mirror of
https://github.com/Klipper3d/klipper.git
synced 2025-07-08 23:46:25 -06:00
pins: Support registering arbitrary chips that supply configurable pins
Allow multiple chips to provide pin mappings (not just the main mcu chip). Move the pin parsing from the mcu.py code to pins.py and support mapping from pin descriptions to their corresponding chips and parameters. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
268834e4ae
commit
ec7990796a
6 changed files with 166 additions and 100 deletions
144
klippy/mcu.py
144
klippy/mcu.py
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@ -9,24 +9,15 @@ import serialhdl, pins, chelper
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class error(Exception):
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pass
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def parse_pin_extras(pin, can_pullup=False):
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pullup = invert = 0
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if can_pullup and pin.startswith('^'):
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pullup = 1
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pin = pin[1:].strip()
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if pin.startswith('!'):
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invert = 1
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pin = pin[1:].strip()
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return pin, pullup, invert
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STEPCOMPRESS_ERROR_RET = -989898989
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class MCU_stepper:
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def __init__(self, mcu, step_pin, dir_pin):
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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(self)
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self._step_pin, pullup, self._invert_step = parse_pin_extras(step_pin)
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self._dir_pin, pullup, self._invert_dir = parse_pin_extras(dir_pin)
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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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@ -36,9 +27,14 @@ class MCU_stepper:
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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 set_min_stop_interval(self, min_stop_interval):
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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 set_step_distance(self, step_dist):
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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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@ -144,12 +140,13 @@ class MCU_stepper:
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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):
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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(self)
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self._steppers = []
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self._pin, self._pullup, self._invert = parse_pin_extras(
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pin, can_pullup=True)
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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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@ -240,23 +237,27 @@ class MCU_endstop:
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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, max_duration):
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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(self)
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pin, pullup, self._invert = parse_pin_extras(pin)
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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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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, pin, self._invert, max_duration))
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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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@ -275,37 +276,49 @@ class MCU_digital_out:
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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, cycle_time, hard_cycle_ticks, max_duration):
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def __init__(self, mcu, pin_params):
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self._mcu = mcu
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self._hard_cycle_ticks = hard_cycle_ticks
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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(self)
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pin, pullup, self._invert = parse_pin_extras(pin)
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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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if hard_cycle_ticks:
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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, pin, hard_cycle_ticks, self._invert,
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max_duration))
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else:
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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, pin, cycle_time, self._invert, max_duration))
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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_cycle_ticks:
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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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@ -321,8 +334,9 @@ class MCU_pwm:
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self._last_clock = clock
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class MCU_adc:
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def __init__(self, mcu, pin):
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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(self)
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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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@ -332,20 +346,23 @@ class MCU_adc:
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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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mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % (self._oid, pin))
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self._query_cmd = None
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mcu.add_init_callback(self._init_callback)
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self._query_cmd = None
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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._query_cmd = self._mcu.lookup_command(
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"query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c"
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" rest_ticks=%u min_value=%hu max_value=%hu")
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def set_minmax(self, sample_time, sample_count, minval=0., maxval=1.):
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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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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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self._query_cmd = self._mcu.lookup_command(
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"query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c"
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" rest_ticks=%u min_value=%hu max_value=%hu")
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def _init_callback(self):
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if not self._sample_count:
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return
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@ -370,9 +387,6 @@ class MCU_adc:
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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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def set_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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class MCU:
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error = error
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@ -398,7 +412,7 @@ class MCU:
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# Config building
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if printer.bglogger is not None:
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printer.bglogger.set_rollover_info("mcu", None)
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self._config_error = config.error
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pins.get_printer_pins(printer).register_chip("mcu", self)
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self._emergency_stop_cmd = self._reset_cmd = None
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self._oids = []
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self._config_cmds = []
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@ -564,8 +578,7 @@ class MCU:
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updated_cmds.append(pins.update_command(
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cmd, self._mcu_freq, pnames))
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except:
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raise self._config_error("Unable to translate pin name: %s" % (
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cmd,))
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raise pins.error("Unable to translate pin name: %s" % (cmd,))
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self._config_cmds = updated_cmds
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# Calculate config CRC
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@ -617,6 +630,13 @@ class MCU:
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for cb in self._init_callbacks:
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cb()
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# Config creation helpers
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def setup_pin(self, pin_params):
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pcs = {'stepper': MCU_stepper, 'endstop': MCU_endstop,
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'digital_out': MCU_digital_out, 'pwm': MCU_pwm, 'adc': MCU_adc}
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pin_type = pin_params['type']
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if pin_type not in pcs:
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raise pins.error("pin type %s not supported on mcu" % (pin_type,))
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return pcs[pin_type](self, pin_params)
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def create_oid(self, oid):
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self._oids.append(oid)
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return len(self._oids) - 1
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@ -634,19 +654,6 @@ class MCU:
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return self.serial.msgparser.lookup_command(msgformat)
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def create_command(self, msg):
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return self.serial.msgparser.create_command(msg)
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# Wrappers for mcu object creation
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def create_stepper(self, step_pin, dir_pin):
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return MCU_stepper(self, step_pin, dir_pin)
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def create_endstop(self, pin):
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return MCU_endstop(self, pin)
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def create_digital_out(self, pin, max_duration=2.):
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return MCU_digital_out(self, pin, max_duration)
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def create_pwm(self, pin, cycle_time, hard_cycle_ticks=0, max_duration=2.):
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if hard_cycle_ticks < 0:
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return MCU_digital_out(self, pin, max_duration)
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return MCU_pwm(self, pin, cycle_time, hard_cycle_ticks, max_duration)
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def create_adc(self, pin):
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return MCU_adc(self, pin)
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# Clock syncing
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def set_print_start_time(self, eventtime):
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clock = self.serial.get_clock(eventtime)
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@ -687,3 +694,6 @@ class MCU:
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return self._printer.reactor.monotonic()
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def __del__(self):
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self.disconnect()
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def add_printer_objects(printer, config):
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printer.add_object('mcu', MCU(printer, config.getsection('mcu')))
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