diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 215 |
1 files changed, 107 insertions, 108 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index ad77a154..7a533f46 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -395,26 +395,25 @@ class MCU: self._clocksync = clocksync # Serial port self._serialport = config.get('serial', '/dev/ttyS0') - if self._serialport.startswith("/dev/rpmsg_"): - # Beaglbone PRU - baud = 0 - else: + baud = 0 + if not self._serialport.startswith("/dev/rpmsg_"): baud = config.getint('baud', 250000, minval=2400) self._serial = serialhdl.SerialReader( printer.reactor, self._serialport, baud) - self._is_shutdown = False - self._shutdown_msg = "" + # Restarts self._restart_method = 'command' if baud: rmethods = {m: m for m in ['arduino', 'command', 'rpi_usb']} self._restart_method = config.getchoice( 'restart_method', rmethods, 'arduino') - # Config building + self._reset_cmd = self._config_reset_cmd = None + self._emergency_stop_cmd = None + self._is_shutdown = False + self._shutdown_msg = "" if printer.bglogger is not None: printer.bglogger.set_rollover_info("mcu", None) + # Config building pins.get_printer_pins(printer).register_chip("mcu", self) - self._emergency_stop_cmd = None - self._reset_cmd = self._config_reset_cmd = None self._oid_count = 0 self._config_objects = [] self._init_cmds = [] @@ -434,6 +433,7 @@ class MCU: self._mcu_tick_avg = 0. self._mcu_tick_stddev = 0. self._mcu_tick_awake = 0. + # Serial callbacks def handle_mcu_stats(self, params): count = params['count'] tick_sum = params['sum'] @@ -462,26 +462,6 @@ class MCU: self._printer.request_exit('firmware_restart') self._printer.reactor.pause(self._printer.reactor.monotonic() + 2.000) raise error("Attempt firmware restart failed") - def connect(self): - if self.is_fileoutput(): - self._connect_file() - else: - if (self._restart_method == 'rpi_usb' - 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.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") - self.register_msg(self.handle_shutdown, 'shutdown') - self.register_msg(self.handle_shutdown, 'is_shutdown') - self.register_msg(self.handle_mcu_stats, 'stats') - self._build_config() - self._send_config() 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') @@ -497,61 +477,6 @@ class MCU: def dummy_estimated_print_time(eventtime): return 0. self.estimated_print_time = dummy_estimated_print_time - def check_active(self, print_time, eventtime): - if self._clocksync.is_active(eventtime): - return - logging.info("Timeout with firmware (eventtime=%f)", eventtime) - self._printer.note_mcu_error("Lost communication with firmware") - def disconnect(self): - 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), - self._clocksync.stats(eventtime), msg]) - 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") - self.disconnect() - chelper.run_hub_ctrl(0) - reactor.pause(reactor.monotonic() + 2.000) - chelper.run_hub_ctrl(1) - return - if self._restart_method == 'command': - 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") - return - 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.force_shutdown() - reactor.pause(reactor.monotonic() + 0.015) - self.send(self._config_reset_cmd.encode()) - reactor.pause(reactor.monotonic() + 0.015) - self.disconnect() - return - # Attempt reset via reset command - logging.info("Attempting a microcontroller reset command") - 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") - self.disconnect() - serialhdl.arduino_reset(self._serialport, reactor) - def is_fileoutput(self): - return self._printer.get_start_args().get('debugoutput') is not None - # Configuration phase def _add_custom(self): for line in self._custom.split('\n'): line = line.strip() @@ -629,6 +554,26 @@ class MCU: self._ffi_lib.steppersync_set_time(self._steppersync, 0., self._mcu_freq) for c in self._init_cmds: self.send(self.create_command(c)) + def connect(self): + if self.is_fileoutput(): + self._connect_file() + else: + if (self._restart_method == 'rpi_usb' + 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.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") + self.register_msg(self.handle_shutdown, 'shutdown') + self.register_msg(self.handle_shutdown, 'is_shutdown') + self.register_msg(self.handle_mcu_stats, 'stats') + self._build_config() + self._send_config() # Config creation helpers def setup_pin(self, pin_params): pcs = {'stepper': MCU_stepper, 'endstop': MCU_endstop, @@ -649,12 +594,27 @@ class MCU: self._init_cmds.append(cmd) else: self._config_cmds.append(cmd) - def register_msg(self, cb, msg, oid=None): - self._serial.register_callback(cb, msg, oid) + 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 register_stepqueue(self, stepqueue): self._stepqueues.append(stepqueue) + def seconds_to_clock(self, time): + return int(time * self._mcu_freq) + def get_max_stepper_error(self): + return self._max_stepper_error + # Wrapper functions + def send(self, cmd, minclock=0, reqclock=0, cq=None): + 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 register_msg(self, cb, msg, oid=None): + self._serial.register_callback(cb, msg, oid) def alloc_command_queue(self): return self._serial.alloc_command_queue() + def create_command(self, msg): + return self._serial.msgparser.create_command(msg) def lookup_command(self, msgformat): return self._serial.msgparser.lookup_command(msgformat) def try_lookup_command(self, msgformat): @@ -662,17 +622,8 @@ class MCU: 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) - 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 self._clocksync.print_time_to_clock(print_time) def clock_to_print_time(self, clock): @@ -683,15 +634,15 @@ class MCU: return self._clocksync.get_adjusted_freq() def clock32_to_clock64(self, clock32): return self._clocksync.clock32_to_clock64(clock32) - def seconds_to_clock(self, time): - return int(time * self._mcu_freq) - def get_max_stepper_error(self): - 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) - def send_with_response(self, cmd, name, oid=None): - return self._serial.send_with_response(cmd, name, oid) + def pause(self, waketime): + return self._printer.reactor.pause(waketime) + def monotonic(self): + return self._printer.reactor.monotonic() + # Misc external commands + def is_fileoutput(self): + return self._printer.get_start_args().get('debugoutput') is not None + def is_shutdown(self): + return self._is_shutdown def flush_moves(self, print_time): if self._steppersync is None: return @@ -699,10 +650,58 @@ class MCU: ret = self._ffi_lib.steppersync_flush(self._steppersync, clock) if ret: raise error("Internal error in stepcompress") - def pause(self, waketime): - return self._printer.reactor.pause(waketime) - def monotonic(self): - return self._printer.reactor.monotonic() + def check_active(self, print_time, eventtime): + if self._clocksync.is_active(eventtime): + return + logging.info("Timeout with firmware (eventtime=%f)", eventtime) + self._printer.note_mcu_error("Lost communication with firmware") + 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]) + 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") + self.disconnect() + chelper.run_hub_ctrl(0) + reactor.pause(reactor.monotonic() + 2.000) + chelper.run_hub_ctrl(1) + return + if self._restart_method == 'command': + 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") + return + 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.force_shutdown() + reactor.pause(reactor.monotonic() + 0.015) + self.send(self._config_reset_cmd.encode()) + reactor.pause(reactor.monotonic() + 0.015) + self.disconnect() + return + # Attempt reset via reset command + logging.info("Attempting a microcontroller reset command") + 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") + self.disconnect() + serialhdl.arduino_reset(self._serialport, reactor) + def disconnect(self): + self._serial.disconnect() + if self._steppersync is not None: + self._ffi_lib.steppersync_free(self._steppersync) + self._steppersync = None def __del__(self): self.disconnect() |