void _check_config()
{
var config_parameters = this._send_get_config();
if (!config_parameters.Get <bool>("is_config"))
{
if (this._restart_method == RestartMethod.Rpi_usb)
{
// Only configure mcu after usb power reset
this._check_restart("full reset before config");
}
// Not configured - send config and issue get_config again
this._send_config(0);
config_parameters = this._send_get_config();
logging.Debug($"Config received crc32 {config_parameters.Get<uint>("crc")}");
if (!config_parameters.Get <bool>("is_config") && !this.is_fileoutput())
{
throw new McuException($"Unable to configure MCU '{this._name}'");
}
}
else
{
var start_reason = (string)this._printer.get_start_args().Get("start_reason");
if (start_reason == "firmware_restart")
{
throw new McuException($"Failed automated reset of MCU '{this._name}'");
}
// Already configured - send init commands
this._send_config(config_parameters.Get <uint>("crc"));
}
// Setup steppersync with the move_count returned by get_config
this._move_count = config_parameters.Get <int>("move_count");
this._steppersync = new steppersync(this._serial.serialqueue, this._stepqueues, this._move_count);
this._steppersync.set_time(0.0, this._mcu_freq);
}
// Restarts
void _disconnect()
{
_serial.disconnect();
if (_steppersync != null)
{
_steppersync.Dispose();
_steppersync = null;
}
}
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;
}