2.7 KiB
The Klippy host code has some tools to help in debugging the firmware.
Testing with simulavr
The simulavr tool enables one to simulate an Atmel ATmega micro-controller. This section describes how one can run test gcode files through simulavr. It is recommended to run this on a desktop class machine (not a Raspberry Pi) as it does require significant cpu to run efficiently.
To use simulavr, download the simulavr package and compile with python support:
git clone git://git.savannah.nongnu.org/simulavr.git
cd simulavr
./bootstrap
./configure --enable-python
make
Note that the build system may need to have some packages (such as swig) installed in order to build the python module. Make sure the file src/python/_pysimulavr.so is present after the above compilation.
To compile Klipper for use in simulavr, run:
cd /patch/to/klipper
make menuconfig
and compile the firmware for an AVR atmega644p, disable the AVR
watchdog timer, and set the MCU frequency to 20000000. Then one can
compile Klipper (run make) and then start the simulation with:
PYTHONPATH=/path/to/simulavr/src/python/ ./scripts/avrsim.py -m atmega644 -s 20000000 -b 250000 out/klipper.elf
It may be necessary to create a python virtual environment to run Klippy on the target machine. To do so, run:
virtualenv ~/klippy-env
~/klippy-env/bin/pip install cffi==1.6.0 pyserial==2.7
Then, with simulavr running in another window, one can run the following to read gcode from a file (eg, "test.gcode"), process it with Klippy, and send it to Klipper running in simulavr:
~/klippy-env/bin/python ./klippy/klippy.py config/avrsim.cfg -i test.gcode -v
Using simulavr with gtkwave
One useful feature of simulavr is its ability to create signal wave generation files with the exact timing of events. To do this, follow the directions above, but run avrsim.py with a command-line like the following:
PYTHONPATH=/path/to/simulavr/src/python/ ./scripts/avrsim.py -m atmega644 -s 20000000 -b 250000 out/klipper.elf -t PORTA.PORT,PORTC.PORT
The above would create a file avrsim.vcd with information on each change to the GPIOs on PORTA and PORTB. This could then be viewed using gtkwave with:
gtkwave avrsim.vcd
Manually sending commands to the micro-controller
Normally, Klippy would be used to translate gcode commands to Klipper commands. However, it's also possible to manually send Klipper commands (functions marked with the DECL_COMMAND() macro in the Klipper source code). To do so, run:
~/klippy-env/bin/python ./klippy/console.py /tmp/pseudoserial 250000