mirror of https://github.com/Desuuuu/klipper.git
248 lines
11 KiB
Python
248 lines
11 KiB
Python
# Helper code for communicating with TMC stepper drivers via UART
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#
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# Copyright (C) 2018-2019 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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import logging
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######################################################################
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# TMC uart analog mux support
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######################################################################
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class MCU_analog_mux:
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def __init__(self, mcu, cmd_queue, select_pins_desc):
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self.mcu = mcu
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self.cmd_queue = cmd_queue
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ppins = mcu.get_printer().lookup_object("pins")
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select_pin_params = [ppins.lookup_pin(spd, can_invert=True)
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for spd in select_pins_desc.split(',')]
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self.oids = [self.mcu.create_oid() for pp in select_pin_params]
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self.pins = [pp['pin'] for pp in select_pin_params]
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self.pin_values = tuple([-1 for pp in select_pin_params])
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for oid, pin in zip(self.oids, self.pins):
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self.mcu.add_config_cmd("config_digital_out oid=%d pin=%s"
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" value=0 default_value=0 max_duration=0"
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% (oid, pin))
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self.update_pin_cmd = None
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self.mcu.register_config_callback(self.build_config)
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def build_config(self):
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self.update_pin_cmd = self.mcu.lookup_command(
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"update_digital_out oid=%c value=%c", cq=self.cmd_queue)
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def get_instance_id(self, select_pins_desc):
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ppins = self.mcu.get_printer().lookup_object("pins")
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select_pin_params = [ppins.parse_pin(spd, can_invert=True)
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for spd in select_pins_desc.split(',')]
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for pin_params in select_pin_params:
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if pin_params['chip'] != self.mcu:
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raise self.mcu.get_printer().config_error(
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"TMC mux pins must be on the same mcu")
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pins = [pp['pin'] for pp in select_pin_params]
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if pins != self.pins:
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raise self.mcu.get_printer().config_error(
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"All TMC mux instances must use identical pins")
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return tuple([not pp['invert'] for pp in select_pin_params])
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def activate(self, instance_id):
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for oid, old, new in zip(self.oids, self.pin_values, instance_id):
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if old != new:
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self.update_pin_cmd.send([oid, new])
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self.pin_values = instance_id
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######################################################################
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# TMC uart communication
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######################################################################
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# Share mutexes so only one active tmc_uart command on a single mcu at
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# a time. This helps limit cpu usage on slower micro-controllers.
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class PrinterTMCUartMutexes:
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def __init__(self):
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self.mcu_to_mutex = {}
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def lookup_tmc_uart_mutex(mcu):
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printer = mcu.get_printer()
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pmutexes = printer.lookup_object('tmc_uart', None)
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if pmutexes is None:
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pmutexes = PrinterTMCUartMutexes()
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printer.add_object('tmc_uart', pmutexes)
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mutex = pmutexes.mcu_to_mutex.get(mcu)
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if mutex is None:
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mutex = printer.get_reactor().mutex()
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pmutexes.mcu_to_mutex[mcu] = mutex
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return mutex
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TMC_BAUD_RATE = 9000
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# Code for sending messages on a TMC uart
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class MCU_TMC_uart_bitbang:
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def __init__(self, rx_pin_params, tx_pin_params, select_pins_desc):
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self.mcu = rx_pin_params['chip']
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self.mutex = lookup_tmc_uart_mutex(self.mcu)
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self.pullup = rx_pin_params['pullup']
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self.rx_pin = rx_pin_params['pin']
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self.tx_pin = tx_pin_params['pin']
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self.oid = self.mcu.create_oid()
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self.cmd_queue = self.mcu.alloc_command_queue()
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self.analog_mux = None
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if select_pins_desc is not None:
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self.analog_mux = MCU_analog_mux(self.mcu, self.cmd_queue,
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select_pins_desc)
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self.instances = {}
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self.tmcuart_send_cmd = None
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self.mcu.register_config_callback(self.build_config)
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def build_config(self):
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bit_ticks = self.mcu.seconds_to_clock(1. / TMC_BAUD_RATE)
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self.mcu.add_config_cmd(
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"config_tmcuart oid=%d rx_pin=%s pull_up=%d tx_pin=%s bit_time=%d"
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% (self.oid, self.rx_pin, self.pullup, self.tx_pin, bit_ticks))
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self.tmcuart_send_cmd = self.mcu.lookup_query_command(
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"tmcuart_send oid=%c write=%*s read=%c",
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"tmcuart_response oid=%c read=%*s", oid=self.oid,
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cq=self.cmd_queue, is_async=True)
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def register_instance(self, rx_pin_params, tx_pin_params,
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select_pins_desc, addr):
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if (rx_pin_params['pin'] != self.rx_pin
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or tx_pin_params['pin'] != self.tx_pin
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or (select_pins_desc is None) != (self.analog_mux is None)):
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raise self.mcu.get_printer().config_error(
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"Shared TMC uarts must use the same pins")
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instance_id = None
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if self.analog_mux is not None:
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instance_id = self.analog_mux.get_instance_id(select_pins_desc)
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if (instance_id, addr) in self.instances:
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raise self.mcu.get_printer().config_error(
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"Shared TMC uarts need unique address or select_pins polarity")
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self.instances[(instance_id, addr)] = True
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return instance_id
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def _calc_crc8(self, data):
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# Generate a CRC8-ATM value for a bytearray
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crc = 0
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for b in data:
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for i in range(8):
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if (crc >> 7) ^ (b & 0x01):
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crc = (crc << 1) ^ 0x07
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else:
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crc = (crc << 1)
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crc &= 0xff
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b >>= 1
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return crc
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def _add_serial_bits(self, data):
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# Add serial start and stop bits to a message in a bytearray
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out = 0
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pos = 0
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for d in data:
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b = (d << 1) | 0x200
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out |= (b << pos)
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pos += 10
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res = bytearray()
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for i in range((pos+7)//8):
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res.append((out >> (i*8)) & 0xff)
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return res
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def _encode_read(self, sync, addr, reg):
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# Generate a uart read register message
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msg = bytearray([sync, addr, reg])
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msg.append(self._calc_crc8(msg))
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return self._add_serial_bits(msg)
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def _encode_write(self, sync, addr, reg, val):
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# Generate a uart write register message
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msg = bytearray([sync, addr, reg, (val >> 24) & 0xff,
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(val >> 16) & 0xff, (val >> 8) & 0xff, val & 0xff])
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msg.append(self._calc_crc8(msg))
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return self._add_serial_bits(msg)
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def _decode_read(self, reg, data):
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# Extract a uart read response message
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if len(data) != 10:
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return None
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# Convert data into a long integer for easy manipulation
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mval = pos = 0
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for d in bytearray(data):
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mval |= d << pos
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pos += 8
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# Extract register value
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val = ((((mval >> 31) & 0xff) << 24) | (((mval >> 41) & 0xff) << 16)
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| (((mval >> 51) & 0xff) << 8) | ((mval >> 61) & 0xff))
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# Verify start/stop bits and crc
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encoded_data = self._encode_write(0x05, 0xff, reg, val)
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if data != encoded_data:
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return None
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return val
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def reg_read(self, instance_id, addr, reg):
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if self.analog_mux is not None:
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self.analog_mux.activate(instance_id)
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msg = self._encode_read(0xf5, addr, reg)
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params = self.tmcuart_send_cmd.send([self.oid, msg, 10])
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return self._decode_read(reg, params['read'])
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def reg_write(self, instance_id, addr, reg, val, print_time=None):
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minclock = 0
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if print_time is not None:
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minclock = self.mcu.print_time_to_clock(print_time)
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if self.analog_mux is not None:
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self.analog_mux.activate(instance_id)
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msg = self._encode_write(0xf5, addr, reg | 0x80, val)
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self.tmcuart_send_cmd.send([self.oid, msg, 0], minclock=minclock)
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# Lookup a (possibly shared) tmc uart
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def lookup_tmc_uart_bitbang(config, max_addr):
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ppins = config.get_printer().lookup_object("pins")
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rx_pin_params = ppins.lookup_pin(
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config.get('uart_pin'), can_pullup=True, share_type="tmc_uart_rx")
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tx_pin_desc = config.get('tx_pin', None)
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if tx_pin_desc is None:
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tx_pin_params = rx_pin_params
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else:
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tx_pin_params = ppins.lookup_pin(tx_pin_desc, share_type="tmc_uart_tx")
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if rx_pin_params['chip'] is not tx_pin_params['chip']:
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raise ppins.error("TMC uart rx and tx pins must be on the same mcu")
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select_pins_desc = config.get('select_pins', None)
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addr = config.getint('uart_address', 0, minval=0, maxval=max_addr)
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mcu_uart = rx_pin_params.get('class')
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if mcu_uart is None:
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mcu_uart = MCU_TMC_uart_bitbang(rx_pin_params, tx_pin_params,
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select_pins_desc)
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rx_pin_params['class'] = mcu_uart
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instance_id = mcu_uart.register_instance(rx_pin_params, tx_pin_params,
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select_pins_desc, addr)
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return instance_id, addr, mcu_uart
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# Helper code for communicating via TMC uart
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class MCU_TMC_uart:
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def __init__(self, config, name_to_reg, fields, max_addr=0):
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self.printer = config.get_printer()
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self.name = config.get_name().split()[-1]
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self.name_to_reg = name_to_reg
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self.fields = fields
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self.ifcnt = None
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self.instance_id, self.addr, self.mcu_uart = lookup_tmc_uart_bitbang(
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config, max_addr)
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self.mutex = self.mcu_uart.mutex
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def get_fields(self):
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return self.fields
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def _do_get_register(self, reg_name):
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reg = self.name_to_reg[reg_name]
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if self.printer.get_start_args().get('debugoutput') is not None:
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return 0
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for retry in range(5):
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val = self.mcu_uart.reg_read(self.instance_id, self.addr, reg)
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if val is not None:
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return val
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raise self.printer.command_error(
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"Unable to read tmc uart '%s' register %s" % (self.name, reg_name))
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def get_register(self, reg_name):
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with self.mutex:
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return self._do_get_register(reg_name)
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def set_register(self, reg_name, val, print_time=None):
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reg = self.name_to_reg[reg_name]
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if self.printer.get_start_args().get('debugoutput') is not None:
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return
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with self.mutex:
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for retry in range(5):
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ifcnt = self.ifcnt
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if ifcnt is None:
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self.ifcnt = ifcnt = self._do_get_register("IFCNT")
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self.mcu_uart.reg_write(self.instance_id, self.addr, reg, val,
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print_time)
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self.ifcnt = self._do_get_register("IFCNT")
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if self.ifcnt == (ifcnt + 1) & 0xff:
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return
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raise self.printer.command_error(
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"Unable to write tmc uart '%s' register %s" % (self.name, reg_name))
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