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-rw-r--r--klippy/chelper/__init__.py6
-rw-r--r--klippy/chelper/stepcompress.c19
-rw-r--r--klippy/chelper/stepcompress.h4
-rwxr-xr-xklippy/console.py2
-rw-r--r--klippy/mcu.py4
-rw-r--r--klippy/msgproto.py13
-rw-r--r--klippy/stepper.py18
-rw-r--r--scripts/buildcommands.py27
8 files changed, 50 insertions, 43 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py
index d373d72e..851fda70 100644
--- a/klippy/chelper/__init__.py
+++ b/klippy/chelper/__init__.py
@@ -1,6 +1,6 @@
# Wrapper around C helper code
#
-# Copyright (C) 2016-2020 Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import os, logging
@@ -31,8 +31,8 @@ OTHER_FILES = [
defs_stepcompress = """
struct stepcompress *stepcompress_alloc(uint32_t oid);
void stepcompress_fill(struct stepcompress *sc, uint32_t max_error
- , uint32_t invert_sdir, uint32_t queue_step_msgid
- , uint32_t set_next_step_dir_msgid);
+ , uint32_t invert_sdir, int32_t queue_step_msgtag
+ , int32_t set_next_step_dir_msgtag);
void stepcompress_free(struct stepcompress *sc);
int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
int stepcompress_queue_msg(struct stepcompress *sc
diff --git a/klippy/chelper/stepcompress.c b/klippy/chelper/stepcompress.c
index 812a3b50..cd803ae7 100644
--- a/klippy/chelper/stepcompress.c
+++ b/klippy/chelper/stepcompress.c
@@ -1,6 +1,6 @@
// Stepper pulse schedule compression
//
-// Copyright (C) 2016-2020 Kevin O'Connor <kevin@koconnor.net>
+// Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
@@ -36,7 +36,8 @@ struct stepcompress {
// Message generation
uint64_t last_step_clock;
struct list_head msg_queue;
- uint32_t queue_step_msgid, set_next_step_dir_msgid, oid;
+ uint32_t oid;
+ int32_t queue_step_msgtag, set_next_step_dir_msgtag;
int sdir, invert_sdir;
// Step+dir+step filter
uint64_t next_step_clock;
@@ -244,13 +245,13 @@ stepcompress_alloc(uint32_t oid)
// Fill message id information
void __visible
stepcompress_fill(struct stepcompress *sc, uint32_t max_error
- , uint32_t invert_sdir, uint32_t queue_step_msgid
- , uint32_t set_next_step_dir_msgid)
+ , uint32_t invert_sdir, int32_t queue_step_msgtag
+ , int32_t set_next_step_dir_msgtag)
{
sc->max_error = max_error;
sc->invert_sdir = !!invert_sdir;
- sc->queue_step_msgid = queue_step_msgid;
- sc->set_next_step_dir_msgid = set_next_step_dir_msgid;
+ sc->queue_step_msgtag = queue_step_msgtag;
+ sc->set_next_step_dir_msgtag = set_next_step_dir_msgtag;
}
// Free memory associated with a 'stepcompress' object
@@ -307,7 +308,7 @@ queue_flush(struct stepcompress *sc, uint64_t move_clock)
return ret;
uint32_t msg[5] = {
- sc->queue_step_msgid, sc->oid, move.interval, move.count, move.add
+ sc->queue_step_msgtag, sc->oid, move.interval, move.count, move.add
};
struct queue_message *qm = message_alloc_and_encode(msg, 5);
qm->min_clock = qm->req_clock = sc->last_step_clock;
@@ -331,7 +332,7 @@ static int
stepcompress_flush_far(struct stepcompress *sc, uint64_t abs_step_clock)
{
uint32_t msg[5] = {
- sc->queue_step_msgid, sc->oid, abs_step_clock - sc->last_step_clock,
+ sc->queue_step_msgtag, sc->oid, abs_step_clock - sc->last_step_clock,
1, 0
};
struct queue_message *qm = message_alloc_and_encode(msg, 5);
@@ -353,7 +354,7 @@ set_next_step_dir(struct stepcompress *sc, int sdir)
if (ret)
return ret;
uint32_t msg[3] = {
- sc->set_next_step_dir_msgid, sc->oid, sdir ^ sc->invert_sdir
+ sc->set_next_step_dir_msgtag, sc->oid, sdir ^ sc->invert_sdir
};
struct queue_message *qm = message_alloc_and_encode(msg, 3);
qm->req_clock = sc->last_step_clock;
diff --git a/klippy/chelper/stepcompress.h b/klippy/chelper/stepcompress.h
index 3462b3f8..2d1534c1 100644
--- a/klippy/chelper/stepcompress.h
+++ b/klippy/chelper/stepcompress.h
@@ -7,8 +7,8 @@
struct stepcompress *stepcompress_alloc(uint32_t oid);
void stepcompress_fill(struct stepcompress *sc, uint32_t max_error
- , uint32_t invert_sdir, uint32_t queue_step_msgid
- , uint32_t set_next_step_dir_msgid);
+ , uint32_t invert_sdir, int32_t queue_step_msgtag
+ , int32_t set_next_step_dir_msgtag);
void stepcompress_free(struct stepcompress *sc);
uint32_t stepcompress_get_oid(struct stepcompress *sc);
int stepcompress_get_step_dir(struct stepcompress *sc);
diff --git a/klippy/console.py b/klippy/console.py
index 69095345..b787111f 100755
--- a/klippy/console.py
+++ b/klippy/console.py
@@ -138,7 +138,7 @@ class KeyboardReader:
def command_LIST(self, parts):
self.update_evals(self.reactor.monotonic())
mp = self.ser.get_msgparser()
- cmds = [msgformat for msgid, msgtype, msgformat in mp.get_messages()
+ cmds = [msgformat for msgtag, msgtype, msgformat in mp.get_messages()
if msgtype == 'command']
out = "Available mcu commands:"
out += "\n ".join([""] + sorted(cmds))
diff --git a/klippy/mcu.py b/klippy/mcu.py
index 6f6c8002..5e31602c 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -694,9 +694,9 @@ class MCU:
return self.lookup_command(msgformat)
except self._serial.get_msgparser().error as e:
return None
- def lookup_command_id(self, msgformat):
+ def lookup_command_tag(self, msgformat):
all_msgs = self._serial.get_msgparser().get_messages()
- return {msgfmt: msgid for msgid, msgtype, msgfmt in all_msgs}[msgformat]
+ return {fmt: msgtag for msgtag, msgtype, fmt in all_msgs}[msgformat]
def get_enumerations(self):
return self._serial.get_msgparser().get_enumerations()
def get_constants(self):
diff --git a/klippy/msgproto.py b/klippy/msgproto.py
index d1f461b8..c3c0cda9 100644
--- a/klippy/msgproto.py
+++ b/klippy/msgproto.py
@@ -357,14 +357,17 @@ class MessageParser:
start_value, count = value
for i in range(count):
enums[enum_root + str(start_enum + i)] = start_value + i
- def _init_messages(self, messages, command_ids=[], output_ids=[]):
- for msgformat, msgid in messages.items():
+ def _init_messages(self, messages, command_tags=[], output_tags=[]):
+ for msgformat, msgtag in messages.items():
msgtype = 'response'
- if msgid in command_ids:
+ if msgtag in command_tags:
msgtype = 'command'
- elif msgid in output_ids:
+ elif msgtag in output_tags:
msgtype = 'output'
- self.messages.append((msgid, msgtype, msgformat))
+ self.messages.append((msgtag, msgtype, msgformat))
+ if msgtag < -32 or msgtag > 95:
+ raise error("Multi-byte msgtag not supported")
+ msgid = msgtag & 0x7f
if msgtype == 'output':
self.messages_by_id[msgid] = OutputFormat(msgid, msgformat)
else:
diff --git a/klippy/stepper.py b/klippy/stepper.py
index 1b1ad7ad..8ba0b5f1 100644
--- a/klippy/stepper.py
+++ b/klippy/stepper.py
@@ -1,6 +1,6 @@
# Printer stepper support
#
-# Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging, collections
@@ -33,7 +33,7 @@ class MCU_stepper:
self._invert_dir = dir_pin_params['invert']
self._mcu_position_offset = self._tag_position = 0.
self._min_stop_interval = 0.
- self._reset_cmd_id = self._get_position_cmd = None
+ self._reset_cmd_tag = self._get_position_cmd = None
self._active_callbacks = []
ffi_main, self._ffi_lib = chelper.get_ffi()
self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc(oid),
@@ -78,18 +78,18 @@ class MCU_stepper:
self._invert_step))
self._mcu.add_config_cmd("reset_step_clock oid=%d clock=0"
% (self._oid,), on_restart=True)
- step_cmd_id = self._mcu.lookup_command_id(
+ step_cmd_tag = self._mcu.lookup_command_tag(
"queue_step oid=%c interval=%u count=%hu add=%hi")
- dir_cmd_id = self._mcu.lookup_command_id(
+ dir_cmd_tag = self._mcu.lookup_command_tag(
"set_next_step_dir oid=%c dir=%c")
- self._reset_cmd_id = self._mcu.lookup_command_id(
+ self._reset_cmd_tag = self._mcu.lookup_command_tag(
"reset_step_clock oid=%c clock=%u")
self._get_position_cmd = self._mcu.lookup_query_command(
"stepper_get_position oid=%c",
"stepper_position oid=%c pos=%i", oid=self._oid)
self._ffi_lib.stepcompress_fill(
self._stepqueue, self._mcu.seconds_to_clock(max_error),
- self._invert_dir, step_cmd_id, dir_cmd_id)
+ self._invert_dir, step_cmd_tag, dir_cmd_tag)
def get_oid(self):
return self._oid
def get_step_dist(self):
@@ -132,9 +132,9 @@ class MCU_stepper:
ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0)
if ret:
raise error("Internal error in stepcompress")
- data = (self._reset_cmd_id, self._oid, 0)
- ret = self._ffi_lib.stepcompress_queue_msg(
- self._stepqueue, data, len(data))
+ data = (self._reset_cmd_tag, self._oid, 0)
+ ret = self._ffi_lib.stepcompress_queue_msg(self._stepqueue, data,
+ len(data))
if ret:
raise error("Internal error in stepcompress")
if not did_trigger or self._mcu.is_fileoutput():
diff --git a/scripts/buildcommands.py b/scripts/buildcommands.py
index 9e811485..d41cab0f 100644
--- a/scripts/buildcommands.py
+++ b/scripts/buildcommands.py
@@ -286,22 +286,25 @@ class HandleCommandGeneration:
if msg not in self.msg_to_id:
msgid += 1
self.msg_to_id[msg] = msgid
- if msgid >= 96:
+ if msgid >= 128:
# The mcu currently assumes all message ids encode to one byte
error("Too many message ids")
def update_data_dictionary(self, data):
- command_ids = [self.msg_to_id[msg]
- for msgname, msg in self.messages_by_name.items()
- if msgname in self.commands]
- response_ids = [self.msg_to_id[msg]
+ # Handle message ids over 96 (they are decoded as negative numbers)
+ msg_to_tag = {msg: msgid if msgid < 96 else msgid - 128
+ for msg, msgid in self.msg_to_id.items()}
+ command_tags = [msg_to_tag[msg]
for msgname, msg in self.messages_by_name.items()
- if msgname not in self.commands]
- data['commands'] = { msg: msgid for msg, msgid in self.msg_to_id.items()
- if msgid in command_ids }
- data['responses'] = {msg: msgid for msg, msgid in self.msg_to_id.items()
- if msgid in response_ids }
- output = { msg: msgid for msg, msgid in self.msg_to_id.items()
- if msgid not in command_ids and msgid not in response_ids }
+ if msgname in self.commands]
+ response_tags = [msg_to_tag[msg]
+ for msgname, msg in self.messages_by_name.items()
+ if msgname not in self.commands]
+ data['commands'] = { msg: msgtag for msg, msgtag in msg_to_tag.items()
+ if msgtag in command_tags }
+ data['responses'] = { msg: msgtag for msg, msgtag in msg_to_tag.items()
+ if msgtag in response_tags }
+ output = {msg: msgtag for msg, msgtag in msg_to_tag.items()
+ if msgtag not in command_tags and msgtag not in response_tags}
if output:
data['output'] = output
def build_parser(self, msgid, msgformat, msgtype):
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-09-01 20:05:55 +0000