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pru: Support config_reset command to manually reset mcu

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Add support for resetting the MCU via a software only mechanism.  This
is useful on the PRU.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-09-03 22:02:48 -04:00
parent 7b7f57e01c
commit 7083a33ecd
6 changed files with 52 additions and 12 deletions
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36
klippy/mcu.py
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@ -430,14 +430,17 @@ class MCU:
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')
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
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._emergency_stop_cmd = None
self._reset_cmd = self._config_reset_cmd = None
self._oid_count = 0
self._config_objects = []
self._init_cmds = []
@ -502,10 +505,8 @@ class MCU:
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._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')
@ -560,11 +561,21 @@ class MCU:
if self._restart_method == 'command':
last_clock, last_clock_time = self.serial.get_last_clock()
eventtime = reactor.monotonic()
if (self._reset_cmd is None
if ((self._reset_cmd is None and self._config_reset_cmd is None)
or eventtime > last_clock_time + self.COMM_TIMEOUT):
logging.info("Unable to issue reset command")
return
# Attempt reset via command
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)
@ -682,6 +693,11 @@ class MCU:
return self.serial.alloc_command_queue()
def lookup_command(self, 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 None
def create_command(self, msg):
return self.serial.msgparser.create_command(msg)
# Clock syncing