diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 76 |
1 files changed, 39 insertions, 37 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index b48a99f7..22b0daa3 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -85,9 +85,8 @@ class MCU_stepper: if ret: raise error("Internal error in stepcompress") def note_homing_triggered(self): - params = self._mcu.serial.send_with_response( - self._get_position_cmd.encode(self._oid), - 'stepper_position', self._oid) + cmd = self._get_position_cmd.encode(self._oid) + params = self._mcu.send_with_response(cmd, 'stepper_position', self._oid) pos = params['pos'] if self._invert_dir: pos = -pos @@ -202,7 +201,7 @@ class MCU_endstop: msg = self._home_cmd.encode(self._oid, 0, 0, 0) self._mcu.send(msg, reqclock=0, cq=self._cmd_queue) raise error("Timeout during endstop homing") - if self._mcu.is_shutdown: + if self._mcu.is_shutdown(): raise error("MCU is shutdown") if print_time >= self._next_query_time: self._next_query_time = print_time + self.RETRY_QUERY @@ -295,8 +294,7 @@ class MCU_pwm: self._static_value = max(0., min(1., value)) def build_config(self): if self._hard_pwm: - self._pwm_max = self._mcu.serial.msgparser.get_constant_float( - "PWM_MAX") + self._pwm_max = self._mcu.get_constant_float("PWM_MAX") if self._static_value is not None: value = int(self._static_value * self._pwm_max + 0.5) self._mcu.add_config_cmd( @@ -312,8 +310,7 @@ class MCU_pwm: self._set_cmd = self._mcu.lookup_command( "schedule_pwm_out oid=%c clock=%u value=%hu") else: - self._pwm_max = self._mcu.serial.msgparser.get_constant_float( - "SOFT_PWM_MAX") + self._pwm_max = self._mcu.get_constant_float("SOFT_PWM_MAX") if self._static_value is not None: if self._static_value != 0. and self._static_value != 1.: raise pins.error("static value on soft pwm not supported") @@ -369,7 +366,7 @@ class MCU_adc: self._oid, self._pin)) clock = self._mcu.get_query_slot(self._oid) sample_ticks = self._mcu.seconds_to_clock(self._sample_time) - mcu_adc_max = self._mcu.serial.msgparser.get_constant_float("ADC_MAX") + mcu_adc_max = self._mcu.get_constant_float("ADC_MAX") max_adc = self._sample_count * mcu_adc_max self._inv_max_adc = 1.0 / max_adc self._report_clock = self._mcu.seconds_to_clock(self._report_time) @@ -403,9 +400,9 @@ class MCU: baud = 0 else: baud = config.getint('baud', 250000, minval=2400) - self.serial = serialhdl.SerialReader( + self._serial = serialhdl.SerialReader( printer.reactor, self._serialport, baud) - self.is_shutdown = False + self._is_shutdown = False self._shutdown_msg = "" self._restart_method = 'command' if baud: @@ -446,12 +443,12 @@ class MCU: self._mcu_tick_stddev = c * math.sqrt(count*tick_sumsq - tick_sum**2) self._mcu_tick_awake = tick_sum / self._mcu_freq def handle_shutdown(self, params): - if self.is_shutdown: + if self._is_shutdown: return - self.is_shutdown = True + self._is_shutdown = True self._shutdown_msg = msg = params['#msg'] logging.info("%s: %s" % (params['#name'], self._shutdown_msg)) - self.serial.dump_debug() + self._serial.dump_debug() prefix = "MCU shutdown: " if params['#name'] == 'is_shutdown': prefix = "Previous MCU shutdown: " @@ -473,11 +470,10 @@ class MCU: and not os.path.exists(self._serialport)): # Try toggling usb power self._check_restart("enable power") - self.serial.connect() - self._clocksync.connect(self.serial) - self._mcu_freq = self.serial.msgparser.get_constant_float('CLOCK_FREQ') - self._stats_sumsq_base = self.serial.msgparser.get_constant_float( - 'STATS_SUMSQ_BASE') + self._serial.connect() + self._clocksync.connect(self._serial) + self._mcu_freq = self.get_constant_float('CLOCK_FREQ') + self._stats_sumsq_base = self.get_constant_float('STATS_SUMSQ_BASE') self._emergency_stop_cmd = self.lookup_command("emergency_stop") self._reset_cmd = self.try_lookup_command("reset") self._config_reset_cmd = self.try_lookup_command("config_reset") @@ -494,8 +490,8 @@ class MCU: dfile = open(dict_fname, 'rb') dict_data = dfile.read() dfile.close() - self.serial.connect_file(outfile, dict_data) - self._clocksync.connect_file(self.serial, pace) + self._serial.connect_file(outfile, dict_data) + self._clocksync.connect_file(self._serial, pace) # Handle pacing if not pace: def dummy_estimated_print_time(eventtime): @@ -507,14 +503,14 @@ class MCU: logging.info("Timeout with firmware (eventtime=%f)", eventtime) self._printer.note_mcu_error("Lost communication with firmware") def disconnect(self): - self.serial.disconnect() + self._serial.disconnect() if self._steppersync is not None: self._ffi_lib.steppersync_free(self._steppersync) self._steppersync = None 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), + return ' '.join([self._serial.stats(eventtime), self._clocksync.stats(eventtime), msg]) def force_shutdown(self): self.send(self._emergency_stop_cmd.encode()) @@ -536,7 +532,7 @@ class MCU: if self._reset_cmd is None: # Attempt reset via config_reset command logging.info("Attempting a microcontroller config_reset command") - self.is_shutdown = True + self._is_shutdown = True self.force_shutdown() reactor.pause(reactor.monotonic() + 0.015) self.send(self._config_reset_cmd.encode()) @@ -574,7 +570,7 @@ class MCU: self._oid_count,)) # Resolve pin names - mcu = self.serial.msgparser.get_constant('MCU') + mcu = self._serial.msgparser.get_constant('MCU') pnames = pins.get_pin_map(mcu, self._pin_map) updated_cmds = [] for cmd in self._config_cmds: @@ -593,7 +589,7 @@ class MCU: config_params = { 'is_config': 0, 'move_count': 500, 'crc': self._config_crc} else: - config_params = self.serial.send_with_response(msg, 'config') + config_params = self.send_with_response(msg, 'config') if not config_params['is_config']: if self._restart_method == 'rpi_usb': # Only configure mcu after usb power reset @@ -603,9 +599,9 @@ class MCU: for c in self._config_cmds: self.send(self.create_command(c)) if not self.is_fileoutput(): - config_params = self.serial.send_with_response(msg, 'config') + config_params = self.send_with_response(msg, 'config') if not config_params['is_config']: - if self.is_shutdown: + if self._is_shutdown: raise error("Firmware error during config: %s" % ( self._shutdown_msg,)) raise error("Unable to configure printer") @@ -619,7 +615,7 @@ class MCU: move_count = config_params['move_count'] logging.info("Configured (%d moves)" % (move_count,)) if self._printer.bglogger is not None: - msgparser = self.serial.msgparser + msgparser = self._serial.msgparser info = [ "Configured (%d moves)" % (move_count,), "Loaded %d commands (%s)" % ( @@ -628,7 +624,7 @@ class MCU: ["%s=%s" % (k, v) for k, v in msgparser.config.items()]))] self._printer.bglogger.set_rollover_info("mcu", "\n".join(info)) self._steppersync = self._ffi_lib.steppersync_alloc( - self.serial.serialqueue, self._stepqueues, len(self._stepqueues), + self._serial.serialqueue, self._stepqueues, len(self._stepqueues), move_count) self._ffi_lib.steppersync_set_time(self._steppersync, 0., self._mcu_freq) for c in self._init_cmds: @@ -654,24 +650,28 @@ class MCU: else: self._config_cmds.append(cmd) def register_msg(self, cb, msg, oid=None): - self.serial.register_callback(cb, msg, oid) + self._serial.register_callback(cb, msg, oid) def register_stepqueue(self, stepqueue): self._stepqueues.append(stepqueue) def alloc_command_queue(self): - return self.serial.alloc_command_queue() + return self._serial.alloc_command_queue() def lookup_command(self, msgformat): - return self.serial.msgparser.lookup_command(msgformat) + return self._serial.msgparser.lookup_command(msgformat) def try_lookup_command(self, msgformat): try: - return self.serial.msgparser.lookup_command(msgformat) - except self.serial.msgparser.error as e: + return self._serial.msgparser.lookup_command(msgformat) + except self._serial.msgparser.error as e: return None def create_command(self, msg): - return self.serial.msgparser.create_command(msg) + return self._serial.msgparser.create_command(msg) def get_query_slot(self, oid): slot = self.seconds_to_clock(oid * .01) t = int(self.estimated_print_time(self.monotonic()) + 1.5) return self.print_time_to_clock(t) + slot + def is_shutdown(self): + return self._is_shutdown + def get_constant_float(self, name): + return self._serial.msgparser.get_constant_float(name) # Clock syncing def print_time_to_clock(self, print_time): return int(print_time * self._mcu_freq) @@ -689,7 +689,9 @@ class MCU: return self._max_stepper_error # Move command queuing def send(self, cmd, minclock=0, reqclock=0, cq=None): - self.serial.send(cmd, minclock, reqclock, cq=cq) + self._serial.send(cmd, minclock, reqclock, cq=cq) + def send_with_response(self, cmd, name, oid=None): + return self._serial.send_with_response(cmd, name, oid) def flush_moves(self, print_time): if self._steppersync is None: return |