mirror of https://github.com/Desuuuu/klipper.git
535 lines
23 KiB
Python
535 lines
23 KiB
Python
# Multi-processor safe interface to micro-controller
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#
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# Copyright (C) 2016 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 sys, zlib, logging, time, math
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import serialhdl, pins, chelper
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class error(Exception):
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pass
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def parse_pin_extras(pin, can_pullup=False):
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pullup = invert = 0
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if can_pullup and pin.startswith('^'):
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pullup = 1
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pin = pin[1:].strip()
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if pin.startswith('!'):
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invert = 1
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pin = pin[1:].strip()
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return pin, pullup, invert
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class MCU_stepper:
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def __init__(self, mcu, step_pin, dir_pin, min_stop_interval, max_error):
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self._mcu = mcu
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self._oid = mcu.create_oid()
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step_pin, pullup, invert_step = parse_pin_extras(step_pin)
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dir_pin, pullup, self._invert_dir = parse_pin_extras(dir_pin)
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self._mcu_freq = mcu.get_mcu_freq()
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min_stop_interval = int(min_stop_interval * self._mcu_freq)
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max_error = int(max_error * self._mcu_freq)
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self.commanded_position = 0
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self._mcu_position_offset = 0
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mcu.add_config_cmd(
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"config_stepper oid=%d step_pin=%s dir_pin=%s"
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" min_stop_interval=%d invert_step=%d" % (
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self._oid, step_pin, dir_pin, min_stop_interval, invert_step))
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mcu.register_stepper(self)
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self._step_cmd = mcu.lookup_command(
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"queue_step oid=%c interval=%u count=%hu add=%hi")
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self._dir_cmd = mcu.lookup_command(
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"set_next_step_dir oid=%c dir=%c")
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self._reset_cmd = mcu.lookup_command(
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"reset_step_clock oid=%c clock=%u")
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ffi_main, self.ffi_lib = chelper.get_ffi()
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self._stepqueue = ffi_main.gc(self.ffi_lib.stepcompress_alloc(
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max_error, self._step_cmd.msgid
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, self._dir_cmd.msgid, self._invert_dir, self._oid),
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self.ffi_lib.stepcompress_free)
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self.print_to_mcu_time = mcu.print_to_mcu_time
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def get_oid(self):
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return self._oid
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def get_invert_dir(self):
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return self._invert_dir
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def set_position(self, pos):
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self._mcu_position_offset += self.commanded_position - pos
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self.commanded_position = pos
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def set_mcu_position(self, pos):
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self._mcu_position_offset = pos - self.commanded_position
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def get_mcu_position(self):
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return self.commanded_position + self._mcu_position_offset
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def note_homing_start(self, homing_clock):
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self.ffi_lib.stepcompress_set_homing(self._stepqueue, homing_clock)
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def note_homing_finalized(self):
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self.ffi_lib.stepcompress_set_homing(self._stepqueue, 0)
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self.ffi_lib.stepcompress_reset(self._stepqueue, 0)
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def reset_step_clock(self, mcu_time):
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clock = int(mcu_time * self._mcu_freq)
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self.ffi_lib.stepcompress_reset(self._stepqueue, clock)
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data = (self._reset_cmd.msgid, self._oid, clock & 0xffffffff)
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self.ffi_lib.stepcompress_queue_msg(self._stepqueue, data, len(data))
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def step(self, mcu_time, sdir):
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clock = mcu_time * self._mcu_freq
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self.ffi_lib.stepcompress_push(self._stepqueue, clock, sdir)
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if sdir:
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self.commanded_position += 1
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else:
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self.commanded_position -= 1
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def step_sqrt(self, mcu_time, steps, step_offset, sqrt_offset, factor):
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clock = mcu_time * self._mcu_freq
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mcu_freq2 = self._mcu_freq**2
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count = self.ffi_lib.stepcompress_push_sqrt(
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self._stepqueue, steps, step_offset, clock
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, sqrt_offset * mcu_freq2, factor * mcu_freq2)
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self.commanded_position += count
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return count
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def step_factor(self, mcu_time, steps, step_offset, factor):
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clock = mcu_time * self._mcu_freq
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count = self.ffi_lib.stepcompress_push_factor(
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self._stepqueue, steps, step_offset, clock, factor * self._mcu_freq)
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self.commanded_position += count
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return count
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def step_delta_const(self, mcu_time, dist, start_pos
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, inv_velocity, step_dist
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, height, closestxy_d, closest_height2, movez_r):
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clock = mcu_time * self._mcu_freq
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count = self.ffi_lib.stepcompress_push_delta_const(
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self._stepqueue, clock, dist, start_pos
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, inv_velocity * self._mcu_freq, step_dist
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, height, closestxy_d, closest_height2, movez_r)
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self.commanded_position += count
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return count
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def step_delta_accel(self, mcu_time, dist, start_pos
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, accel_multiplier, step_dist
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, height, closestxy_d, closest_height2, movez_r):
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clock = mcu_time * self._mcu_freq
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mcu_freq2 = self._mcu_freq**2
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count = self.ffi_lib.stepcompress_push_delta_accel(
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self._stepqueue, clock, dist, start_pos
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, accel_multiplier * mcu_freq2, step_dist
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, height, closestxy_d, closest_height2, movez_r)
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self.commanded_position += count
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return count
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def get_errors(self):
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return self.ffi_lib.stepcompress_get_errors(self._stepqueue)
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class MCU_endstop:
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error = error
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RETRY_QUERY = 1.000
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def __init__(self, mcu, pin, stepper):
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self._mcu = mcu
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self._oid = mcu.create_oid()
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self._stepper = stepper
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stepper_oid = stepper.get_oid()
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pin, pullup, self._invert = parse_pin_extras(pin, can_pullup=True)
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self._cmd_queue = mcu.alloc_command_queue()
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mcu.add_config_cmd(
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"config_end_stop oid=%d pin=%s pull_up=%d stepper_oid=%d" % (
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self._oid, pin, pullup, stepper_oid))
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self._home_cmd = mcu.lookup_command(
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"end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c")
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mcu.register_msg(self._handle_end_stop_state, "end_stop_state"
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, self._oid)
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self._query_cmd = mcu.lookup_command("end_stop_query oid=%c")
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self._homing = False
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self._min_query_time = 0.
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self._next_query_clock = self._home_timeout_clock = 0
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self._mcu_freq = mcu.get_mcu_freq()
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self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY)
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self._last_state = {}
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self.print_to_mcu_time = mcu.print_to_mcu_time
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def home_start(self, mcu_time, rest_time):
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clock = int(mcu_time * self._mcu_freq)
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rest_ticks = int(rest_time * self._mcu_freq)
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self._homing = True
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self._min_query_time = time.time()
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self._next_query_clock = clock + self._retry_query_ticks
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msg = self._home_cmd.encode(
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self._oid, clock, rest_ticks, 1 ^ self._invert)
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self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
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self._stepper.note_homing_start(clock)
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def home_finalize(self, mcu_time):
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self._stepper.note_homing_finalized()
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self._home_timeout_clock = int(mcu_time * self._mcu_freq)
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def home_wait(self):
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eventtime = time.time()
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while self._check_busy(eventtime):
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eventtime = self._mcu.pause(eventtime + 0.1)
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def _handle_end_stop_state(self, params):
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logging.debug("end_stop_state %s" % (params,))
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self._last_state = params
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def _check_busy(self, eventtime):
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# Check if need to send an end_stop_query command
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if self._mcu.is_fileoutput():
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return False
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last_sent_time = self._last_state.get('#sent_time', -1.)
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if last_sent_time >= self._min_query_time:
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if not self._homing:
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return False
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if not self._last_state.get('homing', 0):
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pos = self._last_state.get('pos', 0)
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if self._stepper.get_invert_dir():
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pos = -pos
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self._stepper.set_mcu_position(pos)
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self._homing = False
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return False
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if (self._mcu.serial.get_clock(last_sent_time)
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> self._home_timeout_clock):
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# Timeout - disable endstop checking
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msg = self._home_cmd.encode(self._oid, 0, 0, 0)
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self._mcu.send(msg, reqclock=0, cq=self._cmd_queue)
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raise error("Timeout during endstop homing")
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if self._mcu.is_shutdown:
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raise error("MCU is shutdown")
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last_clock, last_clock_time = self._mcu.get_last_clock()
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if last_clock >= self._next_query_clock:
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self._next_query_clock = last_clock + self._retry_query_ticks
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msg = self._query_cmd.encode(self._oid)
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self._mcu.send(msg, cq=self._cmd_queue)
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return True
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def query_endstop(self, mcu_time):
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clock = int(mcu_time * self._mcu_freq)
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self._homing = False
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self._min_query_time = time.time()
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self._next_query_clock = clock
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def query_endstop_wait(self):
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eventtime = time.time()
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while self._check_busy(eventtime):
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eventtime = self._mcu.pause(eventtime + 0.1)
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return self._last_state.get('pin', self._invert) ^ self._invert
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class MCU_digital_out:
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def __init__(self, mcu, pin, max_duration):
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self._mcu = mcu
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self._oid = mcu.create_oid()
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pin, pullup, self._invert = parse_pin_extras(pin)
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self._last_clock = 0
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self._last_value = None
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self._mcu_freq = mcu.get_mcu_freq()
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self._cmd_queue = mcu.alloc_command_queue()
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mcu.add_config_cmd(
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"config_digital_out oid=%d pin=%s default_value=%d"
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" max_duration=%d" % (self._oid, pin, self._invert, max_duration))
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self._set_cmd = mcu.lookup_command(
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"schedule_digital_out oid=%c clock=%u value=%c")
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self.print_to_mcu_time = mcu.print_to_mcu_time
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def set_digital(self, mcu_time, value):
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clock = int(mcu_time * self._mcu_freq)
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msg = self._set_cmd.encode(self._oid, clock, value ^ self._invert)
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self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
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, cq=self._cmd_queue)
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self._last_clock = clock
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self._last_value = value
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def get_last_setting(self):
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return self._last_value
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def set_pwm(self, mcu_time, value):
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dval = 0
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if value > 127:
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dval = 1
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self.set_digital(mcu_time, dval)
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class MCU_pwm:
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def __init__(self, mcu, pin, cycle_ticks, max_duration, hard_pwm=True):
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self._mcu = mcu
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self._oid = mcu.create_oid()
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self._last_clock = 0
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self._mcu_freq = mcu.get_mcu_freq()
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self._cmd_queue = mcu.alloc_command_queue()
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if hard_pwm:
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mcu.add_config_cmd(
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"config_pwm_out oid=%d pin=%s cycle_ticks=%d default_value=0"
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" max_duration=%d" % (self._oid, pin, cycle_ticks, max_duration))
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self._set_cmd = mcu.lookup_command(
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"schedule_pwm_out oid=%c clock=%u value=%c")
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else:
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mcu.add_config_cmd(
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"config_soft_pwm_out oid=%d pin=%s cycle_ticks=%d"
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" default_value=0 max_duration=%d" % (
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self._oid, pin, cycle_ticks, max_duration))
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self._set_cmd = mcu.lookup_command(
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"schedule_soft_pwm_out oid=%c clock=%u value=%c")
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self.print_to_mcu_time = mcu.print_to_mcu_time
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def set_pwm(self, mcu_time, value):
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clock = int(mcu_time * self._mcu_freq)
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msg = self._set_cmd.encode(self._oid, clock, value)
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self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
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, cq=self._cmd_queue)
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self._last_clock = clock
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class MCU_adc:
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def __init__(self, mcu, pin):
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self._mcu = mcu
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self._oid = mcu.create_oid()
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self._min_sample = 0
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self._max_sample = 0xffff
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self._sample_ticks = 0
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self._sample_count = 1
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self._report_clock = 0
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self._callback = None
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self._inv_max_adc = 0.
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self._mcu_freq = mcu.get_mcu_freq()
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self._cmd_queue = mcu.alloc_command_queue()
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mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % (self._oid, pin))
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mcu.add_init_callback(self._init_callback)
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mcu.register_msg(self._handle_analog_in_state, "analog_in_state"
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, self._oid)
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self._query_cmd = mcu.lookup_command(
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"query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c"
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" rest_ticks=%u min_value=%hu max_value=%hu")
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def set_minmax(self, sample_time, sample_count, minval=None, maxval=None):
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self._sample_ticks = int(sample_time * self._mcu_freq)
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self._sample_count = sample_count
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if minval is None:
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minval = 0
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if maxval is None:
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maxval = 0xffff
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mcu_adc_max = self._mcu.serial.msgparser.get_constant_float("ADC_MAX")
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max_adc = sample_count * mcu_adc_max
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self._min_sample = int(minval * max_adc)
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self._max_sample = min(0xffff, int(math.ceil(maxval * max_adc)))
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self._inv_max_adc = 1.0 / max_adc
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def _init_callback(self):
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last_clock, last_clock_time = self._mcu.get_last_clock()
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clock = last_clock + int(self._mcu_freq * (1.0 + self._oid * 0.01)) # XXX
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msg = self._query_cmd.encode(
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self._oid, clock, self._sample_ticks, self._sample_count
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, self._report_clock, self._min_sample, self._max_sample)
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self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
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def _handle_analog_in_state(self, params):
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last_value = params['value'] * self._inv_max_adc
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next_clock = self._mcu.serial.translate_clock(params['next_clock'])
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last_read_time = (next_clock - self._report_clock) / self._mcu_freq
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if self._callback is not None:
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self._callback(last_read_time, last_value)
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def set_adc_callback(self, report_time, callback):
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self._report_clock = int(report_time * self._mcu_freq)
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self._callback = callback
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class MCU:
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error = error
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COMM_TIMEOUT = 3.5
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def __init__(self, printer, config):
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self._printer = printer
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self._config = config
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# Serial port
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baud = config.getint('baud', 250000)
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serialport = config.get('serial', '/dev/ttyS0')
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self.serial = serialhdl.SerialReader(printer.reactor, serialport, baud)
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self.is_shutdown = False
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self._is_fileoutput = False
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self._timeout_timer = printer.reactor.register_timer(
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self.timeout_handler)
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# Config building
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self._emergency_stop_cmd = self._clear_shutdown_cmd = None
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self._num_oids = 0
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self._config_cmds = []
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self._config_crc = None
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self._init_callbacks = []
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# Move command queuing
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ffi_main, self.ffi_lib = chelper.get_ffi()
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self._steppers = []
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self._steppersync = None
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# Print time to clock epoch calculations
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self._print_start_time = 0.
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self._mcu_freq = 0.
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# Stats
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self._stats_sumsq_base = 0.
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self._mcu_tick_avg = 0.
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self._mcu_tick_stddev = 0.
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def handle_mcu_stats(self, params):
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logging.debug("mcu stats: %s" % (params,))
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count = params['count']
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tick_sum = params['sum']
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c = 1.0 / (count * self._mcu_freq)
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self._mcu_tick_avg = tick_sum * c
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tick_sumsq = params['sumsq'] * self._stats_sumsq_base
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self._mcu_tick_stddev = c * math.sqrt(count*tick_sumsq - tick_sum**2)
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def handle_shutdown(self, params):
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if self.is_shutdown:
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return
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self.is_shutdown = True
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logging.info("%s: %s" % (params['#name'], params['#msg']))
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self.serial.dump_debug()
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self._printer.note_shutdown(params['#msg'])
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# Connection phase
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def connect(self):
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if not self._is_fileoutput:
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self.serial.connect()
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self._printer.reactor.update_timer(
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self._timeout_timer, time.time() + self.COMM_TIMEOUT)
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self._mcu_freq = self.serial.msgparser.get_constant_float('CLOCK_FREQ')
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self._stats_sumsq_base = self.serial.msgparser.get_constant_float(
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'STATS_SUMSQ_BASE')
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self._emergency_stop_cmd = self.lookup_command("emergency_stop")
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self._clear_shutdown_cmd = self.lookup_command("clear_shutdown")
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self.register_msg(self.handle_shutdown, 'shutdown')
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self.register_msg(self.handle_shutdown, 'is_shutdown')
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self.register_msg(self.handle_mcu_stats, 'stats')
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def connect_file(self, debugoutput, dictionary, pace=False):
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self._is_fileoutput = True
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self.serial.connect_file(debugoutput, dictionary)
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if not pace:
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def dummy_set_print_start_time(eventtime):
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pass
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def dummy_get_print_buffer_time(eventtime, last_move_end):
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return 0.250
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self.set_print_start_time = dummy_set_print_start_time
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self.get_print_buffer_time = dummy_get_print_buffer_time
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def timeout_handler(self, eventtime):
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last_clock, last_clock_time = self.serial.get_last_clock()
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timeout = last_clock_time + self.COMM_TIMEOUT
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if eventtime < timeout:
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return timeout
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logging.info("Timeout with firmware (eventtime=%f last_status=%f)" % (
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eventtime, last_clock_time))
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self._printer.note_mcu_error("Lost communication with firmware")
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return self._printer.reactor.NEVER
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def disconnect(self):
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self.serial.disconnect()
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if self._steppersync is not None:
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self.ffi_lib.steppersync_free(self._steppersync)
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self._steppersync = None
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def stats(self, eventtime):
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stats = self.serial.stats(eventtime)
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stats += " mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
|
|
self._mcu_tick_avg, self._mcu_tick_stddev)
|
|
err = 0
|
|
for s in self._steppers:
|
|
err += s.get_errors()
|
|
if err:
|
|
stats += " step_errors=%d" % (err,)
|
|
return stats
|
|
def force_shutdown(self):
|
|
self.send(self._emergency_stop_cmd.encode())
|
|
def clear_shutdown(self):
|
|
logging.info("Sending clear_shutdown command")
|
|
self.send(self._clear_shutdown_cmd.encode())
|
|
def is_fileoutput(self):
|
|
return self._is_fileoutput
|
|
# Configuration phase
|
|
def _add_custom(self):
|
|
data = self._config.get('custom', '')
|
|
for line in data.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
|
|
self._add_custom()
|
|
self._config_cmds.insert(0, "allocate_oids count=%d" % (
|
|
self._num_oids,))
|
|
|
|
# Resolve pin names
|
|
mcu = self.serial.msgparser.get_constant('MCU')
|
|
pin_map = self._config.get('pin_map', None)
|
|
if pin_map is None:
|
|
pnames = pins.mcu_to_pins(mcu)
|
|
else:
|
|
pnames = pins.map_pins(pin_map, mcu)
|
|
updated_cmds = []
|
|
for cmd in self._config_cmds:
|
|
try:
|
|
updated_cmds.append(pins.update_command(cmd, pnames))
|
|
except:
|
|
raise self._config.error("Unable to translate pin name: %s" % (
|
|
cmd,))
|
|
self._config_cmds = updated_cmds
|
|
|
|
# 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,))
|
|
|
|
self._send_config()
|
|
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.serial.send_with_response(msg, 'config')
|
|
if not config_params['is_config']:
|
|
# Send config commands
|
|
for c in self._config_cmds:
|
|
self.send(self.create_command(c))
|
|
if not self._is_fileoutput:
|
|
config_params = self.serial.send_with_response(msg, 'config')
|
|
if self._config_crc != config_params['crc']:
|
|
raise error("Printer CRC does not match config")
|
|
move_count = config_params['move_count']
|
|
logging.info("Configured (%d moves)" % (move_count,))
|
|
stepqueues = tuple(s._stepqueue for s in self._steppers)
|
|
self._steppersync = self.ffi_lib.steppersync_alloc(
|
|
self.serial.serialqueue, stepqueues, len(stepqueues), move_count)
|
|
for cb in self._init_callbacks:
|
|
cb()
|
|
# Config creation helpers
|
|
def create_oid(self):
|
|
oid = self._num_oids
|
|
self._num_oids += 1
|
|
return oid
|
|
def add_config_cmd(self, cmd):
|
|
self._config_cmds.append(cmd)
|
|
def add_init_callback(self, callback):
|
|
self._init_callbacks.append(callback)
|
|
def register_msg(self, cb, msg, oid=None):
|
|
self.serial.register_callback(cb, msg, oid)
|
|
def register_stepper(self, stepper):
|
|
self._steppers.append(stepper)
|
|
def alloc_command_queue(self):
|
|
return self.serial.alloc_command_queue()
|
|
def lookup_command(self, msgformat):
|
|
return self.serial.msgparser.lookup_command(msgformat)
|
|
def create_command(self, msg):
|
|
return self.serial.msgparser.create_command(msg)
|
|
# Wrappers for mcu object creation
|
|
def create_stepper(self, step_pin, dir_pin, min_stop_interval, max_error):
|
|
return MCU_stepper(self, step_pin, dir_pin, min_stop_interval, max_error)
|
|
def create_endstop(self, pin, stepper):
|
|
return MCU_endstop(self, pin, stepper)
|
|
def create_digital_out(self, pin, max_duration=2.):
|
|
max_duration = int(max_duration * self._mcu_freq)
|
|
return MCU_digital_out(self, pin, max_duration)
|
|
def create_pwm(self, pin, hard_cycle_ticks, max_duration=2.):
|
|
max_duration = int(max_duration * self._mcu_freq)
|
|
if hard_cycle_ticks:
|
|
return MCU_pwm(self, pin, hard_cycle_ticks, max_duration)
|
|
if hard_cycle_ticks < 0:
|
|
return MCU_digital_out(self, pin, max_duration)
|
|
cycle_ticks = int(self._mcu_freq / 10.)
|
|
return MCU_pwm(self, pin, cycle_ticks, max_duration, hard_pwm=False)
|
|
def create_adc(self, pin):
|
|
return MCU_adc(self, pin)
|
|
# Clock syncing
|
|
def set_print_start_time(self, eventtime):
|
|
est_mcu_time = self.serial.get_clock(eventtime) / self._mcu_freq
|
|
self._print_start_time = est_mcu_time
|
|
def get_print_buffer_time(self, eventtime, print_time):
|
|
if self.is_shutdown:
|
|
return 0.
|
|
mcu_time = print_time + self._print_start_time
|
|
est_mcu_time = self.serial.get_clock(eventtime) / self._mcu_freq
|
|
return mcu_time - est_mcu_time
|
|
def print_to_mcu_time(self, print_time):
|
|
return print_time + self._print_start_time
|
|
def get_mcu_freq(self):
|
|
return self._mcu_freq
|
|
def get_last_clock(self):
|
|
return self.serial.get_last_clock()
|
|
# Move command queuing
|
|
def send(self, cmd, minclock=0, reqclock=0, cq=None):
|
|
self.serial.send(cmd, minclock, reqclock, cq=cq)
|
|
def flush_moves(self, print_time):
|
|
if self._steppersync is None:
|
|
return
|
|
mcu_time = print_time + self._print_start_time
|
|
clock = int(mcu_time * self._mcu_freq)
|
|
self.ffi_lib.steppersync_flush(self._steppersync, clock)
|
|
def pause(self, waketime):
|
|
return self._printer.reactor.pause(waketime)
|
|
def __del__(self):
|
|
self.disconnect()
|