mcu: Support multi-mcu homing

Support endstops and probes attached to a different micro-controller
than their associated steppers.

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

1 files changed, 31 insertions, 12 deletions

diff --git a/klippy/mcu.py b/klippy/mcu.py
index eb1f319f..d568d194 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -125,6 +125,9 @@ class MCU_trsync:
             s.note_homing_end()
         return params['trigger_reason']
 
+TRSYNC_TIMEOUT = 0.025
+TRSYNC_SINGLE_MCU_TIMEOUT = 0.250
+
 class MCU_endstop:
     RETRY_QUERY = 1.000
     def __init__(self, mcu, pin_params):
@@ -139,15 +142,27 @@ class MCU_endstop:
         self._rest_ticks = 0
         ffi_main, ffi_lib = chelper.get_ffi()
         self._trdispatch = ffi_main.gc(ffi_lib.trdispatch_alloc(), ffi_lib.free)
-        self._trsync = MCU_trsync(mcu, self._trdispatch)
+        self._trsyncs = [MCU_trsync(mcu, self._trdispatch)]
     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._trsync.add_stepper(stepper)
+        trsyncs = {trsync.get_mcu(): trsync for trsync in self._trsyncs}
+        trsync = trsyncs.get(stepper.get_mcu())
+        if trsync is None:
+            trsync = MCU_trsync(stepper.get_mcu(), self._trdispatch)
+            self._trsyncs.append(trsync)
+        trsync.add_stepper(stepper)
+        # Check for unsupported multi-mcu shared stepper rails
+        sname = stepper.get_name()
+        if sname.startswith('stepper_'):
+            for ot in self._trsyncs:
+                for s in ot.get_steppers():
+                    if ot is not trsync and s.get_name().startswith(sname[:9]):
+                        cerror = self._mcu.get_printer().config_error
+                        raise cerror("Multi-mcu homing not supported on"
+                                     " multi-mcu shared axis")
     def get_steppers(self):
-        return self._trsync.get_steppers()
+        return [s for trsync in self._trsyncs for s in trsync.get_steppers()]
     def _build_config(self):
         # Setup config
         self._mcu.add_config_cmd("config_endstop oid=%d pin=%s pull_up=%d"
@@ -157,7 +172,7 @@ class MCU_endstop:
             " rest_ticks=0 pin_value=0 trsync_oid=0 trigger_reason=0"
             % (self._oid,), on_restart=True)
         # Lookup commands
-        cmd_queue = self._trsync.get_command_queue()
+        cmd_queue = self._trsyncs[0].get_command_queue()
         self._home_cmd = self._mcu.lookup_command(
             "endstop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
             " rest_ticks=%u pin_value=%c trsync_oid=%c trigger_reason=%c",
@@ -173,8 +188,12 @@ class MCU_endstop:
         self._rest_ticks = rest_ticks
         reactor = self._mcu.get_printer().get_reactor()
         self._trigger_completion = reactor.completion()
-        etrsync = self._trsync
-        etrsync.start(print_time, self._trigger_completion, .250)
+        expire_timeout = TRSYNC_TIMEOUT
+        if len(self._trsyncs) == 1:
+            expire_timeout = TRSYNC_SINGLE_MCU_TIMEOUT
+        for trsync in self._trsyncs:
+            trsync.start(print_time, self._trigger_completion, expire_timeout)
+        etrsync = self._trsyncs[0]
         ffi_main, ffi_lib = chelper.get_ffi()
         ffi_lib.trdispatch_start(self._trdispatch, etrsync.REASON_HOST_REQUEST)
         self._home_cmd.send(
@@ -183,7 +202,7 @@ class MCU_endstop:
              etrsync.get_oid(), etrsync.REASON_ENDSTOP_HIT], reqclock=clock)
         return self._trigger_completion
     def home_wait(self, home_end_time):
-        etrsync = self._trsync
+        etrsync = self._trsyncs[0]
         etrsync.set_home_end_time(home_end_time)
         if self._mcu.is_fileoutput():
             self._trigger_completion.complete(True)
@@ -191,10 +210,10 @@ class MCU_endstop:
         self._home_cmd.send([self._oid, 0, 0, 0, 0, 0, 0, 0])
         ffi_main, ffi_lib = chelper.get_ffi()
         ffi_lib.trdispatch_stop(self._trdispatch)
-        res = etrsync.stop()
-        if res == etrsync.REASON_COMMS_TIMEOUT:
+        res = [trsync.stop() for trsync in self._trsyncs]
+        if any([r == etrsync.REASON_COMMS_TIMEOUT for r in res]):
             return -1.
-        if res != etrsync.REASON_ENDSTOP_HIT:
+        if res[0] != etrsync.REASON_ENDSTOP_HIT:
             return 0.
         if self._mcu.is_fileoutput():
             return home_end_time