mcu: Add support for connecting to devices on a CAN bus

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 19 insertions, 6 deletions

diff --git a/klippy/mcu.py b/klippy/mcu.py
index 93e71572..ec2cce7a 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -415,12 +415,20 @@ class MCU:
         if self._name.startswith('mcu '):
             self._name = self._name[4:]
         # Serial port
-        self._serialport = config.get('serial')
-        self._baud = 0
-        if not (self._serialport.startswith("/dev/rpmsg_")
-                or self._serialport.startswith("/tmp/klipper_host_")):
-            self._baud = config.getint('baud', 250000, minval=2400)
         self._serial = serialhdl.SerialReader(self._reactor)
+        self._baud = 0
+        self._canbus_iface = None
+        canbus_uuid = config.get('canbus_uuid', None)
+        if canbus_uuid is not None:
+            self._serialport = canbus_uuid
+            self._canbus_iface = config.get('canbus_interface', 'can0')
+            cbid = self._printer.load_object(config, 'canbus_ids')
+            cbid.add_uuid(config, canbus_uuid, self._canbus_iface)
+        else:
+            self._serialport = config.get('serial')
+            if not (self._serialport.startswith("/dev/rpmsg_")
+                    or self._serialport.startswith("/tmp/klipper_host_")):
+                self._baud = config.getint('baud', 250000, minval=2400)
         # Restarts
         restart_methods = [None, 'arduino', 'cheetah', 'command', 'rpi_usb']
         self._restart_method = 'command'
@@ -617,7 +625,12 @@ class MCU:
                 # Try toggling usb power
                 self._check_restart("enable power")
             try:
-                if self._baud:
+                if self._canbus_iface is not None:
+                    cbid = self._printer.lookup_object('canbus_ids')
+                    nodeid = cbid.get_nodeid(self._serialport)
+                    self._serial.connect_canbus(self._serialport, nodeid,
+                                                self._canbus_iface)
+                elif self._baud:
                     # Cheetah boards require RTS to be deasserted
                     # else a reset will trigger the built-in bootloader.
                     rts = (resmeth != "cheetah")