diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 107 |
1 files changed, 73 insertions, 34 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 7a533f46..f0397f19 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -180,7 +180,7 @@ class MCU_endstop: while self._check_busy(eventtime): eventtime = self._mcu.pause(eventtime + 0.1) def _handle_end_stop_state(self, params): - logging.debug("end_stop_state %s" % (params,)) + logging.debug("end_stop_state %s", params) self._last_state = params def _check_busy(self, eventtime): # Check if need to send an end_stop_query command @@ -393,6 +393,9 @@ class MCU: def __init__(self, printer, config, clocksync): self._printer = printer self._clocksync = clocksync + self._name = config.section + if self._name.startswith('mcu '): + self._name = self._name[4:] # Serial port self._serialport = config.get('serial', '/dev/ttyS0') baud = 0 @@ -411,9 +414,9 @@ class MCU: self._is_shutdown = False self._shutdown_msg = "" if printer.bglogger is not None: - printer.bglogger.set_rollover_info("mcu", None) + printer.bglogger.set_rollover_info(self._name, None) # Config building - pins.get_printer_pins(printer).register_chip("mcu", self) + pins.get_printer_pins(printer).register_chip(self._name, self) self._oid_count = 0 self._config_objects = [] self._init_cmds = [] @@ -447,26 +450,32 @@ class MCU: return self._is_shutdown = True self._shutdown_msg = msg = params['#msg'] - logging.info("%s: %s" % (params['#name'], self._shutdown_msg)) + logging.info("%s: %s", params['#name'], self._shutdown_msg) self._serial.dump_debug() - prefix = "MCU shutdown: " + prefix = "MCU '%s' shutdown: " % (self._name,) if params['#name'] == 'is_shutdown': - prefix = "Previous MCU shutdown: " + prefix = "Previous MCU '%s' shutdown: " % (self._name,) self._printer.note_shutdown(prefix + msg + error_help(msg)) # Connection phase def _check_restart(self, reason): start_reason = self._printer.get_start_args().get("start_reason") if start_reason == 'firmware_restart': return - logging.info("Attempting automated firmware restart: %s" % (reason,)) + logging.info("Attempting automated MCU '%s' restart: %s", + self._name, reason) self._printer.request_exit('firmware_restart') self._printer.reactor.pause(self._printer.reactor.monotonic() + 2.000) - raise error("Attempt firmware restart failed") + raise error("Attempt MCU '%s' restart failed" % (self._name,)) def _connect_file(self, pace=False): # In a debugging mode. Open debug output file and read data dictionary - out_fname = self._printer.get_start_args().get('debugoutput') + start_args = self._printer.get_start_args() + if self._name == 'mcu': + out_fname = start_args.get('debugoutput') + dict_fname = start_args.get('dictionary') + else: + out_fname = start_args.get('debugoutput') + "-" + self._name + dict_fname = start_args.get('dictionary_' + self._name) outfile = open(out_fname, 'wb') - dict_fname = self._printer.get_start_args().get('dictionary') dfile = open(dict_fname, 'rb') dict_data = dfile.read() dfile.close() @@ -520,34 +529,36 @@ class MCU: # Only configure mcu after usb power reset self._check_restart("full reset before config") # Send config commands - logging.info("Sending printer configuration...") + logging.info("Sending MCU '%s' printer configuration...", + self._name) for c in self._config_cmds: self.send(self.create_command(c)) if not self.is_fileoutput(): config_params = self.send_with_response(msg, 'config') if not config_params['is_config']: if self._is_shutdown: - raise error("Firmware error during config: %s" % ( - self._shutdown_msg,)) - raise error("Unable to configure printer") + raise error("MCU '%s' error during config: %s" % ( + self._name, self._shutdown_msg)) + raise error("Unable to configure MCU '%s'" % (self._name,)) else: start_reason = self._printer.get_start_args().get("start_reason") if start_reason == 'firmware_restart': - raise error("Failed automated reset of micro-controller") + raise error("Failed automated reset of MCU '%s'" % (self._name,)) if self._config_crc != config_params['crc']: self._check_restart("CRC mismatch") - raise error("Printer CRC does not match config") + raise error("MCU '%s' CRC does not match config" % (self._name,)) move_count = config_params['move_count'] - logging.info("Configured (%d moves)" % (move_count,)) + logging.info("Configured MCU '%s' (%d moves)", self._name, move_count) if self._printer.bglogger is not None: msgparser = self._serial.msgparser info = [ - "Configured (%d moves)" % (move_count,), - "Loaded %d commands (%s)" % ( - len(msgparser.messages_by_id), msgparser.version), - "MCU config: %s" % (" ".join( + "Configured MCU '%s' (%d moves)" % (self._name, move_count), + "Loaded MCU '%s' %d commands (%s)" % ( + self._name, len(msgparser.messages_by_id), + msgparser.version), + "MCU '%s' config: %s" % (self._name, " ".join( ["%s=%s" % (k, v) for k, v in msgparser.config.items()]))] - self._printer.bglogger.set_rollover_info("mcu", "\n".join(info)) + self._printer.bglogger.set_rollover_info(self._name, "\n".join(info)) self._steppersync = self._ffi_lib.steppersync_alloc( self._serial.serialqueue, self._stepqueues, len(self._stepqueues), move_count) @@ -647,25 +658,36 @@ class MCU: if self._steppersync is None: return clock = self.print_time_to_clock(print_time) + if clock < 0: + return ret = self._ffi_lib.steppersync_flush(self._steppersync, clock) if ret: - raise error("Internal error in stepcompress") + raise error("Internal error in MCU '%s' stepcompress" % ( + self._name,)) def check_active(self, print_time, eventtime): + if self._steppersync is None: + return + offset, freq = self._clocksync.calibrate_clock(print_time, eventtime) + self._ffi_lib.steppersync_set_time(self._steppersync, offset, freq) if self._clocksync.is_active(eventtime): return - logging.info("Timeout with firmware (eventtime=%f)", eventtime) - self._printer.note_mcu_error("Lost communication with firmware") + logging.info("Timeout with MCU '%s' (eventtime=%f)", + self._name, eventtime) + self._printer.note_mcu_error("Lost communication with MCU '%s'" % ( + self._name,)) def stats(self, eventtime): - msg = "mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % ( - self._mcu_tick_awake, self._mcu_tick_avg, self._mcu_tick_stddev) - return ' '.join([self._serial.stats(eventtime), - self._clocksync.stats(eventtime), msg]) + msg = "%s: mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % ( + self._name, self._mcu_tick_awake, self._mcu_tick_avg, + self._mcu_tick_stddev) + return ' '.join([msg, self._serial.stats(eventtime), + self._clocksync.stats(eventtime)]) def force_shutdown(self): self.send(self._emergency_stop_cmd.encode()) def microcontroller_restart(self): reactor = self._printer.reactor if self._restart_method == 'rpi_usb': - logging.info("Attempting a microcontroller reset via rpi usb power") + logging.info("Attempting MCU '%s' reset via rpi usb power", + self._name) self.disconnect() chelper.run_hub_ctrl(0) reactor.pause(reactor.monotonic() + 2.000) @@ -675,11 +697,13 @@ class MCU: eventtime = reactor.monotonic() if ((self._reset_cmd is None and self._config_reset_cmd is None) or not self._clocksync.is_active(eventtime)): - logging.info("Unable to issue reset command") + logging.info("Unable to issue reset command on MCU '%s'", + self._name) return if self._reset_cmd is None: # Attempt reset via config_reset command - logging.info("Attempting a microcontroller config_reset command") + logging.info("Attempting MCU '%s' config_reset command", + self._name) self._is_shutdown = True self.force_shutdown() reactor.pause(reactor.monotonic() + 0.015) @@ -688,13 +712,13 @@ class MCU: self.disconnect() return # Attempt reset via reset command - logging.info("Attempting a microcontroller reset command") + logging.info("Attempting MCU '%s' reset command", self._name) self.send(self._reset_cmd.encode()) reactor.pause(reactor.monotonic() + 0.015) self.disconnect() return # Attempt reset via arduino mechanism - logging.info("Attempting a microcontroller reset") + logging.info("Attempting MCU '%s' reset", self._name) self.disconnect() serialhdl.arduino_reset(self._serialport, reactor) def disconnect(self): @@ -731,3 +755,18 @@ def error_help(msg): def add_printer_objects(printer, config): mainsync = clocksync.ClockSync(printer.reactor) printer.add_object('mcu', MCU(printer, config.getsection('mcu'), mainsync)) + for s in config.get_prefix_sections('mcu '): + printer.add_object(s.section, MCU( + printer, s, clocksync.SecondarySync(printer.reactor, mainsync))) + +def get_printer_mcus(printer): + return [printer.objects[n] for n in sorted(printer.objects) + if n.startswith('mcu')] + +def get_printer_mcu(printer, name): + mcu_name = name + if name != 'mcu': + mcu_name = 'mcu ' + name + if mcu_name not in printer.objects: + raise printer.config_error("Unknown MCU %s" % (name,)) + return printer.objects[mcu_name] |