
*
* # hub-ctrl // List hubs available
* # hub-ctrl -P 1 // Power off at port 1
* # hub-ctrl -P 1 -p 1 // Power on at port 1
* # hub-ctrl -P 2 -l // LED on at port 1
*
* Requirement: USB hub which implements port power control / indicator control
*
* Work fine:
* Elecom's U2H-G4S: www.elecom.co.jp (indicator depends on power)
* 04b4:6560
*
* Sanwa Supply's USB-HUB14GPH: www.sanwa.co.jp (indicators don't)
*
* Targus, Inc.'s PAUH212: www.targus.com (indicators don't)
* 04cc:1521
*
* Hawking Technology's UH214: hawkingtech.com (indicators don't)
*
*/
int
main (int argc, const char *argv[])
{
int busnum = 0, devnum = 0;
int cmd = COMMAND_SET_NONE;
int port = 1;
int value = 0;
int request, feature, index;
int result = 0;
int listing = 0;
int verbose = 0;
int hub = -1;
usb_dev_handle *uh = NULL;
int i;
if (argc == 1)
listing = 1;
for (i = 1; i < argc; i++)
if (argv[i][0] == '-')
switch (argv[i][1])
{
case 'h':
if (++i >= argc || busnum > 0 || devnum > 0)
exit_with_usage (argv[0]);
hub = atoi (argv[i]);
break;
case 'b':
if (++i >= argc || hub >= 0)
exit_with_usage (argv[0]);
busnum = atoi (argv[i]);
break;
case 'd':
if (++i >= argc || hub >= 0)
exit_with_usage (argv[0]);
devnum = atoi (argv[i]);
break;
case 'P':
if (++i >= argc)
exit_with_usage (argv[0]);
port = atoi (argv[i]);
break;
case 'l':
if (cmd != COMMAND_SET_NONE)
exit_with_usage (argv[0]);
if (++i < argc)
value = atoi (argv[i]);
else
value = HUB_LED_GREEN;
cmd = COMMAND_SET_LED;
break;
case 'p':
if (cmd != COMMAND_SET_NONE)
exit_with_usage (argv[0]);
if (++i < argc)
value = atoi (argv[i]);
else
value= 0;
cmd = COMMAND_SET_POWER;
break;
case 'v':
verbose = 1;
if (argc == 2)
listing = 1;
break;
default:
exit_with_usage (argv[0]);
}
else
exit_with_usage (argv[0]);
if ((busnum > 0 && devnum <= 0) || (busnum <= 0 && devnum > 0))
/* BUS is specified, but DEV is'nt, or ... */
exit_with_usage (argv[0]);
/* Default is the hub #0 */
if (hub < 0 && busnum == 0)
hub = 0;
/* Default is POWER */
if (cmd == COMMAND_SET_NONE)
cmd = COMMAND_SET_POWER;
usb_init ();
usb_find_busses ();
usb_find_devices ();
if (usb_find_hubs (listing, verbose, busnum, devnum, hub) <= 0)
{
fprintf (stderr, "No hubs found.\n");
exit (1);
}
if (listing)
exit (0);
if (hub < 0)
hub = get_hub (busnum, devnum);
if (hub >= 0 && hub < number_of_hubs_with_feature)
uh = usb_open (hubs[hub].dev);
if (uh == NULL)
{
fprintf (stderr, "Device not found.\n");
result = 1;
}
else
{
if (cmd == COMMAND_SET_POWER)
if (value)
{
request = USB_REQ_SET_FEATURE;
feature = USB_PORT_FEAT_POWER;
index = port;
}
else
{
request = USB_REQ_CLEAR_FEATURE;
feature = USB_PORT_FEAT_POWER;
index = port;
}
else
{
request = USB_REQ_SET_FEATURE;
feature = USB_PORT_FEAT_INDICATOR;
index = (value << 8) | port;
}
if (verbose)
printf ("Send control message (REQUEST=%d, FEATURE=%d, INDEX=%d)\n",
request, feature, index);
if (usb_control_msg (uh, USB_RT_PORT, request, feature, index,
NULL, 0, CTRL_TIMEOUT) < 0)
{
perror ("failed to control.\n");
result = 1;
}
if (verbose)
hub_port_status (uh, hubs[hub].nport);
usb_close (uh);
}
exit (result);
}