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mcu: Add support for connecting to devices on a CAN bus

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-02-07 17:56:39 -05:00
parent babde17c4c
commit 041692828c
3 changed files with 51 additions and 7 deletions
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25
klippy/mcu.py
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@@ -415,12 +415,20 @@ class MCU:
if self._name.startswith('mcu '):
self._name = self._name[4:]
# Serial port
self._serialport = config.get('serial')
self._baud = 0
if not (self._serialport.startswith("/dev/rpmsg_")
or self._serialport.startswith("/tmp/klipper_host_")):
self._baud = config.getint('baud', 250000, minval=2400)
self._serial = serialhdl.SerialReader(self._reactor)
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, 'arduino', 'cheetah', 'command', 'rpi_usb']
self._restart_method = 'command'
@@ -617,7 +625,12 @@ class MCU:
# Try toggling usb power
self._check_restart("enable power")
try:
if self._baud:
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")