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* mcu: Add support for setting reqclock in CommandQueryWrapper.send()Kevin O'Connor2020-10-291-2/+2
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Setup for serialqueue_free to be automatically calledKevin O'Connor2020-09-161-8/+10
| | | | | | Use ffi_main.gc() to automatically free the C serialqueue object. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Don't define a __del__() methodKevin O'Connor2020-09-161-2/+0
| | | | | | | | The existence of a __del__() method prevents deallocation on python2 if there are circular references. Just remove the method as disconnect() should already be called directly. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serial: Add Fysetc Cheetah board specific reset sequenceGrigori Goronzy2020-04-021-2/+32
| | | | | | | | | | | | | | | | | | Fysetc Cheetah v1.2 boards require a special sequence to reset reliably. This sequence works for me in all cases. Simpler sequences without double reset did not work correctly. This is likely because of a weird stateful circuitry for toggling the bootloader state. Cheetah boards use RTS to configure bootloader triggering. By default, pySerial sets RTS on connect, which unfortunately configures the board to start the bootloader on reset. Add a toggle for the RTS state to allow users to workaround. The RTS state is set before the serial connection is opened, so there are no glitches. Addresses #2026. Signed-off-by: Grigori Goronzy <greg@chown.ath.cx>
* serialhdl: Reduce connection fail timeout from 2.5 minutes to 1.5 minutesKevin O'Connor2020-03-241-1/+1
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: Introduce new lookup_query_command() command wrapperKevin O'Connor2020-02-201-0/+2
| | | | | | | Use new mcu.lookup_query_command() for all commands that query information from the micro-controller. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Convert queries to use new notify message ack systemKevin O'Connor2020-02-201-28/+27
| | | | | | | | | | | Convert standard queries to use the acknowledgments of the sent command to determine if the response was received or not. This also controls command retransmissions (should the response have been lost). The tmc_uart.py will continue to use the old mechanism as the tmcuart responses are not sent synchronously with the query command. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialqueue: Support notification of when a command is processedKevin O'Connor2020-02-201-4/+27
| | | | | | | | | Add ability for the host code to get a notification when the ack for a command sent to the micro-controller is received. This is in preparation for improved detection of message loss between mcu and host. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Update SendWithRetry to use reactor completionsKevin O'Connor2019-07-101-45/+23
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Use register_response() for both registering and unregisteringKevin O'Connor2019-07-101-5/+5
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: Support minclock in send_with_response() requestsKevin O'Connor2019-06-211-6/+13
| | | | | | | Enhance send_with_response() so that it supports queries with a minclock. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: Move SerialCommand from serialhdl.py to mcu.pyKevin O'Connor2019-06-211-19/+2
| | | | | | | | Move the serial command wrapper class from serialhdl.py to mcu.py. This will allow that class to better support higher level functionality. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Introduce SerialReader.send_with_response()Kevin O'Connor2019-06-211-3/+6
| | | | | | | Introduce a main send_with_response() helper function and use it during identify and the setup of clocksync. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Eventually timeout connect attemptKevin O'Connor2019-06-211-3/+6
| | | | | | | If the serial connection has not been successful after 2.5 minutes then report an error. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Use send_with_response() to query identify dataKevin O'Connor2019-06-211-48/+25
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Add a get_msgparser() methodKevin O'Connor2019-06-211-0/+2
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Rename register_callback() to register_response()Kevin O'Connor2019-06-211-8/+8
| | | | | | Rename the method and use that name in the mcu class as well. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Use reactor mutex in send_with_response()Kevin O'Connor2019-06-091-12/+20
| | | | | | | Reduce the delay in send_with_response() by introducing a reactor mutex to wake the main thread when the response is obtained. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Enforce exclusive access on POSIX, this is default behavior on ↵Daniel2019-04-141-2/+2
| | | | | windows. (#1216) Signed-off-by: Daniel Joyce <daniel.a.joyce@gmail.com>
* msgproto: Convert static strings to a more generic enumeration systemKevin O'Connor2019-03-171-1/+0
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* Revert "serialhdl: Enforce exclusive access on POSIX, this is default ↵Kevin O'Connor2019-02-101-2/+2
| | | | | | | | behavior on windows. (#1216)" This reverts commit fdbbda948419932be2bf93a932ae91ffc7f94e7f. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Enforce exclusive access on POSIX, this is default behavior on ↵Daniel2019-02-101-2/+2
| | | | | windows. (#1216) Signed-off-by: Daniel Joyce <daniel.a.joyce@gmail.com>
* serialqueue: Limit message transmission to available receive buffer sizeKevin O'Connor2018-05-281-0/+4
| | | | | | | | | If the mcu is using a traditional serial port, then only send a new message block if there is space available in the mcu receive buffer. This should make it significantly less likely that high load on the mcu will result in retransmits. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* klippy: Automatically clear rollover_info on each restartKevin O'Connor2018-04-031-5/+0
| | | | | | | Automatically clear the information printed at the start of each log file rollover on a klippy internal restart. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Add a wrapper around the results of lookup_command()Kevin O'Connor2018-02-271-15/+27
| | | | | | | | Add a lookup_command() method to the SerialReader class that provides a wrapper that stores the serial and commandqueue references. This makes it easier to run the send() method. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* msgproto: Support default values in get_constant() callsKevin O'Connor2018-01-291-2/+2
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* build: Add gcc and binutils version to mcu data dictionaryKevin O'Connor2017-12-211-2/+3
| | | | | | | | Store the gcc and binutils versions used in the compilation of the firmware in the firmware data dictionary. Forward that information to the log so it is available during debugging. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Don't open port at 1200 baudKevin O'Connor2017-10-121-3/+3
| | | | | | | The 1200 baud trick on the Arduino Due does both a reset and an erase. The erase is not desired. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* klippy: Avoid using '%' syntax when calling logging moduleKevin O'Connor2017-09-271-12/+12
| | | | | | | The logging module can build strings directly from printf syntax - no need to build the string first. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Make dump_debug() output atomicKevin O'Connor2017-09-271-6/+8
| | | | | | | Build a single (very large) logging message with the debug state. This prevents the output from being fragmented. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* clocksync: Move clock synchronization code into new fileKevin O'Connor2017-09-191-96/+6
| | | | | | | Move the low-level clock synchronization code from serialhdl.py to a new file clocksync.py. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Reduce calculations done while holding the lockKevin O'Connor2017-09-191-3/+5
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Sometimes we get an IOError when serial port not foundKevin O'Connor2017-08-141-1/+1
| | | | | | Catch IOError when opening the serial port. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Dump serial stats in dump_debug()Kevin O'Connor2017-07-241-0/+2
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Rework mcu clock synchronizationKevin O'Connor2017-06-301-52/+68
| | | | | | | | | | | | | | | | | | | | | | The existing clock synchronization code has two flaws: intermittent transmission latency during get_status requests can cause the estimated clock to be too low, and the estimated clock calculation did not take into account possible clock drift between samples. The former could potentially lead to "Timer too close" errors and the latter could potentially lead to "Move queue empty" errors. Rework the code to avoid the above problems. It's not necessary to estimate the micro-controller clock as an excellent estimate is reported by the micro-controller (via the CLOCK_FREQ constant). Account for a small drift from the reported value, and check on each sample if the drift exceeds the expected limits. With a good starting estimated clock, only the offset needs to be calculated. Use previous offsets (and the estimated clock) in calculation of new offsets to avoid intermittent latency from badly skewing the results. Finally, add an additional time offset of one millisecond to account for any minor inaccuracies. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* klippy: Use newer "except XYZError as e" python syntaxKevin O'Connor2017-06-101-1/+1
| | | | | | Use the newer syntax for python exceptions. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* klippy: Prefer python dictionary comprehension to dict() callKevin O'Connor2017-06-061-1/+1
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Support working with pseudo serial devicesKevin O'Connor2017-05-151-2/+7
| | | | | | | Support working with devices that aren't really serial ports and thus do not have a baud rate. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* reactor: Support pause() command even when the reactor is not runningKevin O'Connor2017-04-011-4/+4
| | | | | | | If the reactor isn't running then implement pause using the system sleep command. This simplifies the users of pause(). Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Make sure to calculate est_clock before connect() finishesKevin O'Connor2017-03-241-4/+10
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Catch SerialException as well as OSError on serial openKevin O'Connor2017-03-161-1/+1
| | | | | | | Catch the right exceptions so that a retry is possible when attempting to open the serial port. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* stepper: Introduce stepper_get_position command and remove from endstop.cKevin O'Connor2017-03-091-5/+6
| | | | | | | | Move the logic to calculate and report the stepper's current position from endstop.c to stepper.c. This localizes the stepper code into stepper.c. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* klippy: Support FIRMWARE_RESTART commandKevin O'Connor2017-03-081-1/+14
| | | | | | | | Add initial support for micro-controller resets via the Arduino reset mechanism. Also, automatically attempt a firmware restart if the printer CRC does not match. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Make sure to close the serial port on disconnect()Kevin O'Connor2017-03-081-9/+9
| | | | Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Detect timeout in SerialReader.send_with_response()Kevin O'Connor2017-03-081-2/+11
| | | | | | Raise an error if the response is never received. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialhdl: Load the mcu's 64bit clock at start of connectionKevin O'Connor2017-03-031-5/+9
| | | | | | | | Store a full 64bit uptime in the mcu and query it at the start of each connection. This ensures the host's 64bit clock is always in synch with the mcu's clock. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* reactor: Use the system monotonic clock instead of the normal system clockKevin O'Connor2017-02-061-8/+8
| | | | | | | | | | | | | The normal system clock can have sudden jumps if the system clock is changed. Use the system monotonic clock to avoid these sudden changes in time. It appears the Raspbian OS (which is used by OctoPi) is setup to update the system clock upon network connectivity. This could cause sudden system clock changes which could lead to Klippy processing errors. Using the monotonic clock eliminates these issues. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* serialqueue: Remove serialqueue_flush_ready()Kevin O'Connor2016-12-301-2/+0
| | | | | | | | | The serialqueue_flush_ready() code was used to flush queue_step commands during a homing operation. It's no longer necessary now that moves during a homing operation use the normal message priority system. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* mcu: Log the MCU configuration during connect phaseKevin O'Connor2016-12-241-0/+2
| | | | | | | Log the constants reported by the MCU and log the number of move items allocated after configuration. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
* build: Define DECL_CONSTANT mechanism for defining exported constantsKevin O'Connor2016-12-231-1/+1
| | | | | | | | | Add a DECL_CONSTANT macro to allow the firmware to define constants that are to be exported to the host during the "identify" phase. This replaces the existing hardcoded mechanism of scanning the Kconfig header file for certain constants. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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