public Mcu(ConfigWrapper config, ClockSync clocksync)
{
this._printer = config.get_printer();
this._clocksync = clocksync;
this._reactor = _printer.get_reactor();
this._name = config.get_name();
if (this._name.StartsWith("mcu "))
{
this._name = this._name.Substring(4);
}
this._printer.register_event_handler("klippy:connect", this._connect);
this._printer.register_event_handler("klippy:shutdown", this._shutdown);
this._printer.register_event_handler("klippy:disconnect", this._disconnect);
// Serial port
this._serialport = config.get("serial", "/dev/ttyS0");
var baud = 0;
if (!(this._serialport.StartsWith("/dev/rpmsg_") || this._serialport.StartsWith("/tmp/klipper_host_")))
{
baud = (int)config.getint("baud", 250000, minval: 2400);
}
this._serial = new SerialReader(this._reactor, this._serialport, baud);
// Restarts
this._restart_method = RestartMethod.Command;
if (baud != 0)
{
this._restart_method = config.getEnum <RestartMethod>("restart_method", RestartMethod.None);
}
this._reset_cmd = null;
this._emergency_stop_cmd = null;
this._is_shutdown = false;
this._shutdown_msg = "";
// Config building
this._printer.lookup_object <PrinterPins>("pins").register_chip(this._name, this);
this._oid_count = 0;
this._config_callbacks = new List <Action>();
this._init_cmds = new List <string>();
this._config_cmds = new List <string>();
this._pin_map = config.get("pin_map", null);
this._custom = config.get("custom", "");
this._mcu_freq = 0.0;
// Move command queuing
this._max_stepper_error = config.getfloat("max_stepper_error", 2.5E-05, minval: 0.0);
this._move_count = 0;
this._stepqueues = new List <stepcompress>();
this._steppersync = null;
// Stats
this._stats_sumsq_base = 0.0;
this._mcu_tick_avg = 0.0;
this._mcu_tick_stddev = 0.0;
this._mcu_tick_awake = 0.0;
}
void _connect()
{
if (this.is_fileoutput())
{
this._connect_file();
}
else
{
if (this._restart_method == RestartMethod.Rpi_usb && !System.IO.File.Exists(this._serialport))
{
// Try toggling usb power
this._check_restart("enable power");
}
this._serial.Connect();
this._clocksync.connect(this._serial);
}
var msgparser = this._serial.msgparser;
var name = this._name;
var log_info = new List <string> {
$"Loaded MCU '{name}' {msgparser.messages_by_id.Count} commands ({msgparser.version} / {msgparser.build_versions})",
$"MCU '{name}' config: {string.Join(" ", msgparser.config.Select((a) => $"{a.Key}={a.Value}"))}"
};
logging.Info(log_info[0]);
logging.Info(log_info[1]);
this._mcu_freq = this.get_constant_float("CLOCK_FREQ");
this._stats_sumsq_base = this.get_constant_float("STATS_SUMSQ_BASE");
this._emergency_stop_cmd = this.lookup_command("emergency_stop");
this._reset_cmd = this.try_lookup_command("reset");
this._config_reset_cmd = this.try_lookup_command("config_reset");
if (this._restart_method == RestartMethod.None &&
(this._reset_cmd != null || this._config_reset_cmd != null) &&
msgparser.get_constant("SERIAL_BAUD", null) == null)
{
this._restart_method = RestartMethod.Command;
}
this.register_msg(this._handle_shutdown, "shutdown");
this.register_msg(this._handle_shutdown, "is_shutdown");
this.register_msg(this._handle_mcu_stats, "stats");
this._check_config();
var move_msg = $"Configured MCU '{name}' ({this._move_count} moves)";
logging.Info(move_msg);
log_info.Add(move_msg);
this._printer.set_rollover_info(name, string.Join("\n", log_info), log: false);
}
