mcu.py

# Interface to Klipper micro-controller code
#
# Copyright (C) 2016-2024  Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import sys, os, zlib, logging, math
import serialhdl, msgproto, pins, chelper, clocksync

class error(Exception):
    pass


######################################################################
# Command transmit helper classes
######################################################################

# Class to retry sending of a query command until a given response is received
class RetryAsyncCommand:
    TIMEOUT_TIME = 5.0
    RETRY_TIME = 0.500
    def __init__(self, serial, name, oid=None):
        self.serial = serial
        self.name = name
        self.oid = oid
        self.reactor = serial.get_reactor()
        self.completion = self.reactor.completion()
        self.min_query_time = self.reactor.monotonic()
        self.need_response = True
        self.serial.register_response(self.handle_callback, name, oid)
    def handle_callback(self, params):
        if self.need_response and params['#sent_time'] >= self.min_query_time:
            self.need_response = False
            self.reactor.async_complete(self.completion, params)
    def get_response(self, cmds, cmd_queue, minclock=0, reqclock=0):
        cmd, = cmds
        self.serial.raw_send_wait_ack(cmd, minclock, reqclock, cmd_queue)
        self.min_query_time = 0.
        first_query_time = query_time = self.reactor.monotonic()
        while 1:
            params = self.completion.wait(query_time + self.RETRY_TIME)
            if params is not None:
                self.serial.register_response(None, self.name, self.oid)
                return params
            query_time = self.reactor.monotonic()
            if query_time > first_query_time + self.TIMEOUT_TIME:
                self.serial.register_response(None, self.name, self.oid)
                raise serialhdl.error("Timeout on wait for '%s' response"
                                      % (self.name,))
            self.serial.raw_send(cmd, minclock, minclock, cmd_queue)

# Wrapper around query commands
class CommandQueryWrapper:
    def __init__(self, serial, msgformat, respformat, oid=None,
                 cmd_queue=None, is_async=False, error=serialhdl.error):
        self._serial = serial
        self._cmd = serial.get_msgparser().lookup_command(msgformat)
        serial.get_msgparser().lookup_command(respformat)
        self._response = respformat.split()[0]
        self._oid = oid
        self._error = error
        self._xmit_helper = serialhdl.SerialRetryCommand
        if is_async:
            self._xmit_helper = RetryAsyncCommand
        if cmd_queue is None:
            cmd_queue = serial.get_default_command_queue()
        self._cmd_queue = cmd_queue
    def _do_send(self, cmds, minclock, reqclock):
        xh = self._xmit_helper(self._serial, self._response, self._oid)
        reqclock = max(minclock, reqclock)
        try:
            return xh.get_response(cmds, self._cmd_queue, minclock, reqclock)
        except serialhdl.error as e:
            raise self._error(str(e))
    def send(self, data=(), minclock=0, reqclock=0):
        return self._do_send([self._cmd.encode(data)], minclock, reqclock)
    def send_with_preface(self, preface_cmd, preface_data=(), data=(),
                          minclock=0, reqclock=0):
        cmds = [preface_cmd._cmd.encode(preface_data), self._cmd.encode(data)]
        return self._do_send(cmds, minclock, reqclock)

# Wrapper around command sending
class CommandWrapper:
    def __init__(self, serial, msgformat, cmd_queue=None):
        self._serial = serial
        msgparser = serial.get_msgparser()
        self._cmd = msgparser.lookup_command(msgformat)
        if cmd_queue is None:
            cmd_queue = serial.get_default_command_queue()
        self._cmd_queue = cmd_queue
        self._msgtag = msgparser.lookup_msgid(msgformat) & 0xffffffff
    def send(self, data=(), minclock=0, reqclock=0):
        cmd = self._cmd.encode(data)
        self._serial.raw_send(cmd, minclock, reqclock, self._cmd_queue)
    def send_wait_ack(self, data=(), minclock=0, reqclock=0):
        cmd = self._cmd.encode(data)
        self._serial.raw_send_wait_ack(cmd, minclock, reqclock, self._cmd_queue)
    def get_command_tag(self):
        return self._msgtag


######################################################################
# Wrapper classes for MCU pins
######################################################################

class MCU_trsync:
    REASON_ENDSTOP_HIT = 1
    REASON_HOST_REQUEST = 2
    REASON_PAST_END_TIME = 3
    REASON_COMMS_TIMEOUT = 4
    def __init__(self, mcu, trdispatch):
        self._mcu = mcu
        self._trdispatch = trdispatch
        self._reactor = mcu.get_printer().get_reactor()
        self._steppers = []
        self._trdispatch_mcu = None
        self._oid = mcu.create_oid()
        self._cmd_queue = mcu.alloc_command_queue()
        self._trsync_start_cmd = self._trsync_set_timeout_cmd = None
        self._trsync_trigger_cmd = self._trsync_query_cmd = None
        self._stepper_stop_cmd = None
        self._trigger_completion = None
        self._home_end_clock = None
        mcu.register_config_callback(self._build_config)
        printer = mcu.get_printer()
        printer.register_event_handler("klippy:shutdown", self._shutdown)
    def get_mcu(self):
        return self._mcu
    def get_oid(self):
        return self._oid
    def get_command_queue(self):
        return self._cmd_queue
    def add_stepper(self, stepper):
        if stepper in self._steppers:
            return
        self._steppers.append(stepper)
    def get_steppers(self):
        return list(self._steppers)
    def _build_config(self):
        mcu = self._mcu
        # Setup config
        mcu.add_config_cmd("config_trsync oid=%d" % (self._oid,))
        mcu.add_config_cmd(
            "trsync_start oid=%d report_clock=0 report_ticks=0 expire_reason=0"
            % (self._oid,), on_restart=True)
        # Lookup commands
        self._trsync_start_cmd = mcu.lookup_command(
            "trsync_start oid=%c report_clock=%u report_ticks=%u"
            " expire_reason=%c", cq=self._cmd_queue)
        self._trsync_set_timeout_cmd = mcu.lookup_command(
            "trsync_set_timeout oid=%c clock=%u", cq=self._cmd_queue)
        self._trsync_trigger_cmd = mcu.lookup_command(
            "trsync_trigger oid=%c reason=%c", cq=self._cmd_queue)
        self._trsync_query_cmd = mcu.lookup_query_command(
            "trsync_trigger oid=%c reason=%c",
            "trsync_state oid=%c can_trigger=%c trigger_reason=%c clock=%u",
            oid=self._oid, cq=self._cmd_queue)
        self._stepper_stop_cmd = mcu.lookup_command(
            "stepper_stop_on_trigger oid=%c trsync_oid=%c", cq=self._cmd_queue)
        # Create trdispatch_mcu object
        set_timeout_tag = mcu.lookup_command(
            "trsync_set_timeout oid=%c clock=%u").get_command_tag()
        trigger_cmd = mcu.lookup_command("trsync_trigger oid=%c reason=%c")
        trigger_tag = trigger_cmd.get_command_tag()
        state_cmd = mcu.lookup_command(
            "trsync_state oid=%c can_trigger=%c trigger_reason=%c clock=%u")
        state_tag = state_cmd.get_command_tag()
        ffi_main, ffi_lib = chelper.get_ffi()
        self._trdispatch_mcu = ffi_main.gc(ffi_lib.trdispatch_mcu_alloc(
            self._trdispatch, mcu._serial.get_serialqueue(), # XXX
            self._cmd_queue, self._oid, set_timeout_tag, trigger_tag,
            state_tag), ffi_lib.free)
    def _shutdown(self):
        tc = self._trigger_completion
        if tc is not None:
            self._trigger_completion = None
            tc.complete(False)
    def _handle_trsync_state(self, params):
        if not params['can_trigger']:
            tc = self._trigger_completion
            if tc is not None:
                self._trigger_completion = None
                reason = params['trigger_reason']
                is_failure = (reason >= self.REASON_COMMS_TIMEOUT)
                self._reactor.async_complete(tc, is_failure)
        elif self._home_end_clock is not None:
            clock = self._mcu.clock32_to_clock64(params['clock'])
            if clock >= self._home_end_clock:
                self._home_end_clock = None
                self._trsync_trigger_cmd.send([self._oid,
                                               self.REASON_PAST_END_TIME])
    def start(self, print_time, report_offset,
              trigger_completion, expire_timeout):
        self._trigger_completion = trigger_completion
        self._home_end_clock = None
        clock = self._mcu.print_time_to_clock(print_time)
        expire_ticks = self._mcu.seconds_to_clock(expire_timeout)
        expire_clock = clock + expire_ticks
        report_ticks = self._mcu.seconds_to_clock(expire_timeout * .3)
        report_clock = clock + int(report_ticks * report_offset + .5)
        min_extend_ticks = int(report_ticks * .8 + .5)
        ffi_main, ffi_lib = chelper.get_ffi()
        ffi_lib.trdispatch_mcu_setup(self._trdispatch_mcu, clock, expire_clock,
                                     expire_ticks, min_extend_ticks)
        self._mcu.register_response(self._handle_trsync_state,
                                    "trsync_state", self._oid)
        self._trsync_start_cmd.send([self._oid, report_clock, report_ticks,
                                     self.REASON_COMMS_TIMEOUT],
                                    reqclock=report_clock)
        for s in self._steppers:
            self._stepper_stop_cmd.send([s.get_oid(), self._oid])
        self._trsync_set_timeout_cmd.send([self._oid, expire_clock],
                                          reqclock=expire_clock)
    def set_home_end_time(self, home_end_time):
        self._home_end_clock = self._mcu.print_time_to_clock(home_end_time)
    def stop(self):
        self._mcu.register_response(None, "trsync_state", self._oid)
        self._trigger_completion = None
        if self._mcu.is_fileoutput():
            return self.REASON_ENDSTOP_HIT
        params = self._trsync_query_cmd.send([self._oid,
                                              self.REASON_HOST_REQUEST])
        for s in self._steppers:
            s.note_homing_end()
        return params['trigger_reason']

TRSYNC_TIMEOUT = 0.025
TRSYNC_SINGLE_MCU_TIMEOUT = 0.250

class TriggerDispatch:
    def __init__(self, mcu):
        self._mcu = mcu
        self._trigger_completion = None
        ffi_main, ffi_lib = chelper.get_ffi()
        self._trdispatch = ffi_main.gc(ffi_lib.trdispatch_alloc(), ffi_lib.free)
        self._trsyncs = [MCU_trsync(mcu, self._trdispatch)]
    def get_oid(self):
        return self._trsyncs[0].get_oid()
    def get_command_queue(self):
        return self._trsyncs[0].get_command_queue()
    def add_stepper(self, stepper):
        trsyncs = {trsync.get_mcu(): trsync for trsync in self._trsyncs}
        trsync = trsyncs.get(stepper.get_mcu())
        if trsync is None:
            trsync = MCU_trsync(stepper.get_mcu(), self._trdispatch)
            self._trsyncs.append(trsync)
        trsync.add_stepper(stepper)
        # Check for unsupported multi-mcu shared stepper rails
        sname = stepper.get_name()
        if sname.startswith('stepper_'):
            for ot in self._trsyncs:
                for s in ot.get_steppers():
                    if ot is not trsync and s.get_name().startswith(sname[:9]):
                        cerror = self._mcu.get_printer().config_error
                        raise cerror("Multi-mcu homing not supported on"
                                     " multi-mcu shared axis")
    def get_steppers(self):
        return [s for trsync in self._trsyncs for s in trsync.get_steppers()]
    def start(self, print_time):
        reactor = self._mcu.get_printer().get_reactor()
        self._trigger_completion = reactor.completion()
        expire_timeout = TRSYNC_TIMEOUT
        if len(self._trsyncs) == 1:
            expire_timeout = TRSYNC_SINGLE_MCU_TIMEOUT
        for i, trsync in enumerate(self._trsyncs):
            report_offset = float(i) / len(self._trsyncs)
            trsync.start(print_time, report_offset,
                         self._trigger_completion, expire_timeout)
        etrsync = self._trsyncs[0]
        ffi_main, ffi_lib = chelper.get_ffi()
        ffi_lib.trdispatch_start(self._trdispatch, etrsync.REASON_HOST_REQUEST)
        return self._trigger_completion
    def wait_end(self, end_time):
        etrsync = self._trsyncs[0]
        etrsync.set_home_end_time(end_time)
        if self._mcu.is_fileoutput():
            self._trigger_completion.complete(True)
        self._trigger_completion.wait()
    def stop(self):
        ffi_main, ffi_lib = chelper.get_ffi()
        ffi_lib.trdispatch_stop(self._trdispatch)
        res = [trsync.stop() for trsync in self._trsyncs]
        err_res = [r for r in res if r >= MCU_trsync.REASON_COMMS_TIMEOUT]
        if err_res:
            return err_res[0]
        return res[0]

class MCU_endstop:
    def __init__(self, mcu, pin_params):
        self._mcu = mcu
        self._pin = pin_params['pin']
        self._pullup = pin_params['pullup']
        self._invert = pin_params['invert']
        self._oid = self._mcu.create_oid()
        self._home_cmd = self._query_cmd = None
        self._mcu.register_config_callback(self._build_config)
        self._rest_ticks = 0
        self._dispatch = TriggerDispatch(mcu)
    def get_mcu(self):
        return self._mcu
    def add_stepper(self, stepper):
        self._dispatch.add_stepper(stepper)
    def get_steppers(self):
        return self._dispatch.get_steppers()
    def _build_config(self):
        # Setup config
        self._mcu.add_config_cmd("config_endstop oid=%d pin=%s pull_up=%d"
                                 % (self._oid, self._pin, self._pullup))
        self._mcu.add_config_cmd(
            "endstop_home oid=%d clock=0 sample_ticks=0 sample_count=0"
            " rest_ticks=0 pin_value=0 trsync_oid=0 trigger_reason=0"
            % (self._oid,), on_restart=True)
        # Lookup commands
        cmd_queue = self._dispatch.get_command_queue()
        self._home_cmd = self._mcu.lookup_command(
            "endstop_home oid=%c clock=%u sample_ticks=%u sample_count=%c"
            " rest_ticks=%u pin_value=%c trsync_oid=%c trigger_reason=%c",
            cq=cmd_queue)
        self._query_cmd = self._mcu.lookup_query_command(
            "endstop_query_state oid=%c",
            "endstop_state oid=%c homing=%c next_clock=%u pin_value=%c",
            oid=self._oid, cq=cmd_queue)
    def home_start(self, print_time, sample_time, sample_count, rest_time,
                   triggered=True):
        clock = self._mcu.print_time_to_clock(print_time)
        rest_ticks = self._mcu.print_time_to_clock(print_time+rest_time) - clock
        self._rest_ticks = rest_ticks
        trigger_completion = self._dispatch.start(print_time)
        self._home_cmd.send(
            [self._oid, clock, self._mcu.seconds_to_clock(sample_time),
             sample_count, rest_ticks, triggered ^ self._invert,
             self._dispatch.get_oid(), MCU_trsync.REASON_ENDSTOP_HIT],
            reqclock=clock)
        return trigger_completion
    def home_wait(self, home_end_time):
        self._dispatch.wait_end(home_end_time)
        self._home_cmd.send([self._oid, 0, 0, 0, 0, 0, 0, 0])
        res = self._dispatch.stop()
        if res >= MCU_trsync.REASON_COMMS_TIMEOUT:
            cmderr = self._mcu.get_printer().command_error
            raise cmderr("Communication timeout during homing")
        if res != MCU_trsync.REASON_ENDSTOP_HIT:
            return 0.
        if self._mcu.is_fileoutput():
            return home_end_time
        params = self._query_cmd.send([self._oid])
        next_clock = self._mcu.clock32_to_clock64(params['next_clock'])
        return self._mcu.clock_to_print_time(next_clock - self._rest_ticks)
    def query_endstop(self, print_time):
        clock = self._mcu.print_time_to_clock(print_time)
        if self._mcu.is_fileoutput():
            return 0
        params = self._query_cmd.send([self._oid], minclock=clock)
        return params['pin_value'] ^ self._invert

class MCU_digital_out:
    def __init__(self, mcu, pin_params):
        self._mcu = mcu
        self._oid = None
        self._mcu.register_config_callback(self._build_config)
        self._pin = pin_params['pin']
        self._invert = pin_params['invert']
        self._start_value = self._shutdown_value = self._invert
        self._max_duration = 2.
        self._last_clock = 0
        self._set_cmd = None
    def get_mcu(self):
        return self._mcu
    def setup_max_duration(self, max_duration):
        self._max_duration = max_duration
    def setup_start_value(self, start_value, shutdown_value):
        self._start_value = (not not start_value) ^ self._invert
        self._shutdown_value = (not not shutdown_value) ^ self._invert
    def _build_config(self):
        if self._max_duration and self._start_value != self._shutdown_value:
            raise pins.error("Pin with max duration must have start"
                             " value equal to shutdown value")
        mdur_ticks = self._mcu.seconds_to_clock(self._max_duration)
        if mdur_ticks >= 1<<31:
            raise pins.error("Digital pin max duration too large")
        self._mcu.request_move_queue_slot()
        self._oid = self._mcu.create_oid()
        self._mcu.add_config_cmd(
            "config_digital_out oid=%d pin=%s value=%d default_value=%d"
            " max_duration=%d" % (self._oid, self._pin, self._start_value,
                                  self._shutdown_value, mdur_ticks))
        self._mcu.add_config_cmd("update_digital_out oid=%d value=%d"
                                 % (self._oid, self._start_value),
                                 on_restart=True)
        cmd_queue = self._mcu.alloc_command_queue()
        self._set_cmd = self._mcu.lookup_command(
            "queue_digital_out oid=%c clock=%u on_ticks=%u", cq=cmd_queue)
    def set_digital(self, print_time, value):
        clock = self._mcu.print_time_to_clock(print_time)
        self._set_cmd.send([self._oid, clock, (not not value) ^ self._invert],
                           minclock=self._last_clock, reqclock=clock)
        self._last_clock = clock

class MCU_pwm:
    def __init__(self, mcu, pin_params):
        self._mcu = mcu
        self._hardware_pwm = False
        self._cycle_time = 0.100
        self._max_duration = 2.
        self._oid = None
        self._mcu.register_config_callback(self._build_config)
        self._pin = pin_params['pin']
        self._invert = pin_params['invert']
        self._start_value = self._shutdown_value = float(self._invert)
        self._last_clock = 0
        self._pwm_max = 0.
        self._set_cmd = None
    def get_mcu(self):
        return self._mcu
    def setup_max_duration(self, max_duration):
        self._max_duration = max_duration
    def setup_cycle_time(self, cycle_time, hardware_pwm=False):
        self._cycle_time = cycle_time
        self._hardware_pwm = hardware_pwm
    def setup_start_value(self, start_value, shutdown_value):
        if self._invert:
            start_value = 1. - start_value
            shutdown_value = 1. - shutdown_value
        self._start_value = max(0., min(1., start_value))
        self._shutdown_value = max(0., min(1., shutdown_value))
    def _build_config(self):
        if self._max_duration and self._start_value != self._shutdown_value:
            raise pins.error("Pin with max duration must have start"
                             " value equal to shutdown value")
        cmd_queue = self._mcu.alloc_command_queue()
        curtime = self._mcu.get_printer().get_reactor().monotonic()
        printtime = self._mcu.estimated_print_time(curtime)
        self._last_clock = self._mcu.print_time_to_clock(printtime + 0.200)
        cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time)
        mdur_ticks = self._mcu.seconds_to_clock(self._max_duration)
        if mdur_ticks >= 1<<31:
            raise pins.error("PWM pin max duration too large")
        if self._hardware_pwm:
            self._pwm_max = self._mcu.get_constant_float("PWM_MAX")
            self._mcu.request_move_queue_slot()
            self._oid = self._mcu.create_oid()
            self._mcu.add_config_cmd(
                "config_pwm_out oid=%d pin=%s cycle_ticks=%d value=%d"
                " default_value=%d max_duration=%d"
                % (self._oid, self._pin, cycle_ticks,
                   self._start_value * self._pwm_max,
                   self._shutdown_value * self._pwm_max, mdur_ticks))
            svalue = int(self._start_value * self._pwm_max + 0.5)
            self._mcu.add_config_cmd("queue_pwm_out oid=%d clock=%d value=%d"
                                     % (self._oid, self._last_clock, svalue),
                                     on_restart=True)
            self._set_cmd = self._mcu.lookup_command(
                "queue_pwm_out oid=%c clock=%u value=%hu", cq=cmd_queue)
            return
        # Software PWM
        if self._shutdown_value not in [0., 1.]:
            raise pins.error("shutdown value must be 0.0 or 1.0 on soft pwm")
        if cycle_ticks >= 1<<31:
            raise pins.error("PWM pin cycle time too large")
        self._mcu.request_move_queue_slot()
        self._oid = self._mcu.create_oid()
        self._mcu.add_config_cmd(
            "config_digital_out oid=%d pin=%s value=%d"
            " default_value=%d max_duration=%d"
            % (self._oid, self._pin, self._start_value >= 1.0,
               self._shutdown_value >= 0.5, mdur_ticks))
        self._mcu.add_config_cmd(
            "set_digital_out_pwm_cycle oid=%d cycle_ticks=%d"
            % (self._oid, cycle_ticks))
        self._pwm_max = float(cycle_ticks)
        svalue = int(self._start_value * cycle_ticks + 0.5)
        self._mcu.add_config_cmd(
            "queue_digital_out oid=%d clock=%d on_ticks=%d"
            % (self._oid, self._last_clock, svalue), is_init=True)
        self._set_cmd = self._mcu.lookup_command(
            "queue_digital_out oid=%c clock=%u on_ticks=%u", cq=cmd_queue)
    def set_pwm(self, print_time, value):
        if self._invert:
            value = 1. - value
        v = int(max(0., min(1., value)) * self._pwm_max + 0.5)
        clock = self._mcu.print_time_to_clock(print_time)
        self._set_cmd.send([self._oid, clock, v],
                           minclock=self._last_clock, reqclock=clock)
        self._last_clock = clock

class MCU_adc:
    def __init__(self, mcu, pin_params):
        self._mcu = mcu
        self._pin = pin_params['pin']
        self._min_sample = self._max_sample = 0.
        self._sample_time = self._report_time = 0.
        self._sample_count = self._range_check_count = 0
        self._report_clock = 0
        self._last_state = (0., 0.)
        self._oid = self._callback = None
        self._mcu.register_config_callback(self._build_config)
        self._inv_max_adc = 0.
    def get_mcu(self):
        return self._mcu
    def setup_adc_sample(self, sample_time, sample_count,
                         minval=0., maxval=1., range_check_count=0):
        self._sample_time = sample_time
        self._sample_count = sample_count
        self._min_sample = minval
        self._max_sample = maxval
        self._range_check_count = range_check_count
    def setup_adc_callback(self, report_time, callback):
        self._report_time = report_time
        self._callback = callback
    def get_last_value(self):
        return self._last_state
    def _build_config(self):
        if not self._sample_count:
            return
        self._oid = self._mcu.create_oid()
        self._mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % (
            self._oid, self._pin))
        clock = self._mcu.get_query_slot(self._oid)
        sample_ticks = self._mcu.seconds_to_clock(self._sample_time)
        mcu_adc_max = self._mcu.get_constant_float("ADC_MAX")
        max_adc = self._sample_count * mcu_adc_max
        self._inv_max_adc = 1.0 / max_adc
        self._report_clock = self._mcu.seconds_to_clock(self._report_time)
        min_sample = max(0, min(0xffff, int(self._min_sample * max_adc)))
        max_sample = max(0, min(0xffff, int(
            math.ceil(self._max_sample * max_adc))))
        self._mcu.add_config_cmd(
            "query_analog_in oid=%d clock=%d sample_ticks=%d sample_count=%d"
            " rest_ticks=%d min_value=%d max_value=%d range_check_count=%d" % (
                self._oid, clock, sample_ticks, self._sample_count,
                self._report_clock, min_sample, max_sample,
                self._range_check_count), is_init=True)
        self._mcu.register_response(self._handle_analog_in_state,
                                    "analog_in_state", self._oid)
    def _handle_analog_in_state(self, params):
        last_value = params['value'] * self._inv_max_adc
        next_clock = self._mcu.clock32_to_clock64(params['next_clock'])
        last_read_clock = next_clock - self._report_clock
        last_read_time = self._mcu.clock_to_print_time(last_read_clock)
        self._last_state = (last_value, last_read_time)
        if self._callback is not None:
            self._callback(last_read_time, last_value)


######################################################################
# Main MCU class
######################################################################

class MCU:
    error = error
    def __init__(self, config, clocksync):
        self._printer = printer = config.get_printer()
        self._clocksync = clocksync
        self._reactor = printer.get_reactor()
        self._name = config.get_name()
        if self._name.startswith('mcu '):
            self._name = self._name[4:]
        # Serial port
        wp = "mcu '%s': " % (self._name)
        self._serial = serialhdl.SerialReader(self._reactor, warn_prefix=wp)
        self._baud = 0
        self._canbus_iface = None
        canbus_uuid = config.get('canbus_uuid', None)
        if canbus_uuid is not None:
            self._serialport = canbus_uuid
            self._canbus_iface = config.get('canbus_interface', 'can0')
            cbid = self._printer.load_object(config, 'canbus_ids')
            cbid.add_uuid(config, canbus_uuid, self._canbus_iface)
        else:
            self._serialport = config.get('serial')
            if not (self._serialport.startswith("/dev/rpmsg_")
                    or self._serialport.startswith("/tmp/klipper_host_")):
                self._baud = config.getint('baud', 250000, minval=2400)
        # Restarts
        restart_methods = [None, 'mightyboard', 'arduino', 'cheetah',
                           'command', 'rpi_usb']
        self._restart_method = 'command'
        if self._baud:
            self._restart_method = config.getchoice('restart_method',
                                                    restart_methods, None)
        self._reset_cmd = self._config_reset_cmd = None
        self._is_mcu_bridge = False
        self._emergency_stop_cmd = None
        self._is_shutdown = self._is_timeout = False
        self._shutdown_clock = 0
        self._shutdown_msg = ""
        # Config building
        printer.lookup_object('pins').register_chip(self._name, self)
        self._oid_count = 0
        self._config_callbacks = []
        self._config_cmds = []
        self._restart_cmds = []
        self._init_cmds = []
        self._mcu_freq = 0.
        # 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._reserved_move_slots = 0
        self._stepqueues = []
        self._steppersync = None
        self._flush_callbacks = []
        # Stats
        self._get_status_info = {}
        self._stats_sumsq_base = 0.
        self._mcu_tick_avg = 0.
        self._mcu_tick_stddev = 0.
        self._mcu_tick_awake = 0.
        # Register handlers
        printer.load_object(config, "error_mcu")
        printer.register_event_handler("klippy:firmware_restart",
                                       self._firmware_restart)
        printer.register_event_handler("klippy:mcu_identify",
                                       self._mcu_identify)
        printer.register_event_handler("klippy:connect", self._connect)
        printer.register_event_handler("klippy:shutdown", self._shutdown)
        printer.register_event_handler("klippy:disconnect", self._disconnect)
        printer.register_event_handler("klippy:ready", self._ready)
    # Serial callbacks
    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
        diff = count*tick_sumsq - tick_sum**2
        self._mcu_tick_stddev = c * math.sqrt(max(0., diff))
        self._mcu_tick_awake = tick_sum / self._mcu_freq
    def _handle_shutdown(self, params):
        if self._is_shutdown:
            return
        self._is_shutdown = True
        clock = params.get("clock")
        if clock is not None:
            self._shutdown_clock = self.clock32_to_clock64(clock)
        self._shutdown_msg = msg = params['static_string_id']
        event_type = params['#name']
        self._printer.invoke_async_shutdown(
            "MCU shutdown", {"reason": msg, "mcu": self._name,
                             "event_type": event_type})
        logging.info("MCU '%s' %s: %s\n%s\n%s", self._name, event_type,
                     self._shutdown_msg, self._clocksync.dump_debug(),
                     self._serial.dump_debug())
    def _handle_starting(self, params):
        if not self._is_shutdown:
            self._printer.invoke_async_shutdown("MCU '%s' spontaneous restart"
                                                % (self._name,))
    # 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 MCU '%s' restart: %s",
                     self._name, reason)
        self._printer.request_exit('firmware_restart')
        self._reactor.pause(self._reactor.monotonic() + 2.000)
        raise error("Attempt MCU '%s' restart failed" % (self._name,))
    def _connect_file(self, pace=False):
        # In a debugging mode.  Open debug output file and read data dictionary
        start_args = self._printer.get_start_args()
        if self._name == 'mcu':
            out_fname = start_args.get('debugoutput')
            dict_fname = start_args.get('dictionary')
        else:
            out_fname = start_args.get('debugoutput') + "-" + self._name
            dict_fname = start_args.get('dictionary_' + self._name)
        outfile = open(out_fname, 'wb')
        dfile = open(dict_fname, 'rb')
        dict_data = dfile.read()
        dfile.close()
        self._serial.connect_file(outfile, dict_data)
        self._clocksync.connect_file(self._serial, pace)
        # Handle pacing
        if not pace:
            def dummy_estimated_print_time(eventtime):
                return 0.
            self.estimated_print_time = dummy_estimated_print_time
    def _send_config(self, prev_crc):
        # Build config commands
        for cb in self._config_callbacks:
            cb()
        self._config_cmds.insert(0, "allocate_oids count=%d"
                                 % (self._oid_count,))
        # Resolve pin names
        ppins = self._printer.lookup_object('pins')
        pin_resolver = ppins.get_pin_resolver(self._name)
        for cmdlist in (self._config_cmds, self._restart_cmds, self._init_cmds):
            for i, cmd in enumerate(cmdlist):
                cmdlist[i] = pin_resolver.update_command(cmd)
        # Calculate config CRC
        encoded_config = '\n'.join(self._config_cmds).encode()
        config_crc = zlib.crc32(encoded_config) & 0xffffffff
        self.add_config_cmd("finalize_config crc=%d" % (config_crc,))
        if prev_crc is not None and config_crc != prev_crc:
            self._check_restart("CRC mismatch")
            raise error("MCU '%s' CRC does not match config" % (self._name,))
        # Transmit config messages (if needed)
        self.register_response(self._handle_starting, 'starting')
        try:
            if prev_crc is None:
                logging.info("Sending MCU '%s' printer configuration...",
                             self._name)
                for c in self._config_cmds:
                    self._serial.send(c)
            else:
                for c in self._restart_cmds:
                    self._serial.send(c)
            # Transmit init messages
            for c in self._init_cmds:
                self._serial.send(c)
        except msgproto.enumeration_error as e:
            enum_name, enum_value = e.get_enum_params()
            if enum_name == 'pin':
                # Raise pin name errors as a config error (not a protocol error)
                raise self._printer.config_error(
                    "Pin '%s' is not a valid pin name on mcu '%s'"
                    % (enum_value, self._name))
            raise
    def _send_get_config(self):
        get_config_cmd = self.lookup_query_command(
            "get_config",
            "config is_config=%c crc=%u is_shutdown=%c move_count=%hu")
        if self.is_fileoutput():
            return { 'is_config': 0, 'move_count': 500, 'crc': 0 }
        config_params = get_config_cmd.send()
        if self._is_shutdown:
            raise error("MCU '%s' error during config: %s" % (
                self._name, self._shutdown_msg))
        if config_params['is_shutdown']:
            raise error("Can not update MCU '%s' config as it is shutdown" % (
                self._name,))
        return config_params
    def _log_info(self):
        msgparser = self._serial.get_msgparser()
        message_count = len(msgparser.get_messages())
        version, build_versions = msgparser.get_version_info()
        log_info = [
            "Loaded MCU '%s' %d commands (%s / %s)"
            % (self._name, message_count, version, build_versions),
            "MCU '%s' config: %s" % (self._name, " ".join(
                ["%s=%s" % (k, v) for k, v in self.get_constants().items()]))]
        return "\n".join(log_info)
    def _connect(self):
        config_params = self._send_get_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")
            # Not configured - send config and issue get_config again
            self._send_config(None)
            config_params = self._send_get_config()
            if not config_params['is_config'] and not self.is_fileoutput():
                raise error("Unable to configure MCU '%s'" % (self._name,))
        else:
            start_reason = self._printer.get_start_args().get("start_reason")
            if start_reason == 'firmware_restart':
                raise error("Failed automated reset of MCU '%s'"
                            % (self._name,))
            # Already configured - send init commands
            self._send_config(config_params['crc'])
        # Setup steppersync with the move_count returned by get_config
        move_count = config_params['move_count']
        if move_count < self._reserved_move_slots:
            raise error("Too few moves available on MCU '%s'" % (self._name,))
        ffi_main, ffi_lib = chelper.get_ffi()
        self._steppersync = ffi_main.gc(
            ffi_lib.steppersync_alloc(self._serial.get_serialqueue(),
                                      self._stepqueues, len(self._stepqueues),
                                      move_count-self._reserved_move_slots),
            ffi_lib.steppersync_free)
        ffi_lib.steppersync_set_time(self._steppersync, 0., self._mcu_freq)
        # Log config information
        move_msg = "Configured MCU '%s' (%d moves)" % (self._name, move_count)
        logging.info(move_msg)
        log_info = self._log_info() + "\n" + move_msg
        self._printer.set_rollover_info(self._name, log_info, log=False)
    def _mcu_identify(self):
        if self.is_fileoutput():
            self._connect_file()
        else:
            resmeth = self._restart_method
            if resmeth == 'rpi_usb' and not os.path.exists(self._serialport):
                # Try toggling usb power
                self._check_restart("enable power")
            try:
                if self._canbus_iface is not None:
                    cbid = self._printer.lookup_object('canbus_ids')
                    nodeid = cbid.get_nodeid(self._serialport)
                    self._serial.connect_canbus(self._serialport, nodeid,
                                                self._canbus_iface)
                elif self._baud:
                    # Cheetah boards require RTS to be deasserted
                    # else a reset will trigger the built-in bootloader.
                    rts = (resmeth != "cheetah")
                    self._serial.connect_uart(self._serialport, self._baud, rts)
                else:
                    self._serial.connect_pipe(self._serialport)
                self._clocksync.connect(self._serial)
            except serialhdl.error as e:
                raise error(str(e))
        logging.info(self._log_info())
        ppins = self._printer.lookup_object('pins')
        pin_resolver = ppins.get_pin_resolver(self._name)
        for cname, value in self.get_constants().items():
            if cname.startswith("RESERVE_PINS_"):
                for pin in value.split(','):
                    pin_resolver.reserve_pin(pin, cname[13:])
        self._mcu_freq = self.get_constant_float('CLOCK_FREQ')
        self._stats_sumsq_base = self.get_constant_float('STATS_SUMSQ_BASE')
        self._emergency_stop_cmd = self.lookup_command("emergency_stop")
        self._reset_cmd = self.try_lookup_command("reset")
        self._config_reset_cmd = self.try_lookup_command("config_reset")
        ext_only = self._reset_cmd is None and self._config_reset_cmd is None
        msgparser = self._serial.get_msgparser()
        mbaud = msgparser.get_constant('SERIAL_BAUD', None)
        if self._restart_method is None and mbaud is None and not ext_only:
            self._restart_method = 'command'
        if msgparser.get_constant('CANBUS_BRIDGE', 0):
            self._is_mcu_bridge = True
            self._printer.register_event_handler("klippy:firmware_restart",
                                                 self._firmware_restart_bridge)
        version, build_versions = msgparser.get_version_info()
        self._get_status_info['mcu_version'] = version
        self._get_status_info['mcu_build_versions'] = build_versions
        self._get_status_info['mcu_constants'] = msgparser.get_constants()
        self.register_response(self._handle_shutdown, 'shutdown')
        self.register_response(self._handle_shutdown, 'is_shutdown')
        self.register_response(self._handle_mcu_stats, 'stats')
    def _ready(self):
        if self.is_fileoutput():
            return
        # Check that reported mcu frequency is in range
        mcu_freq = self._mcu_freq
        systime = self._reactor.monotonic()
        get_clock = self._clocksync.get_clock
        calc_freq = get_clock(systime + 1) - get_clock(systime)
        mcu_freq_mhz = int(mcu_freq / 1000000. + 0.5)
        calc_freq_mhz = int(calc_freq / 1000000. + 0.5)
        if mcu_freq_mhz != calc_freq_mhz:
            pconfig = self._printer.lookup_object('configfile')
            msg = ("MCU '%s' configured for %dMhz but running at %dMhz!"
                    % (self._name, mcu_freq_mhz, calc_freq_mhz))
            pconfig.runtime_warning(msg)
    # Config creation helpers
    def setup_pin(self, pin_type, pin_params):
        pcs = {'endstop': MCU_endstop,
               'digital_out': MCU_digital_out, 'pwm': MCU_pwm, 'adc': MCU_adc}
        if pin_type not in pcs:
            raise pins.error("pin type %s not supported on mcu" % (pin_type,))
        return pcs[pin_type](self, pin_params)
    def create_oid(self):
        self._oid_count += 1
        return self._oid_count - 1
    def register_config_callback(self, cb):
        self._config_callbacks.append(cb)
    def add_config_cmd(self, cmd, is_init=False, on_restart=False):
        if is_init:
            self._init_cmds.append(cmd)
        elif on_restart:
            self._restart_cmds.append(cmd)
        else:
            self._config_cmds.append(cmd)
    def get_query_slot(self, oid):
        slot = self.seconds_to_clock(oid * .01)
        t = int(self.estimated_print_time(self._reactor.monotonic()) + 1.5)
        return self.print_time_to_clock(t) + slot
    def seconds_to_clock(self, time):
        return int(time * self._mcu_freq)
    def get_max_stepper_error(self):
        return self._max_stepper_error
    # Wrapper functions
    def get_printer(self):
        return self._printer
    def get_name(self):
        return self._name
    def register_response(self, cb, msg, oid=None):
        self._serial.register_response(cb, msg, oid)
    def alloc_command_queue(self):
        return self._serial.alloc_command_queue()
    def lookup_command(self, msgformat, cq=None):
        return CommandWrapper(self._serial, msgformat, cq)
    def lookup_query_command(self, msgformat, respformat, oid=None,
                             cq=None, is_async=False):
        return CommandQueryWrapper(self._serial, msgformat, respformat, oid,
                                   cq, is_async, self._printer.command_error)
    def try_lookup_command(self, msgformat):
        try:
            return self.lookup_command(msgformat)
        except self._serial.get_msgparser().error as e:
            return None
    def get_enumerations(self):
        return self._serial.get_msgparser().get_enumerations()
    def get_constants(self):
        return self._serial.get_msgparser().get_constants()
    def get_constant_float(self, name):
        return self._serial.get_msgparser().get_constant_float(name)
    def print_time_to_clock(self, print_time):
        return self._clocksync.print_time_to_clock(print_time)
    def clock_to_print_time(self, clock):
        return self._clocksync.clock_to_print_time(clock)
    def estimated_print_time(self, eventtime):
        return self._clocksync.estimated_print_time(eventtime)
    def clock32_to_clock64(self, clock32):
        return self._clocksync.clock32_to_clock64(clock32)
    # Restarts
    def _disconnect(self):
        self._serial.disconnect()
        self._steppersync = None
    def _shutdown(self, force=False):
        if (self._emergency_stop_cmd is None
            or (self._is_shutdown and not force)):
            return
        self._emergency_stop_cmd.send()
    def _restart_mightyboard(self):
        logging.info("Attempting MCU '%s' reset", self._name)
        self._disconnect()
        serialhdl.mightyboard_reset(self._serialport, self._reactor)
    def _restart_arduino(self):
        logging.info("Attempting MCU '%s' reset", self._name)
        self._disconnect()
        serialhdl.arduino_reset(self._serialport, self._reactor)
    def _restart_cheetah(self):
        logging.info("Attempting MCU '%s' Cheetah-style reset", self._name)
        self._disconnect()
        serialhdl.cheetah_reset(self._serialport, self._reactor)
    def _restart_via_command(self):
        if ((self._reset_cmd is None and self._config_reset_cmd is None)
            or not self._clocksync.is_active()):
            logging.info("Unable to issue reset command on MCU '%s'",
                         self._name)
            return
        if self._reset_cmd is None:
            # Attempt reset via config_reset command
            logging.info("Attempting MCU '%s' config_reset command", self._name)
            self._is_shutdown = True
            self._shutdown(force=True)
            self._reactor.pause(self._reactor.monotonic() + 0.015)
            self._config_reset_cmd.send()
        else:
            # Attempt reset via reset command
            logging.info("Attempting MCU '%s' reset command", self._name)
            self._reset_cmd.send()
        self._reactor.pause(self._reactor.monotonic() + 0.015)
        self._disconnect()
    def _restart_rpi_usb(self):
        logging.info("Attempting MCU '%s' reset via rpi usb power", self._name)
        self._disconnect()
        chelper.run_hub_ctrl(0)
        self._reactor.pause(self._reactor.monotonic() + 2.)
        chelper.run_hub_ctrl(1)
    def _firmware_restart(self, force=False):
        if self._is_mcu_bridge and not force:
            return
        if self._restart_method == 'rpi_usb':
            self._restart_rpi_usb()
        elif self._restart_method == 'command':
            self._restart_via_command()
        elif self._restart_method == 'cheetah':
            self._restart_cheetah()
        elif self._restart_method == 'mightyboard':
            self._restart_mightyboard()
        else:
            self._restart_arduino()
    def _firmware_restart_bridge(self):
        self._firmware_restart(True)
    # Move queue tracking
    def register_stepqueue(self, stepqueue):
        self._stepqueues.append(stepqueue)
    def request_move_queue_slot(self):
        self._reserved_move_slots += 1
    def register_flush_callback(self, callback):
        self._flush_callbacks.append(callback)
    def flush_moves(self, print_time, clear_history_time):
        if self._steppersync is None:
            return
        clock = self.print_time_to_clock(print_time)
        if clock < 0:
            return
        for cb in self._flush_callbacks:
            cb(print_time, clock)
        clear_history_clock = \
            max(0, self.print_time_to_clock(clear_history_time))
        ret = self._ffi_lib.steppersync_flush(self._steppersync, clock,
                                              clear_history_clock)
        if ret:
            raise error("Internal error in MCU '%s' stepcompress"
                        % (self._name,))
    def check_active(self, print_time, eventtime):
        if self._steppersync is None:
            return
        offset, freq = self._clocksync.calibrate_clock(print_time, eventtime)
        self._ffi_lib.steppersync_set_time(self._steppersync, offset, freq)
        if (self._clocksync.is_active() or self.is_fileoutput()
            or self._is_timeout):
            return
        self._is_timeout = True
        logging.info("Timeout with MCU '%s' (eventtime=%f)",
                     self._name, eventtime)
        self._printer.invoke_shutdown("Lost communication with MCU '%s'" % (
            self._name,))
    # Misc external commands
    def is_fileoutput(self):
        return self._printer.get_start_args().get('debugoutput') is not None
    def is_shutdown(self):
        return self._is_shutdown
    def get_shutdown_clock(self):
        return self._shutdown_clock
    def get_status(self, eventtime=None):
        return dict(self._get_status_info)
    def stats(self, eventtime):
        load = "mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
            self._mcu_tick_awake, self._mcu_tick_avg, self._mcu_tick_stddev)
        stats = ' '.join([load, self._serial.stats(eventtime),
                          self._clocksync.stats(eventtime)])
        parts = [s.split('=', 1) for s in stats.split()]
        last_stats = {k:(float(v) if '.' in v else int(v)) for k, v in parts}
        self._get_status_info['last_stats'] = last_stats
        return False, '%s: %s' % (self._name, stats)

def add_printer_objects(config):
    printer = config.get_printer()
    reactor = printer.get_reactor()
    mainsync = clocksync.ClockSync(reactor)
    printer.add_object('mcu', MCU(config.getsection('mcu'), mainsync))
    for s in config.get_prefix_sections('mcu '):
        printer.add_object(s.section, MCU(
            s, clocksync.SecondarySync(reactor, mainsync)))

def get_printer_mcu(printer, name):
    if name == 'mcu':
        return printer.lookup_object(name)
    return printer.lookup_object('mcu ' + name)