# Interface to Klipper micro-controller code # # Copyright (C) 2016-2018 Kevin O'Connor # # This file may be distributed under the terms of the GNU GPLv3 license. import sys, os, zlib, logging, math import serialhdl, pins, chelper, clocksync class error(Exception): pass STEPCOMPRESS_ERROR_RET = -989898989 class MCU_stepper: def __init__(self, mcu, pin_params): self._mcu = mcu self._oid = self._mcu.create_oid() self._step_pin = pin_params['pin'] self._invert_step = pin_params['invert'] self._dir_pin = self._invert_dir = None self._commanded_pos = self._mcu_position_offset = 0. self._step_dist = self._inv_step_dist = 1. self._min_stop_interval = 0. self._reset_cmd = self._get_position_cmd = None self._ffi_lib = self._stepqueue = None def get_mcu(self): return self._mcu def setup_dir_pin(self, pin_params): if pin_params['chip'] is not self._mcu: raise pins.error("Stepper dir pin must be on same mcu as step pin") self._dir_pin = pin_params['pin'] self._invert_dir = pin_params['invert'] def setup_min_stop_interval(self, min_stop_interval): self._min_stop_interval = min_stop_interval def setup_step_distance(self, step_dist): self._step_dist = step_dist self._inv_step_dist = 1. / step_dist def build_config(self): max_error = self._mcu.get_max_stepper_error() min_stop_interval = max(0., self._min_stop_interval - max_error) self._mcu.add_config_cmd( "config_stepper oid=%d step_pin=%s dir_pin=%s" " min_stop_interval=%d invert_step=%d" % ( self._oid, self._step_pin, self._dir_pin, self._mcu.seconds_to_clock(min_stop_interval), self._invert_step)) self._mcu.add_config_cmd( "reset_step_clock oid=%d clock=0" % (self._oid,), is_init=True) step_cmd = self._mcu.lookup_command( "queue_step oid=%c interval=%u count=%hu add=%hi") dir_cmd = self._mcu.lookup_command( "set_next_step_dir oid=%c dir=%c") self._reset_cmd = self._mcu.lookup_command( "reset_step_clock oid=%c clock=%u") self._get_position_cmd = self._mcu.lookup_command( "stepper_get_position oid=%c") ffi_main, self._ffi_lib = chelper.get_ffi() self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc( self._mcu.seconds_to_clock(max_error), step_cmd.msgid, dir_cmd.msgid, self._invert_dir, self._oid), self._ffi_lib.stepcompress_free) self._mcu.register_stepqueue(self._stepqueue) def get_oid(self): return self._oid def get_step_dist(self): return self._step_dist def set_position(self, pos): steppos = pos * self._inv_step_dist self._mcu_position_offset += self._commanded_pos - steppos self._commanded_pos = steppos def get_commanded_position(self): return self._commanded_pos * self._step_dist def get_mcu_position(self): mcu_pos = self._commanded_pos + self._mcu_position_offset if mcu_pos >= 0.: return int(mcu_pos + 0.5) return int(mcu_pos - 0.5) def note_homing_start(self, homing_clock): ret = self._ffi_lib.stepcompress_set_homing( self._stepqueue, homing_clock) if ret: raise error("Internal error in stepcompress") def note_homing_end(self, did_trigger=False): ret = self._ffi_lib.stepcompress_set_homing(self._stepqueue, 0) if ret: raise error("Internal error in stepcompress") ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0) if ret: raise error("Internal error in stepcompress") data = (self._reset_cmd.msgid, self._oid, 0) ret = self._ffi_lib.stepcompress_queue_msg( self._stepqueue, data, len(data)) if ret: raise error("Internal error in stepcompress") if not did_trigger or self._mcu.is_fileoutput(): return cmd = self._get_position_cmd.encode(self._oid) params = self._mcu.send_with_response(cmd, 'stepper_position', self._oid) pos = params['pos'] if self._invert_dir: pos = -pos self._commanded_pos = pos - self._mcu_position_offset def step(self, print_time, sdir): count = self._ffi_lib.stepcompress_push( self._stepqueue, print_time, sdir) if count == STEPCOMPRESS_ERROR_RET: raise error("Internal error in stepcompress") self._commanded_pos += count def step_const(self, print_time, start_pos, dist, start_v, accel): inv_step_dist = self._inv_step_dist step_offset = self._commanded_pos - start_pos * inv_step_dist count = self._ffi_lib.stepcompress_push_const( self._stepqueue, print_time, step_offset, dist * inv_step_dist, start_v * inv_step_dist, accel * inv_step_dist) if count == STEPCOMPRESS_ERROR_RET: raise error("Internal error in stepcompress") self._commanded_pos += count def step_delta(self, print_time, dist, start_v, accel , height_base, startxy_d, arm_d, movez_r): inv_step_dist = self._inv_step_dist height = self._commanded_pos - height_base * inv_step_dist count = self._ffi_lib.stepcompress_push_delta( self._stepqueue, print_time, dist * inv_step_dist, start_v * inv_step_dist, accel * inv_step_dist, height, startxy_d * inv_step_dist, arm_d * inv_step_dist, movez_r) if count == STEPCOMPRESS_ERROR_RET: raise error("Internal error in stepcompress") self._commanded_pos += count class MCU_endstop: class TimeoutError(Exception): pass RETRY_QUERY = 1.000 def __init__(self, mcu, pin_params): self._mcu = mcu self._steppers = [] self._pin = pin_params['pin'] self._pullup = pin_params['pullup'] self._invert = pin_params['invert'] self._cmd_queue = mcu.alloc_command_queue() self._oid = self._home_cmd = self._query_cmd = None self._homing = False self._min_query_time = self._next_query_time = 0. self._last_state = {} def get_mcu(self): return self._mcu def add_stepper(self, stepper): if stepper.get_mcu() is not self._mcu: raise pins.error("Endstop and stepper must be on the same mcu") self._steppers.append(stepper) def get_steppers(self): return list(self._steppers) def build_config(self): self._oid = self._mcu.create_oid() self._mcu.add_config_cmd( "config_end_stop oid=%d pin=%s pull_up=%d stepper_count=%d" % ( self._oid, self._pin, self._pullup, len(self._steppers))) self._mcu.add_config_cmd( "end_stop_home oid=%d clock=0 sample_ticks=0 sample_count=0" " rest_ticks=0 pin_value=0" % (self._oid,), is_init=True) for i, s in enumerate(self._steppers): self._mcu.add_config_cmd( "end_stop_set_stepper oid=%d pos=%d stepper_oid=%d" % ( self._oid, i, s.get_oid()), is_init=True) self._home_cmd = self._mcu.lookup_command( "end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c" " rest_ticks=%u pin_value=%c") self._query_cmd = self._mcu.lookup_command("end_stop_query oid=%c") self._mcu.register_msg(self._handle_end_stop_state, "end_stop_state" , self._oid) def home_prepare(self): pass def home_start(self, print_time, sample_time, sample_count, rest_time): clock = self._mcu.print_time_to_clock(print_time) rest_ticks = int(rest_time * self._mcu.get_adjusted_freq()) self._homing = True self._min_query_time = self._mcu.monotonic() self._next_query_time = self._min_query_time + self.RETRY_QUERY msg = self._home_cmd.encode( self._oid, clock, self._mcu.seconds_to_clock(sample_time), sample_count, rest_ticks, 1 ^ self._invert) self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue) for s in self._steppers: s.note_homing_start(clock) def home_wait(self, home_end_time): eventtime = self._mcu.monotonic() while self._check_busy(eventtime, home_end_time): eventtime = self._mcu.pause(eventtime + 0.1) def home_finalize(self): pass def _handle_end_stop_state(self, params): logging.debug("end_stop_state %s", params) self._last_state = params def _check_busy(self, eventtime, home_end_time=0.): # Check if need to send an end_stop_query command last_sent_time = self._last_state.get('#sent_time', -1.) if last_sent_time >= self._min_query_time or self._mcu.is_fileoutput(): if not self._homing: return False if not self._last_state.get('homing', 0): for s in self._steppers: s.note_homing_end(did_trigger=True) self._homing = False return False last_sent_print_time = self._mcu.estimated_print_time(last_sent_time) if last_sent_print_time > home_end_time: # Timeout - disable endstop checking for s in self._steppers: s.note_homing_end() self._homing = False msg = self._home_cmd.encode(self._oid, 0, 0, 0, 0, 0) self._mcu.send(msg, reqclock=0, cq=self._cmd_queue) raise self.TimeoutError("Timeout during endstop homing") if self._mcu.is_shutdown(): raise error("MCU is shutdown") if eventtime >= self._next_query_time: self._next_query_time = eventtime + self.RETRY_QUERY msg = self._query_cmd.encode(self._oid) self._mcu.send(msg, cq=self._cmd_queue) return True def query_endstop(self, print_time): self._homing = False self._min_query_time = self._next_query_time = self._mcu.monotonic() def query_endstop_wait(self): eventtime = self._mcu.monotonic() while self._check_busy(eventtime): eventtime = self._mcu.pause(eventtime + 0.1) return self._last_state.get('pin', self._invert) ^ self._invert class MCU_digital_out: def __init__(self, mcu, pin_params): self._mcu = mcu self._oid = None self._pin = pin_params['pin'] self._invert = pin_params['invert'] self._start_value = self._shutdown_value = self._invert self._is_static = False self._max_duration = 2. self._last_clock = 0 self._cmd_queue = mcu.alloc_command_queue() self._set_cmd = None def get_mcu(self): return self._mcu def setup_max_duration(self, max_duration): self._max_duration = max_duration def setup_start_value(self, start_value, shutdown_value, is_static=False): if is_static and start_value != shutdown_value: raise pins.error("Static pin can not have shutdown value") self._start_value = (not not start_value) ^ self._invert self._shutdown_value = (not not shutdown_value) ^ self._invert self._is_static = is_static def build_config(self): if self._is_static: self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % ( self._pin, self._start_value)) return 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, self._shutdown_value, self._mcu.seconds_to_clock(self._max_duration))) self._set_cmd = self._mcu.lookup_command( "schedule_digital_out oid=%c clock=%u value=%c") def set_digital(self, print_time, value): clock = self._mcu.print_time_to_clock(print_time) msg = self._set_cmd.encode( self._oid, clock, (not not value) ^ self._invert) self._mcu.send(msg, minclock=self._last_clock, reqclock=clock , cq=self._cmd_queue) self._last_clock = clock def set_pwm(self, print_time, value): self.set_digital(print_time, value >= 0.5) class MCU_pwm: def __init__(self, mcu, pin_params): self._mcu = mcu self._hard_pwm = False self._cycle_time = 0.100 self._max_duration = 2. self._oid = None self._pin = pin_params['pin'] self._invert = pin_params['invert'] self._start_value = self._shutdown_value = float(self._invert) self._is_static = False self._last_clock = 0 self._pwm_max = 0. self._cmd_queue = mcu.alloc_command_queue() self._set_cmd = None def get_mcu(self): return self._mcu def setup_max_duration(self, max_duration): self._max_duration = max_duration def setup_cycle_time(self, cycle_time): self._cycle_time = cycle_time self._hard_pwm = False def setup_hard_pwm(self, hard_cycle_ticks): if not hard_cycle_ticks: return self._cycle_time = hard_cycle_ticks self._hard_pwm = True def setup_start_value(self, start_value, shutdown_value, is_static=False): if is_static and start_value != shutdown_value: raise pins.error("Static pin can not have shutdown value") if self._invert: start_value = 1. - start_value shutdown_value = 1. - shutdown_value self._start_value = max(0., min(1., start_value)) self._shutdown_value = max(0., min(1., shutdown_value)) self._is_static = is_static def build_config(self): if self._hard_pwm: self._pwm_max = self._mcu.get_constant_float("PWM_MAX") if self._is_static: self._mcu.add_config_cmd( "set_pwm_out pin=%s cycle_ticks=%d value=%d" % ( self._pin, self._cycle_time, self._static_value * self._pwm_max)) return 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, self._cycle_time, self._start_value * self._pwm_max, self._shutdown_value * self._pwm_max, self._mcu.seconds_to_clock(self._max_duration))) self._set_cmd = self._mcu.lookup_command( "schedule_pwm_out oid=%c clock=%u value=%hu") else: if (self._start_value not in [0., 1.] or self._shutdown_value not in [0., 1.]): raise pins.error( "start and shutdown values must be 0.0 or 1.0 on soft pwm") self._pwm_max = self._mcu.get_constant_float("SOFT_PWM_MAX") if self._is_static: self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % ( self._pin, self._start_value >= 0.5)) return self._oid = self._mcu.create_oid() self._mcu.add_config_cmd( "config_soft_pwm_out oid=%d pin=%s cycle_ticks=%d value=%d" " default_value=%d max_duration=%d" % ( self._oid, self._pin, self._mcu.seconds_to_clock(self._cycle_time), self._start_value >= 0.5, self._shutdown_value >= 0.5, self._mcu.seconds_to_clock(self._max_duration))) self._set_cmd = self._mcu.lookup_command( "schedule_soft_pwm_out oid=%c clock=%u value=%hu") def set_pwm(self, print_time, value): clock = self._mcu.print_time_to_clock(print_time) if self._invert: value = 1. - value value = int(max(0., min(1., value)) * self._pwm_max + 0.5) msg = self._set_cmd.encode(self._oid, clock, value) self._mcu.send(msg, minclock=self._last_clock, reqclock=clock , cq=self._cmd_queue) 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 = 0 self._report_clock = 0 self._oid = self._callback = None self._inv_max_adc = 0. self._cmd_queue = mcu.alloc_command_queue() def get_mcu(self): return self._mcu def setup_minmax(self, sample_time, sample_count, minval=0., maxval=1.): self._sample_time = sample_time self._sample_count = sample_count self._min_sample = minval self._max_sample = maxval def setup_adc_callback(self, report_time, callback): self._report_time = report_time self._callback = callback 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" % ( self._oid, clock, sample_ticks, self._sample_count, self._report_clock, min_sample, max_sample), is_init=True) self._mcu.register_msg(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) if self._callback is not None: self._callback(last_read_time, last_value) class MCU: error = error def __init__(self, printer, config, clocksync): self._printer = 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 self._serialport = config.get('serial', '/dev/ttyS0') baud = 0 if not (self._serialport.startswith("/dev/rpmsg_") or self._serialport.startswith("/tmp/klipper_host_")): baud = config.getint('baud', 250000, minval=2400) self._serial = serialhdl.SerialReader( self._reactor, self._serialport, baud) # Restarts self._restart_method = 'command' if baud: rmethods = {m: m for m in [None, 'arduino', 'command', 'rpi_usb']} self._restart_method = config.getchoice( 'restart_method', rmethods, None) self._reset_cmd = self._config_reset_cmd = None self._emergency_stop_cmd = None self._is_shutdown = self._is_timeout = False self._shutdown_msg = "" printer.set_rollover_info(self._name, None) # Config building pins.get_printer_pins(printer).register_chip(self._name, self) self._oid_count = 0 self._config_objects = [] self._init_cmds = [] self._config_cmds = [] self._config_crc = None self._pin_map = config.get('pin_map', None) self._custom = config.get('custom', '') 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._stepqueues = [] self._steppersync = None # Stats self._stats_sumsq_base = 0. self._mcu_tick_avg = 0. self._mcu_tick_stddev = 0. self._mcu_tick_awake = 0. # 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 self._mcu_tick_stddev = c * math.sqrt(count*tick_sumsq - tick_sum**2) self._mcu_tick_awake = tick_sum / self._mcu_freq def handle_shutdown(self, params): if self._is_shutdown: return self._is_shutdown = True self._shutdown_msg = msg = params['#msg'] 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)) # 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 _add_custom(self): for line in self._custom.split('\n'): line = line.strip() cpos = line.find('#') if cpos >= 0: line = line[:cpos].strip() if not line: continue self.add_config_cmd(line) def _build_config(self): # Build config commands for co in self._config_objects: co.build_config() self._add_custom() self._config_cmds.insert(0, "allocate_oids count=%d" % ( self._oid_count,)) # Resolve pin names mcu_type = self._serial.msgparser.get_constant('MCU') pin_resolver = pins.PinResolver(mcu_type) if self._pin_map is not None: pin_resolver.update_aliases(self._pin_map) for i, cmd in enumerate(self._config_cmds): self._config_cmds[i] = pin_resolver.update_command(cmd) for i, cmd in enumerate(self._init_cmds): self._init_cmds[i] = pin_resolver.update_command(cmd) # Calculate config CRC self._config_crc = zlib.crc32('\n'.join(self._config_cmds)) & 0xffffffff self.add_config_cmd("finalize_config crc=%d" % (self._config_crc,)) def _send_config(self): msg = self.create_command("get_config") if self.is_fileoutput(): config_params = { 'is_config': 0, 'move_count': 500, 'crc': self._config_crc} else: config_params = self.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 MCU '%s' printer configuration...", self._name) for c in self._config_cmds: self.send(self.create_command(c)) if not self.is_fileoutput(): config_params = self.send_with_response(msg, 'config') if not config_params['is_config']: if self._is_shutdown: raise error("MCU '%s' error during config: %s" % ( self._name, self._shutdown_msg)) 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,)) if self._config_crc != config_params['crc']: self._check_restart("CRC mismatch") raise error("MCU '%s' CRC does not match config" % (self._name,)) move_count = config_params['move_count'] logging.info("Configured MCU '%s' (%d moves)", self._name, move_count) msgparser = self._serial.msgparser info = [ "Configured MCU '%s' (%d moves)" % (self._name, move_count), "Loaded MCU '%s' %d commands (%s / %s)" % ( self._name, len(msgparser.messages_by_id), msgparser.version, msgparser.build_versions), "MCU '%s' config: %s" % (self._name, " ".join( ["%s=%s" % (k, v) for k, v in msgparser.config.items()]))] self._printer.set_rollover_info(self._name, "\n".join(info)) self._steppersync = self._ffi_lib.steppersync_alloc( self._serial.serialqueue, self._stepqueues, len(self._stepqueues), move_count) self._ffi_lib.steppersync_set_time(self._steppersync, 0., self._mcu_freq) for c in self._init_cmds: 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") if (self._restart_method is None and (self._reset_cmd is not None or self.config_reset_cmd is not None) and self._serial.msgparser.get_constant( 'SERIAL_BAUD', None) is None): self._restart_method = 'command' 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 def setup_pin(self, pin_params): pcs = {'stepper': MCU_stepper, 'endstop': MCU_endstop, 'digital_out': MCU_digital_out, 'pwm': MCU_pwm, 'adc': MCU_adc} pin_type = pin_params['type'] if pin_type not in pcs: raise pins.error("pin type %s not supported on mcu" % (pin_type,)) co = pcs[pin_type](self, pin_params) self.add_config_object(co) return co def create_oid(self): self._oid_count += 1 return self._oid_count - 1 def add_config_object(self, co): self._config_objects.append(co) def add_config_cmd(self, cmd, is_init=False): if is_init: self._init_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.monotonic()) + 1.5) return self.print_time_to_clock(t) + slot def register_stepqueue(self, 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): return self._serial.alloc_command_queue() def create_command(self, msg): return self._serial.msgparser.create_command(msg) def lookup_command(self, msgformat): return self._serial.msgparser.lookup_command(msgformat) def try_lookup_command(self, msgformat): try: return self._serial.msgparser.lookup_command(msgformat) except self._serial.msgparser.error as e: return None def get_constant_float(self, name): return self._serial.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 get_adjusted_freq(self): return self._clocksync.get_adjusted_freq() def clock32_to_clock64(self, clock32): return self._clocksync.clock32_to_clock64(clock32) def pause(self, waketime): return self._reactor.pause(waketime) def monotonic(self): return self._reactor.monotonic() # Restarts def _disconnect(self): self._serial.disconnect() if self._steppersync is not None: self._ffi_lib.steppersync_free(self._steppersync) self._steppersync = None def _shutdown(self, force=False): if self._emergency_stop_cmd is None or (self._is_shutdown and not force): return self.send(self._emergency_stop_cmd.encode()) def _restart_arduino(self): logging.info("Attempting MCU '%s' reset", self._name) self._disconnect() serialhdl.arduino_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(self._reactor.monotonic())): 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.send(self._config_reset_cmd.encode()) else: # Attempt reset via reset command logging.info("Attempting MCU '%s' reset command", self._name) self.send(self._reset_cmd.encode()) 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 microcontroller_restart(self): if self._restart_method == 'rpi_usb': self._restart_rpi_usb() elif self._restart_method == 'command': self._restart_via_command() else: self._restart_arduino() # 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 flush_moves(self, print_time): if self._steppersync is None: return clock = self.print_time_to_clock(print_time) if clock < 0: return ret = self._ffi_lib.steppersync_flush(self._steppersync, 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(eventtime) 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,)) def stats(self, eventtime): msg = "%s: mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % ( self._name, self._mcu_tick_awake, self._mcu_tick_avg, self._mcu_tick_stddev) return ' '.join([msg, self._serial.stats(eventtime), self._clocksync.stats(eventtime)]) def printer_state(self, state): if state == 'connect': self._connect() elif state == 'disconnect': self._disconnect() elif state == 'shutdown': self._shutdown() def __del__(self): self._disconnect() Common_MCU_errors = { ("Timer too close", "No next step", "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(printer, config): reactor = printer.get_reactor() mainsync = clocksync.ClockSync(reactor) printer.add_object('mcu', MCU(printer, config.getsection('mcu'), mainsync)) for s in config.get_prefix_sections('mcu '): printer.add_object(s.section, MCU( printer, 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)