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mcu: Initial support for multiple micro-controllers

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Add initial support for controlling multiple independent
micro-controllers from a single Klippy host instance.  Add basic
support for synchronizing the clocks of the additional mcus to the
main mcu's clock.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-08-14 11:46:35 -04:00
parent cee200e509
commit 3ccecc568d
5 changed files with 172 additions and 53 deletions
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32
klippy/klippy.py
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@ -140,7 +140,7 @@ class Printer:
self.state_message = message_startup
self.run_result = None
self.fileconfig = None
self.mcu = None
self.mcus = []
def get_start_args(self):
return self.start_args
def _stats(self, eventtime, force_output=False):
@ -149,7 +149,7 @@ class Printer:
self.gcode.dump_debug()
self.need_dump_debug = False
toolhead = self.objects.get('toolhead')
if toolhead is None or self.mcu is None:
if toolhead is None:
return eventtime + 1.
is_active = toolhead.check_active(eventtime)
if not is_active and not force_output:
@ -157,7 +157,8 @@ class Printer:
out = []
out.append(self.gcode.stats(eventtime))
out.append(toolhead.stats(eventtime))
out.append(self.mcu.stats(eventtime))
for m in self.mcus:
out.append(m.stats(eventtime))
logging.info("Stats %.1f: %s" % (eventtime, ' '.join(out)))
return eventtime + 1.
def add_object(self, name, obj):
@ -175,7 +176,7 @@ class Printer:
config = ConfigWrapper(self, 'printer')
for m in [pins, mcu, chipmisc, toolhead, extruder, heater, fan]:
m.add_printer_objects(self, config)
self.mcu = self.objects['mcu']
self.mcus = mcu.get_printer_mcus(self)
# Validate that there are no undefined parameters in the config file
valid_sections = { s: 1 for s, o in self.all_config_options }
for section in self.fileconfig.sections():
@ -193,7 +194,8 @@ class Printer:
self.reactor.unregister_timer(self.connect_timer)
try:
self._load_config()
self.mcu.connect()
for m in self.mcus:
m.connect()
self.gcode.set_printer_ready(True)
self.state_message = message_ready
if self.start_args.get('debugoutput') is None:
@ -227,10 +229,10 @@ class Printer:
run_result = self.run_result
try:
self._stats(self.reactor.monotonic(), force_output=True)
if self.mcu is not None:
for m in self.mcus:
if run_result == 'firmware_restart':
self.mcu.microcontroller_restart()
self.mcu.disconnect()
m.microcontroller_restart()
m.disconnect()
except:
logging.exception("Unhandled exception during post run")
return run_result
@ -254,6 +256,15 @@ class Printer:
# Startup
######################################################################
def arg_dictionary(option, opt_str, value, parser):
key, fname = "dictionary", value
if '=' in value:
mcu_name, fname = value.split('=', 1)
key = "dictionary_" + mcu_name
if parser.values.dictionary is None:
parser.values.dictionary = {}
parser.values.dictionary[key] = fname
def main():
usage = "%prog [options] <config file>"
opts = optparse.OptionParser(usage)
@ -267,7 +278,8 @@ def main():
help="enable debug messages")
opts.add_option("-o", "--debugoutput", dest="debugoutput",
help="write output to file instead of to serial port")
opts.add_option("-d", "--dictionary", dest="dictionary",
opts.add_option("-d", "--dictionary", dest="dictionary", type="string",
action="callback", callback=arg_dictionary,
help="file to read for mcu protocol dictionary")
options, args = opts.parse_args()
if len(args) != 1:
@ -287,7 +299,7 @@ def main():
input_fd = util.create_pty(options.inputtty)
if options.debugoutput:
start_args['debugoutput'] = options.debugoutput
start_args['dictionary'] = options.dictionary
start_args.update(options.dictionary)
if options.logfile:
bglogger = queuelogger.setup_bg_logging(options.logfile, debuglevel)
else: