mirror of
https://github.com/Klipper3d/klipper.git
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6ab8567d51
The MCU() class needs to track the stepqueues so that it can initialize the steppersync object. Track the stepqueues directly instead of via the list of steppers. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
698 lines
30 KiB
Python
698 lines
30 KiB
Python
# Multi-processor safe interface to micro-controller
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#
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# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import sys, os, zlib, logging, math
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import serialhdl, pins, chelper
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class error(Exception):
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pass
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STEPCOMPRESS_ERROR_RET = -989898989
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class MCU_stepper:
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def __init__(self, mcu, pin_params):
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self._mcu = mcu
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self._oid = mcu.create_oid()
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self._step_pin = pin_params['pin']
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self._invert_step = pin_params['invert']
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self._dir_pin = self._invert_dir = None
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self._commanded_pos = 0
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self._step_dist = self._inv_step_dist = 1.
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self._velocity_factor = self._accel_factor = 0.
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self._mcu_position_offset = 0
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self._mcu_freq = self._min_stop_interval = 0.
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self._reset_cmd = self._get_position_cmd = None
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self._ffi_lib = self._stepqueue = None
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self.print_to_mcu_time = mcu.print_to_mcu_time
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self.system_to_mcu_time = mcu.system_to_mcu_time
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def setup_dir_pin(self, pin_params):
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if pin_params['chip'] is not self._mcu:
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raise pins.error("Stepper dir pin must be on same mcu as step pin")
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self._dir_pin = pin_params['pin']
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self._invert_dir = pin_params['invert']
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def setup_min_stop_interval(self, min_stop_interval):
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self._min_stop_interval = min_stop_interval
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def setup_step_distance(self, step_dist):
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self._step_dist = step_dist
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self._inv_step_dist = 1. / step_dist
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def build_config(self):
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self._mcu_freq = self._mcu.get_mcu_freq()
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self._velocity_factor = 1. / (self._mcu_freq * self._step_dist)
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self._accel_factor = 1. / (self._mcu_freq**2 * self._step_dist)
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max_error = self._mcu.get_max_stepper_error()
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min_stop_interval = max(0., self._min_stop_interval - max_error)
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self._mcu.add_config_cmd(
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"config_stepper oid=%d step_pin=%s dir_pin=%s"
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" min_stop_interval=TICKS(%.9f) invert_step=%d" % (
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self._oid, self._step_pin, self._dir_pin,
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min_stop_interval, self._invert_step))
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step_cmd = self._mcu.lookup_command(
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"queue_step oid=%c interval=%u count=%hu add=%hi")
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dir_cmd = self._mcu.lookup_command(
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"set_next_step_dir oid=%c dir=%c")
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self._reset_cmd = self._mcu.lookup_command(
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"reset_step_clock oid=%c clock=%u")
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self._get_position_cmd = self._mcu.lookup_command(
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"stepper_get_position oid=%c")
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ffi_main, self._ffi_lib = chelper.get_ffi()
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max_error = int(max_error * self._mcu_freq)
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self._stepqueue = ffi_main.gc(self._ffi_lib.stepcompress_alloc(
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max_error, step_cmd.msgid, dir_cmd.msgid,
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self._invert_dir, self._oid),
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self._ffi_lib.stepcompress_free)
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self._mcu.register_stepqueue(self._stepqueue)
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def get_oid(self):
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return self._oid
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def set_position(self, pos):
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if pos >= 0.:
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steppos = int(pos * self._inv_step_dist + 0.5)
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else:
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steppos = int(pos * self._inv_step_dist - 0.5)
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self._mcu_position_offset += self._commanded_pos - steppos
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self._commanded_pos = steppos
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def get_commanded_position(self):
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return self._commanded_pos * self._step_dist
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def get_mcu_position(self):
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return self._commanded_pos + self._mcu_position_offset
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def note_homing_start(self, homing_clock):
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ret = self._ffi_lib.stepcompress_set_homing(
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self._stepqueue, homing_clock)
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if ret:
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raise error("Internal error in stepcompress")
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def note_homing_finalized(self):
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ret = self._ffi_lib.stepcompress_set_homing(self._stepqueue, 0)
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if ret:
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raise error("Internal error in stepcompress")
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ret = self._ffi_lib.stepcompress_reset(self._stepqueue, 0)
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if ret:
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raise error("Internal error in stepcompress")
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def note_homing_triggered(self):
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params = self._mcu.serial.send_with_response(
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self._get_position_cmd.encode(self._oid),
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'stepper_position', self._oid)
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pos = params['pos']
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if self._invert_dir:
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pos = -pos
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self._mcu_position_offset = pos - self._commanded_pos
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def reset_step_clock(self, mcu_time):
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clock = int(mcu_time * self._mcu_freq)
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ret = self._ffi_lib.stepcompress_reset(self._stepqueue, clock)
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if ret:
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raise error("Internal error in stepcompress")
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data = (self._reset_cmd.msgid, self._oid, clock & 0xffffffff)
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ret = self._ffi_lib.stepcompress_queue_msg(
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self._stepqueue, data, len(data))
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if ret:
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raise error("Internal error in stepcompress")
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def step(self, mcu_time, sdir):
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clock = mcu_time * self._mcu_freq
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ret = self._ffi_lib.stepcompress_push(self._stepqueue, clock, sdir)
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if ret:
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raise error("Internal error in stepcompress")
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if sdir:
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self._commanded_pos += 1
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else:
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self._commanded_pos -= 1
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def step_const(self, mcu_time, start_pos, dist, start_v, accel):
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inv_step_dist = self._inv_step_dist
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step_offset = self._commanded_pos - start_pos * inv_step_dist
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count = self._ffi_lib.stepcompress_push_const(
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self._stepqueue, mcu_time * self._mcu_freq, step_offset,
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dist * inv_step_dist, start_v * self._velocity_factor,
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accel * self._accel_factor)
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if count == STEPCOMPRESS_ERROR_RET:
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raise error("Internal error in stepcompress")
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self._commanded_pos += count
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def step_delta(self, mcu_time, dist, start_v, accel
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, height_base, startxy_d, arm_d, movez_r):
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inv_step_dist = self._inv_step_dist
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height = self._commanded_pos - height_base * inv_step_dist
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count = self._ffi_lib.stepcompress_push_delta(
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self._stepqueue, mcu_time * self._mcu_freq, dist * inv_step_dist,
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start_v * self._velocity_factor, accel * self._accel_factor,
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height, startxy_d * inv_step_dist, arm_d * inv_step_dist, movez_r)
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if count == STEPCOMPRESS_ERROR_RET:
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raise error("Internal error in stepcompress")
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self._commanded_pos += count
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class MCU_endstop:
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error = error
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RETRY_QUERY = 1.000
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def __init__(self, mcu, pin_params):
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self._mcu = mcu
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self._oid = mcu.create_oid()
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self._steppers = []
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self._pin = pin_params['pin']
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self._pullup = pin_params['pullup']
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self._invert = pin_params['invert']
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self._cmd_queue = mcu.alloc_command_queue()
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self._home_cmd = self._query_cmd = None
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self._homing = False
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self._min_query_time = self._mcu_freq = 0.
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self._next_query_clock = self._home_timeout_clock = 0
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self._retry_query_ticks = 0
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self._last_state = {}
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self.print_to_mcu_time = mcu.print_to_mcu_time
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self.system_to_mcu_time = mcu.system_to_mcu_time
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def add_stepper(self, stepper):
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self._steppers.append(stepper)
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def build_config(self):
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self._mcu_freq = self._mcu.get_mcu_freq()
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self._mcu.add_config_cmd(
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"config_end_stop oid=%d pin=%s pull_up=%d stepper_count=%d" % (
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self._oid, self._pin, self._pullup, len(self._steppers)))
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for i, s in enumerate(self._steppers):
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self._mcu.add_config_cmd(
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"end_stop_set_stepper oid=%d pos=%d stepper_oid=%d" % (
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self._oid, i, s.get_oid()), is_init=True)
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self._retry_query_ticks = int(self._mcu_freq * self.RETRY_QUERY)
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self._home_cmd = self._mcu.lookup_command(
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"end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c")
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self._query_cmd = self._mcu.lookup_command("end_stop_query oid=%c")
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self._mcu.register_msg(self._handle_end_stop_state, "end_stop_state"
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, self._oid)
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def home_start(self, mcu_time, rest_time):
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clock = int(mcu_time * self._mcu_freq)
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rest_ticks = int(rest_time * self._mcu_freq)
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self._homing = True
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self._min_query_time = self._mcu.monotonic()
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self._next_query_clock = clock + self._retry_query_ticks
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msg = self._home_cmd.encode(
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self._oid, clock, rest_ticks, 1 ^ self._invert)
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self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
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for s in self._steppers:
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s.note_homing_start(clock)
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def home_finalize(self, mcu_time):
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for s in self._steppers:
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s.note_homing_finalized()
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self._home_timeout_clock = int(mcu_time * self._mcu_freq)
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def home_wait(self):
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eventtime = self._mcu.monotonic()
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while self._check_busy(eventtime):
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eventtime = self._mcu.pause(eventtime + 0.1)
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def _handle_end_stop_state(self, params):
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logging.debug("end_stop_state %s" % (params,))
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self._last_state = params
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def _check_busy(self, eventtime):
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# Check if need to send an end_stop_query command
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if self._mcu.is_fileoutput():
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return False
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last_sent_time = self._last_state.get('#sent_time', -1.)
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if last_sent_time >= self._min_query_time:
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if not self._homing:
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return False
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if not self._last_state.get('homing', 0):
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for s in self._steppers:
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s.note_homing_triggered()
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self._homing = False
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return False
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if (self._mcu.serial.get_clock(last_sent_time)
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> self._home_timeout_clock):
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# Timeout - disable endstop checking
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msg = self._home_cmd.encode(self._oid, 0, 0, 0)
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self._mcu.send(msg, reqclock=0, cq=self._cmd_queue)
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raise error("Timeout during endstop homing")
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if self._mcu.is_shutdown:
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raise error("MCU is shutdown")
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last_clock, last_clock_time = self._mcu.get_last_clock()
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if last_clock >= self._next_query_clock:
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self._next_query_clock = last_clock + self._retry_query_ticks
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msg = self._query_cmd.encode(self._oid)
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self._mcu.send(msg, cq=self._cmd_queue)
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return True
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def query_endstop(self, mcu_time):
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clock = int(mcu_time * self._mcu_freq)
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self._homing = False
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self._min_query_time = self._mcu.monotonic()
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self._next_query_clock = clock
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def query_endstop_wait(self):
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eventtime = self._mcu.monotonic()
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while self._check_busy(eventtime):
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eventtime = self._mcu.pause(eventtime + 0.1)
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return self._last_state.get('pin', self._invert) ^ self._invert
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class MCU_digital_out:
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def __init__(self, mcu, pin_params):
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self._mcu = mcu
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self._oid = mcu.create_oid()
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self._pin = pin_params['pin']
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self._invert = pin_params['invert']
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self._max_duration = 2.
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self._last_clock = 0
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self._last_value = None
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self._mcu_freq = 0.
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self._cmd_queue = mcu.alloc_command_queue()
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self._set_cmd = None
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self.print_to_mcu_time = mcu.print_to_mcu_time
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self.system_to_mcu_time = mcu.system_to_mcu_time
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def setup_max_duration(self, max_duration):
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self._max_duration = max_duration
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def build_config(self):
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self._mcu_freq = self._mcu.get_mcu_freq()
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self._mcu.add_config_cmd(
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"config_digital_out oid=%d pin=%s default_value=%d"
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" max_duration=TICKS(%f)" % (
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self._oid, self._pin, self._invert, self._max_duration))
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self._set_cmd = self._mcu.lookup_command(
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"schedule_digital_out oid=%c clock=%u value=%c")
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def set_digital(self, mcu_time, value):
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clock = int(mcu_time * self._mcu_freq)
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msg = self._set_cmd.encode(self._oid, clock, value ^ self._invert)
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self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
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, cq=self._cmd_queue)
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self._last_clock = clock
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self._last_value = value
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def get_last_setting(self):
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return self._last_value
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def set_pwm(self, mcu_time, value):
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dval = 0
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if value >= 0.5:
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dval = 1
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self.set_digital(mcu_time, dval)
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class MCU_pwm:
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def __init__(self, mcu, pin_params):
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self._mcu = mcu
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self._hard_pwm = False
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self._cycle_time = 0.100
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self._max_duration = 2.
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self._oid = mcu.create_oid()
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self._pin = pin_params['pin']
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self._invert = pin_params['invert']
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self._last_clock = 0
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self._mcu_freq = 0.
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self._pwm_max = 0.
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self._cmd_queue = mcu.alloc_command_queue()
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self._set_cmd = None
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self.print_to_mcu_time = mcu.print_to_mcu_time
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self.system_to_mcu_time = mcu.system_to_mcu_time
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def setup_max_duration(self, max_duration):
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self._max_duration = max_duration
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def setup_cycle_time(self, cycle_time):
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self._cycle_time = cycle_time
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self._hard_pwm = False
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def setup_hard_pwm(self, hard_cycle_ticks):
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if not hard_cycle_ticks:
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return
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self._cycle_time = hard_cycle_ticks
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self._hard_pwm = True
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def build_config(self):
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self._mcu_freq = self._mcu.get_mcu_freq()
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if self._hard_pwm:
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self._mcu.add_config_cmd(
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"config_pwm_out oid=%d pin=%s cycle_ticks=%d default_value=%d"
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" max_duration=TICKS(%f)" % (
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self._oid, self._pin, self._cycle_time, self._invert,
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self._max_duration))
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self._pwm_max = self._mcu.serial.msgparser.get_constant_float(
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"PWM_MAX")
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self._set_cmd = self._mcu.lookup_command(
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"schedule_pwm_out oid=%c clock=%u value=%hu")
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else:
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self._mcu.add_config_cmd(
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"config_soft_pwm_out oid=%d pin=%s cycle_ticks=TICKS(%f)"
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" default_value=%d max_duration=TICKS(%f)" % (
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self._oid, self._pin, self._cycle_time, self._invert,
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self._max_duration))
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self._pwm_max = self._mcu.serial.msgparser.get_constant_float(
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"SOFT_PWM_MAX")
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self._set_cmd = self._mcu.lookup_command(
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"schedule_soft_pwm_out oid=%c clock=%u value=%hu")
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def set_pwm(self, mcu_time, value):
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clock = int(mcu_time * self._mcu_freq)
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if self._invert:
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value = 1. - value
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value = int(value * self._pwm_max + 0.5)
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msg = self._set_cmd.encode(self._oid, clock, value)
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self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
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, cq=self._cmd_queue)
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self._last_clock = clock
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class MCU_adc:
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def __init__(self, mcu, pin_params):
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self._mcu = mcu
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self._pin = pin_params['pin']
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self._oid = mcu.create_oid()
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self._min_sample = self._max_sample = 0.
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self._sample_time = self._report_time = 0.
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self._sample_count = 0
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self._report_clock = 0
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self._callback = None
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self._inv_max_adc = 0.
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self._mcu_freq = 0.
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self._cmd_queue = mcu.alloc_command_queue()
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def setup_minmax(self, sample_time, sample_count, minval=0., maxval=1.):
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self._sample_time = sample_time
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self._sample_count = sample_count
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self._min_sample = minval
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self._max_sample = maxval
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def setup_adc_callback(self, report_time, callback):
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self._report_time = report_time
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self._callback = callback
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def build_config(self):
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if not self._sample_count:
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return
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self._mcu_freq = self._mcu.get_mcu_freq()
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self._mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % (
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self._oid, self._pin))
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last_clock, last_clock_time = self._mcu.get_last_clock()
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clock = last_clock + int(self._mcu_freq * (1.0 + self._oid * 0.01)) # XXX
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sample_ticks = int(self._sample_time * self._mcu_freq)
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mcu_adc_max = self._mcu.serial.msgparser.get_constant_float("ADC_MAX")
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max_adc = self._sample_count * mcu_adc_max
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self._inv_max_adc = 1.0 / max_adc
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self._report_clock = int(self._report_time * self._mcu_freq)
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min_sample = int(self._min_sample * max_adc)
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max_sample = min(0xffff, int(math.ceil(self._max_sample * max_adc)))
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self._mcu.add_config_cmd(
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"query_analog_in oid=%d clock=%d sample_ticks=%d sample_count=%d"
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" rest_ticks=%d min_value=%d max_value=%d" % (
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self._oid, clock, sample_ticks, self._sample_count,
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self._report_clock, min_sample, max_sample), is_init=True)
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self._mcu.register_msg(self._handle_analog_in_state, "analog_in_state"
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, self._oid)
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def _handle_analog_in_state(self, params):
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last_value = params['value'] * self._inv_max_adc
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next_clock = self._mcu.serial.translate_clock(params['next_clock'])
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last_read_time = (next_clock - self._report_clock) / self._mcu_freq
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if self._callback is not None:
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self._callback(last_read_time, last_value)
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class MCU:
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error = error
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COMM_TIMEOUT = 3.5
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def __init__(self, printer, config):
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self._printer = printer
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# Serial port
|
|
self._serialport = config.get('serial', '/dev/ttyS0')
|
|
if self._serialport.startswith("/dev/rpmsg_"):
|
|
# Beaglbone PRU
|
|
baud = 0
|
|
else:
|
|
baud = config.getint('baud', 250000, minval=2400)
|
|
self.serial = serialhdl.SerialReader(
|
|
printer.reactor, self._serialport, baud)
|
|
self.is_shutdown = False
|
|
self._shutdown_msg = ""
|
|
self._timeout_timer = printer.reactor.register_timer(
|
|
self.timeout_handler)
|
|
rmethods = {m: m for m in ['arduino', 'command', 'rpi_usb']}
|
|
self._restart_method = config.getchoice(
|
|
'restart_method', rmethods, 'arduino')
|
|
# Config building
|
|
if printer.bglogger is not None:
|
|
printer.bglogger.set_rollover_info("mcu", None)
|
|
pins.get_printer_pins(printer).register_chip("mcu", self)
|
|
self._emergency_stop_cmd = self._reset_cmd = None
|
|
self._oid_count = 0
|
|
self._config_objects = []
|
|
self._init_cmds = []
|
|
self._config_cmds = []
|
|
self._config_crc = None
|
|
self._pin_map = config.get('pin_map', None)
|
|
self._custom = config.get('custom', '')
|
|
# Move command queuing
|
|
ffi_main, self._ffi_lib = chelper.get_ffi()
|
|
self._max_stepper_error = config.getfloat(
|
|
'max_stepper_error', 0.000025, minval=0.)
|
|
self._stepqueues = []
|
|
self._steppersync = None
|
|
# Print time to clock epoch calculations
|
|
self._print_start_time = 0.
|
|
self._mcu_freq = 0.
|
|
# Stats
|
|
self._stats_sumsq_base = 0.
|
|
self._mcu_tick_avg = 0.
|
|
self._mcu_tick_stddev = 0.
|
|
self._mcu_tick_awake = 0.
|
|
def handle_mcu_stats(self, params):
|
|
count = params['count']
|
|
tick_sum = params['sum']
|
|
c = 1.0 / (count * self._mcu_freq)
|
|
self._mcu_tick_avg = tick_sum * c
|
|
tick_sumsq = params['sumsq'] * self._stats_sumsq_base
|
|
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:
|
|
return
|
|
self.is_shutdown = True
|
|
self._shutdown_msg = params['#msg']
|
|
logging.info("%s: %s" % (params['#name'], self._shutdown_msg))
|
|
pst = self._print_start_time
|
|
logging.info("Clock last synchronized at %.6f (%d)" % (
|
|
pst, int(pst * self._mcu_freq)))
|
|
self.serial.dump_debug()
|
|
self._printer.note_shutdown(self._shutdown_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,))
|
|
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._printer.reactor.update_timer(
|
|
self._timeout_timer, self.monotonic() + self.COMM_TIMEOUT)
|
|
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._emergency_stop_cmd = self.lookup_command("emergency_stop")
|
|
try:
|
|
self._reset_cmd = self.lookup_command("reset")
|
|
except self.serial.msgparser.error as e:
|
|
pass
|
|
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')
|
|
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()
|
|
self.serial.connect_file(outfile, dict_data)
|
|
# Handle pacing
|
|
if not pace:
|
|
def dummy_set_print_start_time(eventtime):
|
|
pass
|
|
def dummy_get_print_buffer_time(eventtime, last_move_end):
|
|
return 1.250
|
|
self.set_print_start_time = dummy_set_print_start_time
|
|
self.get_print_buffer_time = dummy_get_print_buffer_time
|
|
def timeout_handler(self, eventtime):
|
|
last_clock, last_clock_time = self.serial.get_last_clock()
|
|
timeout = last_clock_time + self.COMM_TIMEOUT
|
|
if eventtime < timeout:
|
|
return timeout
|
|
logging.info("Timeout with firmware (eventtime=%f last_status=%f)" % (
|
|
eventtime, last_clock_time))
|
|
self._printer.note_mcu_error("Lost communication with firmware")
|
|
return self._printer.reactor.NEVER
|
|
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):
|
|
return "%s mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
|
|
self.serial.stats(eventtime),
|
|
self._mcu_tick_awake, self._mcu_tick_avg, self._mcu_tick_stddev)
|
|
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':
|
|
last_clock, last_clock_time = self.serial.get_last_clock()
|
|
eventtime = reactor.monotonic()
|
|
if (self._reset_cmd is None
|
|
or eventtime > last_clock_time + self.COMM_TIMEOUT):
|
|
logging.info("Unable to issue reset command")
|
|
return
|
|
# Attempt reset via 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()
|
|
cpos = line.find('#')
|
|
if cpos >= 0:
|
|
line = line[:cpos].strip()
|
|
if not line:
|
|
continue
|
|
self.add_config_cmd(line)
|
|
def _build_config(self):
|
|
# Build config commands
|
|
for co in self._config_objects:
|
|
co.build_config()
|
|
self._add_custom()
|
|
self._config_cmds.insert(0, "allocate_oids count=%d" % (
|
|
self._oid_count,))
|
|
|
|
# Resolve pin names
|
|
mcu = self.serial.msgparser.get_constant('MCU')
|
|
pnames = pins.get_pin_map(mcu, self._pin_map)
|
|
updated_cmds = []
|
|
for cmd in self._config_cmds:
|
|
try:
|
|
updated_cmds.append(pins.update_command(
|
|
cmd, self._mcu_freq, pnames))
|
|
except:
|
|
raise pins.error("Unable to translate pin name: %s" % (cmd,))
|
|
self._config_cmds = updated_cmds
|
|
|
|
# Calculate config CRC
|
|
self._config_crc = zlib.crc32('\n'.join(self._config_cmds)) & 0xffffffff
|
|
self.add_config_cmd("finalize_config crc=%d" % (self._config_crc,))
|
|
def _send_config(self):
|
|
msg = self.create_command("get_config")
|
|
if self.is_fileoutput():
|
|
config_params = {
|
|
'is_config': 0, 'move_count': 500, 'crc': self._config_crc}
|
|
else:
|
|
config_params = self.serial.send_with_response(msg, 'config')
|
|
if not config_params['is_config']:
|
|
if self._restart_method == 'rpi_usb':
|
|
# Only configure mcu after usb power reset
|
|
self._check_restart("full reset before config")
|
|
# Send config commands
|
|
logging.info("Sending printer configuration...")
|
|
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')
|
|
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")
|
|
else:
|
|
start_reason = self._printer.get_start_args().get("start_reason")
|
|
if start_reason == 'firmware_restart':
|
|
raise error("Failed automated reset of micro-controller")
|
|
if self._config_crc != config_params['crc']:
|
|
self._check_restart("CRC mismatch")
|
|
raise error("Printer CRC does not match config")
|
|
move_count = config_params['move_count']
|
|
logging.info("Configured (%d moves)" % (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(
|
|
["%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),
|
|
move_count)
|
|
for c in self._init_cmds:
|
|
self.send(self.create_command(c))
|
|
# Config creation helpers
|
|
def setup_pin(self, pin_params):
|
|
pcs = {'stepper': MCU_stepper, 'endstop': MCU_endstop,
|
|
'digital_out': MCU_digital_out, 'pwm': MCU_pwm, 'adc': MCU_adc}
|
|
pin_type = pin_params['type']
|
|
if pin_type not in pcs:
|
|
raise pins.error("pin type %s not supported on mcu" % (pin_type,))
|
|
co = pcs[pin_type](self, pin_params)
|
|
self.add_config_object(co)
|
|
return co
|
|
def create_oid(self):
|
|
self._oid_count += 1
|
|
return self._oid_count - 1
|
|
def add_config_object(self, co):
|
|
self._config_objects.append(co)
|
|
def add_config_cmd(self, cmd, is_init=False):
|
|
if is_init:
|
|
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 register_stepqueue(self, stepqueue):
|
|
self._stepqueues.append(stepqueue)
|
|
def alloc_command_queue(self):
|
|
return self.serial.alloc_command_queue()
|
|
def lookup_command(self, msgformat):
|
|
return self.serial.msgparser.lookup_command(msgformat)
|
|
def create_command(self, msg):
|
|
return self.serial.msgparser.create_command(msg)
|
|
# Clock syncing
|
|
def set_print_start_time(self, eventtime):
|
|
clock = self.serial.get_clock(eventtime)
|
|
logging.debug("Synchronizing mcu clock at %.6f to %d" % (
|
|
eventtime, clock))
|
|
est_mcu_time = clock / self._mcu_freq
|
|
self._print_start_time = est_mcu_time
|
|
def get_print_buffer_time(self, eventtime, print_time):
|
|
if self.is_shutdown:
|
|
return 0.
|
|
mcu_time = print_time + self._print_start_time
|
|
est_mcu_time = self.serial.get_clock(eventtime) / self._mcu_freq
|
|
return mcu_time - est_mcu_time
|
|
def print_to_mcu_time(self, print_time):
|
|
return print_time + self._print_start_time
|
|
def system_to_mcu_time(self, eventtime):
|
|
return self.serial.get_clock(eventtime) / self._mcu_freq
|
|
def get_mcu_freq(self):
|
|
return self._mcu_freq
|
|
def get_last_clock(self):
|
|
return self.serial.get_last_clock()
|
|
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 flush_moves(self, print_time):
|
|
if self._steppersync is None:
|
|
return
|
|
mcu_time = print_time + self._print_start_time
|
|
clock = int(mcu_time * self._mcu_freq)
|
|
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 __del__(self):
|
|
self.disconnect()
|
|
|
|
def add_printer_objects(printer, config):
|
|
printer.add_object('mcu', MCU(printer, config.getsection('mcu')))
|