docs: Note version 0.5.0 release

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

Makefile

@@ -1,6 +1,6 @@
 # Klipper build system
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 
@@ -22,7 +22,7 @@ OBJCOPY=$(CROSS_PREFIX)objcopy
 OBJDUMP=$(CROSS_PREFIX)objdump
 STRIP=$(CROSS_PREFIX)strip
 CPP=cpp
-PYTHON=python
+PYTHON=python2
 
 # Source files
 src-y =
@@ -32,18 +32,15 @@ dirs-y = src
 cc-option=$(shell if test -z "`$(1) $(2) -S -o /dev/null -xc /dev/null 2>&1`" \
     ; then echo "$(2)"; else echo "$(3)"; fi ;)
 
-CFLAGS-y := -I$(OUT) -Isrc -I$(OUT)board-generic/ -O2 -MD -g \
+CFLAGS := -I$(OUT) -Isrc -I$(OUT)board-generic/ -O2 -MD -g \
     -Wall -Wold-style-definition $(call cc-option,$(CC),-Wtype-limits,) \
     -ffunction-sections -fdata-sections
-CFLAGS-y += -flto -fwhole-program -fno-use-linker-plugin
+CFLAGS += -flto -fwhole-program -fno-use-linker-plugin
 
-LDFLAGS-y := -Wl,--gc-sections -fno-whole-program
+CFLAGS_klipper.elf = $(CFLAGS) -Wl,--gc-sections
 
 CPPFLAGS = -I$(OUT) -P -MD -MT $@
 
-CFLAGS = $(CFLAGS-y)
-LDFLAGS = $(LDFLAGS-y)
-
 # Default targets
 target-y := $(OUT)klipper.elf
 
@@ -77,23 +74,18 @@ $(OUT)board-link: $(KCONFIG_CONFIG)
 	$(Q)mkdir -p $(OUT)board-generic
 	$(Q)ln -Tsf $(PWD)/src/generic $(OUT)board-generic/board
 
-$(OUT)declfunc.lds: src/declfunc.lds.S
-	@echo "  Precompiling $@"
-	$(Q)$(CPP) $(CPPFLAGS) -D__ASSEMBLY__ $< -o $@
+$(OUT)%.o.ctr: $(OUT)%.o
+	$(Q)$(OBJCOPY) -j '.compile_time_request' -O binary $^ $@
 
-$(OUT)klipper.o: $(patsubst %.c, $(OUT)src/%.o,$(src-y)) $(OUT)declfunc.lds
-	@echo "  Linking $@"
-	$(Q)$(CC) $(CFLAGS) -Wl,-r -Wl,-T,$(OUT)declfunc.lds -nostdlib $(patsubst %.c, $(OUT)src/%.o,$(src-y)) -o $@
-
-$(OUT)compile_time_request.o: $(OUT)klipper.o ./scripts/buildcommands.py
+$(OUT)compile_time_request.o: $(patsubst %.c, $(OUT)src/%.o.ctr,$(src-y)) ./scripts/buildcommands.py
 	@echo "  Building $@"
-	$(Q)$(OBJCOPY) -j '.compile_time_request' -O binary $< $(OUT)klipper.o.compile_time_request
-	$(Q)$(PYTHON) ./scripts/buildcommands.py -d $(OUT)klipper.dict $(OUT)klipper.o.compile_time_request $(OUT)compile_time_request.c
+	$(Q)cat $(patsubst %.c, $(OUT)src/%.o.ctr,$(src-y)) > $(OUT)klipper.compile_time_request
+	$(Q)$(PYTHON) ./scripts/buildcommands.py -d $(OUT)klipper.dict $(OUT)klipper.compile_time_request $(OUT)compile_time_request.c
 	$(Q)$(CC) $(CFLAGS) -c $(OUT)compile_time_request.c -o $@
 
-$(OUT)klipper.elf: $(OUT)klipper.o $(OUT)compile_time_request.o
+$(OUT)klipper.elf: $(patsubst %.c, $(OUT)src/%.o,$(src-y)) $(OUT)compile_time_request.o
 	@echo "  Linking $@"
-	$(Q)$(CC) $(CFLAGS) $(LDFLAGS) $^ -o $@
+	$(Q)$(CC) $(CFLAGS_klipper.elf) $^ -o $@
 
 ################ Kconfig rules
 

config/avrsim.cfg

@@ -1,7 +1,7 @@
 # Support for internal testing with the "simulavr" program.  To use
 # this config, compile the firmware for an AVR atmega644p, disable the
 # AVR watchdog timer, set the MCU frequency to 20000000, and set the
-# serial baud rate to 115200.
+# serial baud rate to 250000.
 
 [stepper_x]
 # Pins: PA5, PA4, PA1
@@ -42,11 +42,11 @@ step_pin: ar19
 dir_pin: ar18
 enable_pin: ar25
 step_distance: .004242
-max_velocity: 200000
-max_accel: 3000
+nozzle_diameter: 0.500
+filament_diameter: 3.500
 heater_pin: ar4
-thermistor_pin: analog1
-thermistor_type: EPCOS 100K B57560G104F
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: analog1
 control: pid
 pid_Kp: 22.2
 pid_Ki: 1.08
@@ -57,19 +57,17 @@ max_temp: 210
 
 [heater_bed]
 heater_pin: ar3
-thermistor_pin: analog0
-thermistor_type: EPCOS 100K B57560G104F
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: analog0
 control: watermark
 min_temp: 0
 max_temp: 110
 
 [fan]
 pin: ar14
-hard_pwm: 1
 
 [mcu]
 serial: /tmp/pseudoserial
-baud: 250000
 pin_map: arduino
 
 [printer]

config/example-corexy.cfg

@@ -0,0 +1,81 @@
+# This file serves as documentation for config parameters of corexy
+# style printers. One may copy and edit this file to configure a new
+# corexy printer. Only parameters unique to corexy printers are
+# described here - see the "example.cfg" file for description of
+# common config parameters.
+
+# DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
+# FIRST. Incorrectly configured parameters may cause damage.
+
+# The stepper_x section is used to describe the X axis as well as the
+# stepper controlling the X+Y movement.
+[stepper_x]
+step_pin: ar54
+dir_pin: ar55
+enable_pin: !ar38
+step_distance: .01
+endstop_pin: ^ar3
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+# The stepper_y section is used to describe the Y axis as well as the
+# stepper controlling the X-Y movement.
+[stepper_y]
+step_pin: ar60
+dir_pin: ar61
+enable_pin: !ar56
+step_distance: .01
+endstop_pin: ^ar14
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: ar46
+dir_pin: ar48
+enable_pin: !ar62
+step_distance: .01
+endstop_pin: ^ar18
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: ar26
+dir_pin: ar28
+enable_pin: !ar24
+step_distance: .0022
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: ar10
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: analog13
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: ar8
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: analog14
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: ar9
+
+[mcu]
+serial: /dev/ttyACM0
+pin_map: arduino
+
+[printer]
+kinematics: corexy
+#   This option must be "corexy" for corexy printers.
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 25
+max_z_accel: 30

config/example-delta.cfg

@@ -9,20 +9,22 @@
 
 # The stepper_a section describes the stepper controlling the front
 # left tower (at 210 degrees). This section also controls the homing
-# parameters (homing_speed, homing_retract_dist) and maximum tower
-# length (position_max) for all towers.
+# parameters (homing_speed, homing_retract_dist) for all towers.
 [stepper_a]
 step_pin: ar54
 dir_pin: ar55
 enable_pin: !ar38
 step_distance: .01
 endstop_pin: ^ar2
-homing_speed: 50.0
 position_endstop: 297.05
-position_max: 297.55
+#angle:
+#   This option specifies the angle (in degrees) that the tower is
+#   at. The default is 210 for stepper_a, 330 for stepper_b, and 90
+#   for stepper_c.
+homing_speed: 50
 
 # The stepper_b section describes the stepper controlling the front
-# right tower (at 330 degrees)
+# right tower (at 330 degrees).
 [stepper_b]
 step_pin: ar60
 dir_pin: ar61
@@ -32,7 +34,7 @@ endstop_pin: ^ar15
 position_endstop: 297.05
 
 # The stepper_c section describes the stepper controlling the rear
-# tower (at 90 degrees)
+# tower (at 90 degrees).
 [stepper_c]
 step_pin: ar46
 dir_pin: ar48
@@ -46,11 +48,11 @@ step_pin: ar26
 dir_pin: ar28
 enable_pin: !ar24
 step_distance: .0022
-max_velocity: 200
-max_accel: 3000
+nozzle_diameter: 0.400
+filament_diameter: 1.750
 heater_pin: ar10
-thermistor_pin: analog13
-thermistor_type: ATC Semitec 104GT-2
+sensor_type: ATC Semitec 104GT-2
+sensor_pin: analog13
 control: pid
 pid_Kp: 22.2
 pid_Ki: 1.08
@@ -60,36 +62,40 @@ max_temp: 250
 
 [heater_bed]
 heater_pin: ar8
-thermistor_pin: analog14
-thermistor_type: EPCOS 100K B57560G104F
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: analog14
 control: watermark
 min_temp: 0
 max_temp: 130
 
-# Extruder print fan (omit section if fan not present)
+# Print cooling fan (omit section if fan not present).
 #[fan]
 #pin: ar9
-#hard_pwm: 1
 
 [mcu]
 serial: /dev/ttyACM0
-baud: 250000
 pin_map: arduino
 
 [printer]
 kinematics: delta
-#   This option must be "delta" for linear delta printers
+#   This option must be "delta" for linear delta printers.
 max_velocity: 300
+#   Maximum velocity (in mm/s) of the toolhead relative to the
+#   print. This parameter must be specified.
 max_accel: 3000
-max_z_velocity: 200
+#   Maximum acceleration (in mm/s^2) of the toolhead relative to the
+#   print. This parameter must be specified.
+max_z_velocity: 150
 #   For delta printers this limits the maximum velocity (in mm/s) of
 #   moves with z axis movement. This setting can be used to reduce the
 #   maximum speed of up/down moves (which require a higher step rate
-#   than other moves on a delta printer).
+#   than other moves on a delta printer). The default is to use
+#   max_velocity for max_z_velocity.
 delta_arm_length: 333.0
 #   Length (in mm) of the diagonal rods that connect the linear axes
-#   to the print head
+#   to the print head. This parameter must be provided.
 delta_radius: 174.75
 #   Radius (in mm) of the horizontal circle formed by the three linear
 #   axis towers. This parameter may also be calculated as:
 #    delta_radius = smooth_rod_offset - effector_offset - carriage_offset
+#   This parameter must be provided.

config/example-extras.cfg

@@ -0,0 +1,153 @@
+# This file serves as documentation for config parameters of
+# additional devices that may be configured on a printer. The snippets
+# in this file may be copied into the main printer.cfg file. See the
+# "example.cfg" file for description of common config parameters.
+
+
+# In a multi-extruder printer add an additional extruder section for
+# each additional extruder. The additional extruder sections should be
+# named "extruder1", "extruder2", "extruder3", and so on. See the
+# "extruder" section in example.cfg for a description of available
+# parameters.
+#[extruder1]
+#step_pin: ar36
+#dir_pin: ar34
+#...
+#deactivate_gcode:
+#   A list of G-Code commands (one per line) to execute on a G-Code
+#   tool change command (eg, "T1") that deactivates this extruder and
+#   activates some other extruder. It only makes sense to define this
+#   section on multi-extruder printers. The default is to not run any
+#   special G-Code commands on deactivation.
+#activate_gcode:
+#   A list of G-Code commands (one per line) to execute on a G-Code
+#   tool change command (eg, "T0") that activates this extruder. It
+#   only makes sense to define this section on multi-extruder
+#   printers. The default is to not run any special G-Code commands on
+#   activation.
+
+
+# Heater cooling fans (one may define any number of sections with a
+# "heater_fan" prefix). A "heater fan" is a fan that will be enabled
+# whenever its associated heater is active. In the event of an MCU
+# software error the heater_fan will be set to its max_power.
+#[heater_fan my_nozzle_fan]
+# See the "fan" section for fan configuration parameters.
+#pin: ar4
+# The remaining variables are specific to heater_fan.
+#heater: extruder
+#   Name of the config section defining the heater that this fan is
+#   associated with.  The default is "extruder".
+#heater_temp: 50.0
+#   A temperature (in Celsius) that the heater must drop below before
+#   the fan is disabled. The default is 50 Celsius.
+#fan_speed:
+#   The fan speed (expressed as a value from 0.0 to 1.0) that the fan
+#   will be set to when its associated heater is enabled. The default
+#   is max_power.
+
+
+# Additional micro-controllers (one may define any number of sections
+# with an "mcu" prefix). Additional micro-controllers introduce
+# additional pins that may be configured as heaters, steppers, fans,
+# etc.. For example, if an "[mcu extra_mcu]" section is introduced,
+# then pins such as "extra_mcu:ar9" may then be used elsewhere in the
+# config (where "ar9" is a hardware pin name or alias name on the
+# given mcu).
+#[mcu my_extra_mcu]
+# See the "mcu" section in example.cfg for configuration parameters.
+
+
+# Servos (one may define any number of sections with a "servo"
+# prefix). The servos may be controlled using the SET_SERVO g-code
+# command. For example: SET_SERVO SERVO=my_servo ANGLE=180
+#[servo my_servo]
+#pin: ar7
+#   PWM output pin controlling the servo. This parameter must be
+#   provided.
+#maximum_servo_angle: 180
+#   The maximum angle (in degrees) that this servo can be set to. The
+#   default is 180 degrees.
+#minimum_pulse_width: 0.001
+#   The minimum pulse width time (in seconds). This should correspond
+#   with an angle of 0 degrees. The default is 0.001 seconds.
+#maximum_pulse_width: 0.002
+#   The maximum pulse width time (in seconds). This should correspond
+#   with an angle of maximum_servo_angle. The default is 0.002
+#   seconds.
+
+
+# Statically configured digital output pins (one may define any number
+# of sections with a "static_digital_output" prefix). Pins configured
+# here will be setup as a GPIO output during MCU configuration.
+#[static_digital_output my_output_pins]
+#pins:
+#   A comma separated list of pins to be set as GPIO output pins. The
+#   pin will be set to a high level unless the pin name is prefaced
+#   with "!". This parameter must be provided.
+
+
+# Statically configured PWM output pins (one may define any number of
+# sections with a "static_pwm_output" prefix). Pins configured here
+# will be setup as PWM outputs during MCU configuration.
+#[static_pwm_output my_output_pwm]
+#pin:
+#   The pin to configure as PWM output. This parameter must be
+#   provided.
+#value:
+#   The value to statically set the PWM output to. This is typically
+#   set to a number between 0.0 and 1.0 with 1.0 being full on and 0.0
+#   being full off. However, the range may be changed with the 'scale'
+#   parameter (see below). This parameter must be provided.
+#hard_pwm:
+#   Set this value to force hardware PWM instead of software PWM. Set
+#   to 1 to force a hardware PWM at the fastest rate; set to a higher
+#   number to force hardware PWM with the given cycle time in clock
+#   ticks. The default is to use software PWM.
+#cycle_time: 0.100
+#   The amount of time (in seconds) per PWM cycle when using software
+#   based PWM. The default is 0.100 seconds.
+#scale:
+#   This parameter can be used to alter how the 'value' parameter is
+#   interpreted. If provided, then the 'value' parameter should be
+#   between 0.0 and 'scale'. This may be useful when configuring a PWM
+#   pin that controls a stepper voltage reference. The 'scale' can be
+#   set to the equivalent stepper amperage if the PWM were fully
+#   enabled, and then the 'value' parameter can be specified using the
+#   desired amperage for the stepper. The default is to not scale the
+#   'value' parameter.
+
+
+# Statically configured AD5206 digipots connected via SPI bus (one may
+# define any number of sections with an "ad5206" prefix).
+#[ad5206 my_digipot]
+#enable_pin:
+#   The pin corresponding to the AD5206 chip select line. This pin
+#   will be set to low at the start of SPI messages and raised to high
+#   after the message completes. This parameter must be provided.
+#channel_1:
+#channel_2:
+#channel_3:
+#channel_4:
+#channel_5:
+#channel_6:
+#   The value to statically set the given AD5206 channel to. This is
+#   typically set to a number between 0.0 and 1.0 with 1.0 being the
+#   highest resistance and 0.0 being the lowest resistance. However,
+#   the range may be changed with the 'scale' parameter (see
+#   below). If a channel is not specified then it is left
+#   unconfigured.
+#scale:
+#   This parameter can be used to alter how the 'channel_x' parameters
+#   are interpreted. If provided, then the 'channel_x' parameters
+#   should be between 0.0 and 'scale'. This may be useful when the
+#   AD5206 is used to set stepper voltage references. The 'scale' can
+#   be set to the equivalent stepper amperage if the AD5206 were at
+#   its highest resistance, and then the 'channel_x' parameters can be
+#   specified using the desired amperage value for the stepper. The
+#   default is to not scale the 'channel_x' parameters.
+
+
+# Replicape support - see the generic-replicape.cfg file for further
+# details.
+#[replicape]

config/example.cfg

@@ -1,6 +1,9 @@
 # This file serves as documentation for config parameters. One may
 # copy and edit this file to configure a new cartesian style
-# printer. For delta style printers, see the "example-delta.cfg" file.
+# printer. For delta style printers, see the "example-delta.cfg"
+# file. For corexy/h-bot style printers, see the "example-corexy.cfg"
+# file. Only common config sections are described here - see the
+# "example-extras.cfg" file for configuring less common devices.
 
 # DO NOT COPY THIS FILE WITHOUT CAREFULLY READING AND UPDATING IT
 # FIRST. Incorrectly configured parameters may cause damage.
@@ -16,30 +19,50 @@
 
 
 # The stepper_x section is used to describe the stepper controlling
-# the X axis in a cartesian robot
+# the X axis in a cartesian robot.
 [stepper_x]
-step_pin: ar29
-#   Step GPIO pin (triggered high)
-dir_pin: !ar28
-#   Direction GPIO pin (high indicates positive direction)
-enable_pin: !ar25
-#   Enable pin (default is enable high; use ! to indicate enable low)
+step_pin: ar54
+#   Step GPIO pin (triggered high). This parameter must be provided.
+dir_pin: ar55
+#   Direction GPIO pin (high indicates positive direction). This
+#   parameter must be provided.
+enable_pin: !ar38
+#   Enable pin (default is enable high; use ! to indicate enable
+#   low). If this parameter is not provided then the stepper motor
+#   driver must always be enabled.
 step_distance: .0225
-#   Distance in mm that each step causes the axis to travel
-endstop_pin: ^ar0
-#   Endstop switch detection pin
-homing_speed: 50.0
-#   Maximum velocity (in mm/s) of the stepper when homing
-homing_retract_dist: 5.0
-#   Distance to backoff (in mm) before homing a second time during homing
-homing_positive_dir: False
-#   If true, homes in a positive direction (away from zero)
-homing_stepper_phases: 0
+#   Distance in mm that each step causes the axis to travel. This
+#   parameter must be provided.
+endstop_pin: ^ar3
+#   Endstop switch detection pin. This parameter must be provided for
+#   the X, Y, and Z steppers on cartesian style printers.
+#position_min: 0
+#   Minimum valid distance (in mm) the user may command the stepper to
+#   move to.  The default is 0mm.
+position_endstop: 0
+#   Location of the endstop (in mm). This parameter must be provided
+#   for the X, Y, and Z steppers on cartesian style printers.
+position_max: 200
+#   Maximum valid distance (in mm) the user may command the stepper to
+#   move to. This parameter must be provided for the X, Y, and Z
+#   steppers on cartesian style printers.
+#homing_speed: 5.0
+#   Maximum velocity (in mm/s) of the stepper when homing. The default
+#   is 5mm/s.
+#homing_retract_dist: 5.0
+#   Distance to backoff (in mm) before homing a second time during
+#   homing. The default is 5mm.
+#homing_positive_dir:
+#   If true, homing will cause the stepper to move in a positive
+#   direction (away from zero); if false, home towards zero. The
+#   default is true if position_endstop is near position_max and false
+#   if near position_min.
+#homing_stepper_phases: 0
 #   One may optionally set this to the number of phases of the stepper
 #   motor driver (which is the number of micro-steps multiplied by
 #   four). When set, the phase of the stepper driver will be used
 #   during homing to improve the accuracy of the endstop switch.
-homing_endstop_accuracy: 0.200
+#homing_endstop_accuracy: 0.200
 #   Sets the expected accuracy (in mm) of the endstop. This represents
 #   the maximum error distance the endstop may trigger (eg, if an
 #   endstop may occasionally trigger 100um early or up to 100um late
@@ -54,38 +77,28 @@ homing_endstop_accuracy: 0.200
 #   reset. If this is not set, but homing_stepper_phases is set, then
 #   the stepper phase will be detected on the first home and that
 #   phase will be used on all subsequent homes.
-position_min: -0.25
-#   Minimum valid distance (in mm) the user may command the stepper to
-#   move to
-position_endstop: 0
-#   Location of the endstop (in mm)
-position_max: 200
-#   Maximum valid distance (in mm) the user may command the stepper to
-#   move to
 
 # The stepper_y section is used to describe the stepper controlling
 # the Y axis in a cartesian robot. It has the same settings as the
-# stepper_x section
+# stepper_x section.
 [stepper_y]
-step_pin: ar27
-dir_pin: ar26
-enable_pin: !ar25
+step_pin: ar60
+dir_pin: !ar61
+enable_pin: !ar56
 step_distance: .0225
-endstop_pin: ^ar1
-position_min: -0.25
+endstop_pin: ^ar14
 position_endstop: 0
 position_max: 200
 
 # The stepper_z section is used to describe the stepper controlling
 # the Z axis in a cartesian robot. It has the same settings as the
-# stepper_x section
+# stepper_x section.
 [stepper_z]
-step_pin: ar23
-dir_pin: !ar22
-enable_pin: !ar25
+step_pin: ar46
+dir_pin: ar48
+enable_pin: !ar62
 step_distance: .005
-endstop_pin: ^ar2
-position_min: 0.1
+endstop_pin: ^ar18
 position_endstop: 0.5
 position_max: 200
 
@@ -93,119 +106,195 @@ position_max: 200
 # controlling the printer extruder and the heater parameters for the
 # nozzle. The stepper configuration has the same settings as the
 # stepper_x section and the heater configuration has the same settings
-# as the heater_bed section
+# as the heater_bed section (described below).
 [extruder]
-step_pin: ar19
-dir_pin: ar18
-enable_pin: !ar25
+step_pin: ar26
+dir_pin: ar28
+enable_pin: !ar24
 step_distance: .004242
-max_velocity: 200000
+nozzle_diameter: 0.500
+#   Diameter of the nozzle orifice (in mm). This parameter must be
+#   provided.
+filament_diameter: 3.500
+#   Diameter of the raw filament (in mm) as it enters the
+#   extruder. This parameter must be provided.
+#max_extrude_cross_section:
+#   Maximum area of the cross section of an extrusion line (in
+#   mm^2). This setting prevents excessive amounts of extrusion during
+#   relatively small XY moves. If a move requests an extrusion rate
+#   that would exceed this value it will cause an error to be
+#   returned. The default is: 4.0 * nozzle_diameter^2
+#max_extrude_only_distance: 50.0
+#   Maximum length (in mm of raw filament) that an extrude only move
+#   may be. If an extrude only move requests a distance greater than
+#   this value it will cause an error to be returned. The default is
+#   50mm.
+#max_extrude_only_velocity:
 #   Maximum velocity (in mm/s) of the extruder motor for extrude only
-#   moves.
-max_accel: 3000
+#   moves. If this is not specified then it is calculated to match the
+#   limit an XY printing move with a max_extrude_cross_section
+#   extrusion would have.
+#max_extrude_only_accel:
 #   Maximum acceleration (in mm/s^2) of the extruder motor for extrude
-#   only moves.
-#
-# The remaining variables describe the extruder heater
-pressure_advance: 0.0
+#   only moves. If this is not specified then it is calculated to
+#   match the limit an XY printing move with a
+#   max_extrude_cross_section extrusion would have.
+#pressure_advance: 0.0
 #   The amount of raw filament to push into the extruder during
 #   extruder acceleration. An equal amount of filament is retracted
 #   during deceleration. It is measured in millimeters per
-#   millimeter/second
-heater_pin: ar4
-#   PWM output pin controlling the heater
-thermistor_pin: analog1
-#   Analog input pin connected to thermistor
-thermistor_type: EPCOS 100K B57560G104F
-#   Type of thermistor (see klippy/heater.py for available types)
-pullup_resistor: 4700
-#   The resistance (in ohms) of the pullup attached to the thermistor
+#   millimeter/second. The default is 0, which disables pressure
+#   advance.
+#pressure_advance_lookahead_time: 0.010
+#   A time (in seconds) to "look ahead" at future extrusion moves when
+#   calculating pressure advance. This is used to reduce the
+#   application of pressure advance during cornering moves that would
+#   otherwise cause retraction followed immediately by pressure
+#   buildup. This setting only applies if pressure_advance is
+#   non-zero. The default is 0.010 (10 milliseconds).
+#
+# The remaining variables describe the extruder heater.
+heater_pin: ar10
+#   PWM output pin controlling the heater. This parameter must be
+#   provided.
+#max_power: 1.0
+#   The maximum power (expressed as a value from 0.0 to 1.0) that the
+#   heater_pin may be set to. The value 1.0 allows the pin to be set
+#   fully enabled for extended periods, while a value of 0.5 would
+#   allow the pin to be enabled for no more than half the time. This
+#   setting may be used to limit the total power output (over extended
+#   periods) to the heater. The default is 1.0.
+sensor_type: EPCOS 100K B57560G104F
+#   Type of sensor - this may be "EPCOS 100K B57560G104F", "ATC
+#   Semitec 104GT-2", "NTC 100K beta 3950", or "AD595". This parameter
+#   must be provided.
+sensor_pin: analog13
+#   Analog input pin connected to the sensor. This parameter must be
+#   provided.
+#pullup_resistor: 4700
+#   The resistance (in ohms) of the pullup attached to the
+#   thermistor. This parameter is only valid when the sensor is a
+#   thermistor. The default is 4700 ohms.
+#adc_voltage: 5.0
+#   The ADC comparison voltage. This parameter is only valid when the
+#   sensor is an AD595. The default is 5 volts.
 control: pid
-#   Control algorithm (either pid or watermark)
+#   Control algorithm (either pid or watermark). This parameter must
+#   be provided.
 pid_Kp: 22.2
-#   Kp is the "proportional" constant for the pid
+#   Kp is the "proportional" constant for the pid. This parameter must
+#   be provided for PID heaters.
 pid_Ki: 1.08
-#   Ki is the "integral" constant for the pid
+#   Ki is the "integral" constant for the pid. This parameter must be
+#   provided for PID heaters.
 pid_Kd: 114
-#   Kd is the "derivative" constant for the pid
-pid_deriv_time: 2.0
+#   Kd is the "derivative" constant for the pid. This parameter must
+#   be provided for PID heaters.
+#pid_deriv_time: 2.0
 #   A time value (in seconds) over which the derivative in the pid
-#   will be smoothed to reduce the impact of measurement noise
-pid_integral_max: 255
-#   The maximum "windup" the integral term may accumulate
-min_extrude_temp: 170
+#   will be smoothed to reduce the impact of measurement noise. The
+#   default is 2 seconds.
+#pid_integral_max:
+#   The maximum "windup" the integral term may accumulate. The default
+#   is to use the same value as max_power.
+#min_extrude_temp: 170
 #   The minimum temperature (in Celsius) at which extruder move
-#   commands may be issued
+#   commands may be issued. The default is 170 Celsius.
 min_temp: 0
-#   Minimum temperature in Celsius (mcu will shutdown if not met)
+#   Minimum temperature in Celsius (mcu will shutdown if not
+#   met). This parameter must be provided.
 max_temp: 210
 #   Maximum temperature (mcu will shutdown if temperature is above
-#   this value)
+#   this value). This parameter must be provided.
 
 # The heater_bed section describes a heated bed (if present - omit
 # section if not present).
 [heater_bed]
-heater_pin: ar3
-thermistor_pin: analog0
-thermistor_type: EPCOS 100K B57560G104F
+heater_pin: ar8
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: analog14
 control: watermark
-max_delta: 2.0
-#   The number of degrees in Celsius above the target temperature
-#   before disabling the heater as well as the number of degrees below
-#   the target before re-enabling the heater.
+#max_delta: 2.0
+#   On 'watermark' controlled heaters this is the number of degrees in
+#   Celsius above the target temperature before disabling the heater
+#   as well as the number of degrees below the target before
+#   re-enabling the heater. The default is 2 degrees Celsius.
 min_temp: 0
 max_temp: 110
 
-# Extruder print fan (omit section if fan not present)
+# Print cooling fan (omit section if fan not present).
 [fan]
-pin: ar14
-#   PWM output pin controlling the heater
-hard_pwm: 1
+pin: ar9
+#   PWM output pin controlling the fan. This parameter must be
+#   provided.
+#max_power: 1.0
+#   The maximum power (expressed as a value from 0.0 to 1.0) that the
+#   pin may be set to. The value 1.0 allows the pin to be set fully
+#   enabled for extended periods, while a value of 0.5 would allow the
+#   pin to be enabled for no more than half the time. This setting may
+#   be used to limit the total power output (over extended periods) to
+#   the fan. The default is 1.0.
+#hard_pwm: 0
 #   Set this value to force hardware PWM instead of software PWM. Set
 #   to 1 to force a hardware PWM at the fastest rate; set to a higher
-#   number (eg, 1024) to force hardware PWM with the given cycle time
-#   in clock ticks.
-kick_start_time: 0.100
+#   number to force hardware PWM with the given cycle time in clock
+#   ticks. The default is 0 which enables software PWM with a cycle
+#   time of 10ms.
+#kick_start_time: 0.100
 #   Time (in seconds) to run the fan at full speed when first enabling
-#   it (helps get the fan spinning)
+#   it (helps get the fan spinning). The default is 0.100 seconds.
 
-# Micro-controller information
+# Micro-controller information.
 [mcu]
 serial: /dev/ttyACM0
-#   The serial port to connect to the MCU
-baud: 250000
-#   The baud rate to use
+#   The serial port to connect to the MCU. The default is /dev/ttyS0
+#baud: 250000
+#   The baud rate to use. The default is 250000.
 pin_map: arduino
-#   This option may be used to enable Arduino pin name aliases
-custom:
-#   This option may be used to specify a set of custom
-#   micro-controller commands to be sent at the start of the
-#   connection. It may be used to configure the initial settings of
-#   LEDs, to configure micro-stepping pins, to configure a digipot,
-#   etc.
+#   This option may be used to enable Arduino pin name aliases. The
+#   default is to not enable the aliases.
+#restart_method: arduino
+#   This controls the mechanism the host will use to reset the
+#   micro-controller. The choices are 'arduino', 'rpi_usb', and
+#   'command'. The 'arduino' method (toggle DTR) is common on Arduino
+#   boards and clones. The 'rpi_usb' method is useful on Raspberry Pi
+#   boards with micro-controllers powered over USB - it briefly
+#   disables power to all USB ports to accomplish a micro-controller
+#   reset. The 'command' method involves sending a Klipper command to
+#   the micro-controller so that it can reset itself. The default is
+#   'arduino'.
 
-# The printer section controls high level printer settings
+# The printer section controls high level printer settings.
 [printer]
 kinematics: cartesian
-#   This option must be "cartesian" for cartesian printers
+#   This option must be "cartesian" for cartesian printers.
 max_velocity: 500
 #   Maximum velocity (in mm/s) of the toolhead (relative to the
-#   print)
+#   print). This parameter must be specified.
 max_accel: 3000
 #   Maximum acceleration (in mm/s^2) of the toolhead (relative to the
-#   print)
-max_z_velocity: 250
+#   print). This parameter must be specified.
+#max_accel_to_decel:
+#   A pseudo acceleration (in mm/s^2) controlling how fast the
+#   toolhead may go from acceleration to deceleration. It is used to
+#   reduce the top speed of short zig-zag moves (and thus reduce
+#   printer vibration from these moves). The default is half of
+#   max_accel.
+max_z_velocity: 25
 #   For cartesian printers this sets the maximum velocity (in mm/s) of
 #   movement along the z axis. This setting can be used to restrict
-#   the maximum speed of the z stepper motor on cartesian printers.
+#   the maximum speed of the z stepper motor on cartesian
+#   printers. The default is to use max_velocity for max_z_velocity.
 max_z_accel: 30
 #   For cartesian printers this sets the maximum acceleration (in
 #   mm/s^2) of movement along the z axis. It limits the acceleration
-#   of the z stepper motor on cartesian printers.
-motor_off_time: 60
+#   of the z stepper motor on cartesian printers. The default is to
+#   use max_accel for max_z_accel.
+#motor_off_time: 600
 #   Time (in seconds) of idle time before the printer will try to
-#   disable active motors.
-junction_deviation: 0.02
+#   disable active motors. The default is 600 seconds.
+#junction_deviation: 0.02
 #   Distance (in mm) used to control the internal approximated
 #   centripetal velocity cornering algorithm. A larger number will
-#   permit higher "cornering speeds" at the junction of two moves.
+#   permit higher "cornering speeds" at the junction of two moves. The
+#   default is 0.02mm.

config/generic-cramps.cfg

@@ -0,0 +1,79 @@
+# This file contains an example configuration for a Beaglebone PRU
+# micro-controller attached to a CRAMPS board.
+
+# THIS FILE HAS NOT BEEN TESTED - PROCEED WITH CAUTION!
+
+# NOTE: Klipper does not alter the input/output state of the
+# Beaglebone pins and it does not control their pull-up resistors.  In
+# order to set the pin state one must use a "device tree overlay" or
+# use the config-pin program.
+
+# See the example.cfg file for a description of available parameters.
+
+[stepper_x]
+step_pin: P8_13
+dir_pin: P8_12
+enable_pin: !P9_14
+step_distance: .0125
+endstop_pin: ^P8_8
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: P8_15
+dir_pin: P8_14
+enable_pin: !P9_14
+step_distance: .0125
+endstop_pin: ^P8_10
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: P8_19
+dir_pin: P8_18
+enable_pin: !P9_14
+step_distance: 0.00025
+endstop_pin: ^P9_13
+position_endstop: 0
+position_max: 200
+
+[extruder]
+step_pin: P9_16
+dir_pin: P9_12
+enable_pin: !P9_14
+step_distance: .002
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: P9_15
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: P9_36
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: P8_11
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: P9_33
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: P9_41
+
+[mcu]
+serial: /dev/rpmsg_pru30
+pin_map: beaglebone
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100

config/generic-melzi.cfg

@@ -0,0 +1,76 @@
+# This file contains common pin mappings for Melzi v2.0 boards. To use
+# this config, the firmware should be compiled for the AVR
+# atmega1284p.
+
+# Note that the "make flash" command does not work with Melzi
+# boards. The boards are typically flashed with this command:
+#  avrdude -p atmega1284p -c avrisp -P /dev/ttyUSB0 -U flash:w:out/klipper.elf.hex
+
+# See the example.cfg file for a description of available parameters.
+
+[stepper_x]
+step_pin: PD7
+dir_pin: PC5
+enable_pin: !PD6
+step_distance: .0125
+endstop_pin: ^!PC2
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PC6
+dir_pin: PC7
+enable_pin: !PD6
+step_distance: .0125
+endstop_pin: ^!PC3
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PB3
+dir_pin: !PB2
+enable_pin: !PA5
+step_distance: 0.00025
+endstop_pin: ^!PC4
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PB1
+dir_pin: PB0
+enable_pin: !PD6
+step_distance: .002
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PD5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PA7
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: PD2
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PA6
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PB4
+
+[mcu]
+serial: /dev/ttyUSB0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100

config/generic-rambo.cfg

@@ -0,0 +1,109 @@
+# This file contains common pin mappings for RAMBo boards. To use this
+# config, the firmware should be compiled for the AVR atmega2560.
+
+# See the example.cfg file for a description of available parameters.
+
+[stepper_x]
+step_pin: PC0
+dir_pin: PL1
+enable_pin: !PA7
+step_distance: .0125
+endstop_pin: ^PB6
+#endstop_pin: ^PA2
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PC1
+dir_pin: !PL0
+enable_pin: !PA6
+step_distance: .0125
+endstop_pin: ^PB5
+#endstop_pin: ^PA1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PC2
+dir_pin: PL2
+enable_pin: !PA5
+step_distance: 0.00025
+endstop_pin: ^PB4
+#endstop_pin: ^PC7
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PC3
+dir_pin: PL6
+enable_pin: !PA4
+step_distance: .002
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: PH6
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PF0
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+#[extruder1]
+#step_pin: PC4
+#dir_pin: PL7
+#enable_pin: !PA3
+#heater_pin: PH4
+#sensor_pin: PF1
+#...
+
+[heater_bed]
+heater_pin: PE5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PF2
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: PH5
+
+#[heater_fan nozzle_cooling_fan]
+#pin: PH3
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[ad5206 stepper_digipot]
+enable_pin: PD7
+# Scale the config so that the channel value can be specified in amps.
+# (For Rambo v1.0d boards, use 1.56 instead.)
+scale: 2.08
+# Channel 1 is E0, 2 is E1, 3 is unused, 4 is Z, 5 is X, 6 is Y
+channel_1: 1.34
+channel_2: 1.0
+channel_4: 1.1
+channel_5: 1.1
+channel_6: 1.1
+
+# Enable 16 micro-steps on steppers X, Y, Z, E0, E1
+[static_digital_output stepper_config]
+pins:
+    PG1, PG0,
+    PK7, PG2,
+    PK6, PK5,
+    PK3, PK4,
+    PK2, PK1
+
+[static_digital_output yellow_led]
+pins: !PB7

config/generic-ramps.cfg

@@ -0,0 +1,84 @@
+# This file contains common pin mappings for RAMPS (v1.3 and later)
+# boards. RAMPS boards typically use a firmware compiled for the AVR
+# atmega2560 (though other AVR chips are also possible).
+
+# See the example.cfg file for a description of available parameters.
+
+[stepper_x]
+step_pin: ar54
+dir_pin: ar55
+enable_pin: !ar38
+step_distance: .0125
+endstop_pin: ^ar3
+#endstop_pin: ^ar2
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: ar60
+dir_pin: !ar61
+enable_pin: !ar56
+step_distance: .0125
+endstop_pin: ^ar14
+#endstop_pin: ^ar15
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: ar46
+dir_pin: ar48
+enable_pin: !ar62
+step_distance: 0.00025
+endstop_pin: ^ar18
+#endstop_pin: ^ar19
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: ar26
+dir_pin: ar28
+enable_pin: !ar24
+step_distance: .002
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: ar10
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: analog13
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+#[extruder1]
+#step_pin: ar36
+#dir_pin: ar34
+#enable_pin: !ar30
+#heater_pin: ar9
+#sensor_pin: analog15
+#...
+
+[heater_bed]
+heater_pin: ar8
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: analog14
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: ar9
+
+[mcu]
+serial: /dev/ttyACM0
+pin_map: arduino
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100

config/generic-replicape.cfg

@@ -0,0 +1,124 @@
+# This file contains an example configuration for the Replicape rev B3
+# board. To use this config, one must compile and install the
+# micro-controller code for the "Beaglebone PRU", and then compile and
+# install the micro-controller code a second time for a "Linux
+# process".
+
+# NOTE: Klipper does not alter the input/output state of the
+# Beaglebone pins and it does not control their pull-up resistors.
+# Typically the correct settings are automatically applied when the
+# Beaglebone detects the Replicape board, but if changes are needed
+# they must be specified in a "device tree overlay" or via the
+# config-pin program.
+
+# See the example.cfg file for a description of available parameters.
+
+[stepper_x]
+step_pin: P8_17
+dir_pin: P8_26
+enable_pin: replicape:stepper_x_enable
+step_distance: .0125
+endstop_pin: ^P9_25
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: P8_12
+dir_pin: P8_19
+enable_pin: replicape:stepper_y_enable
+step_distance: .0125
+endstop_pin: ^P9_23
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: P8_13
+dir_pin: P8_14
+enable_pin: replicape:stepper_z_enable
+step_distance: 0.00025
+endstop_pin: ^P9_13
+position_endstop: 0
+position_max: 200
+
+[extruder]
+step_pin: P9_12
+dir_pin: P8_15
+enable_pin: replicape:stepper_e_enable
+step_distance: .002
+nozzle_diameter: 0.400
+filament_diameter: 1.750
+heater_pin: replicape:power_e
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: host:analog4
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 250
+
+[heater_bed]
+heater_pin: replicape:power_hotbed
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: host:analog6
+control: watermark
+min_temp: 0
+max_temp: 130
+
+[fan]
+pin: replicape:power_fan0
+
+[mcu]
+serial: /dev/rpmsg_pru30
+pin_map: beaglebone
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 25
+max_z_accel: 30
+
+[mcu host]
+serial: /tmp/klipper_host_mcu
+
+# The "replicape" config section adds "replicape:stepper_x_enable"
+# virtual stepper enable pins (for steppers x, y, z, e, and h) and
+# "replicape:power_x" PWM output pins (for hotbed, e, h, fan0, fan1,
+# fan2, and fan3) that may then be used elsewhere in the config file.
+[replicape]
+revision: B3
+#   The replicape hardware revision. Currently only revision "B3" is
+#   supported. This parameter must be provided.
+#enable_pin: !P9_41
+#   The replicape global enable pin. The default is !P9_41.
+host_mcu: host
+#   The name of the mcu config section that communicates with the
+#   Klipper "linux process" mcu instance. This parameter must be
+#   provided.
+stepper_x_microstep_mode: spread16
+#   This parameter controls the CFG1 and CFG2 pins of the given
+#   stepper motor driver. Available options are: disable, 1, 2,
+#   spread2, 4, 16, spread4, spread16, stealth4, and stealth16. The
+#   default is disable.
+stepper_x_current: 0.5
+#   The configured maximum current (in Amps) of the stepper motor
+#   driver. This parameter must be provided if the stepper is not in a
+#   disable mode.
+#stepper_x_chopper_off_time_high: False
+#   This parameter controls the CFG0 pin of the stepper motor driver
+#   (True sets CFG0 high, False sets it low). The default is False.
+#stepper_x_chopper_hysteresis_high: False
+#   This parameter controls the CFG4 pin of the stepper motor driver
+#   (True sets CFG4 high, False sets it low). The default is False.
+#stepper_x_chopper_blank_time_high: True
+#   This parameter controls the CFG5 pin of the stepper motor driver
+#   (True sets CFG5 high, False sets it low). The default is True.
+stepper_y_microstep_mode: spread16
+stepper_y_current: 0.5
+stepper_z_microstep_mode: spread16
+stepper_z_current: 0.5
+stepper_e_microstep_mode: 16
+stepper_e_current: 0.5

config/makergear-m2-2012.cfg

@@ -9,12 +9,11 @@ dir_pin: !PL1
 enable_pin: !PA7
 step_distance: .0225
 endstop_pin: ^!PB6
-homing_speed: 50.0
-homing_stepper_phases: 32
-homing_endstop_accuracy: .200
-position_min: -0.25
 position_endstop: 0.0
 position_max: 200
+homing_speed: 50
+homing_stepper_phases: 32
+homing_endstop_accuracy: .200
 
 [stepper_y]
 step_pin: PC1
@@ -22,12 +21,11 @@ dir_pin: PL0
 enable_pin: !PA6
 step_distance: .0225
 endstop_pin: ^!PB5
-homing_speed: 50.0
-homing_stepper_phases: 32
-homing_endstop_accuracy: .200
-position_min: -0.25
 position_endstop: 0.0
 position_max: 250
+homing_speed: 50
+homing_stepper_phases: 32
+homing_endstop_accuracy: .200
 
 [stepper_z]
 step_pin: PC2
@@ -35,25 +33,24 @@ dir_pin: !PL2
 enable_pin: !PA5
 step_distance: .005
 endstop_pin: ^!PB4
-homing_speed: 4.0
-homing_retract_dist: 2.0
-homing_stepper_phases: 32
-homing_endstop_accuracy: .050
 position_min: 0.1
 position_endstop: 0.7
 position_max: 200
+homing_retract_dist: 2.0
+homing_stepper_phases: 32
+homing_endstop_accuracy: .070
 
 [extruder]
 step_pin: PC3
 dir_pin: PL6
 enable_pin: !PA4
 step_distance: .004242
-max_velocity: 200000
-max_accel: 3000
+nozzle_diameter: 0.350
+filament_diameter: 1.750
 pressure_advance: 0.07
 heater_pin: PH6
-thermistor_pin: PF0
-thermistor_type: EPCOS 100K B57560G104F
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PF0
 control: pid
 pid_Kp: 7.0
 pid_Ki: 0.1
@@ -63,44 +60,48 @@ max_temp: 210
 
 [heater_bed]
 heater_pin: PE5
-thermistor_pin: PF2
-thermistor_type: EPCOS 100K B57560G104F
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PF2
 control: watermark
 min_temp: 0
 max_temp: 100
 
 [fan]
 pin: PH5
+
+[heater_fan nozzle_fan]
+pin: PH3
+max_power: 0.61
 hard_pwm: 1
 
 [mcu]
 serial: /dev/ttyACM0
-baud: 250000
-custom:
-  # Nozzle fan
-  set_pwm_out pin=PH3 cycle_ticks=1 value=155
-  # Turn off yellow led
-  set_digital_out pin=PB7 value=0
-  # Stepper micro-step pins
-  set_digital_out pin=PG1 value=1
-  set_digital_out pin=PG0 value=1
-  set_digital_out pin=PK7 value=1
-  set_digital_out pin=PG2 value=1
-  set_digital_out pin=PK6 value=1
-  set_digital_out pin=PK5 value=1
-  set_digital_out pin=PK3 value=1
-  set_digital_out pin=PK4 value=1
-  # Initialize digipot
-  send_spi_message pin=PD7 msg=0487 # X = ~0.75A
-  send_spi_message pin=PD7 msg=0587 # Y = ~0.75A
-  send_spi_message pin=PD7 msg=0387 # Z = ~0.75A
-  send_spi_message pin=PD7 msg=00A5 # E0
-  send_spi_message pin=PD7 msg=017D # E1
 
 [printer]
 kinematics: cartesian
 max_velocity: 500
 max_accel: 3000
-max_z_velocity: 250
+max_z_velocity: 25
 max_z_accel: 30
-motor_off_time: 600
+
+[ad5206 stepper_digipot]
+enable_pin: PD7
+# Scale the config so that the channel value can be specified in amps
+scale: 1.56
+# Channel 1 is E0, 2 is E1, 3 is unused, 4 is Z, 5 is X, 6 is Y
+channel_1: 1.0
+channel_2: 0.75
+channel_4: 0.82
+channel_5: 0.82
+channel_6: 0.82
+
+# Enable 8 micro-steps on steppers X, Y, Z, E0
+[static_digital_output stepper_config]
+pins:
+    PG1, PG0,
+    PK7, PG2,
+    PK6, PK5,
+    PK3, PK4
+
+[static_digital_output yellow_led]
+pins: !PB7

docs/Code_Overview.md

@@ -8,16 +8,17 @@ The **src/** directory contains the C source for the micro-controller
 code. The **src/avr/** directory contains specific code for Atmel
 ATmega micro-controllers. The **src/sam3x8e/** directory contains code
 specific to the Arduino Due style ARM micro-controllers. The
-**src/simulator/** contains code stubs that allow the micro-controller
-to be test compiled on other architectures. The **src/generic/**
-directory contains helper code that may be useful across different
-host architectures. The build arranges for includes of
-"board/somefile.h" to first look in the current architecture directory
-(eg, src/avr/somefile.h) and then in the generic directory (eg,
-src/generic/somefile.h).
+**src/pru/** directory contains code specific to the Beaglebone's
+on-board PRU micro-controller. The **src/simulator/** contains code
+stubs that allow the micro-controller to be test compiled on other
+architectures. The **src/generic/** directory contains helper code
+that may be useful across different host architectures. The build
+arranges for includes of "board/somefile.h" to first look in the
+current architecture directory (eg, src/avr/somefile.h) and then in
+the generic directory (eg, src/generic/somefile.h).
 
 The **klippy/** directory contains the C and Python source for the
-host part of the firmware.
+host part of the software.
 
 The **lib/** directory contains external 3rd-party library code that
 is necessary to build some targets.
@@ -43,10 +44,12 @@ all functions that have been tagged with the DECL_INIT() macro. It
 then goes on to repeatedly run all functions tagged with the
 DECL_TASK() macro.
 
-One of the main task functions is command_task() located in
-**src/command.c**. This function processes incoming serial commands
-and runs the associated command function for them. Command functions
-are declared using the DECL_COMMAND() macro.
+One of the main task functions is command_dispatch() located in
+**src/command.c**. This function is called from the board specific
+input/output code (eg, **src/avr/serial.c**) and it runs the command
+functions associated with the commands found in the input
+stream. Command functions are declared using the DECL_COMMAND() macro
+(see the [protocol](Protocol.md) document for more information).
 
 Task, init, and command functions always run with interrupts enabled
 (however, they can temporarily disable interrupts if needed). These
@@ -54,13 +57,13 @@ functions should never pause, delay, or do any work that lasts more
 than a few micro-seconds. These functions schedule work at specific
 times by scheduling timers.
 
-Timer functions are scheduled by calling sched_timer() (located in
+Timer functions are scheduled by calling sched_add_timer() (located in
 **src/sched.c**). The scheduler code will arrange for the given
 function to be called at the requested clock time. Timer interrupts
 are initially handled in an architecture specific interrupt handler
-(eg, **src/avr/timer.c**), but this just calls sched_timer_kick()
-located in **src/sched.c**. The timer interrupt leads to execution of
-schedule timer functions.  Timer functions always run with interrupts
+(eg, **src/avr/timer.c**) which calls sched_timer_dispatch() located
+in **src/sched.c**. The timer interrupt leads to execution of schedule
+timer functions. Timer functions always run with interrupts
 disabled. The timer functions should always complete within a few
 micro-seconds. At completion of the timer event, the function may
 choose to reschedule itself.
@@ -92,8 +95,8 @@ some functionality in C code.
 Initial execution starts in **klippy/klippy.py**. This reads the
 command-line arguments, opens the printer config file, instantiates
 the main printer objects, and starts the serial connection. The main
-execution of gcode commands is in the process_commands() method in
-**klippy/gcode.py**. This code translates the gcode commands into
+execution of G-code commands is in the process_commands() method in
+**klippy/gcode.py**. This code translates the G-code commands into
 printer object calls, which frequently translate the actions to
 commands to be executed on the micro-controller (as declared via the
 DECL_COMMAND macro in the micro-controller code).
@@ -106,3 +109,169 @@ messages from the micro-controller in the Python code (see
 **klippy/serialhdl.py**). The fourth thread writes debug messages to
 the log (see **klippy/queuelogger.py**) so that the other threads
 never block on log writes.
+
+Code flow of a move command
+===========================
+
+A typical printer movement starts when a "G1" command is sent to the
+Klippy host and it completes when the corresponding step pulses are
+produced on the micro-controller. This section outlines the code flow
+of a typical move command. The [kinematics](Kinematics.md) document
+provides further information on the mechanics of moves.
+
+* Processing for a move command starts in gcode.py. The goal of
+  gcode.py is to translate G-code into internal calls. Changes in
+  origin (eg, G92), changes in relative vs absolute positions (eg,
+  G90), and unit changes (eg, F6000=100mm/s) are handled here. The
+  code path for a move is: `process_data() -> process_commands() ->
+  cmd_G1()`. Ultimately the ToolHead class is invoked to execute the
+  actual request: `cmd_G1() -> ToolHead.move()`
+
+* The ToolHead class (in toolhead.py) handles "look-ahead" and tracks
+  the timing of printing actions. The codepath for a move is:
+  `ToolHead.move() -> MoveQueue.add_move() -> MoveQueue.flush() ->
+  Move.set_junction() -> Move.move()`.
+  * ToolHead.move() creates a Move() object with the parameters of the
+  move (in cartesian space and in units of seconds and millimeters).
+  * MoveQueue.add_move() places the move object on the "look-ahead"
+  queue.
+  * MoveQueue.flush() determines the start and end velocities of each
+  move.
+  * Move.set_junction() implements the "trapezoid generator" on a
+  move. The "trapezoid generator" breaks every move into three parts:
+  a constant acceleration phase, followed by a constant velocity
+  phase, followed by a constant deceleration phase. Every move
+  contains these three phases in this order, but some phases may be of
+  zero duration.
+  * When Move.move() is called, everything about the move is known -
+  its start location, its end location, its acceleration, its
+  start/crusing/end velocity, and distance traveled during
+  acceleration/cruising/deceleration. All the information is stored in
+  the Move() class and is in cartesian space in units of millimeters
+  and seconds.
+
+  The move is then handed off to the kinematics classes: `Move.move()
+  -> kin.move()`
+
+* The goal of the kinematics classes is to translate the movement in
+  cartesian space to movement on each stepper. The kinematics classes
+  are in cartesian.py, corexy.py, delta.py, and extruder.py. The
+  kinematic class is given a chance to audit the move
+  (`ToolHead.move() -> kin.check_move()`) before it goes on the
+  look-ahead queue, but once the move arrives in *kin*.move() the
+  kinematic class is required to handle the move as specified. The
+  kinematic classes translate the three parts of each move
+  (acceleration, constant "cruising" velocity, and deceleration) to
+  the associated movement on each stepper. Note that the extruder is
+  handled in its own kinematic class. Since the Move() class specifies
+  the exact movement time and since step pulses are sent to the
+  micro-controller with specific timing, stepper movements produced by
+  the extruder class will be in sync with head movement even though
+  the code is kept separate.
+
+* For efficiency reasons, the stepper pulse times are generated in C
+  code. The code flow is: `kin.move() -> MCU_Stepper.step_const() ->
+  stepcompress_push_const()`, or for delta kinematics:
+  `DeltaKinematics.move() -> MCU_Stepper.step_delta() ->
+  stepcompress_push_delta()`. The MCU_Stepper code just performs unit
+  and axis transformation (millimeters to step distances), and calls
+  the C code. The C code calculates the stepper step times for each
+  movement and fills an array (struct stepcompress.queue) with the
+  corresponding micro-controller clock counter times for every
+  step. Here the "micro-controller clock counter" value directly
+  corresponds to the micro-controller's hardware counter - it is
+  relative to when the micro-controller was last powered up.
+
+* The next major step is to compress the steps: `stepcompress_flush()
+  -> compress_bisect_add()` (in stepcompress.c). This code generates
+  and encodes a series of micro-controller "queue_step" commands that
+  correspond to the list of stepper step times built in the previous
+  stage. These "queue_step" commands are then queued, prioritized, and
+  sent to the micro-controller (via stepcompress.c:steppersync and
+  serialqueue.c:serialqueue).
+
+* Processing of the queue_step commands on the micro-controller starts
+  in command.c which parses the command and calls
+  `command_queue_step()`. The command_queue_step() code (in stepper.c)
+  just appends the parameters of each queue_step command to a per
+  stepper queue. Under normal operation the queue_step command is
+  parsed and queued at least 100ms before the time of its first
+  step. Finally, the generation of stepper events is done in
+  `stepper_event()`. It's called from the hardware timer interrupt at
+  the scheduled time of the first step. The stepper_event() code
+  generates a step pulse and then reschedules itself to run at the
+  time of the next step pulse for the given queue_step parameters. The
+  parameters for each queue_step command are "interval", "count", and
+  "add". At a high-level, stepper_event() runs the following, 'count'
+  times: `do_step(); next_wake_time = last_wake_time + interval;
+  interval += add;`
+
+The above may seem like a lot of complexity to execute a
+movement. However, the only really interesting parts are in the
+ToolHead and kinematic classes. It's this part of the code which
+specifies the movements and their timings. The remaining parts of the
+processing is mostly just communication and plumbing.
+
+Time
+====
+
+Fundamental to the operation of Klipper is the handling of clocks,
+times, and timestamps. Klipper executes actions on the printer by
+scheduling events to occur in the near future. For example, to turn on
+a fan, the code might schedule a change to a GPIO pin in a 100ms. It
+is rare for the code to attempt to take an instantaneous action. Thus,
+the handling of time within Klipper is critical to correct operation.
+
+There are three types of times tracked internally in the Klipper host
+software:
+* System time. The system time uses the system's monotonic clock - it
+  is a floating point number stored as seconds and it is (generally)
+  relative to when the host computer was last started. System times
+  have limited use in the software - they are primarily used when
+  interacting with the operating system. Within the host code, system
+  times are frequently stored in variables named *eventtime* or
+  *curtime*.
+* Print time. The print time is synchronized to the main
+  micro-controller clock (the micro-controller defined in the "[mcu]"
+  config section). It is a floating point number stored as seconds and
+  is relative to when the main mcu was last restarted. It is possible
+  to convert from a "print time" to the main micro-controller's
+  hardware clock by multiplying the print time by the mcu's statically
+  configured frequency rate. The high-level host code uses print times
+  to calculates almost all physical actions (eg, head movement, heater
+  changes, etc.). Within the host code, print times are generally
+  stored in variables named *print_time* or *move_time*.
+* MCU clock. This is the hardware clock counter on each
+  micro-controller. It is stored as an integer and its update rate is
+  relative to the frequency of the given micro-controller. The host
+  software translates its internal times to clocks before transmission
+  to the mcu. The mcu code only ever tracks time in clock
+  ticks. Within the host code, clock values are tracked as 64bit
+  integers, while the mcu code uses 32bit integers. Within the host
+  code, clocks are generally stored in variables with names containing
+  *clock* or *ticks*.
+
+Conversion between the different time formats is primarily implemented
+in the **klippy/clocksync.py** code.
+
+Some things to be aware of when reviewing the code:
+* 32bit and 64bit clocks: To reduce bandwidth and to improve
+  micro-controller efficiency, clocks on the micro-controller are
+  tracked as 32bit integers. When comparing two clocks in the mcu
+  code, the `timer_is_before()` function must always be used to ensure
+  integer rollovers are handled properly. The host software converts
+  32bit clocks to 64bit clocks by appending the high-order bits from
+  the last mcu timestamp it has received - no message from the mcu is
+  ever more than 2^31 clock ticks in the future or past so this
+  conversion is never ambiguous. The host converts from 64bit clocks
+  to 32bit clocks by simply truncating the high-order bits. To ensure
+  there is no ambiguity in this conversion, the
+  **klippy/serialqueue.c** code will buffer messages until they are
+  within 2^31 clock ticks of their target time.
+* Multiple micro-controllers: The host software supports using
+  multiple micro-controllers on a single printer. In this case, the
+  "MCU clock" of each micro-controller is tracked separately. The
+  clocksync.py code handles clock drift between micro-controllers by
+  modifying the way it converts from "print time" to "MCU clock". On
+  secondary mcus, the mcu frequency that is used in this conversion is
+  regularly updated to account for measured drift.

docs/Contact.md

@@ -0,0 +1,47 @@
+This page provides information on how to contact the Klipper
+developers.
+
+Bug reporting
+=============
+
+Bug reports are submitted through github issues.  All bug reports must
+include the full /tmp/klippy.log log file from the session that
+produced the error.  To acquire this log file, ssh into the computer
+running the klipper host software, and run:
+
+```
+gzip -k /tmp/klippy.log
+```
+
+Then scp the resulting `/tmp/klippy.log.gz` file from the host machine
+to your desktop. (If your desktop does not have scp installed, there
+are a number of free scp programs available - just do a web search for
+`windows scp` to find one.) Open a new issue at
+https://github.com/KevinOConnor/klipper/issues , attach the
+`klippy.log.gz` file to that issue, and provide a description of the
+problem.
+
+Mailing list
+============
+
+There is a mailing list for general discussions on Klipper. In order
+to send am email to the list, one must first subscribe:
+https://www.freelists.org/list/klipper . Once subscribed, emails may
+be sent to `klipper@freelists.org`.
+
+Archives of the mailing list are available at:
+https://www.freelists.org/archive/klipper/
+
+IRC
+===
+
+One may join the #klipper channel on freenode.net (
+irc://chat.freenode.net:6667 ).
+
+To communicate in this IRC channel one will need an IRC
+client. Configure it to connect to chat.freenode.net on port 6667 and
+join the #klipper channel (`/join #klipper`).
+
+If asking a question on IRC, be sure to ask the question and then stay
+connected to the channel to receive responses. Due to timezone
+differences, it may take several hours before receiving a response.

docs/Debugging.md

@@ -1,17 +1,18 @@
-The Klippy host code has some tools to help in debugging the firmware.
+The Klippy host code has some tools to help in debugging.
 
-Translating gcode files to firmware commands
-============================================
+Translating gcode files to micro-controller commands
+====================================================
 
 The Klippy host code can run in a batch mode to produce the low-level
-firmware commands associated with a gcode file. Inspecting these
-low-level firmware commands is useful when trying to understand the
+micro-controller commands associated with a gcode file. Inspecting
+these low-level commands is useful when trying to understand the
 actions of the low-level hardware. It can also be useful to compare
-the difference in firmware commands after a code change.
+the difference in micro-controller commands after a code change.
 
 To run Klippy in this batch mode, there is a one time step necessary
-to generate the firmware "data dictionary". This is done by compiling
-the firmware code to obtain the **out/klipper.dict** file:
+to generate the micro-controller "data dictionary". This is done by
+compiling the micro-controller code to obtain the **out/klipper.dict**
+file:
 
 ```
 make menuconfig
@@ -34,13 +35,13 @@ output. This output can be translated to readable text with:
 ```
 
 The resulting file **test.txt** contains a human readable list of
-firmware commands.
+micro-controller commands.
 
 The batch mode disables certain response / request commands in order
 to function. As a result, there will be some differences between
-actual firmware commands and the above output. The generated data is
-useful for testing and inspection; it is not useful for sending to a
-real micro-controller.
+actual commands and the above output. The generated data is useful for
+testing and inspection; it is not useful for sending to a real
+micro-controller.
 
 Testing with simulavr
 =====================
@@ -74,25 +75,20 @@ cd /patch/to/klipper
 make menuconfig
 ```
 
-and compile the firmware for an AVR atmega644p, disable the AVR
-watchdog timer, and set the MCU frequency to 20000000. Then one can
-compile Klipper (run `make`) and then start the simulation with:
+and compile the micro-controller software for an AVR atmega644p, set
+the MCU frequency to 20Mhz, and select SIMULAVR software emulation
+support. Then one can compile Klipper (run `make`) and then start the
+simulation with:
 
 ```
 PYTHONPATH=/path/to/simulavr/src/python/ ./scripts/avrsim.py -m atmega644 -s 20000000 -b 250000 out/klipper.elf
 ```
 
-It may be necessary to create a python virtual environment to run
-Klippy on the target machine. To do so, run:
-
-```
-virtualenv ~/klippy-env
-~/klippy-env/bin/pip install cffi==1.6.0 pyserial==2.7
-```
-
 Then, with simulavr running in another window, one can run the
 following to read gcode from a file (eg, "test.gcode"), process it
-with Klippy, and send it to Klipper running in simulavr:
+with Klippy, and send it to Klipper running in simulavr (see
+[installation](Installation.md) for the steps necessary to build the
+python virtual environment):
 
 ```
 ~/klippy-env/bin/python ./klippy/klippy.py config/avrsim.cfg -i test.gcode -v
@@ -129,3 +125,26 @@ Klipper source code). To do so, run:
 ```
 ~/klippy-env/bin/python ./klippy/console.py /tmp/pseudoserial 250000
 ```
+
+Generating load graphs
+======================
+
+The Klippy log file (/tmp/klippy.log) stores statistics on bandwidth,
+micro-controller load, and host buffer load. It can be useful to graph
+these statistics after a print.
+
+To generate a graph, a one time step is necessary to install the
+"matplotlib" package:
+
+```
+sudo apt-get update
+sudo apt-get install python-matplotlib
+```
+
+Then graphs can be produced with:
+
+```
+~/klipper/scripts/graphstats.py /tmp/klippy.log loadgraph.png
+```
+
+One can then view the resulting **loadgraph.png** file.

docs/Features.md

@@ -1,5 +1,4 @@
-Klipper is an experimental 3d printer firmware. It has several
-compelling features:
+Klipper has several compelling features:
 
 * High precision stepper movement. Klipper utilizes an application
   processor (such as a low-cost Raspberry Pi) when calculating printer
@@ -7,20 +6,19 @@ compelling features:
   stepper motor, it compresses those events, transmits them to the
   micro-controller, and then the micro-controller executes each event
   at the requested time. Each stepper event is scheduled with a
-  precision of no less than 50 micro-seconds. The software does not
-  use kinematic estimations (such as the Bresenham algorithm) -
-  instead it calculates precise step times based on the physics of
-  acceleration and the physics of the machine kinematics. More precise
-  stepper movement translates to quieter and more stable printer
-  operation.
+  precision of 25 micro-seconds or better. The software does not use
+  kinematic estimations (such as the Bresenham algorithm) - instead it
+  calculates precise step times based on the physics of acceleration
+  and the physics of the machine kinematics. More precise stepper
+  movement translates to quieter and more stable printer operation.
 
 * Best in class performance. Klipper is able to achieve high stepping
   rates on both new and old micro-controllers. Even an old 8bit AVR
-  micro-controller can obtain rates up to 150K steps per second. On
-  more recent ARM micro-controllers, rates over 350K steps per second
-  are possible. Higher stepper rates enable higher print
-  velocities. The stepper event timing remains precise even at high
-  speeds which improves overall stability.
+  micro-controller can obtain rates over 175K steps per second. On
+  more recent micro-controllers, rates over 500K steps per second are
+  possible. Higher stepper rates enable higher print velocities. The
+  stepper event timing remains precise even at high speeds which
+  improves overall stability.
 
 * Configuration via simple config file. There's no need to reflash the
   micro-controller to change a setting. All of Klipper's configuration
@@ -34,16 +32,29 @@ compelling features:
   micro-controller architectures as well.
 
 * Simpler code. Klipper uses a very high level language (Python) for
-  most code. The kinematics algorithms, the gcode parsing, the heating
-  and thermistor algorithms, etc. are all written in Python. This
-  makes it easier to develop new functionality.
+  most code. The kinematics algorithms, the G-code parsing, the
+  heating and thermistor algorithms, etc. are all written in
+  Python. This makes it easier to develop new functionality.
 
-* Advanced features. Klipper implements the "pressure advance"
-  algorithm for extruders. When properly tuned, pressure advance
-  reduces extruder ooze. Klipper also implements a novel "stepper
-  phase endstop" algorithm that can dramatically improve the accuracy
-  of typical endstop switches. When properly tuned it can improve a
-  print's first layer bed adhesion.
+* Advanced features:
+  * Klipper implements the "pressure advance" algorithm for
+    extruders. When properly tuned, pressure advance reduces extruder
+    ooze.
+  * Klipper supports printers with multiple micro-controllers. For
+    example, one micro-controller could be used to control an
+    extruder, while another could control the printer's heaters, while
+    a third controls the rest of the printer. The Klipper host
+    software implements clock synchronization to account for clock
+    drift between micro-controllers. No special code is needed to
+    enable multiple micro-controllers - it just requires a few extra
+    lines in the config file.
+  * Klipper also implements a novel "stepper phase endstop" algorithm
+    that can dramatically improve the accuracy of typical endstop
+    switches. When properly tuned it can improve a print's first layer
+    bed adhesion.
+  * Support for limiting the top speed of short "zigzag" moves to
+    reduce printer vibration and noise. See the
+    [kinematics](Kinematics.md) document for more information.
 
 To get started with Klipper, read the [installation](Installation.md)
 guide.
@@ -65,12 +76,12 @@ Klipper supports many standard 3d printer features:
   gradually accelerate from standstill to cruising speed and then
   decelerate back to a standstill.
 
-* "Lookahead" support. The incoming stream of G-Code movement commands
-  are queued and analyzed - the acceleration between movements in a
-  similar direction will be optimized to reduce print stalls and
-  improve overall print time.
+* "Look-ahead" support. The incoming stream of G-Code movement
+  commands are queued and analyzed - the acceleration between
+  movements in a similar direction will be optimized to reduce print
+  stalls and improve overall print time.
 
-* Support for both delta printers and cartesian style printers.
+* Support for cartesian, delta, and corexy style printers.
 
 Step Benchmarks
 ===============
@@ -78,8 +89,14 @@ Step Benchmarks
 Below are the results of stepper performance tests. The numbers shown
 represent total number of steps per second on the micro-controller.
 
-| Micro-controller  | 1 stepper active | 3 steppers active |
-| ----------------- | ---------------- | ----------------- |
-| 20Mhz AVR         | 158.7K           | 103K              |
-| 16Mhz AVR         | 126.9K           | 82K               |
-| Arduino Due (ARM) | 352.9K           | 288K              |
+| Micro-controller  | Fastest step rate | 3 steppers active |
+| ----------------- | ----------------- | ----------------- |
+| 20Mhz AVR         | 189K              | 125K              |
+| 16Mhz AVR         | 151K              | 100K              |
+| Arduino Due (ARM) | 382K              | 337K              |
+| Beaglebone PRU    | 689K              | 689K              |
+
+On AVR platforms, the highest achievable step rate is with just one
+stepper stepping. On the Due, the highest step rate is with two
+simultaneous steppers stepping. On the PRU, the highest step rate is
+with three simultaneous steppers.

docs/Firmware_Commands.md

@@ -1,278 +0,0 @@
-This document provides high-level information on common firmware
-commands. It is not an authoritative reference for these commands, nor
-is it an exclusive list of all available firmware commands.
-
-This document may be useful for users needing to configure a set of
-hardware actions that their printer may require at startup (via the
-"custom" field in the printer config file), and it may be useful for
-developers wishing to obtain a high-level feel for available firmware
-commands.
-
-See the [protocol](Protocol.md) document for more information on the
-format of commands and their low-level transmission. The commands here
-are described using their "printf" style syntax - for those unfamiliar
-with that format, just note that where a '%...' sequence is seen it
-should be replaced with an actual integer.
-
-Startup Commands
-================
-
-It may be necessary to take certain one-time actions to configure the
-micro-controller and its peripherals. This section lists common
-commands available for that purpose. Unlike other firmware commands,
-these commands run as soon as they are received by the firmware and
-they do not require any particular setup.
-
-These commands are most useful in the "custom" block of the "mcu"
-section of the printer configuration file. This feature is typically
-used to configure the initial settings of LEDs, to configure
-micro-stepping pins, to configure a digipot, etc.
-
-Several of these commands will take a "pin=%u" parameter. The
-low-level firmware uses integer encodings of the hardware pin numbers,
-but to make things more readable the host will translate human
-readable pin names (eg, "PA3") to their equivalent integer
-encodings. By convention, any parameter named "pin" or that has a
-"_pin" suffix will use pin name translation by the host.
-
-Common startup commands:
-
-* set_digital_out pin=%u value=%c : This command immediately
-  configures the given pin as a digital out GPIO and it sets it to
-  either a low level (value=0) or a high level (value=1). This command
-  may be useful for configuring the initial value of LEDs and for
-  configuring the initial value of stepper driver micro-stepping pins.
-
-* set_pwm_out pin=%u cycle_ticks=%u value=%c : This command will
-  immediately configure the given pin to use hardware based
-  pulse-width-modulation (PWM) with the given number of
-  cycle_ticks. The "cycle_ticks" is the number of MCU clock ticks each
-  power on and power off cycle should last. A cycle_ticks value of 1
-  can be used to request the fastest possible cycle time. The "value"
-  parameter is between 0 and 255 with 0 indicating a full off state
-  and 255 indicating a full on state. This command may be useful for
-  enabling CPU and nozzle cooling fans.
-
-* send_spi_message pin=%u msg=%*s : This command can be used to
-  transmit messages to a serial-peripheral-interface (SPI) component
-  connected to the micro-controller. It has been used to configure the
-  startup settings of AD5206 digipots. The 'pin' parameter specifies
-  the chip select line to use during the transmission. The 'msg'
-  indicates the binary message to transmit to the given chip.
-
-Firmware configuration
-======================
-
-Most commands in the firmware require an initial setup before they can
-be successfully invoked. This section provides a high-level overview
-of the micro-controller configuration process. This section and the
-following sections are likely only of interest to developers
-interested in the internal details of Klipper.
-
-When the host first connects to the firmware it always starts by
-obtaining the firmware's data dictionary (see [protocol](Protocol.md)
-for more information). After the data dictionary is obtained the host
-will check if the firmware is in a "configured" state and configure it
-if not. Configuration involves the following phases:
-
-* get_config : The host starts by checking if the firmware is already
-  configured. The firmware responds to this command with a "config"
-  response message. At micro-controller power-on the firmware always
-  starts in an unconfigured state. It remains in this state until the
-  host completes the configuration processes (by issuing a
-  finalize_config command). If the firmware is already configured (and
-  is configured with the desired settings) from a previous
-  host/firmware session then no further action is needed by the host
-  and the configuration process ends successfully.
-
-* allocate_oids count=%c : This command is issued to inform the
-  firmware the maximum number of object-ids (oid) that the host
-  requires. It is only valid to issue this command once. An oid is an
-  integer identifier allocated to each stepper, each endstop, and each
-  schedulable gpio pin. The host determines in advance the number of
-  oids it will require to operate the hardware and passes this to the
-  firmware so that the firmware may allocate sufficient memory to
-  store a mapping from oid to internal firmware object.
-
-* config_XXX oid=%c ... : By convention any command starting with the
-  "config_" prefix creates a new firmware object and assigns the given
-  oid to it. For example, the config_digital_out command will
-  configure the specified pin as a digital output GPIO and create an
-  internal object that the host can use to schedule changes to the
-  given GPIO. The oid parameter passed into the config command is
-  selected by the host and must be between zero and the maximum count
-  supplied in the allocate_oids command. The config commands may only
-  be run when the firmware is not in a configured state (ie, prior to
-  the host sending finalize_config) and after the allocate_oids
-  command has been sent.
-
-* finalize_config crc=%u : The finalize_config command transitions the
-  firmware from an unconfigured state to a configured state. The crc
-  parameter passed to the firmware is stored in the firmware and
-  provided back to the host in "config" response messages. By
-  convention, the host takes a 32bit CRC of the firmware configuration
-  it will request and at the start of subsequent host/firmware
-  communication sessions it checks that the CRC stored in the firmware
-  exactly matches its desired CRC. If the CRC does not match then the
-  host knows the firmware has not been configured in the state desired
-  by the host.
-
-Common firmware objects
------------------------
-
-This section lists some commonly used config commands.
-
-* config_digital_out oid=%c pin=%u default_value=%c max_duration=%u :
-  This command creates an internal firmware object for the given GPIO
-  'pin'. The pin will be configured in digital output mode and set to
-  an initial value as specified by 'default_value' (0 for low, 1 for
-  high). Creating a digital_out object allows the host to schedule
-  GPIO updates for the given pin at specified times (see the
-  schedule_digital_out command described below). Should the firmware
-  go into shutdown mode then all configured digital_out objects will
-  be set back to their default values. The 'max_duration' parameter is
-  used to implement a safety check - if it is non-zero then it is the
-  maximum number of clock ticks that the host may set the given GPIO
-  to a non-default value without further updates. For example, if the
-  default_value is zero and the max_duration is 16000 then if the host
-  sets the gpio to a value of one then it must schedule another update
-  to the gpio pin (to either zero or one) within 16000 clock
-  ticks. This safety feature can be used with heater pins to ensure
-  the host does not set the heater to a value of one and then go
-  off-line.
-
-* config_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%c
-  max_duration=%u : This command creates an internal object for
-  hardware based PWM pins that the host may schedule updates for. Its
-  usage is analogous to config_digital_out - see the description of
-  the 'set_pwm_out' and 'config_digital_out' commands for parameter
-  description.
-
-* config_soft_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%c
-  max_duration=%u : This command creates an internal firmware object
-  for software implemented PWM. Unlike hardware pwm pins, a software
-  pwm object does not require any special hardware support (other than
-  the ability to configure the pin as a digital output GPIO). Because
-  the output switching is implemented in the software of the firmware,
-  it is recommended that the cycle_ticks parameter correspond to a
-  time of 10ms or greater. See the description of the 'set_pwm_out'
-  and 'config_digital_out' commands for parameter description.
-
-* config_analog_in oid=%c pin=%u : This command is used to configure a
-  pin in analog input sampling mode. Once configured, the pin can be
-  sampled at regular interval using the query_analog_in command (see
-  below).
-
-* config_stepper oid=%c step_pin=%c dir_pin=%c min_stop_interval=%u
-  invert_step=%c : This command creates an internal stepper
-  object. The 'step_pin' and 'dir_pin' parameters specify the step and
-  direction pins respectively; this command will configure them in
-  digital output mode. The 'invert_step' parameter specifies whether a
-  step occurs on a rising edge (invert_step=0) or falling edge
-  (invert_step=1). The 'min_stop_interval' implements a safety
-  feature - it is checked when the firmware finishes all moves for a
-  stepper - if it is non-zero it specifies the minimum number of clock
-  ticks since the last step. It is used as a check on the maximum
-  stepper velocity that a stepper may have before stopping.
-
-* config_end_stop oid=%c pin=%c pull_up=%c stepper_oid=%c : This
-  command creates an internal "endstop" object. It is used to specify
-  the endstop pins and to enable "homing" operations (see the
-  end_stop_home command below). The command will configure the
-  specified pin in digital input mode. The 'pull_up' parameter
-  determines whether hardware provided pullup resistors for the pin
-  (if available) will be enabled. The 'stepper_oid' parameter
-  specifies the oid of an associated stepper for the given endstop -
-  it is used during homing operations.
-
-Common commands
-===============
-
-This section lists some commonly used run-time commands. It is likely
-only of interest to developers looking to gain insight into Klippy.
-
-* schedule_digital_out oid=%c clock=%u value=%c : This command will
-  schedule a change to a digital output GPIO pin at the given clock
-  time. To use this command a 'config_digital_out' command with the
-  same 'oid' parameter must have been issued during firmware
-  configuration.
-
-* schedule_pwm_out oid=%c clock=%u value=%c : Schedules a change to a
-  hardware PWM output pin. See the 'schedule_digital_out' and
-  'config_pwm_out' commands for more info.
-
-* schedule_soft_pwm_out oid=%c clock=%u value=%c : Schedules a change
-  to a software PWM output pin. See the 'schedule_digital_out' and
-  'config_soft_pwm_out' commands for more info.
-
-* query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c
-  rest_ticks=%u min_value=%hu max_value=%hu : This command sets up a
-  recurring schedule of analog input samples. To use this command a
-  'config_analog_in' command with the same 'oid' parameter must have
-  been issued during firmware configuration. The samples will start as
-  of 'clock' time, it will report on the obtained value every
-  'rest_ticks' clock ticks, it will over-sample 'sample_count' number
-  of times, and it will pause 'sample_ticks' number of clock ticks
-  between over-sample samples. The 'min_value' and 'max_value'
-  parameters implement a safety feature - the firmware will verify the
-  sampled value (after any oversampling) is always between the
-  supplied range. This is intended for use with pins attached to
-  thermistors controlling heaters - it can be used to check that a
-  heater is within a temperature range.
-
-* get_status : This command causes the firmware to generate a "status"
-  response message. The host sends this command once a second to
-  obtain the value of the micro-controller clock and to estimate the
-  drift between host and micro-controller clocks. It enables the host
-  to accurately estimate the micro-controller clock.
-
-Stepper commands
-----------------
-
-* queue_step oid=%c interval=%u count=%hu add=%hi : This command
-  schedules 'count' number of steps for the given stepper, with
-  'interval' number of clock ticks between each step. The first step
-  will be 'interval' number of clock ticks since the last scheduled
-  step for the given stepper. If 'add' is non-zero then the interval
-  will be adjusted by 'add' amount after each step. This command
-  appends the given interval/count/add sequence to a per-stepper
-  queue. There may be hundreds of these sequences queued during normal
-  operation. New sequence are appended to the end of the queue and as
-  each sequence completes its 'count' number of steps it is popped
-  from the front of the queue. This system allows the firmware to
-  queue potentially hundreds of thousands of steps - all with reliable
-  and predictable schedule times.
-
-* set_next_step_dir oid=%c dir=%c : This command specifies the value
-  of the dir_pin that the next queue_step command will use.
-
-* reset_step_clock oid=%c clock=%u : Normally, step timing is relative
-  to the last step for a given stepper. This command resets the clock
-  so that the next step is relative to the supplied 'clock' time. The
-  host usually only sends this command at the start of a print.
-
-* end_stop_home oid=%c clock=%u rest_ticks=%u pin_value=%c : This
-  command is used during stepper "homing" operations. To use this
-  command a 'config_end_stop' command with the same 'oid' parameter
-  must have been issued during firmware configuration. When invoked,
-  the firmware will sample the endstop pin every 'rest_ticks' clock
-  ticks and check if it has a value equal to 'pin_value'. If the value
-  matches then the movement queue for the associated stepper will be
-  cleared and the stepper will come to an immediate halt. The host
-  uses this command to implement homing - the host instructs the
-  endstop to sample for the endstop trigger and then it issues a
-  series of queue_step commands to the stepper to move it towards the
-  endstop. Once the stepper hits the endstop, the trigger will be
-  detected, the movement halted, and the host notified.
-
-### Move queue
-
-Each queue_step command utilizes an entry in the firmware "move
-queue". The firmware allocates this queue when it receives the
-"finalize_config" command, and it reports the number of available
-queue entries in "config" response messages.
-
-It is the responsibility of the host to ensure that there is available
-space in the queue before sending a queue_step command. The host does
-this by calculating when each queue_step command completes and
-scheduling new queue_step commands accordingly.

docs/Installation.md

@@ -1,55 +1,49 @@
-Klipper is currently in an experimental state. These instructions
-assume the software will run on a Raspberry Pi computer in conjunction
-with OctoPrint. Klipper supports Atmel ATmega based micro-controllers
-and Arduino Due (Atmel SAM3x8e ARM micro-controllers) printers.
+These instructions assume the software will run on a Raspberry Pi
+computer in conjunction with OctoPrint. (See the
+[Beaglebone specific instructions](beaglebone.md) if using a
+Beaglebone.) It is recommended that a Raspberry Pi 2 or Raspberry Pi 3
+computer be used as the host machine.
 
-It is recommended that a Raspberry Pi 2 or Raspberry Pi 3 computer be
-used as the host. The software will run on a first generation
-Raspberry Pi, but the combined load of OctoPrint, Klipper, and a web
-cam (if applicable) can overwhelm its CPU leading to print stalls.
+It should be possible to run the Klipper host software on any computer
+running a recent Linux distribution, but doing so will require Linux
+admin knowledge to translate these installation instructions to the
+particulars of that machine.
+
+Klipper currently supports Atmel ATmega based micro-controllers,
+Arduino Due (Atmel SAM3x8e ARM micro-controller), and
+[Beaglebone PRU](beaglebone.md) based printers.
 
 Prepping an OS image
 ====================
 
 Start by installing [OctoPi](https://github.com/guysoft/OctoPi) on the
-Raspberry Pi computer. Use OctoPi v0.13.0 or later - see the
+Raspberry Pi computer. Use OctoPi v0.14.0 or later - see the
 [octopi releases](https://github.com/guysoft/OctoPi/releases) for
 release information. One should verify that OctoPi boots and that the
 OctoPrint web server works. After connecting to the OctoPrint web
-page, follow the prompt to upgrade OctoPrint to v1.3.0 or later.
+page, follow the prompt to upgrade OctoPrint to v1.3.5 or later.
 
 After installing OctoPi and upgrading OctoPrint, ssh into the target
 machine (ssh pi@octopi -- password is "raspberry") and run the
 following commands:
 
-```
-sudo apt-get update
-sudo apt-get install libncurses-dev
-sudo apt-get install avrdude gcc-avr binutils-avr avr-libc # AVR toolchain
-sudo apt-get install bossa-cli libnewlib-arm-none-eabi # ARM toolchain
-```
-
-The host software (Klippy) requires a one-time setup - run as the
-regular "pi" user:
-
-```
-virtualenv ~/klippy-env
-~/klippy-env/bin/pip install cffi==1.6.0 pyserial==3.2.1 greenlet==0.4.10
-```
-
-Building Klipper
-================
-
-To obtain Klipper, run the following command on the target machine:
-
 ```
 git clone https://github.com/KevinOConnor/klipper
-cd klipper/
+./klipper/scripts/install-octopi.sh
 ```
 
+The above will download Klipper, install some system dependencies,
+setup Klipper to run at system startup, and start the Klipper host
+software. It will require an internet connection and it may take a few
+minutes to complete.
+
+Building and flashing the micro-controller
+==========================================
+
 To compile the micro-controller code, start by configuring it:
 
 ```
+cd ~/klipper/
 make menuconfig
 ```
 
@@ -60,54 +54,39 @@ configured, run:
 make
 ```
 
-Ignore any warnings you may see about "misspelled signal handler" (it
-is due to a bug fixed in gcc v4.8.3).
-
-Installing Klipper on an AVR micro-controller
----------------------------------------------
-
-The avrdude package can be used to install the micro-controller code
-on an AVR ATmega chip. The exact syntax of the avrdude command is
-different for each micro-controller. The following is an example
-command for atmega2560 chips:
+Finally, for common micro-controllers, the code can be flashed with:
 
 ```
-example-only$ avrdude -C/etc/avrdude.conf -v -patmega2560 -cwiring -P/dev/ttyACM0 -b115200 -D -Uflash:w:/home/pi/klipper/out/klipper.elf.hex:i
+sudo service klipper stop
+make flash FLASH_DEVICE=/dev/ttyACM0
+sudo service klipper start
 ```
 
-Installing Klipper on an Arduino Due
-------------------------------------
+Configuring Klipper
+===================
 
-Klipper currently uses the Arduino Due USB programming port (it will
-not work when connected to the application USB port). The programming
-port is the USB port closest to the power supply. To flash Klipper to
-the Due connect it to the host machine and run:
-
-```
-stty -F /dev/ttyACM0 1200
-bossac -i -p ttyACM0 -R -e -w -v -b ~/klipper/out/klipper.bin
-```
-
-Setting up the printer configuration
-====================================
-
-It is necessary to configure the printer. This is done by modifying a
-configuration file that resides on the host. Start by copying an
-example configuration and editing it.  For example:
+The Klipper configuration is stored in a text file on the Raspberry
+Pi. Take a look at the example config files in the
+[config directory](../config/). The
+[example.cfg](../config/example.cfg) file contains documentation on
+command parameters and it can also be used as an initial config file
+template. However, for most printers, one of the other config files
+may be a more concise starting point. The next step is to copy and
+edit one of these config files - for example:
 
 ```
 cp ~/klipper/config/example.cfg ~/printer.cfg
-nano printer.cfg
+nano ~/printer.cfg
 ```
 
-Make sure to look at and update each setting that is appropriate for
+Make sure to review and update each setting that is appropriate for
 the hardware.
 
-Configuring OctoPrint to use Klippy
-===================================
+Configuring OctoPrint to use Klipper
+====================================
 
 The OctoPrint web server needs to be configured to communicate with
-the Klippy host software. Using a web-browser, login to the OctoPrint
+the Klipper host software. Using a web browser, login to the OctoPrint
 web page, and navigate to the Settings tab. Then configure the
 following items:
 
@@ -115,40 +94,35 @@ Under "Serial Connection" in "Additional serial ports" add
 "/tmp/printer". Then click "Save".
 
 Enter the Settings tab again and under "Serial Connection" change the
-"Serial Port" setting to "/tmp/printer". Change the Baudrate field to
-250000 (this buad rate field is not related to the firmware baudrate
-and may be safely left at 250000). Unselect the "Not only cancel
-ongoing prints but also disconnect..." checkbox.
+"Serial Port" setting to "/tmp/printer". Unselect the "Not only cancel
+ongoing prints but also disconnect..." checkbox. Click "Save".
 
-Under the "Features" tab, unselect "Enable SD support". Then click
-"Save".
-
-Running the host software
-=========================
-
-The host software is executed by running the following as the regular
-"pi" user:
-
-```
-~/klippy-env/bin/python ~/klipper/klippy/klippy.py ~/printer.cfg -l /tmp/klippy.log < /dev/null > /dev/null 2>&1 &
-```
-
-Once Klippy is running, use a web-browser and navigate to the
-OctoPrint web site. Under the "Connection" tab (on the left of the
-main page) make sure the "Serial Port" is set to "/tmp/printer" and
+From the main page, under the "Connection" section (at the top left of
+the page) make sure the "Serial Port" is set to "/tmp/printer" and
 click "Connect". (If "/tmp/printer" is not an available selection then
 try reloading the page.)
 
 Once connected, navigate to the "Terminal" tab and type "status"
-(without the quotes) into the command entry box and click "Send". If
-the Klippy config file was successfully read, and the micro-controller
-was successfully found and configured, then this command will report
-that the printer is ready. Klippy reports error messages via this
-terminal tab. The "status" command can be used to re-report error
-messages.
+(without the quotes) into the command entry box and click "Send". The
+terminal window will likely report there is an error opening the
+config file - issue a "restart" command in the OctoPrint terminal to
+load the config. A "status" command will report the printer is ready
+if the Klipper config file is successfully read and the
+micro-controller is successfully found and configured. It is not
+unusual to have configuration errors during the initial setup - update
+the printer config file and issue "restart" until "status" reports the
+printer is ready.
 
-In addition to common g-code commands, Klippy supports a few extended
-commands - "status" is an example of one of these commands. Use the
-"help" command to get a list of other extended commands. In
-particular, note the "restart" command - use this command to reload
-the Klippy config file after any changes.
+Klipper reports error messages via the OctoPrint terminal tab. The
+"status" command can be used to re-report error messages. The default
+Klipper startup script also places a log in **/tmp/klippy.log** which
+provides more detailed information.
+
+In addition to common g-code commands, Klipper supports a few extended
+commands - "status" and "restart" are examples of these commands. Use
+the "help" command to get a list of other extended commands.
+
+Contacting the developers
+=========================
+
+See the [contact page](Contact.md) to ask questions or report a bug.

docs/Kinematics.md

@@ -0,0 +1,298 @@
+This document provides an overview of how Klipper implements robot
+motion (its [kinematics](https://en.wikipedia.org/wiki/Kinematics)).
+The contents may be of interest to both developers interested in
+working on the Klipper software as well as users interested in better
+understanding the mechanics of their machines.
+
+Acceleration
+============
+
+Klipper implements a constant acceleration scheme whenever the print
+head changes velocity - the velocity is gradually changed to the new
+speed instead of suddenly jerking to it. Klipper always enforces
+acceleration between the tool head and the print. The filament leaving
+the extruder can be quite fragile - rapid jerks and/or extruder flow
+changes lead to poor quality and poor bed adhesion. Even when not
+extruding, if the print head is at the same level as the print then
+rapid jerking of the head can cause disruption of recently deposited
+filament. Limiting speed changes of the print head (relative to the
+print) reduces risks of disrupting the print.
+
+It is also important to limit acceleration so that the stepper motors
+do not skip or put excessive stress on the machine. Klipper limits the
+torque on each stepper by virtue of limiting the acceleration of the
+print head. Enforcing acceleration at the print head naturally also
+limits the torque of the steppers that move the print head (the
+inverse is not always true).
+
+Klipper implements constant acceleration. The key formula for constant
+acceleration is:
+```
+velocity(time) = start_velocity + accel*time
+```
+
+Trapezoid generator
+===================
+
+Klipper uses a traditional "trapezoid generator" to model the motion
+of each move - each move has a start speed, it accelerates to a
+cruising speed at constant acceleration, it cruises at a constant
+speed, and then decelerates to the end speed using constant
+acceleration.
+
+![trapezoid](img/trapezoid.svg.png)
+
+It's called a "trapezoid generator" because a velocity diagram of the
+move looks like a trapezoid.
+
+The cruising speed is always greater than or equal to both the start
+speed and the end speed. The acceleration phase may be of zero
+duration (if the start speed is equal to the cruising speed), the
+cruising phase may be of zero duration (if the move immediately starts
+decelerating after acceleration), and/or the deceleration phase may be
+of zero duration (if the end speed is equal to the cruising speed).
+
+![trapezoids](img/trapezoids.svg.png)
+
+Look-ahead
+==========
+
+The "look-ahead" system is used to determine cornering speeds between
+moves.
+
+Consider the following two moves contained on an XY plane:
+
+![corner](img/corner.svg.png)
+
+In the above situation it is possible to fully decelerate after the
+first move and then fully accelerate at the start of the next move,
+but that is not ideal as all that acceleration and deceleration would
+greatly increase the print time and the frequent changes in extruder
+flow would result in poor print quality.
+
+To solve this, the "look-ahead" mechanism queues multiple incoming
+moves and analyzes the angles between moves to determine a reasonable
+speed that can be obtained during the "junction" between two moves. If
+the next move is nearly in the same direction then the head need only
+slow down a little (if at all).
+
+![lookahead](img/lookahead.svg.png)
+
+However, if the next move forms an acute angle (the head is going to
+travel in nearly a reverse direction on the next move) then only a
+small junction speed is permitted.
+
+![lookahead](img/lookahead-slow.svg.png)
+
+The junction speeds are determined using "approximated centripetal
+acceleration". Best
+[described by the author](https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/).
+
+Klipper implements look-ahead between moves that have similar extruder
+flow rates. Other moves are relatively rare and implementing
+look-ahead between them is unnecessary.
+
+Key formula for look-ahead:
+```
+end_velocity^2 = start_velocity^2 + 2*accel*move_distance
+```
+
+Smoothed look-ahead
+-------------------
+
+Klipper also implements a mechanism for smoothing out the motions of
+short "zigzag" moves. Consider the following moves:
+
+![zigzag](img/zigzag.svg.png)
+
+In the above, the frequent changes from acceleration to deceleration
+can cause the machine to vibrate which causes stress on the machine
+and increases the noise. To reduce this, Klipper tracks both regular
+move acceleration as well as a virtual "acceleration to deceleration"
+rate. Using this system, the top speed of these short "zigzag" moves
+are limited to smooth out the printer motion:
+
+![smoothed](img/smoothed.svg.png)
+
+Specifically, the code calculates what the velocity of each move would
+be if it were limited to this virtual "acceleration to deceleration"
+rate (half the normal acceleration rate by default). In the above
+picture the dashed gray lines represent this virtual acceleration rate
+for the first move. If a move can not reach its full cruising speed
+using this virtual acceleration rate then its top speed is reduced to
+the maximum speed it could obtain at this virtual acceleration
+rate. For most moves the limit will be at or above the move's existing
+limits and no change in behavior is induced. For short zigzag moves,
+however, this limit reduces the top speed. Note that it does not
+change the actual acceleration within the move - the move continues to
+use the normal acceleration scheme up to its adjusted top-speed.
+
+Generating steps
+================
+
+Once the look-ahead process completes, the print head movement for the
+given move is fully known (time, start position, end position,
+velocity at each point) and it is possible to generate the step times
+for the move. This process is done within "kinematic classes" in the
+Klipper code. Outside of these kinematic classes, everything is
+tracked in millimeters, seconds, and in cartesian coordinate space.
+It's the task of the kinematic classes to convert from this generic
+coordinate system to the hardware specifics of the particular printer.
+
+In general, the code determines each step time by first calculating
+where along the line of movement the head would be if a step is
+taken. It then calculates what time the head should be at that
+position. Determining the time along the line of movement can be done
+using the formulas for constant acceleration and constant velocity:
+
+```
+time = sqrt(2*distance/accel + (start_velocity/accel)^2) - start_velocity/accel
+time = distance/cruise_velocity
+```
+
+Cartesian Robots
+----------------
+
+Generating steps for cartesian printers is the simplest case. The
+movement on each axis is directly related to the movement in cartesian
+space.
+
+Delta Robots
+------------
+
+To generate step times on Delta printers it is necessary to correlate
+the movement in cartesian space with the movement on each stepper
+tower.
+
+To simplify the math, for each stepper tower, the code calculates the
+location of a "virtual tower" that is along the line of movement.
+This virtual tower is chosen at the point where the line of movement
+(extended infinitely in both directions) would be closest to the
+actual tower.
+
+![delta-tower](img/delta-tower.svg.png)
+
+It is then possible to calculate where the head will be along the line
+of movement after each step is taken on the virtual tower.
+
+![virtual-tower](img/virtual-tower.svg.png)
+
+The key formula is Pythagoras's theorem:
+```
+distance_to_tower^2 = arm_length^2 - tower_height^2
+```
+
+One complexity is that if the print head passes the virtual tower
+location then the stepper direction must be reversed. In this case
+forward steps will be taken at the start of the move and reverse steps
+will be taken at the end of the move.
+
+### Delta movements beyond simple XY plane ###
+
+Movement calculation is more complicated if a single move contains
+both XY movement and Z movement. These moves are rare, but they must
+still be handled correctly. A virtual tower along the line of movement
+is still calculated, but in this case the tower is not at a 90 degree
+angle relative to the line of movement:
+
+![xy+z-tower](img/xy+z-tower.svg.png)
+
+The code continues to calculate step times using the same general
+scheme as delta moves within an XY plane, but the slope of the tower
+must also be used in the calculations.
+
+Should the move contain only Z movement (ie, no XY movement at all)
+then the same math is used - just in this case the tower is parallel
+to the line of movement.
+
+### Stepper motor acceleration limits ###
+
+With delta kinematics it is possible for a move that is accelerating
+in cartesian space to require an acceleration on a particular stepper
+motor greater than the move's acceleration. This can occur when a
+stepper arm is more horizontal than vertical and the line of movement
+passes near that stepper's tower. Although these moves could require a
+stepper motor acceleration greater than the printer's maximum
+configured move acceleration, the effective mass moved by that stepper
+would be smaller. Thus the higher stepper acceleration does not result
+in significantly higher stepper torque and it is therefore considered
+harmless.
+
+However, to avoid extreme cases, Klipper enforces a maximum ceiling on
+stepper acceleration of three times the printer's configured maximum
+move acceleration. (Similarly, the maximum velocity of the stepper is
+limited to three times the maximum move velocity.) In order to enforce
+this limit, moves at the extreme edge of the build envelope (where a
+stepper arm may be nearly horizontal) will have a lower maximum
+acceleration and velocity.
+
+Extruder kinematics
+-------------------
+
+Klipper implements extruder motion in its own kinematic class. Since
+the timing and speed of each print head movement is fully known for
+each move, it's possible to calculate the step times for the extruder
+independently from the step time calculations of the print head
+movement.
+
+Basic extruder movement is simple to calculate. The step time
+generation uses the same constant acceleration and constant velocity
+formulas that cartesian robots use.
+
+### Pressure advance ###
+
+Experimentation has shown that it's possible to improve the modeling
+of the extruder beyond the basic extruder formula. In the ideal case,
+as an extrusion move progresses, the same volume of filament should be
+deposited at each point along the move and there should be no volume
+extruded after the move. Unfortunately, it's common to find that the
+basic extrusion formulas cause too little filament to exit the
+extruder at the start of extrusion moves and for excess filament to
+extrude after extrusion ends. This is often referred to as "ooze".
+
+![ooze](img/ooze.svg.png)
+
+The "pressure advance" system attempts to account for this by using a
+different model for the extruder. Instead of naively believing that
+each mm^3 of filament fed into the extruder will result in that amount
+of mm^3 immediately exiting the extruder, it uses a model based on
+pressure. Pressure increases when filament is pushed into the extruder
+(as in [Hooke's law](https://en.wikipedia.org/wiki/Hooke%27s_law)) and
+the pressure necessary to extrude is dominated by the flow rate
+through the nozzle orifice (as in
+[Poiseuille's law](https://en.wikipedia.org/wiki/Poiseuille_law)). The
+key idea is that the relationship between filament, pressure, and flow
+rate can be modeled using a linear coefficient:
+```
+extra_filament = pressure_advance_coefficient * extruder_velocity
+```
+
+See the [pressure advance](Pressure_Advance.md) document for
+information on how to find this pressure advance coefficient.
+
+Once configured, Klipper will push in an additional amount of filament
+during acceleration. The higher the desired filament flow rate, the
+more filament must be pushed in during acceleration to account for
+pressure. During head deceleration the extra filament is retracted
+(the extruder will have a negative velocity).
+
+![pressure-advance](img/pressure-advance.svg.png)
+
+One may notice that the pressure advance algorithm can cause the
+extruder motor to make sudden velocity changes. This is tolerated
+based on the idea that the majority of the inertia in the system is in
+changing the extruder pressure. As long as the extruder pressure does
+not change rapidly the sudden changes in extruder motor velocity are
+tolerated.
+
+One area where sudden velocity changes become problematic is during
+small changes in head speed due to cornering.
+
+![pressure-cornering](img/pressure-cornering.svg.png)
+
+To prevent this, the Klipper pressure advance code utilizes the move
+look-ahead queue to detect intermittent speed changes. During a
+deceleration event the code finds the maximum upcoming head speed
+within a configurable time window. The pressure is then only adjusted
+to this found maximum. This can greatly reduce (or even completely
+eliminate) pressure changes during cornering.

docs/MCU_Commands.md

@@ -0,0 +1,285 @@
+This document provides information on the low-level micro-controller
+commands that are sent from the Klipper "host" software and processed
+by the Klipper micro-controller software. This document is not an
+authoritative reference for these commands, nor is it an exclusive
+list of all available commands.
+
+This document may be useful for developers interested in understanding
+the low-level micro-controller commands.
+
+See the [protocol](Protocol.md) document for more information on the
+format of commands and their transmission. The commands here are
+described using their "printf" style syntax - for those unfamiliar
+with that format, just note that where a '%...' sequence is seen it
+should be replaced with an actual integer. For example, a description
+with "count=%c" could be replaced with the text "count=10".
+
+Startup Commands
+================
+
+It may be necessary to take certain one-time actions to configure the
+micro-controller and its peripherals. This section lists common
+commands available for that purpose. Unlike most micro-controller
+commands, these commands run as soon as they are received and they do
+not require any particular setup.
+
+Several of these commands will take a "pin=%u" parameter. The
+low-level micro-controller software uses integer encodings of the
+hardware pin numbers, but to make things more readable the host will
+translate human readable pin names (eg, "PA3") to their equivalent
+integer encodings. By convention, any parameter named "pin" or that
+has a "_pin" suffix will use pin name translation by the
+host.
+
+Common startup commands:
+
+* `set_digital_out pin=%u value=%c` : This command immediately
+  configures the given pin as a digital out GPIO and it sets it to
+  either a low level (value=0) or a high level (value=1). This command
+  may be useful for configuring the initial value of LEDs and for
+  configuring the initial value of stepper driver micro-stepping pins.
+
+* `set_pwm_out pin=%u cycle_ticks=%u value=%hu` : This command will
+  immediately configure the given pin to use hardware based
+  pulse-width-modulation (PWM) with the given number of
+  cycle_ticks. The "cycle_ticks" is the number of MCU clock ticks each
+  power on and power off cycle should last. A cycle_ticks value of 1
+  can be used to request the fastest possible cycle time. The "value"
+  parameter is between 0 and 255 with 0 indicating a full off state
+  and 255 indicating a full on state. This command may be useful for
+  enabling CPU and nozzle cooling fans.
+
+* `send_spi_message pin=%u msg=%*s` : This command can be used to
+  transmit messages to a serial-peripheral-interface (SPI) component
+  connected to the micro-controller. It has been used to configure the
+  startup settings of AD5206 digipots. The 'pin' parameter specifies
+  the chip select line to use during the transmission. The 'msg'
+  indicates the binary message to transmit to the given chip.
+
+Low-level micro-controller configuration
+========================================
+
+Most commands in the micro-controller require an initial setup before
+they can be successfully invoked. This section provides an overview of
+the configuration process. This section and the following sections are
+likely only of interest to developers interested in the internal
+details of Klipper.
+
+When the host first connects to the micro-controller it always starts
+by obtaining a data dictionary (see [protocol](Protocol.md) for more
+information). After the data dictionary is obtained the host will
+check if the micro-controller is in a "configured" state and configure
+it if not. Configuration involves the following phases:
+
+* `get_config` : The host starts by checking if the micro-controller
+  is already configured. The micro-controller responds to this command
+  with a "config" response message. The micro-controller software
+  always starts in an unconfigured state at power-on. It remains in
+  this state until the host completes the configuration processes (by
+  issuing a finalize_config command). If the micro-controller is
+  already configured from a previous session (and is configured with
+  the desired settings) then no further action is needed by the host
+  and the configuration process ends successfully.
+
+* `allocate_oids count=%c` : This command is issued to inform the
+  micro-controller of the maximum number of object-ids (oid) that the
+  host requires. It is only valid to issue this command once. An oid
+  is an integer identifier allocated to each stepper, each endstop,
+  and each schedulable gpio pin. The host determines in advance the
+  number of oids it will require to operate the hardware and passes
+  this to the micro-controller so that it may allocate sufficient
+  memory to store a mapping from oid to internal object.
+
+* `config_XXX oid=%c ...` : By convention any command starting with
+  the "config_" prefix creates a new micro-controller object and
+  assigns the given oid to it. For example, the config_digital_out
+  command will configure the specified pin as a digital output GPIO
+  and create an internal object that the host can use to schedule
+  changes to the given GPIO. The oid parameter passed into the config
+  command is selected by the host and must be between zero and the
+  maximum count supplied in the allocate_oids command. The config
+  commands may only be run when the micro-controller is not in a
+  configured state (ie, prior to the host sending finalize_config) and
+  after the allocate_oids command has been sent.
+
+* `finalize_config crc=%u` : The finalize_config command transitions
+  the micro-controller from an unconfigured state to a configured
+  state. The crc parameter passed to the micro-controller is stored
+  and provided back to the host in "config" response messages. By
+  convention, the host takes a 32bit CRC of the configuration it will
+  request and at the start of subsequent communication sessions it
+  checks that the CRC stored in the micro-controller exactly matches
+  its desired CRC. If the CRC does not match then the host knows the
+  micro-controller has not been configured in the state desired by the
+  host.
+
+Common micro-controller objects
+-------------------------------
+
+This section lists some commonly used config commands.
+
+* `config_digital_out oid=%c pin=%u value=%c default_value=%c
+  max_duration=%u` : This command creates an internal micro-controller
+  object for the given GPIO 'pin'. The pin will be configured in
+  digital output mode and set to an initial value as specified by
+  'value' (0 for low, 1 for high). Creating a digital_out object
+  allows the host to schedule GPIO updates for the given pin at
+  specified times (see the schedule_digital_out command described
+  below). Should the micro-controller software go into shutdown mode
+  then all configured digital_out objects will be set to
+  'default_value'. The 'max_duration' parameter is used to implement a
+  safety check - if it is non-zero then it is the maximum number of
+  clock ticks that the host may set the given GPIO to a non-default
+  value without further updates. For example, if the default_value is
+  zero and the max_duration is 16000 then if the host sets the gpio to
+  a value of one then it must schedule another update to the gpio pin
+  (to either zero or one) within 16000 clock ticks. This safety
+  feature can be used with heater pins to ensure the host does not
+  enable the heater and then go off-line.
+
+* `config_pwm_out oid=%c pin=%u cycle_ticks=%u value=%hu
+  default_value=%hu max_duration=%u` : This command creates an
+  internal object for hardware based PWM pins that the host may
+  schedule updates for. Its usage is analogous to config_digital_out -
+  see the description of the 'set_pwm_out' and 'config_digital_out'
+  commands for parameter description.
+
+* `config_soft_pwm_out oid=%c pin=%u cycle_ticks=%u value=%c
+  default_value=%c max_duration=%u` : This command creates an internal
+  micro-controller object for software implemented PWM. Unlike
+  hardware pwm pins, a software pwm object does not require any
+  special hardware support (other than the ability to configure the
+  pin as a digital output GPIO). Because the output switching is
+  implemented in the micro-controller software, it is recommended that
+  the cycle_ticks parameter correspond to a time of 10ms or
+  greater. See the description of the 'set_pwm_out' and
+  'config_digital_out' commands for parameter description.
+
+* `config_analog_in oid=%c pin=%u` : This command is used to configure
+  a pin in analog input sampling mode. Once configured, the pin can be
+  sampled at regular interval using the query_analog_in command (see
+  below).
+
+* `config_stepper oid=%c step_pin=%c dir_pin=%c min_stop_interval=%u
+  invert_step=%c` : This command creates an internal stepper
+  object. The 'step_pin' and 'dir_pin' parameters specify the step and
+  direction pins respectively; this command will configure them in
+  digital output mode. The 'invert_step' parameter specifies whether a
+  step occurs on a rising edge (invert_step=0) or falling edge
+  (invert_step=1). The 'min_stop_interval' implements a safety
+  feature - it is checked when the micro-controller finishes all moves
+  for a stepper - if it is non-zero it specifies the minimum number of
+  clock ticks since the last step. It is used as a check on the
+  maximum stepper velocity that a stepper may have before stopping.
+
+* `config_end_stop oid=%c pin=%c pull_up=%c stepper_count=%c` : This
+  command creates an internal "endstop" object. It is used to specify
+  the endstop pins and to enable "homing" operations (see the
+  end_stop_home command below). The command will configure the
+  specified pin in digital input mode. The 'pull_up' parameter
+  determines whether hardware provided pullup resistors for the pin
+  (if available) will be enabled. The 'stepper_count' parameter
+  specifies the maximum number of steppers that this endstop may need
+  to halt during a homing operation (see end_stop_home below).
+
+Common commands
+===============
+
+This section lists some commonly used run-time commands. It is likely
+only of interest to developers looking to gain insight into Klipper.
+
+* `schedule_digital_out oid=%c clock=%u value=%c` : This command will
+  schedule a change to a digital output GPIO pin at the given clock
+  time. To use this command a 'config_digital_out' command with the
+  same 'oid' parameter must have been issued during micro-controller
+  configuration.
+
+* `schedule_pwm_out oid=%c clock=%u value=%hu` : Schedules a change to
+  a hardware PWM output pin. See the 'schedule_digital_out' and
+  'config_pwm_out' commands for more info.
+
+* `schedule_soft_pwm_out oid=%c clock=%u value=%hu` : Schedules a
+  change to a software PWM output pin. See the 'schedule_digital_out'
+  and 'config_soft_pwm_out' commands for more info.
+
+* `query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c
+  rest_ticks=%u min_value=%hu max_value=%hu` : This command sets up a
+  recurring schedule of analog input samples. To use this command a
+  'config_analog_in' command with the same 'oid' parameter must have
+  been issued during micro-controller configuration. The samples will
+  start as of 'clock' time, it will report on the obtained value every
+  'rest_ticks' clock ticks, it will over-sample 'sample_count' number
+  of times, and it will pause 'sample_ticks' number of clock ticks
+  between over-sample samples. The 'min_value' and 'max_value'
+  parameters implement a safety feature - the micro-controller
+  software will verify the sampled value (after any oversampling) is
+  always between the supplied range. This is intended for use with
+  pins attached to thermistors controlling heaters - it can be used to
+  check that a heater is within a temperature range.
+
+* `get_status` : This command causes the micro-controller to generate
+  a "status" response message. The host sends this command once a
+  second to obtain the value of the micro-controller clock and to
+  estimate the drift between host and micro-controller clocks. It
+  enables the host to accurately estimate the micro-controller clock.
+
+Stepper commands
+----------------
+
+* `queue_step oid=%c interval=%u count=%hu add=%hi` : This command
+  schedules 'count' number of steps for the given stepper, with
+  'interval' number of clock ticks between each step. The first step
+  will be 'interval' number of clock ticks since the last scheduled
+  step for the given stepper. If 'add' is non-zero then the interval
+  will be adjusted by 'add' amount after each step. This command
+  appends the given interval/count/add sequence to a per-stepper
+  queue. There may be hundreds of these sequences queued during normal
+  operation. New sequence are appended to the end of the queue and as
+  each sequence completes its 'count' number of steps it is popped
+  from the front of the queue. This system allows the micro-controller
+  to queue potentially hundreds of thousands of steps - all with
+  reliable and predictable schedule times.
+
+* `set_next_step_dir oid=%c dir=%c` : This command specifies the value
+  of the dir_pin that the next queue_step command will use.
+
+* `reset_step_clock oid=%c clock=%u` : Normally, step timing is
+  relative to the last step for a given stepper. This command resets
+  the clock so that the next step is relative to the supplied 'clock'
+  time. The host usually only sends this command at the start of a
+  print.
+
+* `stepper_get_position oid=%c` : This command causes the
+  micro-controller to generate a "stepper_position" response message
+  with the stepper's current position. The position is the total
+  number of steps generated with dir=1 minus the total number of steps
+  generated with dir=0.
+
+* `end_stop_home oid=%c clock=%u sample_ticks=%u sample_count=%c
+  rest_ticks=%u pin_value=%c` : This command is used during stepper
+  "homing" operations. To use this command a 'config_end_stop' command
+  with the same 'oid' parameter must have been issued during
+  micro-controller configuration. When this command is invoked, the
+  micro-controller will sample the endstop pin every 'rest_ticks'
+  clock ticks and check if it has a value equal to 'pin_value'. If the
+  value matches (and it continues to match for 'sample_count'
+  additional samples spread 'sample_ticks' apart) then the movement
+  queue for the associated stepper will be cleared and the stepper
+  will come to an immediate halt. The host uses this command to
+  implement homing - the host instructs the endstop to sample for the
+  endstop trigger and then it issues a series of queue_step commands
+  to move a stepper towards the endstop. Once the stepper hits the
+  endstop, the trigger will be detected, the movement halted, and the
+  host notified.
+
+### Move queue
+
+Each queue_step command utilizes an entry in the micro-controller
+"move queue". This queue is allocated when it receives the
+"finalize_config" command, and it reports the number of available
+queue entries in "config" response messages.
+
+It is the responsibility of the host to ensure that there is available
+space in the queue before sending a queue_step command. The host does
+this by calculating when each queue_step command completes and
+scheduling new queue_step commands accordingly.

docs/Overview.md

@@ -1,18 +1,36 @@
-See [installation](Installation.md) for information on compiling,
-installing, and running Klipper. Read [features](Features.md) for a
-high-level description of useful capabilities. The history of releases
-is available at [releases](Releases.md).
+Welcome to the Klipper documentation. There are two parts to Klipper -
+code that runs on a micro-controller and code that runs on a "host"
+machine. The host code is intended to run on a low-cost
+general-purpose machine such as a Raspberry Pi, while the
+micro-controller code is intended to run on commodity micro-controller
+chips. Read [features](Features.md) for reasons to use Klipper. See
+[installation](Installation.md) to get started with Klipper.
+
+The Klipper configuration is stored in a simple text file on the host
+machine. The [config/example.cfg](../config/example.cfg) file serves
+as a reference for the config file. The
+[Pressure Advance](Pressure_Advance.md) document contains information
+on tuning the pressure advance config.
+
+The [kinematics](Kinematics.md) document provides some technical
+details on how Klipper implements motion.
+
+The history of Klipper releases is available at
+[releases](Releases.md). See [contact](Contact.md) for information on
+bug reporting and general communication with the developers.
+
+Developer Documentation
+=======================
 
 There are also several documents available for developers interested
-in understanding how Klipper works:
+in understanding how Klipper works. Start with the
+[code overview](Code_Overview.md) document - it provides information
+on the structure and layout of the Klipper code.
 
-See [code overview](Code_Overview.md) for information on the structure
-and layout of the Klipper code.
-
-See [protocol](Protocol.md) for information on the messaging protocol
-between host and firmware. See also
-[firmware commands](Firmware_Commands.md) for a high-level description
-of common commands implemented in the firmware.
+See [protocol](Protocol.md) for information on the low-level messaging
+protocol between host and micro-controller. See also
+[MCU commands](MCU_Commands.md) for a description of low-level
+commands implemented in the micro-controller software.
 
 See [debugging](Debugging.md) for information on how to test and debug
 Klipper.

docs/Pressure_Advance.md

@@ -0,0 +1,94 @@
+This document provides information on tuning the "pressure advance"
+configuration variables for a particular nozzle and filament. The
+pressure advance feature can be helpful in reducing ooze. For more
+information on how pressure advance is implemented see the
+[kinematics](Kinematics.md) document.
+
+Prerequisites
+=============
+
+In order to tune the pressure advance setting the printer must be
+configured and operational. The tuning test involves printing objects
+and inspecting the differences between objects. In particular, the
+extruder
+[E steps](http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide#E_steps)
+and
+[nozzle temperature](http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide#Nozzle_Temperature)
+should be tuned prior to tuning pressure advance.
+
+Tuning pressure advance
+=======================
+
+Pressure advance does two useful things - it reduces ooze during
+non-extrude moves and it reduces blobbing during cornering. This guide
+uses the second feature (reducing blobbing during cornering) as a
+mechanism for measuring and tuning the pressure advance configuration.
+
+Start by changing the extruder section of the config file so that
+pressure_advance is set to 0.0. (Make sure to issue a RESTART command
+after each update to the config file so that the new configuration
+takes effect.) Then print at least 10 layers of a large hollow square
+at high speed (eg, 100mm/s). See
+[docs/prints/square.stl](prints/square.stl) file for an STL file that
+one may use. While the object is printing, make a note of which
+direction the head is moving during external perimeters. What many
+people see here is blobbing occurring at the corners - extra filament
+at the corner in the direction the head travels followed by a possible
+lack of filament on the side immediately after that corner:
+
+![corner-blob](img/corner-blob.jpg)
+
+This blobbing is the result of pressure in the extruder being released
+as a blob when the head slows down to corner.
+
+The next step is to set pressure_advance_lookahead_time to 0.0, slowly
+increase pressure_advance (eg, start with 0.05), and reprint the test
+object. (Be sure to issue RESTART between each config change.) The
+goal is to attempt to eliminate the blobbing during cornering. (With
+pressure advance, the extruder will retract when the head slows down,
+thus countering the pressure buildup and ideally eliminate the
+blobbing.)
+
+If a test run is done with a pressure_advance setting that is too
+high, one typically sees a dimple in the corner followed by possible
+blobbing after the corner (too much filament is retracted during slow
+down and then too much filament is extruded during the following speed
+up after cornering):
+
+![corner-dimple](img/corner-dimple.jpg)
+
+The goal is to find the smallest pressure_advance value that results
+in good quality corners:
+
+![corner-good](img/corner-good.jpg)
+
+Typical pressure_advance values are between 0.05 and 0.20 (the high
+end usually only with bowden extruders).
+
+It is not unusual for one corner of the test print to be consistently
+different than the other three corners. This typically occurs when the
+slicer arranges to always change Z height at that corner.  If this
+occurs, then ignore that corner and tune pressure_advance using the
+other three corners.
+
+Once a good pressure_advance value is found, return
+pressure_advance_lookahead_time to its default (0.010). This parameter
+controls how far in advance to check if a head slow-down is
+immediately followed by a speed-up - it reduces pointless pressure
+changes in the head. It's possible to tune this - higher values will
+decrease the number of pressure changes in the nozzle at the expense
+of permitting more blobbing during cornering. (Tuning this value is
+unlikely to impact ooze.) The default of 10ms should work well on most
+printers.
+
+Although this tuning exercise directly improves the quality of
+corners, it's worth remembering that a good pressure advance
+configuration can reduce ooze throughout the print.
+
+Finally, once pressure_advance is tuned in Klipper, it may still be
+useful to configure a small retract value in the slicer (eg, 0.75mm)
+and to utilize the slicer's "wipe on retract option" if available.
+These slicer settings may help counteract ooze caused by filament
+cohesion (filament pulled out of the nozzle due to the stickiness of
+the plastic). It is recommended to disable the slicer's "z-lift on
+retract" option.

docs/Protocol.md

@@ -1,8 +1,9 @@
-The Klipper transmission protocol can be thought of, at a high level,
-as a series of command and response strings that are compressed,
-transmitted over a serial line, and then processed at the receiving
-side. An example series of commands in uncompressed human-readable
-format might look like:
+The Klipper messaging protocol is used for low-level communication
+between the Klipper host software and the Klipper micro-controller
+software. At a high level the protocol can be thought of as a series
+of command and response strings that are compressed, transmitted, and
+then processed at the receiving side. An example series of commands in
+uncompressed human-readable format might look like:
 
 ```
 set_digital_out pin=86 value=1
@@ -12,34 +13,35 @@ queue_step oid=7 interval=7458 count=10 add=331
 queue_step oid=7 interval=11717 count=4 add=1281
 ```
 
-See the [firmware commands](Firmware_Commands.md) document for
-information on available commands. See the [debugging](Debugging.md)
-document for information on how to translate a G-Code file into its
-corresponding human-readable firmware commands.
+See the [mcu commands](MCU_Commands.md) document for information on
+available commands. See the [debugging](Debugging.md) document for
+information on how to translate a G-Code file into its corresponding
+human-readable micro-controller commands.
 
-This page provides a high-level description of the Klipper
-transmission protocol itself. It describes how messages are declared,
-encoded in binary format (the "compression" scheme), and transmitted.
+This page provides a high-level description of the Klipper messaging
+protocol itself. It describes how messages are declared, encoded in
+binary format (the "compression" scheme), and transmitted.
 
 The goal of the protocol is to enable an error-free communication
-channel between the host and firmware that is low-latency,
-low-bandwidth, and low-complexity for the firmware.
+channel between the host and micro-controller that is low-latency,
+low-bandwidth, and low-complexity for the micro-controller.
 
-Firmware Interface
-==================
+Micro-controller Interface
+==========================
 
 The Klipper transmission protocol can be thought of as a
 [RPC](https://en.wikipedia.org/wiki/Remote_procedure_call) mechanism
-between firmware and host. The firmware declares the commands that the
-host may invoke along with the response messages that it can
-generate. The host uses that information to command the firmware to
-perform actions and to interpret the results.
+between micro-controller and host. The micro-controller software
+declares the commands that the host may invoke along with the response
+messages that it can generate. The host uses that information to
+command the micro-controller to perform actions and to interpret the
+results.
 
 Declaring commands
 ------------------
 
-The firmware declares a "command" by using the DECL_COMMAND() macro in
-the C code. For example:
+The micro-controller software declares a "command" by using the
+DECL_COMMAND() macro in the C code. For example:
 
 ```
 DECL_COMMAND(command_set_digital_out, "set_digital_out pin=%u value=%c");
@@ -48,11 +50,11 @@ DECL_COMMAND(command_set_digital_out, "set_digital_out pin=%u value=%c");
 The above declares a command named "set_digital_out". This allows the
 host to "invoke" this command which would cause the
 command_set_digital_out() C function to be executed in the
-firmware. The above also indicates that the command takes two integer
-parameters. When the command_set_digital_out() C code is executed, it
-will be passed an array containing these two integers - the first
-corresponding to the 'pin' and the second corresponding to the
-'value'.
+micro-controller. The above also indicates that the command takes two
+integer parameters. When the command_set_digital_out() C code is
+executed, it will be passed an array containing these two integers -
+the first corresponding to the 'pin' and the second corresponding to
+the 'value'.
 
 In general, the parameters are described with printf() style syntax
 (eg, "%u"). The formatting directly corresponds to the human-readable
@@ -63,64 +65,61 @@ documentation. In this example, the "%c" is also used as documentation
 to indicate the expected integer is 1 byte in size (the declared
 integer size does not impact the parsing or encoding).
 
-At firmware compile time, the build will collect all commands declared
-with DECL_COMMAND(), determine their parameters, and arrange for them
-to be callable.
+The micro-controller build will collect all commands declared with
+DECL_COMMAND(), determine their parameters, and arrange for them to be
+callable.
 
 Declaring responses
 -------------------
 
-To send information from the firmware to the host a "response" is
-generated. These are both declared and transmitted using the sendf() C
-macro. For example:
+To send information from the micro-controller to the host a "response"
+is generated. These are both declared and transmitted using the
+sendf() C macro. For example:
 
 ```
 sendf("status clock=%u status=%c", sched_read_time(), sched_is_shutdown());
 ```
 
 The above transmits a "status" response message that contains two
-integer parameters ("clock" and "status"). At firmware compile time
-the build automatically finds all sendf() calls and generates encoders
-for them. The first parameter of the sendf() function describes the
+integer parameters ("clock" and "status"). The micro-controller build
+automatically finds all sendf() calls and generates encoders for
+them. The first parameter of the sendf() function describes the
 response and it is in the same format as command declarations.
 
 The host can arrange to register a callback function for each
 response. So, in effect, commands allow the host to invoke C functions
-in the firmware and responses allow the firmware to invoke code in the
-host.
+in the micro-controller and responses allow the micro-controller
+software to invoke code in the host.
 
-The firmware should only invoke sendf() from command or task handlers,
-and it should not be invoked from interrupts or timers. The firmware
-does not need to issue a sendf() in response to a received command, it
-is not limited in the number of times sendf() may be invoked, and it
-may invoke sendf() at any time from a task handler.
+The sendf() macro should only be invoked from command or task
+handlers, and it should not be invoked from interrupts or timers. The
+code does not need to issue a sendf() in response to a received
+command, it is not limited in the number of times sendf() may be
+invoked, and it may invoke sendf() at any time from a task handler.
 
 ### Output responses
 
-To simplify debugging, the firmware also has an output() C
-function. For example:
+To simplify debugging, there is also has an output() C function. For
+example:
 
 ```
 output("The value of %u is %s with size %u.", x, buf, buf_len);
 ```
 
 The output() function is similar in usage to printf() - it is intended
-to generate and format arbitrary messages for human consumption. It is
-a wrapper around sendf() and as with sendf() it should not be called
-from interrupts or timers.
+to generate and format arbitrary messages for human consumption.
 
 Declaring constants
 -------------------
 
-The firmware can also define constants to be exported.  For example,
-the following:
+Constants can also be exported. For example, the following:
 
 ```
 DECL_CONSTANT(SERIAL_BAUD, 250000);
 ```
 
 would export a constant named "SERIAL_BAUD" with a value of 250000
-from the firmware to the host.
+from the micro-controller to the host.
 
 Low-level message encoding
 ==========================
@@ -132,9 +131,9 @@ the transmission system.
 Message Blocks
 --------------
 
-All data sent from host to firmware and vice-versa are contained in
-"message blocks". A message block has a two byte header and a three
-byte trailer.  The format of a message block is:
+All data sent from host to micro-controller and vice-versa are
+contained in "message blocks". A message block has a two byte header
+and a three byte trailer. The format of a message block is:
 
 ```
 <1 byte length><1 byte sequence><n-byte content><2 byte crc><1 byte sync>
@@ -162,10 +161,11 @@ present in the message block content.
 Message Block Contents
 ----------------------
 
-Each message block sent from host to firmware contains a series of
-zero or more message commands in its contents. Each command starts
-with a Variable Length Quantity (VLQ) encoded integer command-id
-followed by zero or more VLQ parameters for the given command.
+Each message block sent from host to micro-controller contains a
+series of zero or more message commands in its contents. Each command
+starts with a [Variable Length Quantity](#variable-length-quantities)
+(VLQ) encoded integer command-id followed by zero or more VLQ
+parameters for the given command.
 
 As an example, the following four commands might be placed in a single
 message block:
@@ -184,21 +184,22 @@ and encoded into the following eight VLQ integers:
 ```
 
 In order to encode and parse the message contents, both the host and
-firmware must agree on the command ids and the number of parameters
-each command has. So, in the above example, both the host and firmware
-would know that "id_set_digital_out" is always followed by two
-parameters, and "id_get_config" and "id_get_status" have zero
-parameters. The host and firmware share a "data dictionary" that maps
-the command descriptions (eg, "set_digital_out pin=%u value=%c") to
-their integer command-ids. When processing the data, the parser will
-know to expect a specific number of VLQ encoded parameters following a
-given command id.
+micro-controller must agree on the command ids and the number of
+parameters each command has. So, in the above example, both the host
+and micro-controller would know that "id_set_digital_out" is always
+followed by two parameters, and "id_get_config" and "id_get_status"
+have zero parameters. The host and micro-controller share a "data
+dictionary" that maps the command descriptions (eg, "set_digital_out
+pin=%u value=%c") to their integer command-ids. When processing the
+data, the parser will know to expect a specific number of VLQ encoded
+parameters following a given command id.
 
-The message contents for blocks sent from firmware to host follow the
-same format. The identifiers in these messages are "response ids", but
-they serve the same purpose and follow the same encoding rules. In
-practice, message blocks sent from the firmware to the host never
-contain more than one response in the message block contents.
+The message contents for blocks sent from micro-controller to host
+follow the same format. The identifiers in these messages are
+"response ids", but they serve the same purpose and follow the same
+encoding rules. In practice, message blocks sent from the
+micro-controller to the host never contain more than one response in
+the message block contents.
 
 ### Variable Length Quantities
 
@@ -230,60 +231,62 @@ the length as a VLQ encoded integer followed by the contents itself:
 ```
 
 The command descriptions found in the data dictionary allow both the
-host and firmware to know which command parameters use simple VLQ
-encoding and which parameters use string encoding.
+host and micro-controller to know which command parameters use simple
+VLQ encoding and which parameters use string encoding.
 
 Data Dictionary
 ===============
 
 In order for meaningful communications to be established between
-firmware and host, both sides must agree on a "data dictionary". This
-data dictionary contains the integer identifiers for commands and
-responses along with their descriptions.
+micro-controller and host, both sides must agree on a "data
+dictionary". This data dictionary contains the integer identifiers for
+commands and responses along with their descriptions.
 
-At compile time the firmware build uses the contents of DECL_COMMAND()
-and sendf() macros to generate the data dictionary. The build
+The micro-controller build uses the contents of DECL_COMMAND() and
+sendf() macros to generate the data dictionary. The build
 automatically assigns unique identifiers to each command and
-response. This system allows both the host and firmware code to
-seamlessly use descriptive human-readable names while still using
+response. This system allows both the host and micro-controller code
+to seamlessly use descriptive human-readable names while still using
 minimal bandwidth.
 
 The host queries the data dictionary when it first connects to the
-firmware. Once the host downloads the data dictionary from the
-firmware, it uses that data dictionary to encode all commands and to
-parse all responses from the firmware. The host must therefore handle
-a dynamic data dictionary. However, to keep the firmware simple, the
-firmware always uses its static (compiled in) data dictionary.
+micro-controller. Once the host downloads the data dictionary from the
+micro-controller, it uses that data dictionary to encode all commands
+and to parse all responses from the micro-controller. The host must
+therefore handle a dynamic data dictionary. However, to keep the
+micro-controller software simple, the micro-controller always uses its
+static (compiled in) data dictionary.
 
 The data dictionary is queried by sending "identify" commands to the
-firmware. The firmware will respond to each identify command with an
-"identify_response" message. Since these two commands are needed prior
-to obtaining the data dictionary, their integer ids and parameter
-types are hard-coded in both the firmware and the host. The
-"identify_response" response id is 0, the "identify" command id
-is 1. Other than having hard-coded ids the identify command and its
-response are declared and transmitted the same way as other commands
-and responses. No other command or response is hard-coded.
+micro-controller. The micro-controller will respond to each identify
+command with an "identify_response" message. Since these two commands
+are needed prior to obtaining the data dictionary, their integer ids
+and parameter types are hard-coded in both the micro-controller and
+the host. The "identify_response" response id is 0, the "identify"
+command id is 1. Other than having hard-coded ids the identify command
+and its response are declared and transmitted the same way as other
+commands and responses. No other command or response is hard-coded.
 
 The format of the transmitted data dictionary itself is a zlib
-compressed JSON string. The firmware compile process generates the
-string, compresses it, and stores it in the text section of the
-firmware. The data dictionary can be much larger than the maximum
-message block size - the host downloads it by sending multiple
-identify commands requesting progressive chunks of the data
+compressed JSON string. The micro-controller build process generates
+the string, compresses it, and stores it in the text section of the
+micro-controller flash. The data dictionary can be much larger than
+the maximum message block size - the host downloads it by sending
+multiple identify commands requesting progressive chunks of the data
 dictionary. Once all chunks are obtained the host will assemble the
 chunks, uncompress the data, and parse the contents.
 
 In addition to information on the communication protocol, the data
-dictionary also contains firmware version, constants (as defined by
-DECL_CONSTANT), and static strings.
+dictionary also contains the software version, constants (as defined
+by DECL_CONSTANT), and static strings.
 
 Static Strings
 --------------
 
 To reduce bandwidth the data dictionary also contains a set of static
-strings known to the firmware. This is useful when sending messages
-from firmware to host. For example, if the firmware were to run:
+strings known to the micro-controller. This is useful when sending
+messages from micro-controller to host. For example, if the
+micro-controller were to run:
 
 ```
 shutdown("Unable to handle command");
@@ -296,22 +299,22 @@ to their associated human-readable strings.
 Message flow
 ============
 
-Message commands sent from host to firmware are intended to be
-error-free. The firmware will check the CRC and sequence numbers in
-each message block to ensure the commands are accurate and
-in-order. The firmware always processes message blocks in-order -
-should it receive a block out-of-order it will discard it and any
-other out-of-order blocks until it receives blocks with the correct
-sequencing.
+Message commands sent from host to micro-controller are intended to be
+error-free. The micro-controller will check the CRC and sequence
+numbers in each message block to ensure the commands are accurate and
+in-order. The micro-controller always processes message blocks
+in-order - should it receive a block out-of-order it will discard it
+and any other out-of-order blocks until it receives blocks with the
+correct sequencing.
 
 The low-level host code implements an automatic retransmission system
-for lost and corrupt message blocks sent to the firmware. To
-facilitate this, the firmware transmits an "ack message block" after
-each successfully received message block. The host schedules a timeout
-after sending each block and it will retransmit should the timeout
-expire without receiving a corresponding "ack". In addition, if the
-firmware detects a corrupt or out-of-order block it may transmit a
-"nak message block" to facilitate fast retransmission.
+for lost and corrupt message blocks sent to the micro-controller. To
+facilitate this, the micro-controller transmits an "ack message block"
+after each successfully received message block. The host schedules a
+timeout after sending each block and it will retransmit should the
+timeout expire without receiving a corresponding "ack". In addition,
+if the micro-controller detects a corrupt or out-of-order block it may
+transmit a "nak message block" to facilitate fast retransmission.
 
 An "ack" is a message block with empty content (ie, a 5 byte message
 block) and a sequence number greater than the last received host
@@ -326,15 +329,15 @@ in the event of transmission latency. The timeout, retransmit,
 windowing, and ack mechanism are inspired by similar mechanisms in
 [TCP](https://en.wikipedia.org/wiki/Transmission_Control_Protocol).
 
-In the other direction, message blocks sent from firmware to host are
-designed to be error-free, but they do not have assured
+In the other direction, message blocks sent from micro-controller to
+host are designed to be error-free, but they do not have assured
 transmission. (Responses should not be corrupt, but they may go
-missing.) This is done to keep the implementation in the firmware
-simple. There is no automatic retransmission system for responses -
-the high-level code is expected to be capable of handling an
-occasional missing response (usually by re-requesting the content or
-setting up a recurring schedule of response transmission). The
-sequence number field in message blocks sent to the host is always one
-greater than the last received sequence number of message blocks
-received from the host. It is not used to track sequences of response
-message blocks.
+missing.) This is done to keep the implementation in the
+micro-controller simple. There is no automatic retransmission system
+for responses - the high-level code is expected to be capable of
+handling an occasional missing response (usually by re-requesting the
+content or setting up a recurring schedule of response
+transmission). The sequence number field in message blocks sent to the
+host is always one greater than the last received sequence number of
+message blocks received from the host. It is not used to track
+sequences of response message blocks.

docs/README.md

@@ -0,0 +1,2 @@
+Welcome to the Klipper documentation. The
+[overview document](Overview.md) is a good starting point.

docs/Releases.md

@@ -1,6 +1,46 @@
 History of Klipper releases. Please see
 [installation](Installation.md) for information on installing Klipper.
 
+Klipper 0.5.0
+=============
+
+Available on 20171025. Major changes in this release:
+
+* Support for printers with multiple extruders.
+* Initial support for running on the Beaglebone PRU. Initial support
+  for the Replicape board.
+* Initial support for running the micro-controller code in a real-time
+  Linux process.
+* Support for multiple micro-controllers. (For example, one could
+  control an extruder with one micro-controller and the rest of the
+  printer with another.) Software clock synchronization is implemented
+  to coordinate actions between micro-controllers.
+* Stepper performance improvements (20Mhz AVRs up to 189K steps per
+  second).
+* Support for controlling servos and support for defining nozzle
+  cooling fans.
+* Several bug fixes and code cleanups
+
+Klipper 0.4.0
+=============
+
+Available on 20170503. Major changes in this release:
+
+* Improved installation on Raspberry Pi machines. Most of the install
+  is now scripted.
+* Support for corexy kinematics
+* Documentation updates: New Kinematics document, new Pressure Advance
+  tuning guide, new example config files, and more
+* Stepper performance improvements (20Mhz AVRs over 175K steps per
+  second, Arduino Due over 460K)
+* Support for automatic micro-controller resets. Support for resets
+  via toggling USB power on Raspberry Pi.
+* The pressure advance algorithm now works with look-ahead to reduce
+  pressure changes during cornering.
+* Support for limiting the top speed of short zigzag moves
+* Support for AD595 sensors
+* Several bug fixes and code cleanups
+
 Klipper 0.3.0
 =============
 

docs/Todo.md

@@ -1,5 +1,5 @@
-Klipper is currently in an experimental state. There are several
-features still to be implemented.  In no particular order:
+There are several features still to be implemented in Klipper. In no
+particular order:
 
 Host user interaction
 =====================
@@ -9,13 +9,6 @@ Host user interaction
   find the error) and errors written to the log can be non-obvious to
   a user.
 
-* Improve startup:
-
- * Provide startup scripts so that Klippy can startup at system
-   bootup.
-
- * Allow loading of a new config without having to restart the mcu.
-
 * Improve gcode interface:
 
  * Provide a better way to handle print nozzle z offsets. The M206
@@ -28,12 +21,6 @@ Host user interaction
 
 * Improve logging:
 
- * Automatically roll Klippy log files. The default log file should
-   have the current date in the log file name.
-
- * Report the Klippy git version in log file. Log the contents of the
-   config file at startup.
-
  * Possibly collate and report the statistics messages in the log in a
    more friendly way.
 
@@ -44,12 +31,12 @@ Host user interaction
 Safety features
 ===============
 
-* Support loading a valid step range into the firmware after
-  homing. This would provide a sanity check in the firmware that would
-  reduce the risk of the host commanding a stepper motor past its
-  valid step range. To maintain high efficiency in the firmware, the
-  firmware would only need to check periodically (eg, every 100ms)
-  that the stepper is in range.
+* Support loading a valid step range into the micro-controller
+  software after homing. This would provide a sanity check in the
+  micro-controller that would reduce the risk of the host commanding a
+  stepper motor past its valid step range. To maintain high
+  efficiency, the micro-controller would only need to check
+  periodically (eg, every 100ms) that the stepper is in range.
 
  * Possibly support periodically querying the endstop switches and use
    multiple step ranges depending on the switch state. This would
@@ -61,45 +48,31 @@ Safety features
   can be useful to detect a sensor failure (eg, thermistor short) that
   could otherwise cause the PID to command excessive heating.
 
-* Possibly implement host based checking on the ratio between extrude
-  amount and head movement.
- * Enforce acceleration and speed limits on extruder stepper motor.
-
 Testing features
 ================
 
 * Complete the host based simulator. It's possible to compile the
-  firmware for a "host simulator", but that simulator doesn't do
-  anything currently. It would be useful to expand the code to support
-  more error checks, kinematic simulations, and improved logging.
+  micro-controller for a "host simulator", but that simulator doesn't
+  do anything currently. It would be useful to expand the code to
+  support more error checks, kinematic simulations, and improved
+  logging.
 
 Documentation
 =============
 
-* Document and test running the host software on a Beagle Bone Black.
-
 * Add documentation describing how to perform bed-leveling accurately
   in Klipper. Improve description of stepper phase based bed leveling.
 
-* Document the kinematic formulas in Klippy. Document how acceleration
-  and jerk limits are enforced.
-
-* Document how one can tune the pressure advance setting.
-
 Hardware features
 =================
 
-* Port firmware to more architectures:
- * Beagle Bone Black PRU
+* Port to additional micro-controller architectures:
  * Smoothieboard / NXP LPC1769 (ARM cortex-M3)
- * Unix based scheduling; Unix based real-time scheduling
 
-* Support for additional kinematics: scara, corexy, etc.
+* Support for additional kinematics: scara, etc.
 
 * Support shared motor enable GPIO lines.
 
-* Support for multiple extruders.
-
 * Support for bed-level probes.
 
 * Possible support for touch panels attached to the micro-controller.
@@ -108,19 +81,9 @@ Hardware features
   it would also be useful to handle panels already hardwired to the
   micro-controller.)
 
-* The raspberry pi has the ability to cut power to its USB ports. This
-  feature is useful for resetting micro-controllers that are powered
-  over USB. It would be useful to have a high-level command interface
-  in Klippy to request a micro-controller reset via this mechanism.
-
-* Possibly support printers using multiple micro-controllers.
-
 Misc features
 =============
 
-* Possibly use cubic functions instead of quadratic functions in step
-  compression code.
-
 * Possibly support a "feed forward PID" that takes into account the
   amount of plastic being extruded. If the extrude rate changes
   significantly during a print it can cause heating bumps that the PID

docs/beaglebone.md

@@ -0,0 +1,94 @@
+This document describes the process of running Klipper on a Beaglebone
+PRU.
+
+Building an OS image
+====================
+
+Start by installing the
+[latest Jessie IoT](https://beagleboard.org/latest-images) image
+(2017-03-19 or later). One may run the image from either a micro-SD
+card or from builtin eMMC. If using the eMMC, install it to eMMC now
+by following the instructions from the above link.
+
+Then ssh into the beaglebone machine (ssh debian@beaglebone --
+password is "temppwd") and install Klipper by running the following
+commands:
+```
+git clone https://github.com/KevinOConnor/klipper
+./klipper/scripts/install-beaglebone.sh
+```
+
+Install Octoprint
+=================
+
+One may then install Octoprint:
+```
+git clone https://github.com/foosel/OctoPrint.git
+cd OctoPrint/
+virtualenv venv
+./venv/bin/python setup.py install
+```
+
+And setup OctoPrint to start at bootup:
+```
+sudo cp ~/OctoPrint/scripts/octoprint.init /etc/init.d/octoprint
+sudo chmod +x /etc/init.d/octoprint
+sudo cp ~/OctoPrint/scripts/octoprint.default /etc/default/octoprint
+sudo update-rc.d octoprint defaults
+```
+
+It is necessary to modify OctoPrint's **/etc/default/octoprint**
+configuration file. One must change the OCTOPRINT_USER user to
+"debian", change NICELEVEL to 0, uncomment the BASEDIR, CONFIGFILE,
+and DAEMON settings and change the references from "/home/pi/" to
+"/home/debian/":
+```
+sudo nano /etc/default/octoprint
+```
+
+Then start the Octoprint service:
+```
+sudo systemctl start octoprint
+```
+
+Make sure the octoprint web server is accessible - it should be at:
+[http://beaglebone:5000/](http://beaglebone:5000/)
+
+
+Building the micro-controller code
+==================================
+
+To compile the Klipper micro-controller code, start by configuring it
+for the "Beaglebone PRU":
+```
+cd ~/klipper/
+make menuconfig
+```
+
+To build and install the new micro-controller code, run:
+```
+sudo service klipper stop
+make flash
+sudo service klipper start
+```
+
+For the Replicape, it is also necessary to compile and install the
+micro-controller code for a Linux host process. Run "make menuconfig"
+a second time and configure it for a "Linux process":
+```
+make menuconfig
+```
+
+Then install this micro-controller code as well:
+```
+sudo service klipper stop
+make flash
+sudo service klipper start
+```
+
+Remaining configuration
+=======================
+
+Complete the installation by configuring Klipper and Octoprint
+following the instructions in
+[the main installation document](Installation.md#configuring-klipper).

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docs/img/xy+z-tower.svg

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+   xmlns:svg="http://www.w3.org/2000/svg"
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docs/prints/square.scad

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+// Test square
+//
+// Generate STL using OpenSCAD:
+//   openscad square.scad -o square.stl
+
+square_width = 5;
+square_size = 60;
+square_height = 5;
+
+difference() {
+  cube([square_size, square_size, square_height]);
+  translate([square_width, square_width, -1])
+    cube([square_size-2*square_width, square_size-2*square_width, square_height+2]);
+  translate([-.5, square_size/2 - 4, -1])
+    cube([1, 2, square_height+2]);
+}

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+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 0 26 0
+      vertex 5 5 0
+      vertex 0 0 0
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 5 5 0
+      vertex 0 26 0
+      vertex 0.5 26 0
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 55 55 0
+      vertex 60 60 0
+      vertex 55 5 0
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 5 55 0
+      vertex 60 60 0
+      vertex 55 55 0
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 5 5 0
+      vertex 0.5 28 0
+      vertex 5 55 0
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 0 28 0
+      vertex 5 55 0
+      vertex 0.5 28 0
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 5 55 0
+      vertex 0 60 0
+      vertex 60 60 0
+    endloop
+  endfacet
+  facet normal 0 0 -1
+    outer loop
+      vertex 0 60 0
+      vertex 5 55 0
+      vertex 0 28 0
+    endloop
+  endfacet
+  facet normal 0 -1 0
+    outer loop
+      vertex 0 0 0
+      vertex 60 0 5
+      vertex 0 0 5
+    endloop
+  endfacet
+  facet normal 0 -1 -0
+    outer loop
+      vertex 60 0 5
+      vertex 0 0 0
+      vertex 60 0 0
+    endloop
+  endfacet
+  facet normal 1 -0 0
+    outer loop
+      vertex 5 5 5
+      vertex 5 55 0
+      vertex 5 55 5
+    endloop
+  endfacet
+  facet normal 1 0 0
+    outer loop
+      vertex 5 55 0
+      vertex 5 5 5
+      vertex 5 5 0
+    endloop
+  endfacet
+  facet normal -1 0 0
+    outer loop
+      vertex 55 5 0
+      vertex 55 55 5
+      vertex 55 55 0
+    endloop
+  endfacet
+  facet normal -1 -0 0
+    outer loop
+      vertex 55 55 5
+      vertex 55 5 0
+      vertex 55 5 5
+    endloop
+  endfacet
+  facet normal 0 -1 0
+    outer loop
+      vertex 5 55 0
+      vertex 55 55 5
+      vertex 5 55 5
+    endloop
+  endfacet
+  facet normal 0 -1 -0
+    outer loop
+      vertex 55 55 5
+      vertex 5 55 0
+      vertex 55 55 0
+    endloop
+  endfacet
+  facet normal 0 1 -0
+    outer loop
+      vertex 55 5 0
+      vertex 5 5 5
+      vertex 55 5 5
+    endloop
+  endfacet
+  facet normal 0 1 0
+    outer loop
+      vertex 5 5 5
+      vertex 55 5 0
+      vertex 5 5 0
+    endloop
+  endfacet
+  facet normal -1 0 0
+    outer loop
+      vertex 0.5 26 0
+      vertex 0.5 28 5
+      vertex 0.5 28 0
+    endloop
+  endfacet
+  facet normal -1 -0 0
+    outer loop
+      vertex 0.5 28 5
+      vertex 0.5 26 0
+      vertex 0.5 26 5
+    endloop
+  endfacet
+  facet normal 0 -1 0
+    outer loop
+      vertex 0 28 0
+      vertex 0.5 28 5
+      vertex 0 28 5
+    endloop
+  endfacet
+  facet normal 0 -1 -0
+    outer loop
+      vertex 0.5 28 5
+      vertex 0 28 0
+      vertex 0.5 28 0
+    endloop
+  endfacet
+  facet normal 0 1 -0
+    outer loop
+      vertex 0.5 26 0
+      vertex 0 26 5
+      vertex 0.5 26 5
+    endloop
+  endfacet
+  facet normal 0 1 0
+    outer loop
+      vertex 0 26 5
+      vertex 0.5 26 0
+      vertex 0 26 0
+    endloop
+  endfacet
+endsolid OpenSCAD_Model

klippy/cartesian.py

@@ -9,25 +9,26 @@ import stepper, homing
 StepList = (0, 1, 2)
 
 class CartKinematics:
-    def __init__(self, printer, config):
-        self.steppers = [stepper.PrinterStepper(
+    def __init__(self, toolhead, printer, config):
+        self.steppers = [stepper.PrinterHomingStepper(
             printer, config.getsection('stepper_' + n), n)
                          for n in ['x', 'y', 'z']]
-        self.max_z_velocity = config.getfloat('max_z_velocity', 9999999.9)
-        self.max_z_accel = config.getfloat('max_z_accel', 9999999.9)
+        max_velocity, max_accel = toolhead.get_max_velocity()
+        self.max_z_velocity = config.getfloat(
+            'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
+        self.max_z_accel = config.getfloat(
+            'max_z_accel', max_accel, above=0., maxval=max_accel)
         self.need_motor_enable = True
         self.limits = [(1.0, -1.0)] * 3
-    def set_max_jerk(self, max_xy_halt_velocity, max_accel):
-        self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
-        self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
-        self.steppers[2].set_max_jerk(0., self.max_z_accel)
-    def build_config(self):
-        for stepper in self.steppers:
-            stepper.build_config()
+        # Setup stepper max halt velocity
+        max_halt_velocity = toolhead.get_max_axis_halt()
+        self.steppers[0].set_max_jerk(max_halt_velocity, max_accel)
+        self.steppers[1].set_max_jerk(max_halt_velocity, max_accel)
+        self.steppers[2].set_max_jerk(
+            min(max_halt_velocity, self.max_z_velocity), max_accel)
     def set_position(self, newpos):
         for i in StepList:
-            s = self.steppers[i]
-            s.mcu_stepper.set_position(int(newpos[i]*s.inv_step_dist + 0.5))
+            self.steppers[i].mcu_stepper.set_position(newpos[i])
     def home(self, homing_state):
         # Each axis is homed independently and in order
         for axis in homing_state.get_axes():
@@ -45,36 +46,36 @@ class CartKinematics:
                 rpos = s.position_endstop + s.homing_retract_dist
                 r2pos = rpos + s.homing_retract_dist
             # Initial homing
+            homing_speed = s.get_homing_speed()
             homepos = [None, None, None, None]
             homepos[axis] = s.position_endstop
             coord = [None, None, None, None]
             coord[axis] = pos
-            homing_state.home(list(coord), homepos, [s], s.homing_speed)
+            homing_state.home(list(coord), homepos, [s], homing_speed)
             # Retract
             coord[axis] = rpos
-            homing_state.retract(list(coord), s.homing_speed)
+            homing_state.retract(list(coord), homing_speed)
             # Home again
             coord[axis] = r2pos
             homing_state.home(
-                list(coord), homepos, [s], s.homing_speed/2.0, second_home=True)
+                list(coord), homepos, [s], homing_speed/2.0, second_home=True)
             # Set final homed position
-            coord[axis] = s.position_endstop + s.get_homed_offset()*s.step_dist
+            coord[axis] = s.position_endstop + s.get_homed_offset()
             homing_state.set_homed_position(coord)
-    def motor_off(self, move_time):
+    def query_endstops(self, print_time, query_flags):
+        return homing.query_endstops(print_time, query_flags, self.steppers)
+    def motor_off(self, print_time):
         self.limits = [(1.0, -1.0)] * 3
         for stepper in self.steppers:
-            stepper.motor_enable(move_time, 0)
+            stepper.motor_enable(print_time, 0)
         self.need_motor_enable = True
-    def _check_motor_enable(self, move_time, move):
+    def _check_motor_enable(self, print_time, move):
         need_motor_enable = False
         for i in StepList:
             if move.axes_d[i]:
-                self.steppers[i].motor_enable(move_time, 1)
+                self.steppers[i].motor_enable(print_time, 1)
             need_motor_enable |= self.steppers[i].need_motor_enable
         self.need_motor_enable = need_motor_enable
-    def query_endstops(self, print_time):
-        endstops = [(s, s.query_endstop(print_time)) for s in self.steppers]
-        return [(s.name, es.query_endstop_wait()) for s, es in endstops]
     def _check_endstops(self, move):
         end_pos = move.end_pos
         for i in StepList:
@@ -99,49 +100,36 @@ class CartKinematics:
         z_ratio = move.move_d / abs(move.axes_d[2])
         move.limit_speed(
             self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
-    def move(self, move_time, move):
+    def move(self, print_time, move):
         if self.need_motor_enable:
-            self._check_motor_enable(move_time, move)
-        inv_accel = 1. / move.accel
-        inv_cruise_v = 1. / move.cruise_v
+            self._check_motor_enable(print_time, move)
         for i in StepList:
-            if not move.axes_d[i]:
+            axis_d = move.axes_d[i]
+            if not axis_d:
                 continue
             mcu_stepper = self.steppers[i].mcu_stepper
-            mcu_time = mcu_stepper.print_to_mcu_time(move_time)
-            step_pos = mcu_stepper.commanded_position
-            inv_step_dist = self.steppers[i].inv_step_dist
-            step_offset = step_pos - move.start_pos[i] * inv_step_dist
-            steps = move.axes_d[i] * inv_step_dist
-            move_step_d = move.move_d / abs(steps)
+            move_time = print_time
+            start_pos = move.start_pos[i]
+            axis_r = abs(axis_d) / move.move_d
+            accel = move.accel * axis_r
+            cruise_v = move.cruise_v * axis_r
 
             # Acceleration steps
-            accel_multiplier = 2.0 * move_step_d * inv_accel
             if move.accel_r:
-                #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
-                accel_time_offset = move.start_v * inv_accel
-                accel_sqrt_offset = accel_time_offset**2
-                accel_steps = move.accel_r * steps
-                count = mcu_stepper.step_sqrt(
-                    mcu_time - accel_time_offset, accel_steps, step_offset
-                    , accel_sqrt_offset, accel_multiplier)
-                step_offset += count - accel_steps
-                mcu_time += move.accel_t
+                accel_d = move.accel_r * axis_d
+                mcu_stepper.step_const(
+                    move_time, start_pos, accel_d, move.start_v * axis_r, accel)
+                start_pos += accel_d
+                move_time += move.accel_t
             # Cruising steps
             if move.cruise_r:
-                #t = pos/cruise_v
-                cruise_multiplier = move_step_d * inv_cruise_v
-                cruise_steps = move.cruise_r * steps
-                count = mcu_stepper.step_factor(
-                    mcu_time, cruise_steps, step_offset, cruise_multiplier)
-                step_offset += count - cruise_steps
-                mcu_time += move.cruise_t
+                cruise_d = move.cruise_r * axis_d
+                mcu_stepper.step_const(
+                    move_time, start_pos, cruise_d, cruise_v, 0.)
+                start_pos += cruise_d
+                move_time += move.cruise_t
             # Deceleration steps
             if move.decel_r:
-                #t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel)
-                decel_time_offset = move.cruise_v * inv_accel
-                decel_sqrt_offset = decel_time_offset**2
-                decel_steps = move.decel_r * steps
-                count = mcu_stepper.step_sqrt(
-                    mcu_time + decel_time_offset, decel_steps, step_offset
-                    , decel_sqrt_offset, -accel_multiplier)
+                decel_d = move.decel_r * axis_d
+                mcu_stepper.step_const(
+                    move_time, start_pos, decel_d, cruise_v, -accel)

klippy/chelper.py

@@ -1,12 +1,17 @@
 # Wrapper around C helper code
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import os, logging
 import cffi
 
-COMPILE_CMD = "gcc -Wall -g -O -shared -fPIC -o %s %s"
+
+######################################################################
+# c_helper.so compiling
+######################################################################
+
+COMPILE_CMD = "gcc -Wall -g -O2 -shared -fPIC -o %s %s"
 SOURCE_FILES = ['stepcompress.c', 'serialqueue.c', 'pyhelper.c']
 DEST_LIB = "c_helper.so"
 OTHER_FILES = ['list.h', 'serialqueue.h', 'pyhelper.h']
@@ -16,31 +21,24 @@ defs_stepcompress = """
         , uint32_t queue_step_msgid, uint32_t set_next_step_dir_msgid
         , uint32_t invert_sdir, uint32_t oid);
     void stepcompress_free(struct stepcompress *sc);
-    void stepcompress_push(struct stepcompress *sc, double step_clock
+    int stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
+    int stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock);
+    int stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len);
+
+    int32_t stepcompress_push(struct stepcompress *sc, double step_clock
         , int32_t sdir);
-    int32_t stepcompress_push_factor(struct stepcompress *sc
-        , double steps, double step_offset
-        , double clock_offset, double factor);
-    int32_t stepcompress_push_sqrt(struct stepcompress *sc
-        , double steps, double step_offset
-        , double clock_offset, double sqrt_offset, double factor);
-    int32_t stepcompress_push_delta_const(struct stepcompress *sc
-        , double clock_offset, double dist, double start_pos
-        , double inv_velocity, double step_dist, double height
-        , double closestxy_d, double closest_height2, double movez_r);
-    int32_t stepcompress_push_delta_accel(struct stepcompress *sc
-        , double clock_offset, double dist, double start_pos
-        , double accel_multiplier, double step_dist, double height
-        , double closestxy_d, double closest_height2, double movez_r);
-    void stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock);
-    void stepcompress_queue_msg(struct stepcompress *sc
-        , uint32_t *data, int len);
-    uint32_t stepcompress_get_errors(struct stepcompress *sc);
+    int32_t stepcompress_push_const(struct stepcompress *sc, double clock_offset
+        , double step_offset, double steps, double start_sv, double accel);
+    int32_t stepcompress_push_delta(struct stepcompress *sc
+        , double clock_offset, double move_sd, double start_sv, double accel
+        , double height, double startxy_sd, double arm_d, double movez_r);
 
     struct steppersync *steppersync_alloc(struct serialqueue *sq
         , struct stepcompress **sc_list, int sc_num, int move_num);
     void steppersync_free(struct steppersync *ss);
-    void steppersync_flush(struct steppersync *ss, uint64_t move_clock);
+    void steppersync_set_time(struct steppersync *ss
+        , double time_offset, double mcu_freq);
+    int steppersync_flush(struct steppersync *ss, uint64_t move_clock);
 """
 
 defs_serialqueue = """
@@ -63,9 +61,8 @@ defs_serialqueue = """
         , uint64_t min_clock, uint64_t req_clock);
     void serialqueue_pull(struct serialqueue *sq, struct pull_queue_message *pqm);
     void serialqueue_set_baud_adjust(struct serialqueue *sq, double baud_adjust);
-    void serialqueue_set_clock_est(struct serialqueue *sq, double est_clock
-        , double last_ack_time, uint64_t last_ack_clock);
-    void serialqueue_flush_ready(struct serialqueue *sq);
+    void serialqueue_set_clock_est(struct serialqueue *sq, double est_freq
+        , double last_clock_time, uint64_t last_clock);
     void serialqueue_get_stats(struct serialqueue *sq, char *buf, int len);
     int serialqueue_extract_old(struct serialqueue *sq, int sentq
         , struct pull_queue_message *q, int max);
@@ -73,6 +70,7 @@ defs_serialqueue = """
 
 defs_pyhelper = """
     void set_python_logging_callback(void (*func)(const char *));
+    double get_monotonic(void);
 """
 
 # Return the list of file modification times
@@ -88,14 +86,14 @@ def get_mtimes(srcdir, filelist):
     return out
 
 # Check if the code needs to be compiled
-def check_build_code(srcdir):
-    src_times = get_mtimes(srcdir, SOURCE_FILES + OTHER_FILES)
-    obj_times = get_mtimes(srcdir, [DEST_LIB])
+def check_build_code(srcdir, target, sources, cmd, other_files=[]):
+    src_times = get_mtimes(srcdir, sources + other_files)
+    obj_times = get_mtimes(srcdir, [target])
     if not obj_times or max(src_times) > min(obj_times):
-        logging.info("Building C code module")
-        srcfiles = [os.path.join(srcdir, fname) for fname in SOURCE_FILES]
-        destlib = os.path.join(srcdir, DEST_LIB)
-        os.system(COMPILE_CMD % (destlib, ' '.join(srcfiles)))
+        logging.info("Building C code module %s", target)
+        srcfiles = [os.path.join(srcdir, fname) for fname in sources]
+        destlib = os.path.join(srcdir, target)
+        os.system(cmd % (destlib, ' '.join(srcfiles)))
 
 FFI_main = None
 FFI_lib = None
@@ -106,7 +104,8 @@ def get_ffi():
     global FFI_main, FFI_lib, pyhelper_logging_callback
     if FFI_lib is None:
         srcdir = os.path.dirname(os.path.realpath(__file__))
-        check_build_code(srcdir)
+        check_build_code(srcdir, DEST_LIB, SOURCE_FILES, COMPILE_CMD
+                         , OTHER_FILES)
         FFI_main = cffi.FFI()
         FFI_main.cdef(defs_stepcompress)
         FFI_main.cdef(defs_serialqueue)
@@ -119,3 +118,20 @@ def get_ffi():
             "void(const char *)", logging_callback)
         FFI_lib.set_python_logging_callback(pyhelper_logging_callback)
     return FFI_main, FFI_lib
+
+
+######################################################################
+# hub-ctrl hub power controller
+######################################################################
+
+HC_COMPILE_CMD = "gcc -Wall -g -O2 -o %s %s -lusb"
+HC_SOURCE_FILES = ['hub-ctrl.c']
+HC_SOURCE_DIR = '../lib/hub-ctrl'
+HC_TARGET = "hub-ctrl"
+HC_CMD = "sudo %s/hub-ctrl -h 0 -P 2 -p %d"
+
+def run_hub_ctrl(enable_power):
+    srcdir = os.path.dirname(os.path.realpath(__file__))
+    hubdir = os.path.join(srcdir, HC_SOURCE_DIR)
+    check_build_code(hubdir, HC_TARGET, HC_SOURCE_FILES, HC_COMPILE_CMD)
+    os.system(HC_CMD % (hubdir, enable_power))

klippy/chipmisc.py

@@ -0,0 +1,296 @@
+# Code to configure miscellaneous chips
+#
+# Copyright (C) 2017  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import pins, mcu
+
+
+######################################################################
+# Statically configured output pins
+######################################################################
+
+class PrinterStaticDigitalOut:
+    def __init__(self, printer, config):
+        pin_list = [pin.strip() for pin in config.get('pins').split(',')]
+        for pin_desc in pin_list:
+            mcu_pin = pins.setup_pin(printer, 'digital_out', pin_desc)
+            mcu_pin.setup_static()
+
+class PrinterStaticPWM:
+    def __init__(self, printer, config):
+        mcu_pwm = pins.setup_pin(printer, 'pwm', config.get('pin'))
+        mcu_pwm.setup_max_duration(0.)
+        hard_pwm = config.getint('hard_pwm', None, minval=1)
+        if hard_pwm is None:
+            mcu_pwm.setup_cycle_time(config.getfloat(
+                'cycle_time', 0.100, above=0.))
+        else:
+            mcu_pwm.setup_hard_pwm(hard_pwm)
+        scale = config.getfloat('scale', 1., above=0.)
+        value = config.getfloat('value', minval=0., maxval=scale)
+        mcu_pwm.setup_static_pwm(value / scale)
+
+
+######################################################################
+# Servos
+######################################################################
+
+SERVO_MIN_TIME = 0.100
+SERVO_SIGNAL_PERIOD = 0.020
+
+class PrinterServo:
+    def __init__(self, printer, config):
+        self.mcu_servo = pins.setup_pin(printer, 'pwm', config.get('pin'))
+        self.mcu_servo.setup_max_duration(0.)
+        self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
+        self.min_width = config.getfloat(
+            'minimum_pulse_width', .001, above=0., below=SERVO_SIGNAL_PERIOD)
+        self.max_width = config.getfloat(
+            'maximum_pulse_width', .002
+            , above=self.min_width, below=SERVO_SIGNAL_PERIOD)
+        self.max_angle = config.getfloat('maximum_servo_angle', 180.)
+        self.angle_to_width = (self.max_width - self.min_width) / self.max_angle
+        self.width_to_value = 1. / SERVO_SIGNAL_PERIOD
+        self.last_value = self.last_value_time = 0.
+    def set_pwm(self, print_time, value):
+        if value == self.last_value:
+            return
+        print_time = max(self.last_value_time + SERVO_MIN_TIME, print_time)
+        self.mcu_servo.set_pwm(print_time, value)
+        self.last_value = value
+        self.last_value_time = print_time
+    # External commands
+    def set_angle(self, print_time, angle):
+        angle = max(0., min(self.max_angle, angle))
+        width = self.min_width + angle * self.angle_to_width
+        self.set_pwm(print_time, width * self.width_to_value)
+    def set_pulse_width(self, print_time, width):
+        width = max(self.min_width, min(self.max_width, width))
+        self.set_pwm(print_time, width * self.width_to_value)
+
+def get_printer_servo(printer, name):
+    return printer.objects.get('servo ' + name)
+
+
+######################################################################
+# AD5206 digipot
+######################################################################
+
+class ad5206:
+    def __init__(self, printer, config):
+        enable_pin_params = pins.get_printer_pins(printer).parse_pin_desc(
+            config.get('enable_pin'))
+        self.mcu = enable_pin_params['chip']
+        self.pin = enable_pin_params['pin']
+        self.mcu.add_config_object(self)
+        scale = config.getfloat('scale', 1., above=0.)
+        self.channels = [None] * 6
+        for i in range(len(self.channels)):
+            val = config.getfloat('channel_%d' % (i+1,), None,
+                                  minval=0., maxval=scale)
+            if val is not None:
+                self.channels[i] = int(val * 256. / scale + .5)
+    def build_config(self):
+        for i, val in enumerate(self.channels):
+            if val is not None:
+                self.mcu.add_config_cmd(
+                    "send_spi_message pin=%s msg=%02x%02x" % (self.pin, i, val))
+
+
+######################################################################
+# Replicape board
+######################################################################
+
+REPLICAPE_MAX_CURRENT = 3.84
+REPLICAPE_SHIFT_REGISTER_BUS = 1
+REPLICAPE_SHIFT_REGISTER_DEVICE = 1
+REPLICAPE_PCA9685_BUS = 2
+REPLICAPE_PCA9685_ADDRESS = 0x70
+REPLICAPE_PCA9685_CYCLE_TIME = .001
+
+class pca9685_pwm:
+    def __init__(self, replicape, channel, pin_params):
+        self._replicape = replicape
+        self._channel = channel
+        if pin_params['type'] not in ['digital_out', 'pwm']:
+            raise pins.error("Pin type not supported on replicape")
+        self._mcu = replicape.host_mcu
+        self._mcu.add_config_object(self)
+        self._bus = REPLICAPE_PCA9685_BUS
+        self._address = REPLICAPE_PCA9685_ADDRESS
+        self._cycle_time = REPLICAPE_PCA9685_CYCLE_TIME
+        self._max_duration = 2.
+        self._oid = None
+        self._invert = pin_params['invert']
+        self._shutdown_value = float(self._invert)
+        self._last_clock = 0
+        self._pwm_max = 0.
+        self._cmd_queue = self._mcu.alloc_command_queue()
+        self._set_cmd = None
+        self._static_value = 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):
+        pass
+    def setup_hard_pwm(self, hard_cycle_ticks):
+        if hard_cycle_ticks:
+            raise pins.error("pca9685 does not support hard_pwm parameter")
+    def setup_static_pwm(self, value):
+        if self._invert:
+            value = 1. - value
+        self._static_value = max(0., min(1., value))
+    def setup_shutdown_value(self, value):
+        if self._invert:
+            value = 1. - value
+        self._shutdown_value = max(0., min(1., value))
+        if self._shutdown_value:
+            self._replicape.note_enable_on_shutdown()
+    def build_config(self):
+        self._pwm_max = self._mcu.get_constant_float("PCA9685_MAX")
+        cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time)
+        if self._static_value is not None:
+            value = int(self._static_value * self._pwm_max + 0.5)
+            self._mcu.add_config_cmd(
+                "set_pca9685_out bus=%d addr=%d channel=%d"
+                " cycle_ticks=%d value=%d" % (
+                    self._bus, self._address, self._channel,
+                    cycle_ticks, value))
+            return
+        self._oid = self._mcu.create_oid()
+        self._mcu.add_config_cmd(
+            "config_pca9685 oid=%d bus=%d addr=%d channel=%d cycle_ticks=%d"
+            " value=%d default_value=%d max_duration=%d" % (
+                self._oid, self._bus, self._address, self._channel, cycle_ticks,
+                self._invert * self._pwm_max,
+                self._shutdown_value * self._pwm_max,
+                self._mcu.seconds_to_clock(self._max_duration)))
+        self._set_cmd = self._mcu.lookup_command(
+            "schedule_pca9685_out oid=%c clock=%u value=%hu")
+    def set_pwm(self, print_time, value):
+        clock = self._mcu.print_time_to_clock(print_time)
+        if self._invert:
+            value = 1. - value
+        value = int(max(0., min(1., value)) * self._pwm_max + 0.5)
+        self._replicape.note_enable(print_time, self._channel, not not value)
+        msg = self._set_cmd.encode(self._oid, clock, value)
+        self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
+                      , cq=self._cmd_queue)
+        self._last_clock = clock
+    def set_digital(self, print_time, value):
+        if value:
+            self.set_pwm(print_time, 1.)
+        else:
+            self.set_pwm(print_time, 0.)
+
+class ReplicapeDACEnable:
+    def __init__(self, replicape, channel, pin_params):
+        if pin_params['type'] != 'digital_out':
+            raise pins.error("Replicape virtual enable pin must be digital_out")
+        if pin_params['invert']:
+            raise pins.error("Replicape virtual enable pin can not be inverted")
+        self.mcu = replicape.host_mcu
+        self.value = replicape.stepper_dacs[channel]
+        self.pwm = pca9685_pwm(replicape, channel, pin_params)
+        self.last = 0
+    def get_mcu(self):
+        return self.mcu
+    def setup_max_duration(self, max_duration):
+        self.pwm.setup_max_duration(max_duration)
+    def set_digital(self, print_time, value):
+        if value:
+            self.pwm.set_pwm(print_time, self.value)
+        else:
+            self.pwm.set_pwm(print_time, 0.)
+        self.last = value
+    def get_last_setting(self):
+        return self.last
+
+ReplicapeStepConfig = {
+    'disable': None,
+    '1': (1<<7)|(1<<5), '2': (1<<7)|(1<<5)|(1<<6), 'spread2': (1<<5),
+    '4': (1<<7)|(1<<5)|(1<<4), '16': (1<<7)|(1<<5)|(1<<6)|(1<<4),
+    'spread4': (1<<5)|(1<<4), 'spread16': (1<<7), 'stealth4': (1<<7)|(1<<6),
+    'stealth16': 0
+}
+
+class Replicape:
+    def __init__(self, printer, config):
+        pins.get_printer_pins(printer).register_chip('replicape', self)
+        revisions = {'B3': 'B3'}
+        config.getchoice('revision', revisions)
+        self.host_mcu = mcu.get_printer_mcu(printer, config.get('host_mcu'))
+        # Setup enable pin
+        self.mcu_enable = pins.setup_pin(
+            printer, 'digital_out', config.get('enable_pin', '!P9_41'))
+        self.mcu_enable.setup_max_duration(0.)
+        self.enabled_channels = {}
+        # Setup power pins
+        self.pins = {
+            "power_e": (pca9685_pwm, 5), "power_h": (pca9685_pwm, 3),
+            "power_hotbed": (pca9685_pwm, 4),
+            "power_fan0": (pca9685_pwm, 7), "power_fan1": (pca9685_pwm, 8),
+            "power_fan2": (pca9685_pwm, 9), "power_fan3": (pca9685_pwm, 10) }
+        # Setup stepper config
+        self.stepper_dacs = {}
+        shift_registers = [1] * 5
+        for port, name in enumerate('xyzeh'):
+            prefix = 'stepper_%s_' % (name,)
+            sc = config.getchoice(
+                prefix + 'microstep_mode', ReplicapeStepConfig, 'disable')
+            if sc is None:
+                continue
+            if config.getboolean(prefix + 'chopper_off_time_high', False):
+                sc |= 1<<3
+            if config.getboolean(prefix + 'chopper_hysteresis_high', False):
+                sc |= 1<<2
+            if config.getboolean(prefix + 'chopper_blank_time_high', True):
+                sc |= 1<<1
+            shift_registers[port] = sc
+            channel = port + 11
+            cur = config.getfloat(
+                prefix + 'current', above=0., maxval=REPLICAPE_MAX_CURRENT)
+            self.stepper_dacs[channel] = cur / REPLICAPE_MAX_CURRENT
+            self.pins[prefix + 'enable'] = (ReplicapeDACEnable, channel)
+        shift_registers.reverse()
+        self.host_mcu.add_config_cmd("send_spi bus=%d dev=%d msg=%s" % (
+            REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
+            "".join(["%02x" % (x,) for x in shift_registers])))
+    def note_enable_on_shutdown(self):
+        self.mcu_enable.setup_shutdown_value(1)
+    def note_enable(self, print_time, channel, is_enable):
+        if is_enable:
+            is_off = not self.enabled_channels
+            self.enabled_channels[channel] = 1
+            if is_off:
+                self.mcu_enable.set_digital(print_time, 1)
+        elif channel in self.enabled_channels:
+            del self.enabled_channels[channel]
+            if not self.enabled_channels:
+                self.mcu_enable.set_digital(print_time, 0)
+    def setup_pin(self, pin_params):
+        pin = pin_params['pin']
+        if pin not in self.pins:
+            raise pins.error("Unknown replicape pin %s" % (pin,))
+        pclass, channel = self.pins[pin]
+        return pclass(self, channel, pin_params)
+
+
+######################################################################
+# Setup
+######################################################################
+
+def add_printer_objects(printer, config):
+    if config.has_section('replicape'):
+        printer.add_object('replicape', Replicape(
+            printer, config.getsection('replicape')))
+    for s in config.get_prefix_sections('static_digital_output '):
+        printer.add_object(s.section, PrinterStaticDigitalOut(printer, s))
+    for s in config.get_prefix_sections('static_pwm_output '):
+        printer.add_object(s.section, PrinterStaticPWM(printer, s))
+    for s in config.get_prefix_sections('servo '):
+        printer.add_object(s.section, PrinterServo(printer, s))
+    for s in config.get_prefix_sections('ad5206 '):
+        printer.add_object(s.section, ad5206(printer, s))

klippy/clocksync.py

@@ -0,0 +1,212 @@
+# Micro-controller clock synchronization
+#
+# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging, threading, math
+
+COMM_TIMEOUT = 3.5
+RTT_AGE = .000010 / (60. * 60.)
+DECAY = 1. / (2. * 60.)
+TRANSMIT_EXTRA = .001
+
+class ClockSync:
+    def __init__(self, reactor):
+        self.reactor = reactor
+        self.serial = None
+        self.status_timer = self.reactor.register_timer(self._status_event)
+        self.status_cmd = None
+        self.mcu_freq = 1.
+        self.last_clock = 0
+        self.clock_est = (0., 0., 0.)
+        # Minimum round-trip-time tracking
+        self.min_half_rtt = 999999999.9
+        self.min_rtt_time = 0.
+        # Linear regression of mcu clock and system sent_time
+        self.time_avg = self.time_variance = 0.
+        self.clock_avg = self.clock_covariance = 0.
+        self.prediction_variance = 0.
+        self.last_prediction_time = 0.
+    def connect(self, serial):
+        self.serial = serial
+        msgparser = serial.msgparser
+        self.mcu_freq = msgparser.get_constant_float('CLOCK_FREQ')
+        # Load initial clock and frequency
+        uptime_msg = msgparser.create_command('get_uptime')
+        params = serial.send_with_response(uptime_msg, 'uptime')
+        self.last_clock = (params['high'] << 32) | params['clock']
+        self.clock_avg = self.last_clock
+        self.time_avg = params['#sent_time']
+        self.clock_est = (self.time_avg, self.clock_avg, self.mcu_freq)
+        self.prediction_variance = (.001 * self.mcu_freq)**2
+        # Enable periodic get_status timer
+        self.status_cmd = msgparser.create_command('get_status')
+        for i in range(8):
+            params = serial.send_with_response(self.status_cmd, 'status')
+            self._handle_status(params)
+            self.reactor.pause(0.100)
+        serial.register_callback(self._handle_status, 'status')
+        self.reactor.update_timer(self.status_timer, self.reactor.NOW)
+    def connect_file(self, serial, pace=False):
+        self.serial = serial
+        self.mcu_freq = serial.msgparser.get_constant_float('CLOCK_FREQ')
+        self.clock_est = (0., 0., self.mcu_freq)
+        freq = 1000000000000.
+        if pace:
+            freq = self.mcu_freq
+        serial.set_clock_est(freq, self.reactor.monotonic(), 0)
+    # MCU clock querying (status callback invoked from background thread)
+    def _status_event(self, eventtime):
+        self.serial.send(self.status_cmd)
+        return eventtime + 1.0
+    def _handle_status(self, params):
+        # Extend clock to 64bit
+        last_clock = self.last_clock
+        clock = (last_clock & ~0xffffffff) | params['clock']
+        if clock < last_clock:
+            clock += 0x100000000
+        self.last_clock = clock
+        # Check if this is the best round-trip-time seen so far
+        sent_time = params['#sent_time']
+        if not sent_time:
+            return
+        receive_time = params['#receive_time']
+        half_rtt = .5 * (receive_time - sent_time)
+        aged_rtt = (sent_time - self.min_rtt_time) * RTT_AGE
+        if half_rtt < self.min_half_rtt + aged_rtt:
+            self.min_half_rtt = half_rtt
+            self.min_rtt_time = sent_time
+            logging.debug("new minimum rtt %.3f: hrtt=%.6f freq=%d",
+                          sent_time, half_rtt, self.clock_est[2])
+        # Filter out samples that are extreme outliers
+        exp_clock = ((sent_time - self.time_avg) * self.clock_est[2]
+                     + self.clock_avg)
+        clock_diff2 = (clock - exp_clock)**2
+        if (clock_diff2 > 25. * self.prediction_variance
+            and clock_diff2 > (.000500 * self.mcu_freq)**2):
+            if clock > exp_clock and sent_time < self.last_prediction_time + 10.:
+                logging.debug("Ignoring clock sample %.3f:"
+                              " freq=%d diff=%d stddev=%.3f",
+                              sent_time, self.clock_est[2], clock - exp_clock,
+                              math.sqrt(self.prediction_variance))
+                return
+            logging.info("Resetting prediction variance %.3f:"
+                         " freq=%d diff=%d stddev=%.3f",
+                         sent_time, self.clock_est[2], clock - exp_clock,
+                         math.sqrt(self.prediction_variance))
+            self.prediction_variance = (.001 * self.mcu_freq)**2
+        else:
+            self.last_prediction_time = sent_time
+            self.prediction_variance = (
+                (1. - DECAY) * (self.prediction_variance + clock_diff2 * DECAY))
+        # Add clock and sent_time to linear regression
+        diff_sent_time = sent_time - self.time_avg
+        self.time_avg += DECAY * diff_sent_time
+        self.time_variance = (1. - DECAY) * (
+            self.time_variance + diff_sent_time**2 * DECAY)
+        diff_clock = clock - self.clock_avg
+        self.clock_avg += DECAY * diff_clock
+        self.clock_covariance = (1. - DECAY) * (
+            self.clock_covariance + diff_sent_time * diff_clock * DECAY)
+        # Update prediction from linear regression
+        new_freq = self.clock_covariance / self.time_variance
+        pred_stddev = math.sqrt(self.prediction_variance)
+        self.serial.set_clock_est(new_freq, self.time_avg + TRANSMIT_EXTRA,
+                                  int(self.clock_avg - 3. * pred_stddev))
+        self.clock_est = (self.time_avg - self.min_half_rtt,
+                          self.clock_avg, new_freq)
+        #logging.debug("regr %.3f: freq=%.3f d=%d(%.3f)",
+        #              sent_time, new_freq, clock - exp_clock, pred_stddev)
+    # clock frequency conversions
+    def print_time_to_clock(self, print_time):
+        return int(print_time * self.mcu_freq)
+    def clock_to_print_time(self, clock):
+        return clock / self.mcu_freq
+    def get_adjusted_freq(self):
+        return self.mcu_freq
+    # system time conversions
+    def get_clock(self, eventtime):
+        sample_time, clock, freq = self.clock_est
+        return int(clock + (eventtime - sample_time) * freq)
+    def estimated_print_time(self, eventtime):
+        return self.clock_to_print_time(self.get_clock(eventtime))
+    # misc commands
+    def clock32_to_clock64(self, clock32):
+        last_clock = self.last_clock
+        clock_diff = (last_clock - clock32) & 0xffffffff
+        if clock_diff & 0x80000000:
+            return last_clock + 0x100000000 - clock_diff
+        return last_clock - clock_diff
+    def is_active(self, eventtime):
+        print_time = self.estimated_print_time(eventtime)
+        last_clock_print_time = self.clock_to_print_time(self.last_clock)
+        return print_time < last_clock_print_time + COMM_TIMEOUT
+    def dump_debug(self):
+        sample_time, clock, freq = self.clock_est
+        return ("clocksync state: mcu_freq=%d last_clock=%d"
+                " clock_est=(%.3f %d %.3f) min_half_rtt=%.6f min_rtt_time=%.3f"
+                " time_avg=%.3f(%.3f) clock_avg=%.3f(%.3f)"
+                " pred_variance=%.3f" % (
+                    self.mcu_freq, self.last_clock, sample_time, clock, freq,
+                    self.min_half_rtt, self.min_rtt_time,
+                    self.time_avg, self.time_variance,
+                    self.clock_avg, self.clock_covariance,
+                    self.prediction_variance))
+    def stats(self, eventtime):
+        sample_time, clock, freq = self.clock_est
+        return "freq=%d" % (freq,)
+    def calibrate_clock(self, print_time, eventtime):
+        return (0., self.mcu_freq)
+
+# Clock syncing code for secondary MCUs (whose clocks are sync'ed to a
+# primary MCU)
+class SecondarySync(ClockSync):
+    def __init__(self, reactor, main_sync):
+        ClockSync.__init__(self, reactor)
+        self.main_sync = main_sync
+        self.clock_adj = (0., 1.)
+    def connect(self, serial):
+        ClockSync.connect(self, serial)
+        self.clock_adj = (0., self.mcu_freq)
+        curtime = self.reactor.monotonic()
+        main_print_time = self.main_sync.estimated_print_time(curtime)
+        local_print_time = self.estimated_print_time(curtime)
+        self.clock_adj = (main_print_time - local_print_time, self.mcu_freq)
+        self.calibrate_clock(0., curtime)
+    def connect_file(self, serial, pace=False):
+        ClockSync.connect_file(self, serial, pace)
+        self.clock_adj = (0., self.mcu_freq)
+    # clock frequency conversions
+    def print_time_to_clock(self, print_time):
+        adjusted_offset, adjusted_freq = self.clock_adj
+        return int((print_time - adjusted_offset) * adjusted_freq)
+    def clock_to_print_time(self, clock):
+        adjusted_offset, adjusted_freq = self.clock_adj
+        return clock / adjusted_freq + adjusted_offset
+    def get_adjusted_freq(self):
+        adjusted_offset, adjusted_freq = self.clock_adj
+        return adjusted_freq
+    # misc commands
+    def dump_debug(self):
+        adjusted_offset, adjusted_freq = self.clock_adj
+        return "%s clock_adj=(%.3f %.3f)" % (
+            ClockSync.dump_debug(self), adjusted_offset, adjusted_freq)
+    def stats(self, eventtime):
+        adjusted_offset, adjusted_freq = self.clock_adj
+        return "%s adj=%d" % (ClockSync.stats(self, eventtime), adjusted_freq)
+    def calibrate_clock(self, print_time, eventtime):
+        ser_time, ser_clock, ser_freq = self.main_sync.clock_est
+        main_mcu_freq = self.main_sync.mcu_freq
+
+        main_clock = (eventtime - ser_time) * ser_freq + ser_clock
+        print_time = max(print_time, main_clock / main_mcu_freq)
+        main_sync_clock = (print_time + 4.) * main_mcu_freq
+        sync_time = ser_time + (main_sync_clock - ser_clock) / ser_freq
+
+        print_clock = self.print_time_to_clock(print_time)
+        sync_clock = self.get_clock(sync_time)
+        adjusted_freq = .25 * (sync_clock - print_clock)
+        adjusted_offset = print_time - print_clock / adjusted_freq
+
+        self.clock_adj = (adjusted_offset, adjusted_freq)
+        return self.clock_adj

klippy/console.py

@@ -1,12 +1,31 @@
-#!/usr/bin/env python
+#!/usr/bin/env python2
 # Script to implement a test console with firmware over serial port
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import sys, optparse, os, re, logging
+import reactor, serialhdl, pins, util, msgproto, clocksync
 
-import reactor, serialhdl, pins, util, msgproto
+help_txt = """
+  This is a debugging console for the Klipper micro-controller.
+  In addition to mcu commands, the following artificial commands are
+  available:
+    PINS  : Load pin name aliases (eg, "PINS arduino")
+    DELAY : Send a command at a clock time (eg, "DELAY 9999 get_uptime")
+    FLOOD : Send a command many times (eg, "FLOOD 22 .01 get_uptime")
+    SUPPRESS : Suppress a response message (eg, "SUPPRESS stats")
+    SET   : Create a local variable (eg, "SET myvar 123.4")
+    STATS : Report serial statistics
+    LIST  : List available mcu commands, local commands, and local variables
+    HELP  : Show this text
+  All commands also support evaluation by enclosing an expression in { }.
+  For example, "reset_step_clock oid=4 clock={clock + freq}".  In addition
+  to user defined variables (via the SET command) the following builtin
+  variables may be used in expressions:
+    clock : The current mcu clock time (as estimated by the host)
+    freq  : The mcu clock frequency
+"""
 
 re_eval = re.compile(r'\{(?P<eval>[^}]*)\}')
 
@@ -14,59 +33,132 @@ class KeyboardReader:
     def __init__(self, ser, reactor):
         self.ser = ser
         self.reactor = reactor
+        self.clocksync = clocksync.ClockSync(self.reactor)
         self.fd = sys.stdin.fileno()
         util.set_nonblock(self.fd)
+        self.mcu_freq = 0
         self.pins = None
         self.data = ""
         reactor.register_fd(self.fd, self.process_kbd)
         self.connect_timer = reactor.register_timer(self.connect, reactor.NOW)
-        self.local_commands = { "PINS": self.set_pin_map, "SET": self.set_var }
+        self.local_commands = {
+            "PINS": self.command_PINS, "SET": self.command_SET,
+            "DELAY": self.command_DELAY, "FLOOD": self.command_FLOOD,
+            "SUPPRESS": self.command_SUPPRESS, "STATS": self.command_STATS,
+            "LIST": self.command_LIST, "HELP": self.command_HELP,
+        }
         self.eval_globals = {}
     def connect(self, eventtime):
+        self.output(help_txt)
+        self.output("="*20 + " attempting to connect " + "="*20)
         self.ser.connect()
+        self.clocksync.connect(self.ser)
+        self.ser.handle_default = self.handle_default
+        self.mcu_freq = self.ser.msgparser.get_constant_float('CLOCK_FREQ')
+        mcu = self.ser.msgparser.get_constant('MCU')
+        self.pins = pins.get_pin_map(mcu)
         self.reactor.unregister_timer(self.connect_timer)
+        self.output("="*20 + "       connected       " + "="*20)
         return self.reactor.NEVER
+    def output(self, msg):
+        sys.stdout.write("%s\n" % (msg,))
+        sys.stdout.flush()
+    def handle_default(self, params):
+        self.output(self.ser.msgparser.format_params(params))
+    def handle_suppress(self, params):
+        pass
     def update_evals(self, eventtime):
-        f = int(self.ser.msgparser.config.get('CLOCK_FREQ', 1))
-        c = self.ser.get_clock(eventtime)
-        self.eval_globals['freq'] = f
-        self.eval_globals['clock'] = int(c)
-    def set_pin_map(self, parts):
-        mcu = self.ser.msgparser.config['MCU']
-        self.pins = pins.map_pins(parts[1], mcu)
-    def set_var(self, parts):
+        self.eval_globals['freq'] = self.mcu_freq
+        self.eval_globals['clock'] = self.clocksync.get_clock(eventtime)
+    def command_PINS(self, parts):
+        mcu = self.ser.msgparser.get_constant('MCU')
+        self.pins = pins.get_pin_map(mcu, parts[1])
+    def command_SET(self, parts):
         val = parts[2]
-        try:
-            val = int(val)
-        except ValueError:
         try:
             val = float(val)
         except ValueError:
             pass
         self.eval_globals[parts[1]] = val
-    def lookup_pin(self, value):
-        if self.pins is None:
-            self.pins = pins.mcu_to_pins(self.ser.msgparser.config['MCU'])
-        return self.pins[value]
+    def command_DELAY(self, parts):
+        try:
+            val = int(parts[1])
+        except ValueError as e:
+            self.output("Error: %s" % (str(e),))
+            return
+        try:
+            msg = self.ser.msgparser.create_command(' '.join(parts[2:]))
+        except msgproto.error as e:
+            self.output("Error: %s" % (str(e),))
+            return
+        self.ser.send(msg, minclock=val)
+    def command_FLOOD(self, parts):
+        try:
+            count = int(parts[1])
+            delay = float(parts[2])
+        except ValueError as e:
+            self.output("Error: %s" % (str(e),))
+            return
+        try:
+            msg = self.ser.msgparser.create_command(' '.join(parts[3:]))
+        except msgproto.error as e:
+            self.output("Error: %s" % (str(e),))
+            return
+        delay_clock = int(delay * self.mcu_freq)
+        msg_clock = int(self.clocksync.get_clock(self.reactor.monotonic())
+                        + self.mcu_freq * .200)
+        for i in range(count):
+            next_clock = msg_clock + delay_clock
+            self.ser.send(msg, minclock=msg_clock, reqclock=next_clock)
+            msg_clock = next_clock
+    def command_SUPPRESS(self, parts):
+        oid = None
+        try:
+            name = parts[1]
+            if len(parts) > 2:
+                oid = int(parts[2])
+        except ValueError as e:
+            self.output("Error: %s" % (str(e),))
+            return
+        self.ser.register_callback(self.handle_suppress, name, oid)
+    def command_STATS(self, parts):
+        curtime = self.reactor.monotonic()
+        self.output(' '.join([self.ser.stats(curtime),
+                              self.clocksync.stats(curtime)]))
+    def command_LIST(self, parts):
+        self.update_evals(self.reactor.monotonic())
+        mp = self.ser.msgparser
+        out = "Available mcu commands:"
+        out += "\n  ".join([""] + sorted([
+            mp.messages_by_id[i].msgformat for i in mp.command_ids]))
+        out += "\nAvailable artificial commands:"
+        out += "\n  ".join([""] + [n for n in sorted(self.local_commands)])
+        out += "\nAvailable local variables:"
+        out += "\n  ".join([""] + ["%s: %s" % (k, v)
+                                   for k, v in sorted(self.eval_globals.items())])
+        self.output(out)
+    def command_HELP(self, parts):
+        self.output(help_txt)
     def translate(self, line, eventtime):
         evalparts = re_eval.split(line)
         if len(evalparts) > 1:
             self.update_evals(eventtime)
             try:
                 for i in range(1, len(evalparts), 2):
-                    evalparts[i] = str(eval(evalparts[i], self.eval_globals))
+                    e = eval(evalparts[i], dict(self.eval_globals))
+                    if type(e) == type(0.):
+                        e = int(e)
+                    evalparts[i] = str(e)
             except:
-                print "Unable to evaluate: ", line
+                self.output("Unable to evaluate: %s" % (line,))
                 return None
             line = ''.join(evalparts)
-            print "Eval:", line
-        if self.pins is None and self.ser.msgparser.config:
-            self.pins = pins.mcu_to_pins(self.ser.msgparser.config['MCU'])
+            self.output("Eval: %s" % (line,))
         if self.pins is not None:
             try:
                 line = pins.update_command(line, self.pins).strip()
             except:
-                print "Unable to map pin: ", line
+                self.output("Unable to map pin: %s" % (line,))
                 return None
         if line:
             parts = line.split()
@@ -75,8 +167,8 @@ class KeyboardReader:
                 return None
         try:
             msg = self.ser.msgparser.create_command(line)
-        except msgproto.error, e:
-            print "Error:", e
+        except msgproto.error as e:
+            self.output("Error: %s" % (str(e),))
             return None
         return msg
     def process_kbd(self, eventtime):

klippy/corexy.py

@@ -0,0 +1,150 @@
+# Code for handling the kinematics of corexy robots
+#
+# Copyright (C) 2017  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging, math
+import stepper, homing
+
+StepList = (0, 1, 2)
+
+class CoreXYKinematics:
+    def __init__(self, toolhead, printer, config):
+        self.steppers = [stepper.PrinterHomingStepper(
+            printer, config.getsection('stepper_' + n), n)
+                         for n in ['x', 'y', 'z']]
+        self.steppers[0].mcu_endstop.add_stepper(self.steppers[1].mcu_stepper)
+        self.steppers[1].mcu_endstop.add_stepper(self.steppers[0].mcu_stepper)
+        max_velocity, max_accel = toolhead.get_max_velocity()
+        self.max_z_velocity = config.getfloat(
+            'max_z_velocity', max_velocity, above=0., maxval=max_velocity)
+        self.max_z_accel = config.getfloat(
+            'max_z_accel', max_accel, above=0., maxval=max_accel)
+        self.need_motor_enable = True
+        self.limits = [(1.0, -1.0)] * 3
+        # Setup stepper max halt velocity
+        max_halt_velocity = toolhead.get_max_axis_halt()
+        max_xy_halt_velocity = max_halt_velocity * math.sqrt(2.)
+        self.steppers[0].set_max_jerk(max_xy_halt_velocity, max_accel)
+        self.steppers[1].set_max_jerk(max_xy_halt_velocity, max_accel)
+        self.steppers[2].set_max_jerk(
+            min(max_halt_velocity, self.max_z_velocity), self.max_z_accel)
+    def set_position(self, newpos):
+        pos = (newpos[0] + newpos[1], newpos[0] - newpos[1], newpos[2])
+        for i in StepList:
+            self.steppers[i].mcu_stepper.set_position(pos[i])
+    def home(self, homing_state):
+        # Each axis is homed independently and in order
+        for axis in homing_state.get_axes():
+            s = self.steppers[axis]
+            self.limits[axis] = (s.position_min, s.position_max)
+            # Determine moves
+            if s.homing_positive_dir:
+                pos = s.position_endstop - 1.5*(
+                    s.position_endstop - s.position_min)
+                rpos = s.position_endstop - s.homing_retract_dist
+                r2pos = rpos - s.homing_retract_dist
+            else:
+                pos = s.position_endstop + 1.5*(
+                    s.position_max - s.position_endstop)
+                rpos = s.position_endstop + s.homing_retract_dist
+                r2pos = rpos + s.homing_retract_dist
+            # Initial homing
+            homing_speed = s.get_homing_speed()
+            homepos = [None, None, None, None]
+            homepos[axis] = s.position_endstop
+            coord = [None, None, None, None]
+            coord[axis] = pos
+            homing_state.home(list(coord), homepos, [s], homing_speed)
+            # Retract
+            coord[axis] = rpos
+            homing_state.retract(list(coord), homing_speed)
+            # Home again
+            coord[axis] = r2pos
+            homing_state.home(
+                list(coord), homepos, [s], homing_speed/2.0, second_home=True)
+            if axis == 2:
+                # Support endstop phase detection on Z axis
+                coord[axis] = s.position_endstop + s.get_homed_offset()
+                homing_state.set_homed_position(coord)
+    def query_endstops(self, print_time, query_flags):
+        return homing.query_endstops(print_time, query_flags, self.steppers)
+    def motor_off(self, print_time):
+        self.limits = [(1.0, -1.0)] * 3
+        for stepper in self.steppers:
+            stepper.motor_enable(print_time, 0)
+        self.need_motor_enable = True
+    def _check_motor_enable(self, print_time, move):
+        if move.axes_d[0] or move.axes_d[1]:
+            self.steppers[0].motor_enable(print_time, 1)
+            self.steppers[1].motor_enable(print_time, 1)
+        if move.axes_d[2]:
+            self.steppers[2].motor_enable(print_time, 1)
+        need_motor_enable = False
+        for i in StepList:
+            need_motor_enable |= self.steppers[i].need_motor_enable
+        self.need_motor_enable = need_motor_enable
+    def _check_endstops(self, move):
+        end_pos = move.end_pos
+        for i in StepList:
+            if (move.axes_d[i]
+                and (end_pos[i] < self.limits[i][0]
+                     or end_pos[i] > self.limits[i][1])):
+                if self.limits[i][0] > self.limits[i][1]:
+                    raise homing.EndstopMoveError(
+                        end_pos, "Must home axis first")
+                raise homing.EndstopMoveError(end_pos)
+    def check_move(self, move):
+        limits = self.limits
+        xpos, ypos = move.end_pos[:2]
+        if (xpos < limits[0][0] or xpos > limits[0][1]
+            or ypos < limits[1][0] or ypos > limits[1][1]):
+            self._check_endstops(move)
+        if not move.axes_d[2]:
+            # Normal XY move - use defaults
+            return
+        # Move with Z - update velocity and accel for slower Z axis
+        self._check_endstops(move)
+        z_ratio = move.move_d / abs(move.axes_d[2])
+        move.limit_speed(
+            self.max_z_velocity * z_ratio, self.max_z_accel * z_ratio)
+    def move(self, print_time, move):
+        if self.need_motor_enable:
+            self._check_motor_enable(print_time, move)
+        sxp = move.start_pos[0]
+        syp = move.start_pos[1]
+        move_start_pos = (sxp + syp, sxp - syp, move.start_pos[2])
+        exp = move.end_pos[0]
+        eyp = move.end_pos[1]
+        axes_d = ((exp + eyp) - move_start_pos[0],
+                  (exp - eyp) - move_start_pos[1], move.axes_d[2])
+        for i in StepList:
+            axis_d = axes_d[i]
+            if not axis_d:
+                continue
+            mcu_stepper = self.steppers[i].mcu_stepper
+            move_time = print_time
+            start_pos = move_start_pos[i]
+            axis_r = abs(axis_d) / move.move_d
+            accel = move.accel * axis_r
+            cruise_v = move.cruise_v * axis_r
+
+            # Acceleration steps
+            if move.accel_r:
+                accel_d = move.accel_r * axis_d
+                mcu_stepper.step_const(
+                    move_time, start_pos, accel_d, move.start_v * axis_r, accel)
+                start_pos += accel_d
+                move_time += move.accel_t
+            # Cruising steps
+            if move.cruise_r:
+                cruise_d = move.cruise_r * axis_d
+                mcu_stepper.step_const(
+                    move_time, start_pos, cruise_d, cruise_v, 0.)
+                start_pos += cruise_d
+                move_time += move.cruise_t
+            # Deceleration steps
+            if move.decel_r:
+                decel_d = move.decel_r * axis_d
+                mcu_stepper.step_const(
+                    move_time, start_pos, decel_d, cruise_v, -accel)

klippy/delta.py

@@ -1,6 +1,6 @@
 # Code for handling the kinematics of linear delta robots
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import math, logging
@@ -8,40 +8,60 @@ import stepper, homing
 
 StepList = (0, 1, 2)
 
+# Slow moves once the ratio of tower to XY movement exceeds SLOW_RATIO
+SLOW_RATIO = 3.
+
 class DeltaKinematics:
-    def __init__(self, printer, config):
-        self.steppers = [stepper.PrinterStepper(
+    def __init__(self, toolhead, printer, config):
+        self.steppers = [stepper.PrinterHomingStepper(
             printer, config.getsection('stepper_' + n), n)
                          for n in ['a', 'b', 'c']]
-        self.need_motor_enable = True
-        self.max_z_velocity = config.getfloat('max_z_velocity', 9999999.9)
-        radius = config.getfloat('delta_radius')
-        arm_length = config.getfloat('delta_arm_length')
+        self.need_motor_enable = self.need_home = True
+        radius = config.getfloat('delta_radius', above=0.)
+        arm_length = config.getfloat('delta_arm_length', above=radius)
         self.arm_length2 = arm_length**2
-        self.max_xy2 = min(radius, arm_length - radius)**2
         self.limit_xy2 = -1.
         tower_height_at_zeros = math.sqrt(self.arm_length2 - radius**2)
-        self.max_z = self.steppers[0].position_max
+        self.max_z = min([s.position_endstop for s in self.steppers])
         self.limit_z = self.max_z - (arm_length - tower_height_at_zeros)
-        sin = lambda angle: math.sin(math.radians(angle))
-        cos = lambda angle: math.cos(math.radians(angle))
-        self.towers = [
-            (cos(210.)*radius, sin(210.)*radius),
-            (cos(330.)*radius, sin(330.)*radius),
-            (cos(90.)*radius, sin(90.)*radius)]
-    def set_max_jerk(self, max_xy_halt_velocity, max_accel):
-        # XXX - this sets conservative values
-        for stepper in self.steppers:
-            stepper.set_max_jerk(max_xy_halt_velocity, max_accel)
-    def build_config(self):
-        for stepper in self.steppers:
-            stepper.build_config()
+        logging.info(
+            "Delta max build height %.2fmm (radius tapered above %.2fmm)" % (
+                self.max_z, self.limit_z))
+        # Setup stepper max halt velocity
+        self.max_velocity, self.max_accel = toolhead.get_max_velocity()
+        self.max_z_velocity = config.getfloat(
+            'max_z_velocity', self.max_velocity,
+            above=0., maxval=self.max_velocity)
+        max_halt_velocity = toolhead.get_max_axis_halt()
+        for s in self.steppers:
+            s.set_max_jerk(max_halt_velocity, self.max_accel)
+        # Determine tower locations in cartesian space
+        angles = [config.getsection('stepper_a').getfloat('angle', 210.),
+                  config.getsection('stepper_b').getfloat('angle', 330.),
+                  config.getsection('stepper_c').getfloat('angle', 90.)]
+        self.towers = [(math.cos(math.radians(angle)) * radius,
+                        math.sin(math.radians(angle)) * radius)
+                       for angle in angles]
+        # Find the point where an XY move could result in excessive
+        # tower movement
+        half_min_step_dist = min([s.step_dist for s in self.steppers]) * .5
+        def ratio_to_dist(ratio):
+            return (ratio * math.sqrt(self.arm_length2 / (ratio**2 + 1.)
+                                      - half_min_step_dist**2)
+                    + half_min_step_dist)
+        self.slow_xy2 = (ratio_to_dist(SLOW_RATIO) - radius)**2
+        self.very_slow_xy2 = (ratio_to_dist(2. * SLOW_RATIO) - radius)**2
+        self.max_xy2 = min(radius, arm_length - radius,
+                           ratio_to_dist(4. * SLOW_RATIO) - radius)**2
+        logging.info(
+            "Delta max build radius %.2fmm (moves slowed past %.2fmm and %.2fmm)"
+            % (math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
+               math.sqrt(self.very_slow_xy2)))
         self.set_position([0., 0., 0.])
     def _cartesian_to_actuator(self, coord):
-        return [int((math.sqrt(self.arm_length2
+        return [math.sqrt(self.arm_length2
                           - (self.towers[i][0] - coord[0])**2
-                               - (self.towers[i][1] - coord[1])**2) + coord[2])
-                    * self.steppers[i].inv_step_dist + 0.5)
+                          - (self.towers[i][1] - coord[1])**2) + coord[2]
                 for i in StepList]
     def _actuator_to_cartesian(self, pos):
         # Based on code from Smoothieware
@@ -78,164 +98,129 @@ class DeltaKinematics:
         pos = self._cartesian_to_actuator(newpos)
         for i in StepList:
             self.steppers[i].mcu_stepper.set_position(pos[i])
+        self.limit_xy2 = -1.
     def home(self, homing_state):
         # All axes are homed simultaneously
         homing_state.set_axes([0, 1, 2])
-        s = self.steppers[0] # Assume homing parameters same for all steppers
-        self.limit_xy2 = self.max_xy2
+        s = self.steppers[0] # Assume homing speed same for all steppers
+        self.need_home = False
         # Initial homing
-        homepos = [0., 0., s.position_endstop, None]
+        homing_speed = s.get_homing_speed()
+        homepos = [0., 0., self.max_z, None]
         coord = list(homepos)
         coord[2] = -1.5 * math.sqrt(self.arm_length2-self.max_xy2)
-        homing_state.home(list(coord), homepos, self.steppers, s.homing_speed)
+        homing_state.home(list(coord), homepos, self.steppers, homing_speed)
         # Retract
         coord[2] = homepos[2] - s.homing_retract_dist
-        homing_state.retract(list(coord), s.homing_speed)
+        homing_state.retract(list(coord), homing_speed)
         # Home again
         coord[2] -= s.homing_retract_dist
         homing_state.home(list(coord), homepos, self.steppers
-                          , s.homing_speed/2.0, second_home=True)
+                          , homing_speed/2.0, second_home=True)
         # Set final homed position
-        coord = [(s.mcu_stepper.commanded_position + s.get_homed_offset())
-                 * s.step_dist
-                 for s in self.steppers]
-        homing_state.set_homed_position(self._actuator_to_cartesian(coord))
-    def motor_off(self, move_time):
+        spos = self._cartesian_to_actuator(homepos)
+        spos = [spos[i] + self.steppers[i].position_endstop - self.max_z
+                + self.steppers[i].get_homed_offset()
+                for i in StepList]
+        homing_state.set_homed_position(self._actuator_to_cartesian(spos))
+    def query_endstops(self, print_time, query_flags):
+        return homing.query_endstops(print_time, query_flags, self.steppers)
+    def motor_off(self, print_time):
         self.limit_xy2 = -1.
         for stepper in self.steppers:
-            stepper.motor_enable(move_time, 0)
-        self.need_motor_enable = True
-    def _check_motor_enable(self, move_time):
+            stepper.motor_enable(print_time, 0)
+        self.need_motor_enable = self.need_home = True
+    def _check_motor_enable(self, print_time):
         for i in StepList:
-            self.steppers[i].motor_enable(move_time, 1)
+            self.steppers[i].motor_enable(print_time, 1)
         self.need_motor_enable = False
-    def query_endstops(self, print_time):
-        endstops = [(s, s.query_endstop(print_time)) for s in self.steppers]
-        return [(s.name, es.query_endstop_wait()) for s, es in endstops]
     def check_move(self, move):
         end_pos = move.end_pos
         xy2 = end_pos[0]**2 + end_pos[1]**2
-        if xy2 > self.limit_xy2 or end_pos[2] < 0.:
-            if self.limit_xy2 < 0.:
+        if xy2 <= self.limit_xy2 and not move.axes_d[2]:
+            # Normal XY move
+            return
+        if self.need_home:
             raise homing.EndstopMoveError(end_pos, "Must home first")
-            raise homing.EndstopMoveError(end_pos)
+        limit_xy2 = self.max_xy2
         if end_pos[2] > self.limit_z:
-            if end_pos[2] > self.max_z or xy2 > (self.max_z - end_pos[2])**2:
+            limit_xy2 = min(limit_xy2, (self.max_z - end_pos[2])**2)
+        if xy2 > limit_xy2 or end_pos[2] < 0. or end_pos[2] > self.max_z:
             raise homing.EndstopMoveError(end_pos)
         if move.axes_d[2]:
-            move.limit_speed(self.max_z_velocity, 9999999.9)
-    def move(self, move_time, move):
+            move.limit_speed(self.max_z_velocity, move.accel)
+            limit_xy2 = -1.
+        # Limit the speed/accel of this move if is is at the extreme
+        # end of the build envelope
+        extreme_xy2 = max(xy2, move.start_pos[0]**2 + move.start_pos[1]**2)
+        if extreme_xy2 > self.slow_xy2:
+            r = 0.5
+            if extreme_xy2 > self.very_slow_xy2:
+                r = 0.25
+            max_velocity = self.max_velocity
+            if move.axes_d[2]:
+                max_velocity = self.max_z_velocity
+            move.limit_speed(max_velocity * r, self.max_accel * r)
+            limit_xy2 = -1.
+        self.limit_xy2 = min(limit_xy2, self.slow_xy2)
+    def move(self, print_time, move):
+        if self.need_motor_enable:
+            self._check_motor_enable(print_time)
         axes_d = move.axes_d
-        move_d = movexy_d = move.move_d
+        move_d = move.move_d
         movexy_r = 1.
         movez_r = 0.
-        inv_movexy_d = 1. / movexy_d
+        inv_movexy_d = 1. / move_d
         if not axes_d[0] and not axes_d[1]:
-            if not axes_d[2]:
-                return
+            # Z only move
             movez_r = axes_d[2] * inv_movexy_d
-            movexy_d = movexy_r = inv_movexy_d = 0.
+            movexy_r = inv_movexy_d = 0.
         elif axes_d[2]:
+            # XY+Z move
             movexy_d = math.sqrt(axes_d[0]**2 + axes_d[1]**2)
             movexy_r = movexy_d * inv_movexy_d
             movez_r = axes_d[2] * inv_movexy_d
             inv_movexy_d = 1. / movexy_d
 
-        if self.need_motor_enable:
-            self._check_motor_enable(move_time)
-
         origx, origy, origz = move.start_pos[:3]
 
-        accel_t = move.accel_t
-        cruise_end_t = accel_t + move.cruise_t
+        accel = move.accel
+        cruise_v = move.cruise_v
         accel_d = move.accel_r * move_d
-        cruise_end_d = accel_d + move.cruise_r * move_d
-
-        inv_cruise_v = 1. / move.cruise_v
-        inv_accel = 1. / move.accel
-        accel_time_offset = move.start_v * inv_accel
-        accel_multiplier = 2.0 * inv_accel
-        accel_offset = move.start_v**2 * 0.5 * inv_accel
-        decel_time_offset = move.cruise_v * inv_accel + cruise_end_t
-        decel_offset = move.cruise_v**2 * 0.5 * inv_accel + cruise_end_d
+        cruise_d = move.cruise_r * move_d
+        decel_d = move.decel_r * move_d
 
         for i in StepList:
-            # Find point on line of movement closest to tower
+            # Calculate a virtual tower along the line of movement at
+            # the point closest to this stepper's tower.
             towerx_d = self.towers[i][0] - origx
             towery_d = self.towers[i][1] - origy
-            closestxy_d = (towerx_d*axes_d[0] + towery_d*axes_d[1])*inv_movexy_d
-            tangentxy_d2 = towerx_d**2 + towery_d**2 - closestxy_d**2
-            closest_height2 = self.arm_length2 - tangentxy_d2
-
-            # Calculate accel/cruise/decel portions of move
-            reversexy_d = closestxy_d + math.sqrt(closest_height2)*movez_r
-            accel_up_d = cruise_up_d = decel_up_d = 0.
-            accel_down_d = cruise_down_d = decel_down_d = 0.
-            if reversexy_d <= 0.:
-                accel_down_d = accel_d
-                cruise_down_d = cruise_end_d
-                decel_down_d = move_d
-            elif reversexy_d >= movexy_d:
-                accel_up_d = accel_d
-                cruise_up_d = cruise_end_d
-                decel_up_d = move_d
-            elif reversexy_d < accel_d * movexy_r:
-                accel_up_d = reversexy_d * move_d * inv_movexy_d
-                accel_down_d = accel_d
-                cruise_down_d = cruise_end_d
-                decel_down_d = move_d
-            elif reversexy_d < cruise_end_d * movexy_r:
-                accel_up_d = accel_d
-                cruise_up_d = reversexy_d * move_d * inv_movexy_d
-                cruise_down_d = cruise_end_d
-                decel_down_d = move_d
-            else:
-                accel_up_d = accel_d
-                cruise_up_d = cruise_end_d
-                decel_up_d = reversexy_d * move_d * inv_movexy_d
-                decel_down_d = move_d
+            vt_startxy_d = (towerx_d*axes_d[0] + towery_d*axes_d[1])*inv_movexy_d
+            tangentxy_d2 = towerx_d**2 + towery_d**2 - vt_startxy_d**2
+            vt_arm_d = math.sqrt(self.arm_length2 - tangentxy_d2)
+            vt_startz = origz
 
             # Generate steps
             mcu_stepper = self.steppers[i].mcu_stepper
-            mcu_time = mcu_stepper.print_to_mcu_time(move_time)
-            step_pos = mcu_stepper.commanded_position
-            step_dist = self.steppers[i].step_dist
-            height = step_pos*step_dist - origz
-            if accel_up_d > 0.:
-                count = mcu_stepper.step_delta_accel(
-                    mcu_time - accel_time_offset, accel_up_d,
-                    accel_offset, accel_multiplier, step_dist,
-                    height, closestxy_d, closest_height2, movez_r)
-                height += count * step_dist
-            if cruise_up_d > 0.:
-                count = mcu_stepper.step_delta_const(
-                    mcu_time + accel_t, cruise_up_d,
-                    -accel_d, inv_cruise_v, step_dist,
-                    height, closestxy_d, closest_height2, movez_r)
-                height += count * step_dist
-            if decel_up_d > 0.:
-                count = mcu_stepper.step_delta_accel(
-                    mcu_time + decel_time_offset, decel_up_d,
-                    -decel_offset, -accel_multiplier, step_dist,
-                    height, closestxy_d, closest_height2, movez_r)
-                height += count * step_dist
-            if accel_down_d > 0.:
-                count = mcu_stepper.step_delta_accel(
-                    mcu_time - accel_time_offset, accel_down_d,
-                    accel_offset, accel_multiplier, -step_dist,
-                    height, closestxy_d, closest_height2, movez_r)
-                height += count * step_dist
-            if cruise_down_d > 0.:
-                count = mcu_stepper.step_delta_const(
-                    mcu_time + accel_t, cruise_down_d,
-                    -accel_d, inv_cruise_v, -step_dist,
-                    height, closestxy_d, closest_height2, movez_r)
-                height += count * step_dist
-            if decel_down_d > 0.:
-                count = mcu_stepper.step_delta_accel(
-                    mcu_time + decel_time_offset, decel_down_d,
-                    -decel_offset, -accel_multiplier, -step_dist,
-                    height, closestxy_d, closest_height2, movez_r)
+            move_time = print_time
+            if accel_d:
+                mcu_stepper.step_delta(
+                    move_time, accel_d, move.start_v, accel,
+                    vt_startz, vt_startxy_d, vt_arm_d, movez_r)
+                vt_startz += accel_d * movez_r
+                vt_startxy_d -= accel_d * movexy_r
+                move_time += move.accel_t
+            if cruise_d:
+                mcu_stepper.step_delta(
+                    move_time, cruise_d, cruise_v, 0.,
+                    vt_startz, vt_startxy_d, vt_arm_d, movez_r)
+                vt_startz += cruise_d * movez_r
+                vt_startxy_d -= cruise_d * movexy_r
+                move_time += move.cruise_t
+            if decel_d:
+                mcu_stepper.step_delta(
+                    move_time, decel_d, cruise_v, -accel,
+                    vt_startz, vt_startxy_d, vt_arm_d, movez_r)
 
 
 ######################################################################

klippy/extruder.py

@@ -3,45 +3,144 @@
 # Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import logging
+import math, logging
 import stepper, heater, homing
 
+EXTRUDE_DIFF_IGNORE = 1.02
+
 class PrinterExtruder:
     def __init__(self, printer, config):
+        self.config = config
         self.heater = heater.PrinterHeater(printer, config)
         self.stepper = stepper.PrinterStepper(printer, config, 'extruder')
-        self.pressure_advance = config.getfloat('pressure_advance', 0.)
-        self.max_e_velocity = config.getfloat('max_velocity')
-        self.max_e_accel = config.getfloat('max_accel')
+        self.nozzle_diameter = config.getfloat('nozzle_diameter', above=0.)
+        filament_diameter = config.getfloat(
+            'filament_diameter', minval=self.nozzle_diameter)
+        self.filament_area = math.pi * (filament_diameter * .5)**2
+        max_cross_section = config.getfloat(
+            'max_extrude_cross_section', 4. * self.nozzle_diameter**2
+            , above=0.)
+        self.max_extrude_ratio = max_cross_section / self.filament_area
+        toolhead = printer.objects['toolhead']
+        max_velocity, max_accel = toolhead.get_max_velocity()
+        self.max_e_velocity = self.config.getfloat(
+            'max_extrude_only_velocity', max_velocity * self.max_extrude_ratio
+            , above=0.)
+        self.max_e_accel = self.config.getfloat(
+            'max_extrude_only_accel', max_accel * self.max_extrude_ratio
+            , above=0.)
+        self.stepper.set_max_jerk(9999999.9, 9999999.9)
+        self.max_e_dist = config.getfloat(
+            'max_extrude_only_distance', 50., minval=0.)
+        self.activate_gcode = config.get('activate_gcode', '')
+        self.deactivate_gcode = config.get('deactivate_gcode', '')
+        self.pressure_advance = config.getfloat(
+            'pressure_advance', 0., minval=0.)
+        self.pressure_advance_lookahead_time = 0.
+        if self.pressure_advance:
+            self.pressure_advance_lookahead_time = config.getfloat(
+                'pressure_advance_lookahead_time', 0.010, minval=0.)
         self.need_motor_enable = True
         self.extrude_pos = 0.
-    def build_config(self):
-        self.heater.build_config()
-        self.stepper.set_max_jerk(9999999.9, 9999999.9)
-        self.stepper.build_config()
-    def motor_off(self, move_time):
-        self.stepper.motor_enable(move_time, 0)
+    def get_heater(self):
+        return self.heater
+    def set_active(self, print_time, is_active):
+        return self.extrude_pos
+    def get_activate_gcode(self, is_active):
+        if is_active:
+            return self.activate_gcode
+        return self.deactivate_gcode
+    def motor_off(self, print_time):
+        self.stepper.motor_enable(print_time, 0)
         self.need_motor_enable = True
     def check_move(self, move):
+        move.extrude_r = move.axes_d[3] / move.move_d
+        move.extrude_max_corner_v = 0.
         if not self.heater.can_extrude:
-            raise homing.EndstopMoveError(
-                move.end_pos, "Extrude below minimum temp")
-        if (not move.do_calc_junction
-            and not move.axes_d[0] and not move.axes_d[1]
-            and not move.axes_d[2]):
-            # Extrude only move - limit accel and velocity
-            move.limit_speed(self.max_e_velocity, self.max_e_accel)
-    def move(self, move_time, move):
+            raise homing.EndstopError(
+                "Extrude below minimum temp\n"
+                "See the 'min_extrude_temp' config option for details")
+        if not move.is_kinematic_move or move.extrude_r < 0.:
+            # Extrude only move (or retraction move) - limit accel and velocity
+            if abs(move.axes_d[3]) > self.max_e_dist:
+                raise homing.EndstopError(
+                    "Extrude only move too long (%.3fmm vs %.3fmm)\n"
+                    "See the 'max_extrude_only_distance' config"
+                    " option for details" % (move.axes_d[3], self.max_e_dist))
+            inv_extrude_r = 1. / abs(move.extrude_r)
+            move.limit_speed(self.max_e_velocity * inv_extrude_r
+                             , self.max_e_accel * inv_extrude_r)
+        elif (move.extrude_r > self.max_extrude_ratio
+              and move.axes_d[3] > self.nozzle_diameter*self.max_extrude_ratio):
+            area = move.axes_d[3] * self.filament_area / move.move_d
+            logging.debug("Overextrude: %s vs %s (area=%.3f dist=%.3f)",
+                          move.extrude_r, self.max_extrude_ratio,
+                          area, move.move_d)
+            raise homing.EndstopError(
+                "Move exceeds maximum extrusion (%.3fmm^2 vs %.3fmm^2)\n"
+                "See the 'max_extrude_cross_section' config option for details"
+                % (area, self.max_extrude_ratio * self.filament_area))
+    def calc_junction(self, prev_move, move):
+        extrude = move.axes_d[3]
+        prev_extrude = prev_move.axes_d[3]
+        if extrude or prev_extrude:
+            if not extrude or not prev_extrude:
+                # Extrude move to non-extrude move - disable lookahead
+                return 0.
+            if ((move.extrude_r > prev_move.extrude_r * EXTRUDE_DIFF_IGNORE
+                 or prev_move.extrude_r > move.extrude_r * EXTRUDE_DIFF_IGNORE)
+                and abs(move.move_d * prev_move.extrude_r - extrude) >= .001):
+                # Extrude ratio between moves is too different
+                return 0.
+            move.extrude_r = prev_move.extrude_r
+        return move.max_cruise_v2
+    def lookahead(self, moves, flush_count, lazy):
+        lookahead_t = self.pressure_advance_lookahead_time
+        if not lookahead_t:
+            return flush_count
+        # Calculate max_corner_v - the speed the head will accelerate
+        # to after cornering.
+        for i in range(flush_count):
+            move = moves[i]
+            if not move.decel_t:
+                continue
+            cruise_v = move.cruise_v
+            max_corner_v = 0.
+            sum_t = lookahead_t
+            for j in range(i+1, flush_count):
+                fmove = moves[j]
+                if not fmove.max_start_v2:
+                    break
+                if fmove.cruise_v > max_corner_v:
+                    if (not max_corner_v
+                        and not fmove.accel_t and not fmove.cruise_t):
+                        # Start timing after any full decel moves
+                        continue
+                    if sum_t >= fmove.accel_t:
+                        max_corner_v = fmove.cruise_v
+                    else:
+                        max_corner_v = max(
+                            max_corner_v, fmove.start_v + fmove.accel * sum_t)
+                    if max_corner_v >= cruise_v:
+                        break
+                sum_t -= fmove.accel_t + fmove.cruise_t + fmove.decel_t
+                if sum_t <= 0.:
+                    break
+            else:
+                if lazy:
+                    return i
+            move.extrude_max_corner_v = max_corner_v
+        return flush_count
+    def move(self, print_time, move):
         if self.need_motor_enable:
-            self.stepper.motor_enable(move_time, 1)
+            self.stepper.motor_enable(print_time, 1)
             self.need_motor_enable = False
         axis_d = move.axes_d[3]
-        extrude_r = abs(axis_d) / move.move_d
-        inv_accel = 1. / (move.accel * extrude_r)
-
-        start_v = move.start_v * extrude_r
-        cruise_v = move.cruise_v * extrude_r
-        end_v = move.end_v * extrude_r
+        axis_r = abs(axis_d) / move.move_d
+        accel = move.accel * axis_r
+        start_v = move.start_v * axis_r
+        cruise_v = move.cruise_v * axis_r
+        end_v = move.end_v * axis_r
         accel_t, cruise_t, decel_t = move.accel_t, move.cruise_t, move.decel_t
         accel_d = move.accel_r * axis_d
         cruise_d = move.cruise_r * axis_d
@@ -55,25 +154,19 @@ class PrinterExtruder:
         if (axis_d >= 0. and (move.axes_d[0] or move.axes_d[1])
             and self.pressure_advance):
             # Increase accel_d and start_v when accelerating
-            move_extrude_r = move.extrude_r
+            pressure_advance = self.pressure_advance * move.extrude_r
             prev_pressure_d = start_pos - move.start_pos[3]
-            if accel_t:
-                npd = move.cruise_v * move_extrude_r * self.pressure_advance
+            if accel_d:
+                npd = move.cruise_v * pressure_advance
                 extra_accel_d = npd - prev_pressure_d
                 if extra_accel_d > 0.:
                     accel_d += extra_accel_d
                     start_v += extra_accel_d / accel_t
                     prev_pressure_d += extra_accel_d
             # Update decel and retract parameters when decelerating
-            if decel_t:
-                if move.corner_min:
-                    npd = move.corner_max*move_extrude_r * self.pressure_advance
-                    extra_decel_d = prev_pressure_d - npd
-                    if move.end_v > move.corner_min:
-                        extra_decel_d *= ((move.cruise_v - move.end_v)
-                                          / (move.cruise_v - move.corner_min))
-                else:
-                    npd = move.end_v * move_extrude_r * self.pressure_advance
+            emcv = move.extrude_max_corner_v
+            if decel_d and emcv < move.cruise_v:
+                npd = max(emcv, move.end_v) * pressure_advance
                 extra_decel_d = prev_pressure_d - npd
                 if extra_decel_d > 0.:
                     extra_decel_v = extra_decel_d / decel_t
@@ -87,7 +180,7 @@ class PrinterExtruder:
                         decel_t = decel_d = 0.
                     elif end_v < 0.:
                         # Split decel phase into decel and retraction
-                        retract_t = -end_v * inv_accel
+                        retract_t = -end_v / accel
                         retract_d = -end_v * 0.5 * retract_t
                         decel_t -= retract_t
                         decel_d = decel_v * 0.5 * decel_t
@@ -96,53 +189,72 @@ class PrinterExtruder:
                         decel_d -= extra_decel_d
 
         # Prepare for steps
-        inv_step_dist = self.stepper.inv_step_dist
-        step_dist = self.stepper.step_dist
         mcu_stepper = self.stepper.mcu_stepper
-        mcu_time = mcu_stepper.print_to_mcu_time(move_time)
-        step_pos = mcu_stepper.commanded_position
-        step_offset = step_pos - start_pos * inv_step_dist
+        move_time = print_time
 
         # Acceleration steps
-        accel_multiplier = 2.0 * step_dist * inv_accel
         if accel_d:
-            #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
-            accel_time_offset = start_v * inv_accel
-            accel_sqrt_offset = accel_time_offset**2
-            accel_steps = accel_d * inv_step_dist
-            count = mcu_stepper.step_sqrt(
-                mcu_time - accel_time_offset, accel_steps, step_offset
-                , accel_sqrt_offset, accel_multiplier)
-            step_offset += count - accel_steps
-            mcu_time += accel_t
+            mcu_stepper.step_const(move_time, start_pos, accel_d, start_v, accel)
+            start_pos += accel_d
+            move_time += accel_t
         # Cruising steps
         if cruise_d:
-            #t = pos/cruise_v
-            cruise_multiplier = step_dist / cruise_v
-            cruise_steps = cruise_d * inv_step_dist
-            count = mcu_stepper.step_factor(
-                mcu_time, cruise_steps, step_offset, cruise_multiplier)
-            step_offset += count - cruise_steps
-            mcu_time += cruise_t
+            mcu_stepper.step_const(move_time, start_pos, cruise_d, cruise_v, 0.)
+            start_pos += cruise_d
+            move_time += cruise_t
         # Deceleration steps
         if decel_d:
-            #t = cruise_v/accel - sqrt((cruise_v/accel)**2 - 2*pos/accel)
-            decel_time_offset = decel_v * inv_accel
-            decel_sqrt_offset = decel_time_offset**2
-            decel_steps = decel_d * inv_step_dist
-            count = mcu_stepper.step_sqrt(
-                mcu_time + decel_time_offset, decel_steps, step_offset
-                , decel_sqrt_offset, -accel_multiplier)
-            step_offset += count - decel_steps
-            mcu_time += decel_t
+            mcu_stepper.step_const(
+                move_time, start_pos, decel_d, decel_v, -accel)
+            start_pos += decel_d
+            move_time += decel_t
         # Retraction steps
         if retract_d:
-            #t = sqrt(2*pos/accel + (start_v/accel)**2) - start_v/accel
-            accel_time_offset = retract_v * inv_accel
-            accel_sqrt_offset = accel_time_offset**2
-            accel_steps = -retract_d * inv_step_dist
-            count = mcu_stepper.step_sqrt(
-                mcu_time - accel_time_offset, accel_steps, step_offset
-                , accel_sqrt_offset, accel_multiplier)
+            mcu_stepper.step_const(
+                move_time, start_pos, -retract_d, retract_v, accel)
+            start_pos -= retract_d
+        self.extrude_pos = start_pos
 
-        self.extrude_pos = start_pos + accel_d + cruise_d + decel_d - retract_d
+# Dummy extruder class used when a printer has no extruder at all
+class DummyExtruder:
+    def set_active(self, print_time, is_active):
+        return 0.
+    def motor_off(self, move_time):
+        pass
+    def check_move(self, move):
+        raise homing.EndstopMoveError(
+            move.end_pos, "Extrude when no extruder present")
+    def calc_junction(self, prev_move, move):
+        return move.max_cruise_v2
+    def lookahead(self, moves, flush_count, lazy):
+        return flush_count
+
+def add_printer_objects(printer, config):
+    for i in range(99):
+        section = 'extruder%d' % (i,)
+        if not config.has_section(section):
+            if not i and config.has_section('extruder'):
+                printer.add_object('extruder0', PrinterExtruder(
+                    printer, config.getsection('extruder')))
+                continue
+            break
+        printer.add_object(section, PrinterExtruder(
+            printer, config.getsection(section)))
+
+def get_printer_extruders(printer):
+    out = []
+    for i in range(99):
+        extruder = printer.objects.get('extruder%d' % (i,))
+        if extruder is None:
+            break
+        out.append(extruder)
+    return out
+
+def get_printer_heater(printer, name):
+    if name == 'heater_bed' and name in printer.objects:
+        return printer.objects[name]
+    if name == 'extruder':
+        name = 'extruder0'
+    if name.startswith('extruder') and name in printer.objects:
+        return printer.objects[name].get_heater()
+    raise printer.config_error("Unknown heater '%s'" % (name,))

klippy/fan.py

@@ -1,35 +1,63 @@
 # Printer fan support
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
+import extruder, pins
 
 FAN_MIN_TIME = 0.1
+PWM_CYCLE_TIME = 0.010
 
 class PrinterFan:
     def __init__(self, printer, config):
-        self.printer = printer
-        self.config = config
-        self.mcu_fan = None
-        self.last_fan_value = 0
+        self.last_fan_value = 0.
         self.last_fan_time = 0.
-        self.kick_start_time = config.getfloat('kick_start_time', 0.1)
-    def build_config(self):
-        pin = self.config.get('pin')
-        hard_pwm = self.config.getint('hard_pwm', 128)
-        self.mcu_fan = self.printer.mcu.create_pwm(pin, hard_pwm, 0)
-    # External commands
+        self.max_power = config.getfloat('max_power', 1., above=0., maxval=1.)
+        self.kick_start_time = config.getfloat('kick_start_time', 0.1, minval=0.)
+        self.mcu_fan = pins.setup_pin(printer, 'pwm', config.get('pin'))
+        self.mcu_fan.setup_max_duration(0.)
+        self.mcu_fan.setup_cycle_time(PWM_CYCLE_TIME)
+        self.mcu_fan.setup_hard_pwm(config.getint('hard_pwm', 0))
     def set_speed(self, print_time, value):
-        value = max(0, min(255, int(value*255. + 0.5)))
+        value = max(0., min(self.max_power, value))
         if value == self.last_fan_value:
             return
-        mcu_time = self.mcu_fan.print_to_mcu_time(print_time)
-        mcu_time = max(self.last_fan_time + FAN_MIN_TIME, mcu_time)
-        if (value and value < 255
+        print_time = max(self.last_fan_time + FAN_MIN_TIME, print_time)
+        if (value and value < self.max_power
             and not self.last_fan_value and self.kick_start_time):
             # Run fan at full speed for specified kick_start_time
-            self.mcu_fan.set_pwm(mcu_time, 255)
-            mcu_time += self.kick_start_time
-        self.mcu_fan.set_pwm(mcu_time, value)
-        self.last_fan_time = mcu_time
+            self.mcu_fan.set_pwm(print_time, self.max_power)
+            print_time += self.kick_start_time
+        self.mcu_fan.set_pwm(print_time, value)
+        self.last_fan_time = print_time
         self.last_fan_value = value
+
+class PrinterHeaterFan:
+    def __init__(self, printer, config):
+        self.fan = PrinterFan(printer, config)
+        self.mcu = printer.objects['mcu']
+        heater = config.get("heater", "extruder0")
+        self.heater = extruder.get_printer_heater(printer, heater)
+        self.heater_temp = config.getfloat("heater_temp", 50.0)
+        max_power = self.fan.max_power
+        self.fan_speed = config.getfloat(
+            "fan_speed", max_power, minval=0., maxval=max_power)
+        self.fan.mcu_fan.setup_shutdown_value(max_power)
+        printer.reactor.register_timer(self.callback, printer.reactor.NOW)
+    def callback(self, eventtime):
+        current_temp, target_temp = self.heater.get_temp(eventtime)
+        if not current_temp and not target_temp and not self.fan.last_fan_time:
+            # Printer still starting
+            return eventtime + 1.
+        power = 0.
+        if target_temp or current_temp > self.heater_temp:
+            power = self.fan_speed
+        print_time = self.mcu.estimated_print_time(eventtime) + FAN_MIN_TIME
+        self.fan.set_speed(print_time, power)
+        return eventtime + 1.
+
+def add_printer_objects(printer, config):
+    if config.has_section('fan'):
+        printer.add_object('fan', PrinterFan(printer, config.getsection('fan')))
+    for s in config.get_prefix_sections('heater_fan '):
+        printer.add_object(s.section, PrinterHeaterFan(printer, s))

klippy/gcode.py

@@ -3,140 +3,150 @@
 # Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import os, re, logging, collections, time
-import homing
+import os, re, logging, collections
+import homing, extruder, chipmisc
 
 # Parse out incoming GCode and find and translate head movements
 class GCodeParser:
     RETRY_TIME = 0.100
-    def __init__(self, printer, fd, is_fileinput=False):
+    def __init__(self, printer, fd):
         self.printer = printer
         self.fd = fd
-        self.is_fileinput = is_fileinput
         # Input handling
         self.reactor = printer.reactor
         self.is_processing_data = False
+        self.is_fileinput = not not printer.get_start_args().get("debuginput")
         self.fd_handle = None
-        if not is_fileinput:
+        if not self.is_fileinput:
             self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
-        self.input_commands = [""]
+        self.partial_input = ""
         self.bytes_read = 0
         self.input_log = collections.deque([], 50)
         # Command handling
-        self.gcode_handlers = {}
         self.is_printer_ready = False
+        self.gcode_handlers = {}
+        self.build_handlers()
         self.need_ack = False
-        self.toolhead = self.heater_nozzle = self.heater_bed = self.fan = None
+        self.toolhead = self.fan = self.extruder = None
+        self.heaters = []
         self.speed = 25.0
         self.absolutecoord = self.absoluteextrude = True
         self.base_position = [0.0, 0.0, 0.0, 0.0]
         self.last_position = [0.0, 0.0, 0.0, 0.0]
         self.homing_add = [0.0, 0.0, 0.0, 0.0]
         self.axis2pos = {'X': 0, 'Y': 1, 'Z': 2, 'E': 3}
-        self.build_handlers()
-    def build_config(self):
-        self.toolhead = self.printer.objects['toolhead']
-        self.heater_nozzle = None
-        extruder = self.printer.objects.get('extruder')
-        if extruder:
-            self.heater_nozzle = extruder.heater
-        self.heater_bed = self.printer.objects.get('heater_bed')
-        self.fan = self.printer.objects.get('fan')
     def build_handlers(self):
-        handlers = ['G1', 'G4', 'G20', 'G21', 'G28', 'G90', 'G91', 'G92',
-                    'M18', 'M82', 'M83', 'M105', 'M110', 'M112', 'M114', 'M206',
-                    'HELP', 'QUERY_ENDSTOPS', 'RESTART', 'CLEAR_SHUTDOWN',
-                    'STATUS']
-        if self.heater_nozzle is not None:
-            handlers.extend(['M104', 'M109', 'PID_TUNE'])
-        if self.heater_bed is not None:
-            handlers.extend(['M140', 'M190'])
-        if self.fan is not None:
-            handlers.extend(['M106', 'M107'])
+        handlers = self.all_handlers
         if not self.is_printer_ready:
             handlers = [h for h in handlers
                         if getattr(self, 'cmd_'+h+'_when_not_ready', False)]
-        self.gcode_handlers = dict((h, getattr(self, 'cmd_'+h))
-                                   for h in handlers)
-        for h, f in self.gcode_handlers.items():
+        gcode_handlers = { h: getattr(self, 'cmd_'+h) for h in handlers }
+        for h, f in list(gcode_handlers.items()):
             aliases = getattr(self, 'cmd_'+h+'_aliases', [])
-            self.gcode_handlers.update(dict([(a, f) for a in aliases]))
+            gcode_handlers.update({ a: f for a in aliases })
+        self.gcode_handlers = gcode_handlers
     def stats(self, eventtime):
         return "gcodein=%d" % (self.bytes_read,)
-    def set_printer_ready(self, is_ready):
-        if self.is_printer_ready == is_ready:
-            return
-        self.is_printer_ready = is_ready
+    def connect(self):
+        self.is_printer_ready = True
         self.build_handlers()
-        if is_ready and self.is_fileinput and self.fd_handle is None:
+        # Lookup printer components
+        self.toolhead = self.printer.objects.get('toolhead')
+        extruders = extruder.get_printer_extruders(self.printer)
+        if extruders:
+            self.extruder = extruders[0]
+            self.toolhead.set_extruder(self.extruder)
+        self.heaters = [ e.get_heater() for e in extruders ]
+        self.heaters.append(self.printer.objects.get('heater_bed'))
+        self.fan = self.printer.objects.get('fan')
+        if self.is_fileinput and self.fd_handle is None:
             self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
+    def do_shutdown(self):
+        if not self.is_printer_ready:
+            return
+        self.is_printer_ready = False
+        self.build_handlers()
+        self.dump_debug()
+        if self.is_fileinput:
+            self.printer.request_exit()
     def motor_heater_off(self):
-        if self.toolhead is not None:
+        if self.toolhead is None:
+            return
         self.toolhead.motor_off()
-        if self.heater_nozzle is not None:
-            self.heater_nozzle.set_temp(0., 0.)
-        if self.heater_bed is not None:
-            self.heater_bed.set_temp(0., 0.)
+        print_time = self.toolhead.get_last_move_time()
+        for heater in self.heaters:
+            if heater is not None:
+                heater.set_temp(print_time, 0.)
+        if self.fan is not None:
+            self.fan.set_speed(print_time, 0.)
     def dump_debug(self):
-        logging.info("Dumping gcode input %d blocks" % (
+        out = []
+        out.append("Dumping gcode input %d blocks" % (
             len(self.input_log),))
         for eventtime, data in self.input_log:
-            logging.info("Read %f: %s" % (eventtime, repr(data)))
+            out.append("Read %f: %s" % (eventtime, repr(data)))
+        logging.info("\n".join(out))
     # Parse input into commands
-    args_r = re.compile('([a-zA-Z_]+|[a-zA-Z*])')
-    def process_commands(self, eventtime):
-        while len(self.input_commands) > 1:
-            line = self.input_commands.pop(0)
+    args_r = re.compile('([A-Z_]+|[A-Z*])')
+    def process_commands(self, commands, need_ack=True):
+        prev_need_ack = self.need_ack
+        for line in commands:
             # Ignore comments and leading/trailing spaces
             line = origline = line.strip()
             cpos = line.find(';')
             if cpos >= 0:
                 line = line[:cpos]
             # Break command into parts
-            parts = self.args_r.split(line)[1:]
-            params = dict((parts[i].upper(), parts[i+1].strip())
-                          for i in range(0, len(parts), 2))
+            parts = self.args_r.split(line.upper())[1:]
+            params = { parts[i]: parts[i+1].strip()
+                       for i in range(0, len(parts), 2) }
             params['#original'] = origline
-            if parts and parts[0].upper() == 'N':
+            if parts and parts[0] == 'N':
                 # Skip line number at start of command
                 del parts[:2]
             if not parts:
                 self.cmd_default(params)
                 continue
-            params['#command'] = cmd = parts[0].upper() + parts[1].strip()
+            params['#command'] = cmd = parts[0] + parts[1].strip()
             # Invoke handler for command
-            self.need_ack = True
+            self.need_ack = need_ack
             handler = self.gcode_handlers.get(cmd, self.cmd_default)
             try:
                 handler(params)
+            except error as e:
+                self.respond_error(str(e))
             except:
-                logging.exception("Exception in command handler")
-                self.toolhead.force_shutdown()
-                self.respond_error('Internal error on command:"%s"' % (cmd,))
+                msg = 'Internal error on command:"%s"' % (cmd,)
+                logging.exception(msg)
+                self.printer.invoke_shutdown(msg)
+                self.respond_error(msg)
             self.ack()
+        self.need_ack = prev_need_ack
     def process_data(self, eventtime):
         data = os.read(self.fd, 4096)
         self.input_log.append((eventtime, data))
         self.bytes_read += len(data)
         lines = data.split('\n')
-        lines[0] = self.input_commands.pop() + lines[0]
-        self.input_commands.extend(lines)
+        lines[0] = self.partial_input + lines[0]
+        self.partial_input = lines.pop()
         if self.is_processing_data:
-            if len(lines) <= 1:
+            if not self.is_fileinput and not lines:
                 return
-            if not self.is_fileinput and lines[0].strip().upper() == 'M112':
-                self.cmd_M112({})
             self.reactor.unregister_fd(self.fd_handle)
             self.fd_handle = None
-            return
-        self.is_processing_data = True
-        self.process_commands(eventtime)
-        self.is_processing_data = False
-        if self.fd_handle is None:
+            if not self.is_fileinput and lines[0].strip().upper() == 'M112':
+                self.cmd_M112({})
+            while self.is_processing_data:
+                eventtime = self.reactor.pause(eventtime + 0.100)
             self.fd_handle = self.reactor.register_fd(self.fd, self.process_data)
+        self.is_processing_data = True
+        self.process_commands(lines)
         if not data and self.is_fileinput:
             self.motor_heater_off()
-            self.printer.request_exit_eof()
+            if self.toolhead is not None:
+                self.toolhead.wait_moves()
+            self.printer.request_exit()
+        self.is_processing_data = False
     # Response handling
     def ack(self, msg=None):
         if not self.need_ack or self.is_fileinput:
@@ -147,45 +157,110 @@ class GCodeParser:
             os.write(self.fd, "ok\n")
         self.need_ack = False
     def respond(self, msg):
-        logging.debug(msg)
         if self.is_fileinput:
             return
         os.write(self.fd, msg+"\n")
     def respond_info(self, msg):
+        logging.debug(msg)
         lines = [l.strip() for l in msg.strip().split('\n')]
         self.respond("// " + "\n// ".join(lines))
     def respond_error(self, msg):
+        logging.warning(msg)
         lines = msg.strip().split('\n')
         if len(lines) > 1:
             self.respond_info("\n".join(lines[:-1]))
         self.respond('!! %s' % (lines[-1].strip(),))
+    # Parameter parsing helpers
+    def get_int(self, name, params, default=None):
+        if name in params:
+            try:
+                return int(params[name])
+            except ValueError:
+                raise error("Error on '%s': unable to parse %s" % (
+                    params['#original'], params[name]))
+        if default is not None:
+            return default
+        raise error("Error on '%s': missing %s" % (params['#original'], name))
+    def get_float(self, name, params, default=None):
+        if name in params:
+            try:
+                return float(params[name])
+            except ValueError:
+                raise error("Error on '%s': unable to parse %s" % (
+                    params['#original'], params[name]))
+        if default is not None:
+            return default
+        raise error("Error on '%s': missing %s" % (params['#original'], name))
+    extended_r = re.compile(
+        r'^\s*(?:N[0-9]+\s*)?'
+        r'(?P<cmd>[a-zA-Z_][a-zA-Z_]+)(?:\s+|$)'
+        r'(?P<args>[^#*;]*?)'
+        r'\s*(?:[#*;].*)?$')
+    def get_extended_params(self, params):
+        m = self.extended_r.match(params['#original'])
+        if m is None:
+            # Not an "extended" command
+            return params
+        eargs = m.group('args')
+        try:
+            eparams = [earg.split('=', 1) for earg in eargs.split()]
+            eparams = { k.upper(): v for k, v in eparams }
+            eparams.update({k: params[k] for k in params if k.startswith('#')})
+            return eparams
+        except ValueError as e:
+            raise error("Malformed command '%s'" % (params['#original'],))
     # Temperature wrappers
-    def get_temp(self):
-        if not self.is_printer_ready:
-            return "T:0"
-        # T:XXX /YYY B:XXX /YYY
+    def get_temp(self, eventtime):
+        # Tn:XXX /YYY B:XXX /YYY
         out = []
-        if self.heater_nozzle:
-            cur, target = self.heater_nozzle.get_temp()
-            out.append("T:%.1f /%.1f" % (cur, target))
-        if self.heater_bed:
-            cur, target = self.heater_bed.get_temp()
-            out.append("B:%.1f /%.1f" % (cur, target))
+        for i, heater in enumerate(self.heaters):
+            if heater is not None:
+                cur, target = heater.get_temp(eventtime)
+                name = "B"
+                if i < len(self.heaters) - 1:
+                    name = "T%d" % (i,)
+                out.append("%s:%.1f /%.1f" % (name, cur, target))
+        if not out:
+            return "T:0"
         return " ".join(out)
     def bg_temp(self, heater):
         if self.is_fileinput:
             return
-        eventtime = time.time()
+        eventtime = self.reactor.monotonic()
         while self.is_printer_ready and heater.check_busy(eventtime):
-            self.toolhead.reset_motor_off_time(eventtime)
-            self.respond(self.get_temp())
-            eventtime = self.reactor.pause(eventtime + 1.)
-    def set_temp(self, heater, params, wait=False):
             print_time = self.toolhead.get_last_move_time()
-        temp = float(params.get('S', '0'))
+            self.respond(self.get_temp(eventtime))
+            eventtime = self.reactor.pause(eventtime + 1.)
+    def set_temp(self, params, is_bed=False, wait=False):
+        temp = self.get_float('S', params, 0.)
+        heater = None
+        if is_bed:
+            heater = self.heaters[-1]
+        elif 'T' in params:
+            heater_index = self.get_int('T', params)
+            if heater_index >= 0 and heater_index < len(self.heaters) - 1:
+                heater = self.heaters[heater_index]
+        elif self.extruder is not None:
+            heater = self.extruder.get_heater()
+        if heater is None:
+            if temp > 0.:
+                self.respond_error("Heater not configured")
+            return
+        print_time = self.toolhead.get_last_move_time()
+        try:
             heater.set_temp(print_time, temp)
+        except heater.error as e:
+            self.respond_error(str(e))
+            return
         if wait:
             self.bg_temp(heater)
+    def set_fan_speed(self, speed):
+        if self.fan is None:
+            if speed and not self.is_fileinput:
+                self.respond_info("Fan not configured")
+            return
+        print_time = self.toolhead.get_last_move_time()
+        self.fan.set_speed(print_time, speed)
     # Individual command handlers
     def cmd_default(self, params):
         if not self.is_printer_ready:
@@ -195,39 +270,75 @@ class GCodeParser:
         if not cmd:
             logging.debug(params['#original'])
             return
-        self.respond('echo:Unknown command:"%s"' % (cmd,))
+        if cmd[0] == 'T' and len(cmd) > 1 and cmd[1].isdigit():
+            # Tn command has to be handled specially
+            self.cmd_Tn(params)
+            return
+        self.respond_info('Unknown command:"%s"' % (cmd,))
+    def cmd_Tn(self, params):
+        # Select Tool
+        index = self.get_int('T', params)
+        extruders = extruder.get_printer_extruders(self.printer)
+        if self.extruder is None or index < 0 or index >= len(extruders):
+            self.respond_error("Extruder %d not configured" % (index,))
+            return
+        e = extruders[index]
+        if self.extruder is e:
+            return
+        deactivate_gcode = self.extruder.get_activate_gcode(False)
+        self.process_commands(deactivate_gcode.split('\n'), need_ack=False)
+        try:
+            self.toolhead.set_extruder(e)
+        except homing.EndstopError as e:
+            self.respond_error(str(e))
+            return
+        self.extruder = e
+        self.last_position = self.toolhead.get_position()
+        activate_gcode = self.extruder.get_activate_gcode(True)
+        self.process_commands(activate_gcode.split('\n'), need_ack=False)
+    all_handlers = [
+        'G1', 'G4', 'G20', 'G28', 'G90', 'G91', 'G92',
+        'M82', 'M83', 'M18', 'M105', 'M104', 'M109', 'M112', 'M114', 'M115',
+        'M140', 'M190', 'M106', 'M107', 'M206', 'M400',
+        'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE', 'SET_SERVO',
+        'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
     cmd_G1_aliases = ['G0']
     def cmd_G1(self, params):
         # Move
+        try:
             for a, p in self.axis2pos.items():
                 if a in params:
                     v = float(params[a])
-                if not self.absolutecoord or (p>2 and not self.absoluteextrude):
+                    if (not self.absolutecoord
+                        or (p>2 and not self.absoluteextrude)):
                         # value relative to position of last move
                         self.last_position[p] += v
                     else:
                         # value relative to base coordinate position
                         self.last_position[p] = v + self.base_position[p]
             if 'F' in params:
-            self.speed = float(params['F']) / 60.
+                speed = float(params['F']) / 60.
+                if speed <= 0.:
+                    raise ValueError()
+                self.speed = speed
+        except ValueError as e:
+            self.last_position = self.toolhead.get_position()
+            raise error("Unable to parse move '%s'" % (params['#original'],))
         try:
             self.toolhead.move(self.last_position, self.speed)
-        except homing.EndstopError, e:
+        except homing.EndstopError as e:
             self.respond_error(str(e))
             self.last_position = self.toolhead.get_position()
     def cmd_G4(self, params):
         # Dwell
         if 'S' in params:
-            delay = float(params['S'])
+            delay = self.get_float('S', params)
         else:
-            delay = float(params.get('P', '0')) / 1000.
+            delay = self.get_float('P', params, 0.) / 1000.
         self.toolhead.dwell(delay)
     def cmd_G20(self, params):
         # Set units to inches
         self.respond_error('Machine does not support G20 (inches) command')
-    def cmd_G21(self, params):
-        # Set units to millimeters
-        pass
     def cmd_G28(self, params):
         # Move to origin
         axes = []
@@ -241,7 +352,7 @@ class GCodeParser:
             homing_state.set_no_verify_retract()
         try:
             self.toolhead.home(homing_state)
-        except homing.EndstopError, e:
+        except homing.EndstopError as e:
             self.toolhead.motor_off()
             self.respond_error(str(e))
             return
@@ -257,12 +368,11 @@ class GCodeParser:
         self.absolutecoord = False
     def cmd_G92(self, params):
         # Set position
-        mcount = 0
-        for a, p in self.axis2pos.items():
-            if a in params:
-                self.base_position[p] = self.last_position[p] - float(params[a])
-                mcount += 1
-        if not mcount:
+        offsets = { p: self.get_float(a, params)
+                    for a, p in self.axis2pos.items() if a in params }
+        for p, offset in offsets.items():
+            self.base_position[p] = self.last_position[p] - offset
+        if not offsets:
             self.base_position = list(self.last_position)
     def cmd_M82(self, params):
         # Use absolute distances for extrusion
@@ -277,52 +387,60 @@ class GCodeParser:
     cmd_M105_when_not_ready = True
     def cmd_M105(self, params):
         # Get Extruder Temperature
-        self.ack(self.get_temp())
+        self.ack(self.get_temp(self.reactor.monotonic()))
     def cmd_M104(self, params):
         # Set Extruder Temperature
-        self.set_temp(self.heater_nozzle, params)
+        self.set_temp(params)
     def cmd_M109(self, params):
         # Set Extruder Temperature and Wait
-        self.set_temp(self.heater_nozzle, params, wait=True)
-    cmd_M110_when_not_ready = True
-    def cmd_M110(self, params):
-        # Set Current Line Number
-        pass
+        self.set_temp(params, wait=True)
     def cmd_M112(self, params):
         # Emergency Stop
-        self.toolhead.force_shutdown()
+        self.printer.invoke_shutdown("Shutdown due to M112 command")
     cmd_M114_when_not_ready = True
     def cmd_M114(self, params):
         # Get Current Position
         if self.toolhead is None:
             self.cmd_default(params)
             return
-        kinpos = self.toolhead.get_position()
-        self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f Count X:%.3f Y:%.3f Z:%.3f" % (
+        raw_pos = self.toolhead.query_endstops("get_mcu_position")
+        self.respond("X:%.3f Y:%.3f Z:%.3f E:%.3f Count %s" % (
             self.last_position[0], self.last_position[1],
             self.last_position[2], self.last_position[3],
-            kinpos[0], kinpos[1], kinpos[2]))
+            " ".join(["%s:%d" % (n.upper(), p) for n, p in raw_pos])))
+    cmd_M115_when_not_ready = True
+    def cmd_M115(self, params):
+        # Get Firmware Version and Capabilities
+        software_version = self.printer.get_start_args().get('software_version')
+        kw = {"FIRMWARE_NAME": "Klipper", "FIRMWARE_VERSION": software_version}
+        self.ack(" ".join(["%s:%s" % (k, v) for k, v in kw.items()]))
     def cmd_M140(self, params):
         # Set Bed Temperature
-        self.set_temp(self.heater_bed, params)
+        self.set_temp(params, is_bed=True)
     def cmd_M190(self, params):
         # Set Bed Temperature and Wait
-        self.set_temp(self.heater_bed, params, wait=True)
+        self.set_temp(params, is_bed=True, wait=True)
     def cmd_M106(self, params):
         # Set fan speed
-        print_time = self.toolhead.get_last_move_time()
-        self.fan.set_speed(print_time, float(params.get('S', '255')) / 255.)
+        self.set_fan_speed(self.get_float('S', params, 255.) / 255.)
     def cmd_M107(self, params):
         # Turn fan off
-        print_time = self.toolhead.get_last_move_time()
-        self.fan.set_speed(print_time, 0)
+        self.set_fan_speed(0.)
     def cmd_M206(self, params):
         # Set home offset
-        for a, p in self.axis2pos.items():
-            if a in params:
-                v = float(params[a])
-                self.base_position[p] += self.homing_add[p] - v
-                self.homing_add[p] = v
+        offsets = { p: self.get_float(a, params)
+                    for a, p in self.axis2pos.items() if a in params }
+        for p, offset in offsets.items():
+            self.base_position[p] += self.homing_add[p] - offset
+            self.homing_add[p] = offset
+    def cmd_M400(self, params):
+        # Wait for current moves to finish
+        self.toolhead.wait_moves()
+    cmd_IGNORE_when_not_ready = True
+    cmd_IGNORE_aliases = ["G21", "M110", "M21"]
+    def cmd_IGNORE(self, params):
+        # Commands that are just silently accepted
+        pass
     cmd_QUERY_ENDSTOPS_help = "Report on the status of each endstop"
     cmd_QUERY_ENDSTOPS_aliases = ["M119"]
     def cmd_QUERY_ENDSTOPS(self, params):
@@ -331,7 +449,7 @@ class GCodeParser:
             return
         try:
             res = self.toolhead.query_endstops()
-        except self.printer.mcu.error, e:
+        except homing.EndstopError as e:
             self.respond_error(str(e))
             return
         self.respond(" ".join(["%s:%s" % (name, ["open", "TRIGGERED"][not not t])
@@ -340,23 +458,47 @@ class GCodeParser:
     cmd_PID_TUNE_aliases = ["M303"]
     def cmd_PID_TUNE(self, params):
         # Run PID tuning
-        heater = int(params.get('E', '0'))
-        heater = {0: self.heater_nozzle, -1: self.heater_bed}[heater]
-        temp = float(params.get('S', '60'))
+        heater_index = self.get_int('E', params, 0)
+        if (heater_index < -1 or heater_index >= len(self.heaters) - 1
+            or self.heaters[heater_index] is None):
+            self.respond_error("Heater not configured")
+        heater = self.heaters[heater_index]
+        temp = self.get_float('S', params)
         heater.start_auto_tune(temp)
         self.bg_temp(heater)
-    cmd_CLEAR_SHUTDOWN_when_not_ready = True
-    cmd_CLEAR_SHUTDOWN_help = "Clear a firmware shutdown and restart"
-    def cmd_CLEAR_SHUTDOWN(self, params):
-        if self.toolhead is None:
-            self.cmd_default(params)
+    cmd_SET_SERVO_help = "Set servo angle"
+    def cmd_SET_SERVO(self, params):
+        params = self.get_extended_params(params)
+        name = params.get('SERVO')
+        if name is None:
+            raise error("Error on '%s': missing SERVO" % (params['#original'],))
+        s = chipmisc.get_printer_servo(self.printer, name)
+        if s is None:
+            raise error("Servo not configured")
+        print_time = self.toolhead.get_last_move_time()
+        if 'WIDTH' in params:
+            s.set_pulse_width(print_time, self.get_float('WIDTH', params))
             return
-        self.printer.mcu.clear_shutdown()
-        self.printer.request_restart()
+        s.set_angle(print_time, self.get_float('ANGLE', params))
+    def prep_restart(self):
+        if self.is_printer_ready:
+            self.respond_info("Preparing to restart...")
+            self.motor_heater_off()
+            self.toolhead.dwell(0.500)
+            self.toolhead.wait_moves()
     cmd_RESTART_when_not_ready = True
     cmd_RESTART_help = "Reload config file and restart host software"
     def cmd_RESTART(self, params):
-        self.printer.request_restart()
+        self.prep_restart()
+        self.printer.request_exit('restart')
+    cmd_FIRMWARE_RESTART_when_not_ready = True
+    cmd_FIRMWARE_RESTART_help = "Restart firmware, host, and reload config"
+    def cmd_FIRMWARE_RESTART(self, params):
+        self.prep_restart()
+        self.printer.request_exit('firmware_restart')
+    cmd_ECHO_when_not_ready = True
+    def cmd_ECHO(self, params):
+        self.respond_info(params['#original'])
     cmd_STATUS_when_not_ready = True
     cmd_STATUS_help = "Report the printer status"
     def cmd_STATUS(self, params):
@@ -371,8 +513,11 @@ class GCodeParser:
         if not self.is_printer_ready:
             cmdhelp.append("Printer is not ready - not all commands available.")
         cmdhelp.append("Available extended commands:")
-        for cmd in self.gcode_handlers:
+        for cmd in sorted(self.gcode_handlers):
             desc = getattr(self, 'cmd_'+cmd+'_help', None)
             if desc is not None:
                 cmdhelp.append("%-10s: %s" % (cmd, desc))
         self.respond_info("\n".join(cmdhelp))
+
+class error(Exception):
+    pass

klippy/heater.py

@@ -1,109 +1,191 @@
 # Printer heater support
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import math, logging, threading
+import pins
 
-# Mapping from name to Steinhart-Hart coefficients
-Thermistors = {
-    "EPCOS 100K B57560G104F": (
-        0.000722136308968056, 0.000216766566488498, 8.92935804531095e-08),
-    "ATC Semitec 104GT-2": (
-        0.000809651054275124, 0.000211636030735685,  7.07420883993973e-08),
+
+######################################################################
+# Sensors
+######################################################################
+
+KELVIN_TO_CELCIUS = -273.15
+
+# Thermistor calibrated with three temp measurements
+class Thermistor:
+    def __init__(self, config, params):
+        self.pullup = config.getfloat('pullup_resistor', 4700., above=0.)
+        # Calculate Steinhart-Hart coefficents from temp measurements
+        inv_t1 = 1. / (params['t1'] - KELVIN_TO_CELCIUS)
+        inv_t2 = 1. / (params['t2'] - KELVIN_TO_CELCIUS)
+        inv_t3 = 1. / (params['t3'] - KELVIN_TO_CELCIUS)
+        ln_r1 = math.log(params['r1'])
+        ln_r2 = math.log(params['r2'])
+        ln_r3 = math.log(params['r3'])
+        ln3_r1, ln3_r2, ln3_r3 = ln_r1**3, ln_r2**3, ln_r3**3
+
+        inv_t12, inv_t13 = inv_t1 - inv_t2, inv_t1 - inv_t3
+        ln_r12, ln_r13 = ln_r1 - ln_r2, ln_r1 - ln_r3
+        ln3_r12, ln3_r13 = ln3_r1 - ln3_r2, ln3_r1 - ln3_r3
+
+        self.c3 = ((inv_t12 - inv_t13 * ln_r12 / ln_r13)
+                   / (ln3_r12 - ln3_r13 * ln_r12 / ln_r13))
+        self.c2 = (inv_t12 - self.c3 * ln3_r12) / ln_r12
+        self.c1 = inv_t1 - self.c2 * ln_r1 - self.c3 * ln3_r1
+    def calc_temp(self, adc):
+        r = self.pullup * adc / (1.0 - adc)
+        ln_r = math.log(r)
+        inv_t = self.c1 + self.c2 * ln_r + self.c3 * ln_r**3
+        return 1.0/inv_t + KELVIN_TO_CELCIUS
+    def calc_adc(self, temp):
+        inv_t = 1. / (temp - KELVIN_TO_CELCIUS)
+        if self.c3:
+            y = (self.c1 - inv_t) / (2. * self.c3)
+            x = math.sqrt((self.c2 / (3. * self.c3))**3 + y**2)
+            ln_r = math.pow(x - y, 1./3.) - math.pow(x + y, 1./3.)
+        else:
+            ln_r = (inv_t - self.c1) / self.c2
+        r = math.exp(ln_r)
+        return r / (self.pullup + r)
+
+# Thermistor calibrated from one temp measurement and its beta
+class ThermistorBeta(Thermistor):
+    def __init__(self, config, params):
+        self.pullup = config.getfloat('pullup_resistor', 4700., above=0.)
+        # Calculate Steinhart-Hart coefficents from beta
+        inv_t1 = 1. / (params['t1'] - KELVIN_TO_CELCIUS)
+        ln_r1 = math.log(params['r1'])
+        self.c3 = 0.
+        self.c2 = 1. / params['beta']
+        self.c1 = inv_t1 - self.c2 * ln_r1
+
+# Linear style conversion chips calibrated with two temp measurements
+class Linear:
+    def __init__(self, config, params):
+        adc_voltage = config.getfloat('adc_voltage', 5., above=0.)
+        slope = (params['t2'] - params['t1']) / (params['v2'] - params['v1'])
+        self.gain = adc_voltage * slope
+        self.offset = params['t1'] - params['v1'] * slope
+    def calc_temp(self, adc):
+        return adc * self.gain + self.offset
+    def calc_adc(self, temp):
+        return (temp - self.offset) / self.gain
+
+# Available sensors
+Sensors = {
+    "EPCOS 100K B57560G104F": {
+        'class': Thermistor, 't1': 25., 'r1': 100000.,
+        't2': 150., 'r2': 1641.9, 't3': 250., 'r3': 226.15 },
+    "ATC Semitec 104GT-2": {
+        'class': Thermistor, 't1': 20., 'r1': 126800.,
+        't2': 150., 'r2': 1360., 't3': 300., 'r3': 80.65 },
+    "NTC 100K beta 3950": {
+        'class': ThermistorBeta, 't1': 25., 'r1': 100000., 'beta': 3950. },
+    "AD595": { 'class': Linear, 't1': 25., 'v1': .25, 't2': 300., 'v2': 3.022 },
 }
 
+
+######################################################################
+# Heater
+######################################################################
+
 SAMPLE_TIME = 0.001
 SAMPLE_COUNT = 8
 REPORT_TIME = 0.300
-KELVIN_TO_CELCIUS = -273.15
+PWM_CYCLE_TIME = 0.100
 MAX_HEAT_TIME = 5.0
 AMBIENT_TEMP = 25.
-PWM_MAX = 255
+PID_PARAM_BASE = 255.
+
+class error(Exception):
+    pass
 
 class PrinterHeater:
+    error = error
     def __init__(self, printer, config):
-        self.printer = printer
-        self.config = config
-        self.mcu_pwm = self.mcu_adc = None
-        self.thermistor_c = config.getchoice('thermistor_type', Thermistors)
-        self.pullup_r = config.getfloat('pullup_resistor', 4700.)
-        self.min_extrude_temp = config.getfloat('min_extrude_temp', 170.)
-        self.can_extrude = (self.min_extrude_temp <= 0.)
+        self.name = config.section
+        sensor_params = config.getchoice('sensor_type', Sensors)
+        self.sensor = sensor_params['class'](config, sensor_params)
+        self.min_temp = config.getfloat('min_temp', minval=0.)
+        self.max_temp = config.getfloat('max_temp', above=self.min_temp)
+        self.min_extrude_temp = config.getfloat(
+            'min_extrude_temp', 170., minval=self.min_temp, maxval=self.max_temp)
+        self.max_power = config.getfloat('max_power', 1., above=0., maxval=1.)
         self.lock = threading.Lock()
         self.last_temp = 0.
         self.last_temp_time = 0.
         self.target_temp = 0.
-        self.control = None
+        algos = {'watermark': ControlBangBang, 'pid': ControlPID}
+        algo = config.getchoice('control', algos)
+        heater_pin = config.get('heater_pin')
+        if algo is ControlBangBang and self.max_power == 1.:
+            self.mcu_pwm = pins.setup_pin(printer, 'digital_out', heater_pin)
+        else:
+            self.mcu_pwm = pins.setup_pin(printer, 'pwm', heater_pin)
+            self.mcu_pwm.setup_cycle_time(PWM_CYCLE_TIME)
+        self.mcu_pwm.setup_max_duration(MAX_HEAT_TIME)
+        self.mcu_adc = pins.setup_pin(printer, 'adc', config.get('sensor_pin'))
+        adc_range = [self.sensor.calc_adc(self.min_temp),
+                     self.sensor.calc_adc(self.max_temp)]
+        self.mcu_adc.setup_minmax(SAMPLE_TIME, SAMPLE_COUNT,
+                                  minval=min(adc_range), maxval=max(adc_range))
+        self.mcu_adc.setup_adc_callback(REPORT_TIME, self.adc_callback)
+        is_fileoutput = self.mcu_adc.get_mcu().is_fileoutput()
+        self.can_extrude = self.min_extrude_temp <= 0. or is_fileoutput
+        self.control = algo(self, config)
         # pwm caching
         self.next_pwm_time = 0.
         self.last_pwm_value = 0
-    def build_config(self):
-        heater_pin = self.config.get('heater_pin')
-        thermistor_pin = self.config.get('thermistor_pin')
-        self.mcu_pwm = self.printer.mcu.create_pwm(heater_pin, 0, MAX_HEAT_TIME)
-        self.mcu_adc = self.printer.mcu.create_adc(thermistor_pin)
-        min_adc = self.calc_adc(self.config.getfloat('max_temp'))
-        max_adc = self.calc_adc(self.config.getfloat('min_temp'))
-        self.mcu_adc.set_minmax(
-            SAMPLE_TIME, SAMPLE_COUNT, minval=min_adc, maxval=max_adc)
-        self.mcu_adc.set_adc_callback(REPORT_TIME, self.adc_callback)
-        algos = {'watermark': ControlBangBang, 'pid': ControlPID}
-        self.control = self.config.getchoice('control', algos)(self, self.config)
-        if self.printer.mcu.is_fileoutput():
-            self.can_extrude = True
     def set_pwm(self, read_time, value):
-        if value:
         if self.target_temp <= 0.:
-                return
-            if (read_time < self.next_pwm_time
-                and abs(value - self.last_pwm_value) < 15):
-                return
-        elif not self.last_pwm_value:
+            value = 0.
+        if ((read_time < self.next_pwm_time or not self.last_pwm_value)
+            and abs(value - self.last_pwm_value) < 0.05):
+            # No significant change in value - can suppress update
             return
         pwm_time = read_time + REPORT_TIME + SAMPLE_TIME*SAMPLE_COUNT
         self.next_pwm_time = pwm_time + 0.75 * MAX_HEAT_TIME
         self.last_pwm_value = value
-        logging.debug("pwm=%d@%.3f (%.3f)" % (value, read_time, pwm_time))
+        logging.debug("%s: pwm=%.3f@%.3f (from %.3f@%.3f [%.3f])",
+                      self.name, value, pwm_time,
+                      self.last_temp, self.last_temp_time, self.target_temp)
         self.mcu_pwm.set_pwm(pwm_time, value)
-    # Temperature calculation
-    def calc_temp(self, adc):
-        r = self.pullup_r * adc / (1.0 - adc)
-        ln_r = math.log(r)
-        c1, c2, c3 = self.thermistor_c
-        temp_inv = c1 + c2*ln_r + c3*math.pow(ln_r, 3)
-        return 1.0/temp_inv + KELVIN_TO_CELCIUS
-    def calc_adc(self, temp):
-        if temp is None:
-            return None
-        c1, c2, c3 = self.thermistor_c
-        temp -= KELVIN_TO_CELCIUS
-        temp_inv = 1./temp
-        y = (c1 - temp_inv) / (2*c3)
-        x = math.sqrt(math.pow(c2 / (3.*c3), 3.) + math.pow(y, 2.))
-        r = math.exp(math.pow(x-y, 1./3.) - math.pow(x+y, 1./3.))
-        return r / (self.pullup_r + r)
     def adc_callback(self, read_time, read_value):
-        temp = self.calc_temp(read_value)
+        temp = self.sensor.calc_temp(read_value)
         with self.lock:
             self.last_temp = temp
             self.last_temp_time = read_time
             self.can_extrude = (temp >= self.min_extrude_temp)
             self.control.adc_callback(read_time, temp)
-        #logging.debug("temp: %.3f %f = %f" % (read_time, read_value, temp))
+        #logging.debug("temp: %.3f %f = %f", read_time, read_value, temp)
     # External commands
     def set_temp(self, print_time, degrees):
+        if degrees and (degrees < self.min_temp or degrees > self.max_temp):
+            raise error("Requested temperature (%.1f) out of range (%.1f:%.1f)"
+                        % (degrees, self.min_temp, self.max_temp))
         with self.lock:
             self.target_temp = degrees
-    def get_temp(self):
+    def get_temp(self, eventtime):
+        print_time = self.mcu_adc.get_mcu().estimated_print_time(eventtime) - 5.
         with self.lock:
+            if self.last_temp_time < print_time:
+                return 0., self.target_temp
             return self.last_temp, self.target_temp
     def check_busy(self, eventtime):
         with self.lock:
             return self.control.check_busy(eventtime)
-    def start_auto_tune(self, temp):
+    def start_auto_tune(self, degrees):
+        if degrees and (degrees < self.min_temp or degrees > self.max_temp):
+            raise error("Requested temperature (%.1f) out of range (%.1f:%.1f)"
+                        % (degrees, self.min_temp, self.max_temp))
         with self.lock:
-            self.control = ControlAutoTune(self, self.control, temp)
+            self.control = ControlAutoTune(self, self.control)
+            self.target_temp = degrees
+    def finish_auto_tune(self, old_control):
+        self.control = old_control
+        self.target_temp = 0
 
 
 ######################################################################
@@ -113,7 +195,7 @@ class PrinterHeater:
 class ControlBangBang:
     def __init__(self, heater, config):
         self.heater = heater
-        self.max_delta = config.getfloat('max_delta', 2.0)
+        self.max_delta = config.getfloat('max_delta', 2.0, above=0.)
         self.heating = False
     def adc_callback(self, read_time, temp):
         if self.heating and temp >= self.heater.target_temp+self.max_delta:
@@ -121,9 +203,9 @@ class ControlBangBang:
         elif not self.heating and temp <= self.heater.target_temp-self.max_delta:
             self.heating = True
         if self.heating:
-            self.heater.set_pwm(read_time, PWM_MAX)
+            self.heater.set_pwm(read_time, self.heater.max_power)
         else:
-            self.heater.set_pwm(read_time, 0)
+            self.heater.set_pwm(read_time, 0.)
     def check_busy(self, eventtime):
         return self.heater.last_temp < self.heater.target_temp-self.max_delta
 
@@ -135,11 +217,11 @@ class ControlBangBang:
 class ControlPID:
     def __init__(self, heater, config):
         self.heater = heater
-        self.Kp = config.getfloat('pid_Kp')
-        self.Ki = config.getfloat('pid_Ki')
-        self.Kd = config.getfloat('pid_Kd')
-        self.min_deriv_time = config.getfloat('pid_deriv_time', 2.)
-        imax = config.getint('pid_integral_max', PWM_MAX)
+        self.Kp = config.getfloat('pid_Kp') / PID_PARAM_BASE
+        self.Ki = config.getfloat('pid_Ki') / PID_PARAM_BASE
+        self.Kd = config.getfloat('pid_Kd') / PID_PARAM_BASE
+        self.min_deriv_time = config.getfloat('pid_deriv_time', 2., above=0.)
+        imax = config.getfloat('pid_integral_max', heater.max_power, minval=0.)
         self.temp_integ_max = imax / self.Ki
         self.prev_temp = AMBIENT_TEMP
         self.prev_temp_time = 0.
@@ -159,10 +241,10 @@ class ControlPID:
         temp_integ = self.prev_temp_integ + temp_err * time_diff
         temp_integ = max(0., min(self.temp_integ_max, temp_integ))
         # Calculate output
-        co = int(self.Kp*temp_err + self.Ki*temp_integ - self.Kd*temp_deriv)
-        #logging.debug("pid: %f@%.3f -> diff=%f deriv=%f err=%f integ=%f co=%d" % (
-        #    temp, read_time, temp_diff, temp_deriv, temp_err, temp_integ, co))
-        bounded_co = max(0, min(PWM_MAX, co))
+        co = self.Kp*temp_err + self.Ki*temp_integ - self.Kd*temp_deriv
+        #logging.debug("pid: %f@%.3f -> diff=%f deriv=%f err=%f integ=%f co=%d",
+        #    temp, read_time, temp_diff, temp_deriv, temp_err, temp_integ, co)
+        bounded_co = max(0., min(self.heater.max_power, co))
         self.heater.set_pwm(read_time, bounded_co)
         # Store state for next measurement
         self.prev_temp = temp
@@ -182,28 +264,28 @@ class ControlPID:
 TUNE_PID_DELTA = 5.0
 
 class ControlAutoTune:
-    def __init__(self, heater, old_control, target_temp):
+    def __init__(self, heater, old_control):
         self.heater = heater
         self.old_control = old_control
-        self.target_temp = target_temp
         self.heating = False
         self.peaks = []
         self.peak = 0.
         self.peak_time = 0.
     def adc_callback(self, read_time, temp):
-        if self.heating and temp >= self.target_temp:
+        if self.heating and temp >= self.heater.target_temp:
             self.heating = False
             self.check_peaks()
-        elif not self.heating and temp <= self.target_temp - TUNE_PID_DELTA:
+        elif (not self.heating
+              and temp <= self.heater.target_temp - TUNE_PID_DELTA):
             self.heating = True
             self.check_peaks()
         if self.heating:
-            self.heater.set_pwm(read_time, PWM_MAX)
+            self.heater.set_pwm(read_time, self.heater.max_power)
             if temp < self.peak:
                 self.peak = temp
                 self.peak_time = read_time
         else:
-            self.heater.set_pwm(read_time, 0)
+            self.heater.set_pwm(read_time, 0.)
             if temp > self.peak:
                 self.peak = temp
                 self.peak_time = read_time
@@ -217,8 +299,8 @@ class ControlAutoTune:
             return
         temp_diff = self.peaks[-1][0] - self.peaks[-2][0]
         time_diff = self.peaks[-1][1] - self.peaks[-3][1]
-        pwm_diff = PWM_MAX - 0
-        Ku = 4. * (2. * pwm_diff) / (abs(temp_diff) * math.pi)
+        max_power = self.heater.max_power
+        Ku = 4. * (2. * max_power) / (abs(temp_diff) * math.pi)
         Tu = time_diff
 
         Kp = 0.6 * Ku
@@ -226,12 +308,13 @@ class ControlAutoTune:
         Td = 0.125 * Tu
         Ki = Kp / Ti
         Kd = Kp * Td
-        logging.info("Autotune: raw=%f/%d Ku=%f Tu=%f  Kp=%f Ki=%f Kd=%f" % (
-            temp_diff, pwm_diff, Ku, Tu, Kp, Ki, Kd))
+        logging.info("Autotune: raw=%f/%f Ku=%f Tu=%f  Kp=%f Ki=%f Kd=%f",
+                     temp_diff, max_power, Ku, Tu, Kp * PID_PARAM_BASE,
+                     Ki * PID_PARAM_BASE, Kd * PID_PARAM_BASE)
     def check_busy(self, eventtime):
         if self.heating or len(self.peaks) < 12:
             return True
-        self.heater.control = self.old_control
+        self.heater.finish_auto_tune(self.old_control)
         return False
 
 
@@ -240,10 +323,9 @@ class ControlAutoTune:
 ######################################################################
 
 class ControlBumpTest:
-    def __init__(self, heater, old_control, target_temp):
+    def __init__(self, heater, old_control):
         self.heater = heater
         self.old_control = old_control
-        self.target_temp = target_temp
         self.temp_samples = {}
         self.pwm_samples = {}
         self.state = 0
@@ -253,18 +335,18 @@ class ControlBumpTest:
     def adc_callback(self, read_time, temp):
         self.temp_samples[read_time] = temp
         if not self.state:
-            self.set_pwm(read_time, 0)
+            self.set_pwm(read_time, 0.)
             if len(self.temp_samples) >= 20:
                 self.state += 1
         elif self.state == 1:
-            if temp < self.target_temp:
-                self.set_pwm(read_time, PWM_MAX)
+            if temp < self.heater.target_temp:
+                self.set_pwm(read_time, self.heater.max_power)
                 return
-            self.set_pwm(read_time, 0)
+            self.set_pwm(read_time, 0.)
             self.state += 1
         elif self.state == 2:
-            self.set_pwm(read_time, 0)
-            if temp <= (self.target_temp + AMBIENT_TEMP) / 2.:
+            self.set_pwm(read_time, 0.)
+            if temp <= (self.heater.target_temp + AMBIENT_TEMP) / 2.:
                 self.dump_stats()
                 self.state += 1
     def dump_stats(self):
@@ -276,5 +358,10 @@ class ControlBumpTest:
     def check_busy(self, eventtime):
         if self.state < 3:
             return True
-        self.heater.control = self.old_control
+        self.heater.finish_auto_tune(self.old_control)
         return False
+
+def add_printer_objects(printer, config):
+    if config.has_section('heater_bed'):
+        printer.add_object('heater_bed', PrinterHeater(
+            printer, config.getsection('heater_bed')))

klippy/homing.py

@@ -1,10 +1,14 @@
 # Code for state tracking during homing operations
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import logging
 
+HOMING_DELAY = 0.250
+ENDSTOP_SAMPLE_TIME = .000015
+ENDSTOP_SAMPLE_COUNT = 4
+
 class Homing:
     def __init__(self, toolhead, changed_axes):
         self.toolhead = toolhead
@@ -29,21 +33,24 @@ class Homing:
         # Alter kinematics class to think printer is at forcepos
         self.toolhead.set_position(self._fill_coord(forcepos))
         # Start homing and issue move
+        if not second_home:
+            self.toolhead.dwell(HOMING_DELAY)
         print_time = self.toolhead.get_last_move_time()
         endstops = []
         for s in steppers:
-            es = s.enable_endstop_checking(print_time, s.step_dist / speed)
-            endstops.append((s, es, s.mcu_stepper.get_mcu_position()))
+            s.mcu_endstop.home_start(print_time, ENDSTOP_SAMPLE_TIME,
+                                     ENDSTOP_SAMPLE_COUNT, s.step_dist / speed)
+            endstops.append((s, s.mcu_stepper.get_mcu_position()))
         self.toolhead.move(self._fill_coord(movepos), speed)
         move_end_print_time = self.toolhead.get_last_move_time()
-        self.toolhead.reset_print_time()
-        for s, es, last_pos in endstops:
-            es.home_finalize(es.print_to_mcu_time(move_end_print_time))
+        self.toolhead.reset_print_time(print_time)
+        for s, last_pos in endstops:
+            s.mcu_endstop.home_finalize(move_end_print_time)
         # Wait for endstops to trigger
-        for s, es, last_pos in endstops:
+        for s, last_pos in endstops:
             try:
-                es.home_wait()
-            except es.error, e:
+                s.mcu_endstop.home_wait()
+            except s.mcu_endstop.error as e:
                 raise EndstopError("Failed to home stepper %s: %s" % (
                     s.name, str(e)))
             post_home_pos = s.mcu_stepper.get_mcu_position()
@@ -53,6 +60,21 @@ class Homing:
     def set_homed_position(self, pos):
         self.toolhead.set_position(self._fill_coord(pos))
 
+def query_endstops(print_time, query_flags, steppers):
+    if query_flags == "get_mcu_position":
+        # Only the commanded position is requested
+        return [(s.name.upper(), s.mcu_stepper.get_mcu_position())
+                for s in steppers]
+    for s in steppers:
+        s.mcu_endstop.query_endstop(print_time)
+    out = []
+    for s in steppers:
+        try:
+            out.append((s.name, s.mcu_endstop.query_endstop_wait()))
+        except s.mcu_endstop.error as e:
+            raise EndstopError(str(e))
+    return out
+
 class EndstopError(Exception):
     pass
 

klippy/klippy.py

@@ -1,11 +1,14 @@
-#!/usr/bin/env python
+#!/usr/bin/env python2
 # Main code for host side printer firmware
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import sys, optparse, ConfigParser, logging, time, threading
-import gcode, toolhead, util, mcu, fan, heater, extruder, reactor, queuelogger
+import util, reactor, queuelogger, msgproto, gcode
+import pins, mcu, chipmisc, toolhead, extruder, heater, fan
+
+message_ready = "Printer is ready"
 
 message_startup = """
 The klippy host software is attempting to connect.  Please
@@ -19,17 +22,26 @@ command to reload the config and restart the host software.
 Printer is halted
 """
 
+message_protocol_error = """
+This type of error is frequently caused by running an older
+version of the firmware on the micro-controller (fix by
+recompiling and flashing the firmware).
+Once the underlying issue is corrected, use the "RESTART"
+command to reload the config and restart the host software.
+Protocol error connecting to printer
+"""
+
 message_mcu_connect_error = """
-This is an unrecoverable error.  Please manually restart the
-micro-controller and then issue the "RESTART" command to
-restart the host software.
+Once the underlying issue is corrected, use the
+"FIRMWARE_RESTART" command to reset the firmware, reload the
+config, and restart the host software.
 Error configuring printer
 """
 
 message_shutdown = """
-Once the underlying issue is corrected, the "CLEAR_SHUTDOWN"
-command can be used to clear the firmware flag and restart
-the host software.
+Once the underlying issue is corrected, use the
+"FIRMWARE_RESTART" command to reset the firmware, reload the
+config, and restart the host software.
 Printer is shutdown
 """
 
@@ -40,26 +52,47 @@ class ConfigWrapper:
     def __init__(self, printer, section):
         self.printer = printer
         self.section = section
-    def get_wrapper(self, parser, option, default):
+    def get_wrapper(self, parser, option, default
+                    , minval=None, maxval=None, above=None, below=None):
         if (default is not self.sentinel
             and not self.printer.fileconfig.has_option(self.section, option)):
             return default
         self.printer.all_config_options[
             (self.section.lower(), option.lower())] = 1
         try:
-            return parser(self.section, option)
-        except self.error, e:
+            v = parser(self.section, option)
+        except self.error as e:
             raise
         except:
             raise self.error("Unable to parse option '%s' in section '%s'" % (
                 option, self.section))
+        if minval is not None and v < minval:
+            raise self.error(
+                "Option '%s' in section '%s' must have minimum of %s" % (
+                    option, self.section, minval))
+        if maxval is not None and v > maxval:
+            raise self.error(
+                "Option '%s' in section '%s' must have maximum of %s" % (
+                    option, self.section, maxval))
+        if above is not None and v <= above:
+            raise self.error(
+                "Option '%s' in section '%s' must be above %s" % (
+                    option, self.section, above))
+        if below is not None and v >= below:
+            raise self.error(
+                "Option '%s' in section '%s' must be below %s" % (
+                    option, self.section, below))
+        return v
     def get(self, option, default=sentinel):
         return self.get_wrapper(self.printer.fileconfig.get, option, default)
-    def getint(self, option, default=sentinel):
-        return self.get_wrapper(self.printer.fileconfig.getint, option, default)
-    def getfloat(self, option, default=sentinel):
+    def getint(self, option, default=sentinel, minval=None, maxval=None):
         return self.get_wrapper(
-            self.printer.fileconfig.getfloat, option, default)
+            self.printer.fileconfig.getint, option, default, minval, maxval)
+    def getfloat(self, option, default=sentinel
+                 , minval=None, maxval=None, above=None, below=None):
+        return self.get_wrapper(
+            self.printer.fileconfig.getfloat, option, default
+            , minval, maxval, above, below)
     def getboolean(self, option, default=sentinel):
         return self.get_wrapper(
             self.printer.fileconfig.getboolean, option, default)
@@ -72,134 +105,159 @@ class ConfigWrapper:
         return choices[c]
     def getsection(self, section):
         return ConfigWrapper(self.printer, section)
+    def has_section(self, section):
+        return self.printer.fileconfig.has_section(section)
+    def get_prefix_sections(self, prefix):
+        return [self.getsection(s) for s in self.printer.fileconfig.sections()
+                if s.startswith(prefix)]
+
+class ConfigLogger():
+    def __init__(self, cfg, bglogger):
+        self.lines = ["===== Config file ====="]
+        cfg.write(self)
+        self.lines.append("=======================")
+        data = "\n".join(self.lines)
+        logging.info(data)
+        bglogger.set_rollover_info("config", data)
+    def write(self, data):
+        self.lines.append(data.strip())
 
 class Printer:
-    def __init__(self, conffile, input_fd, is_fileinput=False):
-        self.conffile = conffile
+    config_error = ConfigParser.Error
+    def __init__(self, input_fd, bglogger, start_args):
+        self.bglogger = bglogger
+        self.start_args = start_args
+        if bglogger is not None:
+            bglogger.set_rollover_info("config", None)
         self.reactor = reactor.Reactor()
-        self.gcode = gcode.GCodeParser(self, input_fd, is_fileinput)
-        self.stats_timer = self.reactor.register_timer(self.stats)
+        self.objects = {}
+        self.gcode = gcode.GCodeParser(self, input_fd)
+        self.stats_timer = self.reactor.register_timer(self._stats)
         self.connect_timer = self.reactor.register_timer(
-            self.connect, self.reactor.NOW)
+            self._connect, self.reactor.NOW)
         self.all_config_options = {}
-        self.need_dump_debug = False
         self.state_message = message_startup
-        self.debugoutput = self.dictionary = None
+        self.is_shutdown = False
+        self.async_shutdown_msg = ""
         self.run_result = None
         self.fileconfig = None
-        self.mcu = None
-        self.objects = {}
-    def set_fileoutput(self, debugoutput, dictionary):
-        self.debugoutput = debugoutput
-        self.dictionary = dictionary
-    def stats(self, eventtime):
-        if self.need_dump_debug:
-            # Call dump_debug here so it is executed in the main thread
-            self.gcode.dump_debug()
-            self.need_dump_debug = False
+        self.mcus = []
+    def get_start_args(self):
+        return self.start_args
+    def _stats(self, eventtime, force_output=False):
+        toolhead = self.objects.get('toolhead')
+        if toolhead is None:
+            return eventtime + 1.
+        is_active = toolhead.check_active(eventtime)
+        if not is_active and not force_output:
+            return eventtime + 1.
         out = []
         out.append(self.gcode.stats(eventtime))
-        toolhead = self.objects.get('toolhead')
-        if toolhead is not None:
         out.append(toolhead.stats(eventtime))
-        if self.mcu is not None:
-            out.append(self.mcu.stats(eventtime))
-        logging.info("Stats %.0f: %s" % (eventtime, ' '.join(out)))
+        for m in self.mcus:
+            out.append(m.stats(eventtime))
+        logging.info("Stats %.1f: %s", eventtime, ' '.join(out))
         return eventtime + 1.
-    def load_config(self):
+    def add_object(self, name, obj):
+        self.objects[name] = obj
+    def _load_config(self):
         self.fileconfig = ConfigParser.RawConfigParser()
-        res = self.fileconfig.read(self.conffile)
+        config_file = self.start_args['config_file']
+        res = self.fileconfig.read(config_file)
         if not res:
-            raise ConfigParser.Error("Unable to open config file %s" % (
-                self.conffile,))
-        self.mcu = mcu.MCU(self, ConfigWrapper(self, 'mcu'))
-        if self.fileconfig.has_section('fan'):
-            self.objects['fan'] = fan.PrinterFan(
-                self, ConfigWrapper(self, 'fan'))
-        if self.fileconfig.has_section('extruder'):
-            self.objects['extruder'] = extruder.PrinterExtruder(
-                self, ConfigWrapper(self, 'extruder'))
-        if self.fileconfig.has_section('heater_bed'):
-            self.objects['heater_bed'] = heater.PrinterHeater(
-                self, ConfigWrapper(self, 'heater_bed'))
-        self.objects['toolhead'] = toolhead.ToolHead(
-            self, ConfigWrapper(self, 'printer'))
-    def build_config(self):
-        for oname in sorted(self.objects.keys()):
-            self.objects[oname].build_config()
-        self.gcode.build_config()
-        self.mcu.build_config()
-    def validate_config(self):
-        valid_sections = dict([(s, 1) for s, o in self.all_config_options])
+            raise self.config_error("Unable to open config file %s" % (
+                config_file,))
+        if self.bglogger is not None:
+            ConfigLogger(self.fileconfig, self.bglogger)
+        # Create printer components
+        config = ConfigWrapper(self, 'printer')
+        for m in [pins, mcu, chipmisc, toolhead, extruder, heater, fan]:
+            m.add_printer_objects(self, config)
+        self.mcus = mcu.get_printer_mcus(self)
+        # Validate that there are no undefined parameters in the config file
+        valid_sections = { s: 1 for s, o in self.all_config_options }
         for section in self.fileconfig.sections():
             section = section.lower()
             if section not in valid_sections:
-                raise ConfigParser.Error("Unknown config file section '%s'" % (
+                raise self.config_error("Unknown config file section '%s'" % (
                     section,))
             for option in self.fileconfig.options(section):
                 option = option.lower()
                 if (section, option) not in self.all_config_options:
-                    raise ConfigParser.Error(
+                    raise self.config_error(
                         "Unknown option '%s' in section '%s'" % (
                             option, section))
-    def connect(self, eventtime):
+    def _connect(self, eventtime):
+        self.reactor.unregister_timer(self.connect_timer)
         try:
-            self.load_config()
-            if self.debugoutput is None:
+            self._load_config()
+            for m in self.mcus:
+                m.connect()
+            self.gcode.connect()
+            self.state_message = message_ready
+            if self.start_args.get('debugoutput') is None:
                 self.reactor.update_timer(self.stats_timer, self.reactor.NOW)
-            else:
-                self.mcu.connect_file(self.debugoutput, self.dictionary)
-            self.mcu.connect()
-            self.build_config()
-            self.validate_config()
-            self.gcode.set_printer_ready(True)
-            self.state_message = "Printer is ready"
-        except ConfigParser.Error, e:
+        except (self.config_error, pins.error) as e:
             logging.exception("Config error")
             self.state_message = "%s%s" % (str(e), message_restart)
-            self.reactor.update_timer(self.stats_timer, self.reactor.NEVER)
-        except mcu.error, e:
+        except msgproto.error as e:
+            logging.exception("Protocol error")
+            self.state_message = "%s%s" % (str(e), message_protocol_error)
+        except mcu.error as e:
             logging.exception("MCU error during connect")
             self.state_message = "%s%s" % (str(e), message_mcu_connect_error)
-            self.reactor.update_timer(self.stats_timer, self.reactor.NEVER)
         except:
             logging.exception("Unhandled exception during connect")
             self.state_message = "Internal error during connect.%s" % (
-                message_restart)
-            self.reactor.update_timer(self.stats_timer, self.reactor.NEVER)
-        self.reactor.unregister_timer(self.connect_timer)
+                message_restart,)
         return self.reactor.NEVER
     def run(self):
+        systime = time.time()
+        monotime = self.reactor.monotonic()
+        logging.info("Start printer at %s (%.1f %.1f)",
+                     time.asctime(time.localtime(systime)), systime, monotime)
+        while 1:
+            # Enter main reactor loop
             try:
                 self.reactor.run()
             except:
                 logging.exception("Unhandled exception during run")
-            return
-        return self.run_result
+                return "exit"
+            # Check restart flags
+            run_result = self.run_result
+            try:
+                if run_result == 'shutdown':
+                    self.invoke_shutdown(self.async_shutdown_msg, True)
+                    continue
+                self._stats(self.reactor.monotonic(), force_output=True)
+                for m in self.mcus:
+                    if run_result == 'firmware_restart':
+                        m.microcontroller_restart()
+                    m.disconnect()
+            except:
+                logging.exception("Unhandled exception during post run")
+            return run_result
     def get_state_message(self):
         return self.state_message
-    def note_shutdown(self, msg):
-        if self.state_message == 'Running':
-            self.need_dump_debug = True
-        self.state_message = "Firmware shutdown: %s%s" % (
-            msg, message_shutdown)
-        self.gcode.set_printer_ready(False)
-    def note_mcu_error(self, msg):
+    def invoke_shutdown(self, msg, is_mcu_shutdown=False):
+        if self.is_shutdown:
+            return
+        self.is_shutdown = True
+        if is_mcu_shutdown:
+            self.state_message = "%s%s" % (msg, message_shutdown)
+        else:
             self.state_message = "%s%s" % (msg, message_restart)
-        self.gcode.set_printer_ready(False)
-        self.gcode.motor_heater_off()
-    def disconnect(self):
-        try:
-            if self.mcu is not None:
-                self.stats(time.time())
-                self.mcu.disconnect()
-        except:
-            logging.exception("Unhandled exception during disconnect")
-    def request_restart(self):
-        self.run_result = "restart"
-        self.reactor.end()
-    def request_exit_eof(self):
-        self.run_result = "exit_eof"
+        for m in self.mcus:
+            m.do_shutdown()
+        self.gcode.do_shutdown()
+        toolhead = self.objects.get('toolhead')
+        if toolhead is not None:
+            toolhead.do_shutdown()
+    def invoke_async_shutdown(self, msg):
+        self.async_shutdown_msg = msg
+        self.request_exit("shutdown")
+    def request_exit(self, result="exit"):
+        self.run_result = result
         self.reactor.end()
 
 
@@ -207,18 +265,19 @@ class Printer:
 # Startup
 ######################################################################
 
-def read_dictionary(filename):
-    dfile = open(filename, 'rb')
-    dictionary = dfile.read()
-    dfile.close()
-    return dictionary
+def arg_dictionary(option, opt_str, value, parser):
+    key, fname = "dictionary", value
+    if '=' in value:
+        mcu_name, fname = value.split('=', 1)
+        key = "dictionary_" + mcu_name
+    if parser.values.dictionary is None:
+        parser.values.dictionary = {}
+    parser.values.dictionary[key] = fname
 
 def main():
     usage = "%prog [options] <config file>"
     opts = optparse.OptionParser(usage)
-    opts.add_option("-o", "--debugoutput", dest="outputfile",
-                    help="write output to file instead of to serial port")
-    opts.add_option("-i", "--debuginput", dest="inputfile",
+    opts.add_option("-i", "--debuginput", dest="debuginput",
                     help="read commands from file instead of from tty port")
     opts.add_option("-I", "--input-tty", dest="inputtty", default='/tmp/printer',
                     help="input tty name (default is /tmp/printer)")
@@ -226,47 +285,54 @@ def main():
                     help="write log to file instead of stderr")
     opts.add_option("-v", action="store_true", dest="verbose",
                     help="enable debug messages")
-    opts.add_option("-d", dest="read_dictionary",
+    opts.add_option("-o", "--debugoutput", dest="debugoutput",
+                    help="write output to file instead of to serial port")
+    opts.add_option("-d", "--dictionary", dest="dictionary", type="string",
+                    action="callback", callback=arg_dictionary,
                     help="file to read for mcu protocol dictionary")
     options, args = opts.parse_args()
     if len(args) != 1:
         opts.error("Incorrect number of arguments")
-    conffile = args[0]
+    start_args = {'config_file': args[0], 'start_reason': 'startup'}
 
-    input_fd = debuginput = debugoutput = bglogger = None
+    input_fd = bglogger = None
 
     debuglevel = logging.INFO
     if options.verbose:
         debuglevel = logging.DEBUG
-    if options.inputfile:
-        debuginput = open(options.inputfile, 'rb')
+    if options.debuginput:
+        start_args['debuginput'] = options.debuginput
+        debuginput = open(options.debuginput, 'rb')
         input_fd = debuginput.fileno()
     else:
         input_fd = util.create_pty(options.inputtty)
-    if options.outputfile:
-        debugoutput = open(options.outputfile, 'wb')
+    if options.debugoutput:
+        start_args['debugoutput'] = options.debugoutput
+        start_args.update(options.dictionary)
     if options.logfile:
         bglogger = queuelogger.setup_bg_logging(options.logfile, debuglevel)
     else:
         logging.basicConfig(level=debuglevel)
     logging.info("Starting Klippy...")
+    start_args['software_version'] = util.get_git_version()
+    if bglogger is not None:
+        lines = ["Args: %s" % (sys.argv,),
+                 "Git version: %s" % (repr(start_args['software_version']),),
+                 "CPU: %s" % (util.get_cpu_info(),),
+                 "Python: %s" % (repr(sys.version),)]
+        lines = "\n".join(lines)
+        logging.info(lines)
+        bglogger.set_rollover_info('versions', lines)
 
-    # Start firmware
+    # Start Printer() class
     while 1:
-        is_fileinput = debuginput is not None
-        printer = Printer(conffile, input_fd, is_fileinput)
-        if debugoutput:
-            proto_dict = read_dictionary(options.read_dictionary)
-            printer.set_fileoutput(debugoutput, proto_dict)
+        printer = Printer(input_fd, bglogger, start_args)
         res = printer.run()
-        if res == 'restart':
-            printer.disconnect()
+        if res == 'exit':
+            break
         time.sleep(1.)
         logging.info("Restarting printer")
-            continue
-        elif res == 'exit_eof':
-            printer.disconnect()
-        break
+        start_args['start_reason'] = res
 
     if bglogger is not None:
         bglogger.stop()

klippy/msgproto.py

@@ -1,6 +1,6 @@
 # Protocol definitions for firmware communication
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import json, zlib, logging
@@ -106,8 +106,8 @@ class MessageFormat:
         self.name = parts[0]
         argparts = [arg.split('=') for arg in parts[1:]]
         self.param_types = [MessageTypes[fmt] for name, fmt in argparts]
-        self.param_names = [name for name, fmt in argparts]
-        self.name_to_type = dict(zip(self.param_names, self.param_types))
+        self.param_names = [(name, MessageTypes[fmt]) for name, fmt in argparts]
+        self.name_to_type = dict(self.param_names)
     def encode(self, *params):
         out = []
         out.append(self.msgid)
@@ -117,26 +117,24 @@ class MessageFormat:
     def encode_by_name(self, **params):
         out = []
         out.append(self.msgid)
-        for name, t in zip(self.param_names, self.param_types):
+        for name, t in self.param_names:
             t.encode(out, params[name])
         return out
     def parse(self, s, pos):
         pos += 1
         out = {}
-        for t, name in zip(self.param_types, self.param_names):
+        for name, t in self.param_names:
             v, pos = t.parse(s, pos)
             out[name] = v
         return out, pos
-    def dump(self, s, pos):
-        pos += 1
+    def format_params(self, params):
         out = []
-        for t in self.param_types:
-            v, pos = t.parse(s, pos)
+        for name, t in self.param_names:
+            v = params[name]
             if not t.is_int:
                 v = repr(v)
             out.append(v)
-        outmsg = self.debugformat % tuple(out)
-        return outmsg, pos
+        return self.debugformat % tuple(out)
 
 class OutputFormat:
     name = '#output'
@@ -164,17 +162,13 @@ class OutputFormat:
         out = []
         for t in self.param_types:
             v, pos = t.parse(s, pos)
+            if not t.is_int:
+                v = repr(v)
             out.append(v)
         outmsg = self.debugformat % tuple(out)
         return {'#msg': outmsg}, pos
-    def dump(self, s, pos):
-        pos += 1
-        out = []
-        for t in self.param_types:
-            v, pos = t.parse(s, pos)
-            out.append(v)
-        outmsg = self.debugformat % tuple(out)
-        return outmsg, pos
+    def format_params(self, params):
+        return "#output %s" % (params['#msg'],)
 
 class UnknownFormat:
     name = '#unknown'
@@ -182,13 +176,17 @@ class UnknownFormat:
         msgid = s[pos]
         msg = str(bytearray(s))
         return {'#msgid': msgid, '#msg': msg}, len(s)-MESSAGE_TRAILER_SIZE
+    def format_params(self, params):
+        return "#unknown %s" % (repr(params['#msg']),)
 
 class MessageParser:
+    error = error
     def __init__(self):
         self.unknown = UnknownFormat()
+        self.command_ids = []
         self.messages_by_id = {}
         self.messages_by_name = {}
-        self.static_strings = []
+        self.static_strings = {}
         self.config = {}
         self.version = ""
         self.raw_identify_data = ""
@@ -210,7 +208,7 @@ class MessageParser:
         msgcrc = s[msglen-MESSAGE_TRAILER_CRC:msglen-MESSAGE_TRAILER_CRC+2]
         crc = crc16_ccitt(s[:msglen-MESSAGE_TRAILER_SIZE])
         if crc != msgcrc:
-            #logging.debug("got crc %s vs %s" % (repr(crc), repr(msgcrc)))
+            #logging.debug("got crc %s vs %s", repr(crc), repr(msgcrc))
             return -1
         return msglen
     def dump(self, s):
@@ -220,11 +218,20 @@ class MessageParser:
         while 1:
             msgid = s[pos]
             mid = self.messages_by_id.get(msgid, self.unknown)
-            params, pos = mid.dump(s, pos)
-            out.append("%s" % (params,))
+            params, pos = mid.parse(s, pos)
+            out.append(mid.format_params(params))
             if pos >= len(s)-MESSAGE_TRAILER_SIZE:
                 break
         return out
+    def format_params(self, params):
+        name = params.get('#name')
+        mid = self.messages_by_name.get(name)
+        if mid is not None:
+            return mid.format_params(params)
+        msg = params.get('#msg')
+        if msg is not None:
+            return "%s %s" % (name, msg)
+        return str(params)
     def parse(self, s):
         msgid = s[MESSAGE_HEADER_SIZE]
         mid = self.messages_by_id.get(msgid, self.unknown)
@@ -234,7 +241,7 @@ class MessageParser:
         params['#name'] = mid.name
         static_string_id = params.get('static_string_id')
         if static_string_id is not None:
-            params['#msg'] = self.static_strings[static_string_id]
+            params['#msg'] = self.static_strings.get(static_string_id, "?")
         return params
     def encode(self, seq, cmd):
         msglen = MESSAGE_MIN + len(cmd)
@@ -246,7 +253,7 @@ class MessageParser:
     def _parse_buffer(self, value):
         tval = int(value, 16)
         out = []
-        for i in range(len(value)/2):
+        for i in range(len(value) // 2):
             out.append(tval & 0xff)
             tval >>= 8
         out.reverse()
@@ -297,14 +304,34 @@ class MessageParser:
             self.messages_by_id[msgid] = msg
             self.messages_by_name[msg.name] = msg
     def process_identify(self, data, decompress=True):
+        try:
             if decompress:
                 data = zlib.decompress(data)
             self.raw_identify_data = data
             data = json.loads(data)
             messages = data.get('messages')
             commands = data.get('commands')
+            self.command_ids = commands
             responses = data.get('responses')
             self._init_messages(messages, commands+responses)
-        self.static_strings = data.get('static_strings', [])
+            static_strings = data.get('static_strings', {})
+            self.static_strings = { int(k): v for k, v in static_strings.items() }
             self.config.update(data.get('config', {}))
             self.version = data.get('version', '')
+        except error as e:
+            raise
+        except Exception as e:
+            logging.exception("process_identify error")
+            raise error("Error during identify: %s" % (str(e),))
+    def get_constant(self, name):
+        try:
+            return self.config[name]
+        except KeyError:
+            raise error("Firmware constant '%s' not found" % (name,))
+    def get_constant_float(self, name):
+        try:
+            return float(self.config[name])
+        except ValueError:
+            raise error("Firmware constant '%s' not a float" % (name,))
+        except KeyError:
+            raise error("Firmware constant '%s' not found" % (name,))

klippy/parsedump.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python2
 # Script to parse a serial port data dump
 #
 # Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>

klippy/pins.py

@@ -1,11 +1,15 @@
 # Pin name to pin number definitions
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-
 import re
 
+
+######################################################################
+# Hardware pin names
+######################################################################
+
 def port_pins(port_count, bit_count=8):
     pins = {}
     for port in range(port_count):
@@ -16,25 +20,26 @@ def port_pins(port_count, bit_count=8):
             pins['P%c%d' % (portchr, portbit)] = port * bit_count + portbit
     return pins
 
-PINS_atmega164 = port_pins(4)
-PINS_atmega1280 = port_pins(12)
+def named_pins(fmt, port_count, bit_count=32):
+    return { fmt % (port, portbit) : port * bit_count + portbit
+             for port in range(port_count)
+             for portbit in range(bit_count) }
+
+def beaglebone_pins():
+    gpios = named_pins("gpio%d_%d", 4)
+    gpios.update({"AIN%d" % i: i+4*32 for i in range(8)})
+    return gpios
 
 MCU_PINS = {
-    "atmega168": PINS_atmega164, "atmega644p": PINS_atmega164,
-    "at90usb1286": port_pins(5),
-    "atmega1280": PINS_atmega1280, "atmega2560": PINS_atmega1280,
-    "sam3x8e": port_pins(4, 32)
+    "atmega168": port_pins(4), "atmega328": port_pins(4),
+    "atmega644p": port_pins(4), "atmega1284p": port_pins(4),
+    "at90usb1286": port_pins(6),
+    "atmega1280": port_pins(12), "atmega2560": port_pins(12),
+    "sam3x8e": port_pins(4, 32),
+    "pru": beaglebone_pins(),
+    "linux": {"analog%d" % i: i for i in range(8)}, # XXX
 }
 
-def mcu_to_pins(mcu):
-    return MCU_PINS.get(mcu, {})
-
-re_pin = re.compile(r'(?P<prefix>[ _]pin=)(?P<name>[^ ]*)')
-def update_command(cmd, pmap):
-    def fixup(m):
-        return m.group('prefix') + str(pmap[m.group('name')])
-    return re_pin.sub(fixup, cmd)
-
 
 ######################################################################
 # Arduino mappings
@@ -96,12 +101,116 @@ Arduino_from_mcu = {
     "sam3x8e": (Arduino_Due, Arduino_Due_analog),
 }
 
-def map_pins(name, mcu):
-    pins = MCU_PINS.get(mcu, {})
-    if name == 'arduino':
-        dpins, apins = Arduino_from_mcu.get(mcu, [])
+def update_map_arduino(pins, mcu):
+    dpins, apins = Arduino_from_mcu.get(mcu, ([], []))
     for i in range(len(dpins)):
         pins['ar' + str(i)] = pins[dpins[i]]
     for i in range(len(apins)):
         pins['analog%d' % (i,)] = pins[apins[i]]
+
+
+######################################################################
+# Beaglebone mappings
+######################################################################
+
+beagleboneblack_mappings = {
+    'P8_3': 'gpio1_6', 'P8_4': 'gpio1_7', 'P8_5': 'gpio1_2',
+    'P8_6': 'gpio1_3', 'P8_7': 'gpio2_2', 'P8_8': 'gpio2_3',
+    'P8_9': 'gpio2_5', 'P8_10': 'gpio2_4', 'P8_11': 'gpio1_13',
+    'P8_12': 'gpio1_12', 'P8_13': 'gpio0_23', 'P8_14': 'gpio0_26',
+    'P8_15': 'gpio1_15', 'P8_16': 'gpio1_14', 'P8_17': 'gpio0_27',
+    'P8_18': 'gpio2_1', 'P8_19': 'gpio0_22', 'P8_20': 'gpio1_31',
+    'P8_21': 'gpio1_30', 'P8_22': 'gpio1_5', 'P8_23': 'gpio1_4',
+    'P8_24': 'gpio1_1', 'P8_25': 'gpio1_0', 'P8_26': 'gpio1_29',
+    'P8_27': 'gpio2_22', 'P8_28': 'gpio2_24', 'P8_29': 'gpio2_23',
+    'P8_30': 'gpio2_25', 'P8_31': 'gpio0_10', 'P8_32': 'gpio0_11',
+    'P8_33': 'gpio0_9', 'P8_34': 'gpio2_17', 'P8_35': 'gpio0_8',
+    'P8_36': 'gpio2_16', 'P8_37': 'gpio2_14', 'P8_38': 'gpio2_15',
+    'P8_39': 'gpio2_12', 'P8_40': 'gpio2_13', 'P8_41': 'gpio2_10',
+    'P8_42': 'gpio2_11', 'P8_43': 'gpio2_8', 'P8_44': 'gpio2_9',
+    'P8_45': 'gpio2_6', 'P8_46': 'gpio2_7', 'P9_11': 'gpio0_30',
+    'P9_12': 'gpio1_28', 'P9_13': 'gpio0_31', 'P9_14': 'gpio1_18',
+    'P9_15': 'gpio1_16', 'P9_16': 'gpio1_19', 'P9_17': 'gpio0_5',
+    'P9_18': 'gpio0_4', 'P9_19': 'gpio0_13', 'P9_20': 'gpio0_12',
+    'P9_21': 'gpio0_3', 'P9_22': 'gpio0_2', 'P9_23': 'gpio1_17',
+    'P9_24': 'gpio0_15', 'P9_25': 'gpio3_21', 'P9_26': 'gpio0_14',
+    'P9_27': 'gpio3_19', 'P9_28': 'gpio3_17', 'P9_29': 'gpio3_15',
+    'P9_30': 'gpio3_16', 'P9_31': 'gpio3_14', 'P9_41': 'gpio0_20',
+    'P9_42': 'gpio3_20', 'P9_43': 'gpio0_7', 'P9_44': 'gpio3_18',
+
+    'P9_33': 'AIN4', 'P9_35': 'AIN6', 'P9_36': 'AIN5', 'P9_37': 'AIN2',
+    'P9_38': 'AIN3', 'P9_39': 'AIN0', 'P9_40': 'AIN1',
+}
+
+def update_map_beaglebone(pins, mcu):
+    for pin, gpio in beagleboneblack_mappings.items():
+        pins[pin] = pins[gpio]
+
+
+######################################################################
+# Command translation
+######################################################################
+
+# Obtains the pin mappings
+def get_pin_map(mcu, mapping_name=None):
+    pins = dict(MCU_PINS.get(mcu, {}))
+    if mapping_name == 'arduino':
+        update_map_arduino(pins, mcu)
+    elif mapping_name == 'beaglebone':
+        update_map_beaglebone(pins, mcu)
     return pins
+
+# Translate pin names in a firmware command
+re_pin = re.compile(r'(?P<prefix>[ _]pin=)(?P<name>[^ ]*)')
+def update_command(cmd, pmap):
+    def pin_fixup(m):
+        return m.group('prefix') + str(pmap[m.group('name')])
+    return re_pin.sub(pin_fixup, cmd)
+
+
+######################################################################
+# Pin to chip mapping
+######################################################################
+
+class error(Exception):
+    pass
+
+class PrinterPins:
+    error = error
+    def __init__(self):
+        self.chips = {}
+    def parse_pin_desc(self, pin_desc, can_invert=False, can_pullup=False):
+        pullup = invert = 0
+        if can_pullup and pin_desc.startswith('^'):
+            pullup = 1
+            pin_desc = pin_desc[1:].strip()
+        if can_invert and pin_desc.startswith('!'):
+            invert = 1
+            pin_desc = pin_desc[1:].strip()
+        if ':' not in pin_desc:
+            chip_name, pin = 'mcu', pin_desc
+        else:
+            chip_name, pin = [s.strip() for s in pin_desc.split(':', 1)]
+        if chip_name not in self.chips:
+            raise error("Unknown pin chip name '%s'" % (chip_name,))
+        return {'chip': self.chips[chip_name], 'pin': pin,
+                'invert': invert, 'pullup': pullup}
+    def register_chip(self, chip_name, chip):
+        chip_name = chip_name.strip()
+        if chip_name in self.chips:
+            raise error("Duplicate chip name '%s'" % (chip_name,))
+        self.chips[chip_name] = chip
+
+def add_printer_objects(printer, config):
+    printer.add_object('pins', PrinterPins())
+
+def get_printer_pins(printer):
+    return printer.objects['pins']
+
+def setup_pin(printer, pin_type, pin_desc):
+    ppins = get_printer_pins(printer)
+    can_invert = pin_type in ['stepper', 'endstop', 'digital_out', 'pwm']
+    can_pullup = pin_type == 'endstop'
+    pin_params = ppins.parse_pin_desc(pin_desc, can_invert, can_pullup)
+    pin_params['type'] = pin_type
+    return pin_params['chip'].setup_pin(pin_params)

klippy/pyhelper.c

@@ -9,17 +9,20 @@
 #include <stdint.h> // uint8_t
 #include <stdio.h> // fprintf
 #include <string.h> // strerror
-#include <sys/time.h> // gettimeofday
 #include <time.h> // struct timespec
-#include "pyhelper.h" // get_time
+#include "pyhelper.h" // get_monotonic
 
-// Return the current system time as a double
+// Return the monotonic system time as a double
 double
-get_time(void)
+get_monotonic(void)
 {
-    struct timeval tv;
-    gettimeofday(&tv, NULL);
-    return (double)tv.tv_sec + (double)tv.tv_usec / 1000000.;
+    struct timespec ts;
+    int ret = clock_gettime(CLOCK_MONOTONIC, &ts);
+    if (ret) {
+        report_errno("clock_gettime", ret);
+        return 0.;
+    }
+    return (double)ts.tv_sec + (double)ts.tv_nsec * .000000001;
 }
 
 // Fill a 'struct timespec' with a system time stored in a double
@@ -66,7 +69,7 @@ report_errno(char *where, int rc)
 }
 
 // Return a hex character for a given number
-#define GETHEX(x) ((x) < 10 ? '0' + (x) : 'e' + (x) - 10)
+#define GETHEX(x) ((x) < 10 ? '0' + (x) : 'a' + (x) - 10)
 
 // Translate a binary string into an ASCII string with escape sequences
 char *

klippy/pyhelper.h

@@ -1,7 +1,10 @@
 #ifndef PYHELPER_H
 #define PYHELPER_H
 
-double get_time(void);
+#define likely(x)       __builtin_expect(!!(x), 1)
+#define unlikely(x)     __builtin_expect(!!(x), 0)
+
+double get_monotonic(void);
 struct timespec fill_time(double time);
 void set_python_logging_callback(void (*func)(const char *));
 void errorf(const char *fmt, ...) __attribute__ ((format (printf, 1, 2)));

klippy/queuelogger.py

@@ -1,9 +1,9 @@
 # Code to implement asynchronous logging from a background thread
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import logging, threading, Queue
+import logging, logging.handlers, threading, Queue, time
 
 # Class to forward all messages through a queue to a background thread
 class QueueHandler(logging.Handler):
@@ -21,27 +21,39 @@ class QueueHandler(logging.Handler):
             self.handleError(record)
 
 # Class to poll a queue in a background thread and log each message
-class QueueListener(object):
-    def __init__(self, handler):
-        self.handler = handler
-        self.queue = Queue.Queue()
-        self.thread = threading.Thread(target=self._bg_thread)
-        self.thread.start()
+class QueueListener(logging.handlers.TimedRotatingFileHandler):
+    def __init__(self, filename):
+        logging.handlers.TimedRotatingFileHandler.__init__(
+            self, filename, when='midnight', backupCount=5)
+        self.bg_queue = Queue.Queue()
+        self.bg_thread = threading.Thread(target=self._bg_thread)
+        self.bg_thread.start()
+        self.rollover_info = {}
     def _bg_thread(self):
         while 1:
-            record = self.queue.get(True)
+            record = self.bg_queue.get(True)
             if record is None:
                 break
-            self.handler.handle(record)
+            self.handle(record)
     def stop(self):
-        self.queue.put_nowait(None)
-        self.thread.join()
+        self.bg_queue.put_nowait(None)
+        self.bg_thread.join()
+    def set_rollover_info(self, name, info):
+        self.rollover_info[name] = info
+    def doRollover(self):
+        logging.handlers.TimedRotatingFileHandler.doRollover(self)
+        lines = [self.rollover_info[name]
+                 for name in sorted(self.rollover_info)
+                 if self.rollover_info[name]]
+        lines.append(
+            "=============== Log rollover at %s ===============" % (
+                time.asctime(),))
+        self.emit(logging.makeLogRecord(
+            {'msg': "\n".join(lines), 'level': logging.INFO}))
 
 def setup_bg_logging(filename, debuglevel):
-    logoutput = open(filename, 'wb')
-    handler = logging.StreamHandler(logoutput)
-    ql = QueueListener(handler)
-    qh = QueueHandler(ql.queue)
+    ql = QueueListener(filename)
+    qh = QueueHandler(ql.bg_queue)
     root = logging.getLogger()
     root.addHandler(qh)
     root.setLevel(debuglevel)

klippy/reactor.py

@@ -1,10 +1,11 @@
 # File descriptor and timer event helper
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import select, time, math
+import select, math, time
 import greenlet
+import chelper
 
 class ReactorTimer:
     def __init__(self, callback, waketime):
@@ -33,6 +34,7 @@ class SelectReactor:
         self._process = False
         self._g_dispatch = None
         self._greenlets = []
+        self.monotonic = chelper.get_ffi()[1].get_monotonic
     # Timers
     def _note_time(self, t):
         nexttime = t.waketime
@@ -67,11 +69,19 @@ class SelectReactor:
             self._note_time(t)
         if eventtime >= self._next_timer:
             return 0.
-        return min(1., max(.001, self._next_timer - time.time()))
+        return min(1., max(.001, self._next_timer - self.monotonic()))
     # Greenlets
+    def _sys_pause(self, waketime):
+        # Pause using system sleep for when reactor not running
+        delay = waketime - self.monotonic()
+        if delay > 0.:
+            time.sleep(delay)
+        return self.monotonic()
     def pause(self, waketime):
         g = greenlet.getcurrent()
         if g is not self._g_dispatch:
+            if self._g_dispatch is None:
+                return self._sys_pause(waketime)
             return self._g_dispatch.switch(waketime)
         if self._greenlets:
             g_next = self._greenlets.pop()
@@ -95,20 +105,21 @@ class SelectReactor:
         self._fds.pop(self._fds.index(handler))
     # Main loop
     def _dispatch_loop(self):
-        self._process = True
         self._g_dispatch = g_dispatch = greenlet.getcurrent()
-        eventtime = time.time()
+        eventtime = self.monotonic()
         while self._process:
             timeout = self._check_timers(eventtime)
             res = select.select(self._fds, [], [], timeout)
-            eventtime = time.time()
+            eventtime = self.monotonic()
             for fd in res[0]:
                 fd.callback(eventtime)
                 if g_dispatch is not self._g_dispatch:
                     self._end_greenlet(g_dispatch)
+                    eventtime = self.monotonic()
                     break
         self._g_dispatch = None
     def run(self):
+        self._process = True
         g_next = ReactorGreenlet(run=self._dispatch_loop)
         g_next.switch()
     def end(self):
@@ -134,17 +145,17 @@ class PollReactor(SelectReactor):
         self._fds = fds
     # Main loop
     def _dispatch_loop(self):
-        self._process = True
         self._g_dispatch = g_dispatch = greenlet.getcurrent()
-        eventtime = time.time()
+        eventtime = self.monotonic()
         while self._process:
-            timeout = int(math.ceil(self._check_timers(eventtime) * 1000.))
-            res = self._poll.poll(timeout)
-            eventtime = time.time()
+            timeout = self._check_timers(eventtime)
+            res = self._poll.poll(int(math.ceil(timeout * 1000.)))
+            eventtime = self.monotonic()
             for fd, event in res:
                 self._fds[fd](eventtime)
                 if g_dispatch is not self._g_dispatch:
                     self._end_greenlet(g_dispatch)
+                    eventtime = self.monotonic()
                     break
         self._g_dispatch = None
 
@@ -168,17 +179,17 @@ class EPollReactor(SelectReactor):
         self._fds = fds
     # Main loop
     def _dispatch_loop(self):
-        self._process = True
         self._g_dispatch = g_dispatch = greenlet.getcurrent()
-        eventtime = time.time()
+        eventtime = self.monotonic()
         while self._process:
             timeout = self._check_timers(eventtime)
             res = self._epoll.poll(timeout)
-            eventtime = time.time()
+            eventtime = self.monotonic()
             for fd, event in res:
                 self._fds[fd](eventtime)
                 if g_dispatch is not self._g_dispatch:
                     self._end_greenlet(g_dispatch)
+                    eventtime = self.monotonic()
                     break
         self._g_dispatch = None
 

klippy/serialhdl.py

@@ -1,13 +1,16 @@
 # Serial port management for firmware communication
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import time, logging, threading
+import logging, threading
 import serial
 
 import msgproto, chelper, util
 
+class error(Exception):
+    pass
+
 class SerialReader:
     BITS_PER_BYTE = 10.
     def __init__(self, reactor, serialport, baud):
@@ -22,23 +25,15 @@ class SerialReader:
         self.serialqueue = None
         self.default_cmd_queue = self.alloc_command_queue()
         self.stats_buf = self.ffi_main.new('char[4096]')
-        # MCU time/clock tracking
-        self.last_ack_time = self.last_ack_rtt_time = 0.
-        self.last_ack_clock = self.last_ack_rtt_clock = 0
-        self.est_clock = 0.
         # Threading
         self.lock = threading.Lock()
         self.background_thread = None
         # Message handlers
-        self.status_timer = self.reactor.register_timer(
-            self._status_event, self.reactor.NOW)
-        self.status_cmd = None
         handlers = {
-            '#unknown': self.handle_unknown,
-            '#output': self.handle_output, 'status': self.handle_status,
+            '#unknown': self.handle_unknown, '#output': self.handle_output,
             'shutdown': self.handle_output, 'is_shutdown': self.handle_output
         }
-        self.handlers = dict(((k, None), v) for k, v in handlers.items())
+        self.handlers = { (k, None): v for k, v in handlers.items() }
     def _bg_thread(self):
         response = self.ffi_main.new('struct pull_queue_message *')
         while 1:
@@ -49,8 +44,8 @@ class SerialReader:
             params = self.msgparser.parse(response.msg[0:count])
             params['#sent_time'] = response.sent_time
             params['#receive_time'] = response.receive_time
-            with self.lock:
             hdl = (params['#name'], params.get('oid'))
+            with self.lock:
                 hdl = self.handlers.get(hdl, self.handle_default)
             try:
                 hdl(params)
@@ -60,13 +55,18 @@ class SerialReader:
         # Initial connection
         logging.info("Starting serial connect")
         while 1:
-            starttime = time.time()
+            starttime = self.reactor.monotonic()
             try:
-                self.ser = serial.Serial(self.serialport, self.baud, timeout=0)
-            except OSError, e:
-                logging.warn("Unable to open port: %s" % (e,))
+                if self.baud:
+                    self.ser = serial.Serial(
+                        self.serialport, self.baud, timeout=0)
+                else:
+                    self.ser = open(self.serialport, 'rb+')
+            except (OSError, IOError, serial.SerialException) as e:
+                logging.warn("Unable to open port: %s", e)
                 self.reactor.pause(starttime + 5.)
                 continue
+            if self.baud:
                 stk500v2_leave(self.ser, self.reactor)
             self.serialqueue = self.ffi_lib.serialqueue_alloc(
                 self.ser.fileno(), 0)
@@ -78,59 +78,45 @@ class SerialReader:
             if identify_data is None:
                 logging.warn("Timeout on serial connect")
                 self.disconnect()
-                self.ser.close()
-                self.ser = None
                 continue
             break
         msgparser = msgproto.MessageParser()
         msgparser.process_identify(identify_data)
         self.msgparser = msgparser
         self.register_callback(self.handle_unknown, '#unknown')
-        logging.info("Loaded %d commands (%s)" % (
-            len(msgparser.messages_by_id), msgparser.version))
-        # Setup for runtime
+        logging.info("Loaded %d commands (%s)",
+                     len(msgparser.messages_by_id), msgparser.version)
+        logging.info("MCU config: %s", " ".join(
+            ["%s=%s" % (k, v) for k, v in msgparser.config.items()]))
+        # Setup baud adjust
         mcu_baud = float(msgparser.config.get('SERIAL_BAUD', 0.))
         if mcu_baud:
             baud_adjust = self.BITS_PER_BYTE / mcu_baud
             self.ffi_lib.serialqueue_set_baud_adjust(
                 self.serialqueue, baud_adjust)
-        get_status = msgparser.lookup_command('get_status')
-        self.status_cmd = get_status.encode()
     def connect_file(self, debugoutput, dictionary, pace=False):
         self.ser = debugoutput
         self.msgparser.process_identify(dictionary, decompress=False)
-        est_clock = 1000000000000.
-        if pace:
-            est_clock = float(self.msgparser.config['CLOCK_FREQ'])
         self.serialqueue = self.ffi_lib.serialqueue_alloc(self.ser.fileno(), 1)
-        self.est_clock = est_clock
-        self.last_ack_time = time.time()
-        self.last_ack_clock = 0
+    def set_clock_est(self, freq, last_time, last_clock):
         self.ffi_lib.serialqueue_set_clock_est(
-            self.serialqueue, self.est_clock, self.last_ack_time
-            , self.last_ack_clock)
+            self.serialqueue, freq, last_time, last_clock)
     def disconnect(self):
-        if self.serialqueue is None:
-            return
+        if self.serialqueue is not None:
             self.ffi_lib.serialqueue_exit(self.serialqueue)
             if self.background_thread is not None:
                 self.background_thread.join()
             self.ffi_lib.serialqueue_free(self.serialqueue)
             self.background_thread = self.serialqueue = None
+        if self.ser is not None:
+            self.ser.close()
+            self.ser = None
     def stats(self, eventtime):
         if self.serialqueue is None:
             return ""
-        sqstats = self.ffi_lib.serialqueue_get_stats(
+        self.ffi_lib.serialqueue_get_stats(
             self.serialqueue, self.stats_buf, len(self.stats_buf))
-        sqstats = self.ffi_main.string(self.stats_buf)
-        tstats = " est_clock=%.3f last_ack_time=%.3f last_ack_clock=%d" % (
-            self.est_clock, self.last_ack_time, self.last_ack_clock)
-        return sqstats + tstats
-    def _status_event(self, eventtime):
-        if self.status_cmd is None:
-            return eventtime + 0.1
-        self.send(self.status_cmd)
-        return eventtime + 1.0
+        return self.ffi_main.string(self.stats_buf)
     # Serial response callbacks
     def register_callback(self, callback, name, oid=None):
         with self.lock:
@@ -138,21 +124,6 @@ class SerialReader:
     def unregister_callback(self, name, oid=None):
         with self.lock:
             del self.handlers[name, oid]
-    # Clock tracking
-    def get_clock(self, eventtime):
-        with self.lock:
-            return int(self.last_ack_clock
-                       + (eventtime - self.last_ack_time) * self.est_clock)
-    def translate_clock(self, raw_clock):
-        with self.lock:
-            last_ack_clock = self.last_ack_clock
-        clock_diff = (last_ack_clock - raw_clock) & 0xffffffff
-        if clock_diff & 0x80000000:
-            return last_ack_clock + 0x100000000 - clock_diff
-        return last_ack_clock - clock_diff
-    def get_last_clock(self):
-        with self.lock:
-            return self.last_ack_clock, self.last_ack_time
     # Command sending
     def send(self, cmd, minclock=0, reqclock=0, cq=None):
         if cq is None:
@@ -162,80 +133,64 @@ class SerialReader:
     def encode_and_send(self, data, minclock, reqclock, cq):
         self.ffi_lib.serialqueue_encode_and_send(
             self.serialqueue, cq, data, len(data), minclock, reqclock)
-    def send_with_response(self, cmd, name):
-        src = SerialRetryCommand(self, cmd, name)
+    def send_with_response(self, cmd, name, oid=None):
+        src = SerialRetryCommand(self, cmd, name, oid)
         return src.get_response()
-    def send_flush(self):
-        self.ffi_lib.serialqueue_flush_ready(self.serialqueue)
     def alloc_command_queue(self):
         return self.ffi_main.gc(self.ffi_lib.serialqueue_alloc_commandqueue(),
                                 self.ffi_lib.serialqueue_free_commandqueue)
     # Dumping debug lists
     def dump_debug(self):
+        out = []
+        out.append("Dumping serial stats: %s" % (
+            self.stats(self.reactor.monotonic()),))
         sdata = self.ffi_main.new('struct pull_queue_message[1024]')
         rdata = self.ffi_main.new('struct pull_queue_message[1024]')
         scount = self.ffi_lib.serialqueue_extract_old(
             self.serialqueue, 1, sdata, len(sdata))
         rcount = self.ffi_lib.serialqueue_extract_old(
             self.serialqueue, 0, rdata, len(rdata))
-        logging.info("Dumping send queue %d messages" % (scount,))
+        out.append("Dumping send queue %d messages" % (scount,))
         for i in range(scount):
             msg = sdata[i]
             cmds = self.msgparser.dump(msg.msg[0:msg.len])
-            logging.info("Sent %d %f %f %d: %s" % (
+            out.append("Sent %d %f %f %d: %s" % (
                 i, msg.receive_time, msg.sent_time, msg.len, ', '.join(cmds)))
-        logging.info("Dumping receive queue %d messages" % (rcount,))
+        out.append("Dumping receive queue %d messages" % (rcount,))
         for i in range(rcount):
             msg = rdata[i]
             cmds = self.msgparser.dump(msg.msg[0:msg.len])
-            logging.info("Receive: %d %f %f %d: %s" % (
+            out.append("Receive: %d %f %f %d: %s" % (
                 i, msg.receive_time, msg.sent_time, msg.len, ', '.join(cmds)))
+        return '\n'.join(out)
     # Default message handlers
-    def handle_status(self, params):
-        with self.lock:
-            # Update last_ack_time / last_ack_clock
-            ack_clock = (self.last_ack_clock & ~0xffffffff) | params['clock']
-            if ack_clock < self.last_ack_clock:
-                ack_clock += 0x100000000
-            sent_time = params['#sent_time']
-            self.last_ack_time = receive_time = params['#receive_time']
-            self.last_ack_clock = ack_clock
-            # Update est_clock (if applicable)
-            if receive_time > self.last_ack_rtt_time + 1. and sent_time:
-                if self.last_ack_rtt_time:
-                    timedelta = receive_time - self.last_ack_rtt_time
-                    clockdelta = ack_clock - self.last_ack_rtt_clock
-                    estclock = clockdelta / timedelta
-                    if estclock > self.est_clock and self.est_clock:
-                        self.est_clock = (self.est_clock * 63. + estclock) / 64.
-                    else:
-                        self.est_clock = estclock
-                self.last_ack_rtt_time = sent_time
-                self.last_ack_rtt_clock = ack_clock
-            self.ffi_lib.serialqueue_set_clock_est(
-                self.serialqueue, self.est_clock, receive_time, ack_clock)
     def handle_unknown(self, params):
-        logging.warn("Unknown message type %d: %s" % (
-            params['#msgid'], repr(params['#msg'])))
+        logging.warn("Unknown message type %d: %s",
+                     params['#msgid'], repr(params['#msg']))
     def handle_output(self, params):
-        logging.info("%s: %s" % (params['#name'], params['#msg']))
+        logging.info("%s: %s", params['#name'], params['#msg'])
     def handle_default(self, params):
-        logging.warn("got %s" % (params,))
+        logging.warn("got %s", params)
     def __del__(self):
         self.disconnect()
 
 # Class to retry sending of a query command until a given response is received
 class SerialRetryCommand:
+    TIMEOUT_TIME = 5.0
     RETRY_TIME = 0.500
-    def __init__(self, serial, cmd, name):
+    def __init__(self, serial, cmd, name, oid=None):
         self.serial = serial
         self.cmd = cmd
         self.name = name
+        self.oid = oid
         self.response = None
-        self.min_query_time = time.time()
-        self.serial.register_callback(self.handle_callback, self.name)
+        self.min_query_time = self.serial.reactor.monotonic()
+        self.serial.register_callback(self.handle_callback, self.name, self.oid)
         self.send_timer = self.serial.reactor.register_timer(
             self.send_event, self.serial.reactor.NOW)
+    def unregister(self):
+        self.serial.unregister_callback(self.name, self.oid)
+        self.serial.reactor.unregister_timer(self.send_timer)
     def send_event(self, eventtime):
         if self.response is not None:
             return self.serial.reactor.NEVER
@@ -246,11 +201,13 @@ class SerialRetryCommand:
         if last_sent_time >= self.min_query_time:
             self.response = params
     def get_response(self):
-        eventtime = time.time()
+        eventtime = self.serial.reactor.monotonic()
         while self.response is None:
             eventtime = self.serial.reactor.pause(eventtime + 0.05)
-        self.serial.unregister_callback(self.name)
-        self.serial.reactor.unregister_timer(self.send_timer)
+            if eventtime > self.min_query_time + self.TIMEOUT_TIME:
+                self.unregister()
+                raise error("Timeout on wait for '%s' response" % (self.name,))
+        self.unregister()
         return self.response
 
 # Code to start communication and download message type dictionary
@@ -267,7 +224,7 @@ class SerialBootStrap:
         self.send_timer = self.serial.reactor.register_timer(
             self.send_event, self.serial.reactor.NOW)
     def get_identify_data(self, timeout):
-        eventtime = time.time()
+        eventtime = self.serial.reactor.monotonic()
         while not self.is_done and eventtime <= timeout:
             eventtime = self.serial.reactor.pause(eventtime + 0.05)
         self.serial.unregister_callback('identify_response')
@@ -292,8 +249,8 @@ class SerialBootStrap:
         self.serial.send(imsg)
         return eventtime + self.RETRY_TIME
     def handle_unknown(self, params):
-        logging.debug("Unknown message %d (len %d) while identifying" % (
-            params['#msgid'], len(params['#msg'])))
+        logging.debug("Unknown message %d (len %d) while identifying",
+                      params['#msgid'], len(params['#msg']))
 
 # Attempt to place an AVR stk500v2 style programmer into normal mode
 def stk500v2_leave(ser, reactor):
@@ -305,10 +262,23 @@ def stk500v2_leave(ser, reactor):
     ser.read(1)
     # Send stk500v2 leave programmer sequence
     ser.baudrate = 115200
-    reactor.pause(time.time() + 0.100)
+    reactor.pause(reactor.monotonic() + 0.100)
     ser.read(4096)
     ser.write('\x1b\x01\x00\x01\x0e\x11\x04')
-    reactor.pause(time.time() + 0.050)
+    reactor.pause(reactor.monotonic() + 0.050)
     res = ser.read(4096)
-    logging.debug("Got %s from stk500v2" % (repr(res),))
+    logging.debug("Got %s from stk500v2", repr(res))
     ser.baudrate = origbaud
+
+# Attempt an arduino style reset on a serial port
+def arduino_reset(serialport, reactor):
+    # First try opening the port at a different baud
+    ser = serial.Serial(serialport, 2400, timeout=0)
+    ser.read(1)
+    reactor.pause(reactor.monotonic() + 0.100)
+    # Then toggle DTR
+    ser.dtr = True
+    reactor.pause(reactor.monotonic() + 0.100)
+    ser.dtr = False
+    reactor.pause(reactor.monotonic() + 0.100)
+    ser.close()

klippy/serialqueue.c

@@ -12,6 +12,7 @@
 // clock times, prioritizes commands, and handles retransmissions.  A
 // background thread is launched to do this work and minimize latency.
 
+#include <fcntl.h> // fcntl
 #include <math.h> // ceil
 #include <poll.h> // poll
 #include <pthread.h> // pthread_mutex_lock
@@ -23,7 +24,7 @@
 #include <termios.h> // tcflush
 #include <unistd.h> // pipe
 #include "list.h" // list_add_tail
-#include "pyhelper.h" // get_time
+#include "pyhelper.h" // get_monotonic
 #include "serialqueue.h" // struct queue_message
 
 
@@ -102,14 +103,12 @@ pollreactor_add_timer(struct pollreactor *pr, int pos, void *callback)
     pr->timers[pos].waketime = PR_NEVER;
 }
 
-#if 0
 // Return the last schedule wake-up time for a timer
 static double
 pollreactor_get_timer(struct pollreactor *pr, int pos)
 {
     return pr->timers[pos].waketime;
 }
-#endif
 
 // Set the wake-up time for a given timer
 static void
@@ -149,11 +148,11 @@ static void
 pollreactor_run(struct pollreactor *pr)
 {
     pr->must_exit = 0;
-    double eventtime = get_time();
+    double eventtime = get_monotonic();
     while (! pr->must_exit) {
         int timeout = pollreactor_check_timers(pr, eventtime);
         int ret = poll(pr->fds, pr->num_fds, timeout);
-        eventtime = get_time();
+        eventtime = get_monotonic();
         if (ret > 0) {
             int i;
             for (i=0; i<pr->num_fds; i++)
@@ -180,6 +179,22 @@ pollreactor_is_exit(struct pollreactor *pr)
     return pr->must_exit;
 }
 
+static int
+set_non_blocking(int fd)
+{
+    int flags = fcntl(fd, F_GETFL);
+    if (flags < 0) {
+        report_errno("fcntl getfl", flags);
+        return -1;
+    }
+    int ret = fcntl(fd, F_SETFL, flags | O_NONBLOCK);
+    if (ret < 0) {
+        report_errno("fcntl setfl", flags);
+        return -1;
+    }
+    return 0;
+}
+
 
 /****************************************************************
  * Serial protocol helpers
@@ -344,19 +359,18 @@ struct serialqueue {
     int receive_waiting;
     // Baud / clock tracking
     double baud_adjust, idle_time;
-    double est_clock, last_ack_time;
-    uint64_t last_ack_clock;
+    double est_freq, last_clock_time;
+    uint64_t last_clock;
     double last_receive_sent_time;
     // Retransmit support
     uint64_t send_seq, receive_seq;
-    uint64_t retransmit_seq, rtt_sample_seq;
+    uint64_t ignore_nak_seq, retransmit_seq, rtt_sample_seq;
     struct list_head sent_queue;
     double srtt, rttvar, rto;
     // Pending transmission message queues
     struct list_head pending_queues;
-    int ready_bytes, stalled_bytes;
+    int ready_bytes, stalled_bytes, need_ack_bytes;
     uint64_t need_kick_clock;
-    int can_delay_writes;
     // Received messages
     struct list_head receive_queue;
     // Debugging
@@ -375,7 +389,6 @@ struct serialqueue {
 
 #define MIN_RTO 0.025
 #define MAX_RTO 5.000
-#define MAX_SERIAL_BUFFER 0.050
 #define MIN_REQTIME_DELTA 0.250
 #define IDLE_QUERY_TIME 1.0
 
@@ -428,23 +441,31 @@ static void
 update_receive_seq(struct serialqueue *sq, double eventtime, uint64_t rseq)
 {
     // Remove from sent queue
-    int ack_count = rseq - sq->receive_seq;
     uint64_t sent_seq = sq->receive_seq;
-    while (!list_empty(&sq->sent_queue) && ack_count--) {
+    for (;;) {
         struct queue_message *sent = list_first_entry(
             &sq->sent_queue, struct queue_message, node);
-        if (rseq == ++sent_seq)
-            sq->last_receive_sent_time = sent->receive_time;
+        if (list_empty(&sq->sent_queue)) {
+            // Got an ack for a message not sent; must be connection init
+            sq->send_seq = rseq;
+            sq->last_receive_sent_time = 0.;
+            break;
+        }
+        sq->need_ack_bytes -= sent->len;
         list_del(&sent->node);
         debug_queue_add(&sq->old_sent, sent);
+        sent_seq++;
+        if (rseq == sent_seq) {
+            // Found sent message corresponding with the received sequence
+            sq->last_receive_sent_time = sent->receive_time;
+            break;
+        }
     }
     sq->receive_seq = rseq;
-    if (rseq > sq->send_seq)
-        sq->send_seq = rseq;
     pollreactor_update_timer(&sq->pr, SQPT_COMMAND, PR_NOW);
 
     // Update retransmit info
-    if (sq->rtt_sample_seq && rseq >= sq->rtt_sample_seq
+    if (sq->rtt_sample_seq && rseq > sq->rtt_sample_seq
         && sq->last_receive_sent_time) {
         // RFC6298 rtt calculations
         double delta = eventtime - sq->last_receive_sent_time;
@@ -488,15 +509,18 @@ handle_message(struct serialqueue *sq, double eventtime, int len)
     if (rseq != sq->receive_seq)
         // New sequence number
         update_receive_seq(sq, eventtime, rseq);
-    else if (len == MESSAGE_MIN && rseq > sq->retransmit_seq)
+    else if (len == MESSAGE_MIN && rseq > sq->ignore_nak_seq
+             && !list_empty(&sq->sent_queue))
         // Duplicate sequence number in an empty message is a nak
         pollreactor_update_timer(&sq->pr, SQPT_RETRANSMIT, PR_NOW);
 
     if (len > MESSAGE_MIN) {
         // Add message to receive queue
         struct queue_message *qm = message_fill(sq->input_buf, len);
-        qm->sent_time = sq->last_receive_sent_time;
-        qm->receive_time = eventtime;
+        qm->sent_time = (rseq > sq->retransmit_seq
+                         ? sq->last_receive_sent_time : 0.);
+        qm->receive_time = get_monotonic(); // must be time post read()
+        qm->receive_time -= sq->baud_adjust * len;
         list_add_tail(&qm->node, &sq->receive_queue);
         check_wake_receive(sq);
     }
@@ -561,12 +585,14 @@ retransmit_event(struct serialqueue *sq, double eventtime)
 
     // Retransmit all pending messages
     uint8_t buf[MESSAGE_MAX * MESSAGE_SEQ_MASK + 1];
-    int buflen = 0;
+    int buflen = 0, first_buflen = 0;
     buf[buflen++] = MESSAGE_SYNC;
     struct queue_message *qm;
     list_for_each_entry(qm, &sq->sent_queue, node) {
         memcpy(&buf[buflen], qm->msg, qm->len);
         buflen += qm->len;
+        if (!first_buflen)
+            first_buflen = qm->len + 1;
     }
     ret = write(sq->serial_fd, buf, buflen);
     if (ret < 0)
@@ -574,13 +600,23 @@ retransmit_event(struct serialqueue *sq, double eventtime)
     sq->bytes_retransmit += buflen;
 
     // Update rto
+    if (pollreactor_get_timer(&sq->pr, SQPT_RETRANSMIT) == PR_NOW) {
+        // Retransmit due to nak
+        sq->ignore_nak_seq = sq->receive_seq;
+        if (sq->receive_seq < sq->retransmit_seq)
+            // Second nak for this retransmit - don't allow third
+            sq->ignore_nak_seq = sq->retransmit_seq;
+    } else {
+        // Retransmit due to timeout
         sq->rto *= 2.0;
         if (sq->rto > MAX_RTO)
             sq->rto = MAX_RTO;
+        sq->ignore_nak_seq = sq->send_seq;
+    }
     sq->retransmit_seq = sq->send_seq;
     sq->rtt_sample_seq = 0;
     sq->idle_time = eventtime + buflen * sq->baud_adjust;
-    double waketime = sq->idle_time + sq->rto;
+    double waketime = eventtime + first_buflen * sq->baud_adjust + sq->rto;
 
     pthread_mutex_unlock(&sq->lock);
     return waketime;
@@ -643,9 +679,10 @@ build_and_send_command(struct serialqueue *sq, double eventtime)
     if (list_empty(&sq->sent_queue))
         pollreactor_update_timer(&sq->pr, SQPT_RETRANSMIT
                                  , sq->idle_time + sq->rto);
-    sq->send_seq++;
     if (!sq->rtt_sample_seq)
         sq->rtt_sample_seq = sq->send_seq;
+    sq->send_seq++;
+    sq->need_ack_bytes += out->len;
     list_add_tail(&out->node, &sq->sent_queue);
 }
 
@@ -653,10 +690,8 @@ build_and_send_command(struct serialqueue *sq, double eventtime)
 static double
 check_send_command(struct serialqueue *sq, double eventtime)
 {
-    if (eventtime < sq->idle_time - MAX_SERIAL_BUFFER)
-        // Serial port already busy
-        return sq->idle_time - MAX_SERIAL_BUFFER;
-    if (sq->send_seq - sq->receive_seq >= MESSAGE_SEQ_MASK
+    if ((sq->send_seq - sq->receive_seq >= MESSAGE_SEQ_MASK
+         || (sq->need_ack_bytes - 2*MESSAGE_MAX) * sq->baud_adjust > sq->srtt)
         && sq->receive_seq != (uint64_t)-1)
         // Need an ack before more messages can be sent
         return PR_NEVER;
@@ -664,8 +699,9 @@ check_send_command(struct serialqueue *sq, double eventtime)
     // Check for stalled messages now ready
     double idletime = eventtime > sq->idle_time ? eventtime : sq->idle_time;
     idletime += MESSAGE_MIN * sq->baud_adjust;
-    double timedelta = idletime - sq->last_ack_time;
-    uint64_t ack_clock = (uint64_t)(timedelta * sq->est_clock) + sq->last_ack_clock;
+    double timedelta = idletime - sq->last_clock_time;
+    uint64_t ack_clock = ((uint64_t)(timedelta * sq->est_freq)
+                          + sq->last_clock);
     uint64_t min_stalled_clock = MAX_CLOCK, min_ready_clock = MAX_CLOCK;
     struct command_queue *cq;
     list_for_each_entry(cq, &sq->pending_queues, node) {
@@ -695,22 +731,20 @@ check_send_command(struct serialqueue *sq, double eventtime)
     // Check for messages to send
     if (sq->ready_bytes >= MESSAGE_PAYLOAD_MAX)
         return PR_NOW;
-    if (! sq->can_delay_writes) {
+    if (! sq->est_freq) {
         if (sq->ready_bytes)
             return PR_NOW;
-        if (sq->est_clock)
-            sq->can_delay_writes = 1;
         sq->need_kick_clock = MAX_CLOCK;
         return PR_NEVER;
     }
-    uint64_t reqclock_delta = MIN_REQTIME_DELTA * sq->est_clock;
+    uint64_t reqclock_delta = MIN_REQTIME_DELTA * sq->est_freq;
     if (min_ready_clock <= ack_clock + reqclock_delta)
         return PR_NOW;
     uint64_t wantclock = min_ready_clock - reqclock_delta;
     if (min_stalled_clock < wantclock)
         wantclock = min_stalled_clock;
     sq->need_kick_clock = wantclock;
-    return idletime + (wantclock - ack_clock) / sq->est_clock;
+    return idletime + (wantclock - ack_clock) / sq->est_freq;
 }
 
 // Callback timer to send data to the serial port
@@ -761,6 +795,9 @@ serialqueue_alloc(int serial_fd, int write_only)
     pollreactor_add_fd(&sq->pr, SQPF_PIPE, sq->pipe_fds[0], kick_event);
     pollreactor_add_timer(&sq->pr, SQPT_RETRANSMIT, retransmit_event);
     pollreactor_add_timer(&sq->pr, SQPT_COMMAND, command_event);
+    set_non_blocking(serial_fd);
+    set_non_blocking(sq->pipe_fds[0]);
+    set_non_blocking(sq->pipe_fds[1]);
 
     // Retransmit setup
     sq->send_seq = 1;
@@ -976,26 +1013,16 @@ serialqueue_set_baud_adjust(struct serialqueue *sq, double baud_adjust)
 // Set the estimated clock rate of the mcu on the other end of the
 // serial port
 void
-serialqueue_set_clock_est(struct serialqueue *sq, double est_clock
-                          , double last_ack_time, uint64_t last_ack_clock)
+serialqueue_set_clock_est(struct serialqueue *sq, double est_freq
+                          , double last_clock_time, uint64_t last_clock)
 {
     pthread_mutex_lock(&sq->lock);
-    sq->est_clock = est_clock;
-    sq->last_ack_time = last_ack_time;
-    sq->last_ack_clock = last_ack_clock;
+    sq->est_freq = est_freq;
+    sq->last_clock_time = last_clock_time;
+    sq->last_clock = last_clock;
     pthread_mutex_unlock(&sq->lock);
 }
 
-// Flush all messages in a "ready" state
-void
-serialqueue_flush_ready(struct serialqueue *sq)
-{
-    pthread_mutex_lock(&sq->lock);
-    sq->can_delay_writes = 0;
-    pthread_mutex_unlock(&sq->lock);
-    kick_bg_thread(sq);
-}
-
 // Return a string buffer containing statistics for the serial port
 void
 serialqueue_get_stats(struct serialqueue *sq, char *buf, int len)

klippy/serialqueue.h

@@ -59,9 +59,8 @@ void serialqueue_encode_and_send(struct serialqueue *sq, struct command_queue *c
                                  , uint64_t min_clock, uint64_t req_clock);
 void serialqueue_pull(struct serialqueue *sq, struct pull_queue_message *pqm);
 void serialqueue_set_baud_adjust(struct serialqueue *sq, double baud_adjust);
-void serialqueue_set_clock_est(struct serialqueue *sq, double est_clock
-                               , double last_ack_time, uint64_t last_ack_clock);
-void serialqueue_flush_ready(struct serialqueue *sq);
+void serialqueue_set_clock_est(struct serialqueue *sq, double est_freq
+                               , double last_clock_time, uint64_t last_clock);
 void serialqueue_get_stats(struct serialqueue *sq, char *buf, int len);
 int serialqueue_extract_old(struct serialqueue *sq, int sentq
                             , struct pull_queue_message *q, int max);

klippy/stepcompress.c

@@ -1,6 +1,6 @@
 // Stepper pulse schedule compression
 //
-// Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+// Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 //
@@ -28,55 +28,18 @@
 
 struct stepcompress {
     // Buffer management
-    uint64_t *queue, *queue_end, *queue_pos, *queue_next;
+    uint32_t *queue, *queue_end, *queue_pos, *queue_next;
     // Internal tracking
     uint32_t max_error;
-    // Error checking
-    uint32_t errors;
+    double mcu_time_offset, mcu_freq;
     // Message generation
-    uint64_t last_step_clock;
+    uint64_t last_step_clock, homing_clock;
     struct list_head msg_queue;
     uint32_t queue_step_msgid, set_next_step_dir_msgid, oid;
     int sdir, invert_sdir;
 };
 
 
-/****************************************************************
- * Queue management
- ****************************************************************/
-
-// Shuffle the internal queue to avoid having to allocate more ram
-static void
-clean_queue(struct stepcompress *sc)
-{
-    int in_use = sc->queue_next - sc->queue_pos;
-    memmove(sc->queue, sc->queue_pos, in_use * sizeof(*sc->queue));
-    sc->queue_pos = sc->queue;
-    sc->queue_next = sc->queue + in_use;
-}
-
-// Expand the internal queue of step times
-static void
-expand_queue(struct stepcompress *sc, int count)
-{
-    int alloc = sc->queue_end - sc->queue;
-    if (count + sc->queue_next - sc->queue_pos <= alloc) {
-        clean_queue(sc);
-        return;
-    }
-    int pos = sc->queue_pos - sc->queue;
-    int next = sc->queue_next - sc->queue;
-    if (!alloc)
-        alloc = QUEUE_START_SIZE;
-    while (next + count > alloc)
-        alloc *= 2;
-    sc->queue = realloc(sc->queue, alloc * sizeof(*sc->queue));
-    sc->queue_end = sc->queue + alloc;
-    sc->queue_pos = sc->queue + pos;
-    sc->queue_next = sc->queue + next;
-}
-
-
 /****************************************************************
  * Step compression
  ****************************************************************/
@@ -102,10 +65,10 @@ struct points {
 // Given a requested step time, return the minimum and maximum
 // acceptable times
 static inline struct points
-minmax_point(struct stepcompress *sc, uint64_t *pos)
+minmax_point(struct stepcompress *sc, uint32_t *pos)
 {
-    uint32_t prevpoint = pos > sc->queue_pos ? *(pos-1) - sc->last_step_clock : 0;
-    uint32_t point = *pos - sc->last_step_clock;
+    uint32_t lsc = sc->last_step_clock, point = *pos - lsc;
+    uint32_t prevpoint = pos > sc->queue_pos ? *(pos-1) - lsc : 0;
     uint32_t max_error = (point - prevpoint) / 2;
     if (max_error > sc->max_error)
         max_error = sc->max_error;
@@ -128,6 +91,9 @@ struct step_move {
 static struct step_move
 compress_bisect_add(struct stepcompress *sc)
 {
+    uint32_t *qlast = sc->queue_next;
+    if (qlast > sc->queue_pos + 65535)
+        qlast = sc->queue_pos + 65535;
     struct points point = minmax_point(sc, sc->queue_pos);
     int32_t outer_mininterval = point.minp, outer_maxinterval = point.maxp;
     int32_t add = 0, minadd = -0x8000, maxadd = 0x7fff;
@@ -142,10 +108,7 @@ compress_bisect_add(struct stepcompress *sc)
         int32_t nextcount = 1;
         for (;;) {
             nextcount++;
-            if (nextcount > bestcount
-                && (&sc->queue_pos[nextcount-1] >= sc->queue_next
-                    || sc->queue_pos[nextcount-1] >= sc->last_step_clock+(3<<28)
-                    || nextcount > 65535)) {
+            if (&sc->queue_pos[nextcount-1] >= qlast) {
                 int32_t count = nextcount - 1;
                 return (struct step_move){ interval, count, add };
             }
@@ -174,6 +137,9 @@ compress_bisect_add(struct stepcompress *sc)
                 zerointerval = interval;
                 zerocount = count;
             }
+            if (count > 0x200)
+                // No 'add' will improve sequence; avoid integer overflow
+                break;
         }
 
         // Check if a greater or lesser add could extend the sequence
@@ -221,27 +187,19 @@ compress_bisect_add(struct stepcompress *sc)
  * Step compress checking
  ****************************************************************/
 
+#define ERROR_RET -989898989
+
 // Verify that a given 'step_move' matches the actual step times
-static void
+static int
 check_line(struct stepcompress *sc, struct step_move move)
 {
     if (!CHECK_LINES)
-        return;
-    if (move.count == 1) {
-        if (move.interval != (uint32_t)(*sc->queue_pos - sc->last_step_clock)
-            || *sc->queue_pos < sc->last_step_clock) {
-            errorf("Count 1 point out of range: %d %d %d"
-                   , move.interval, move.count, move.add);
-            sc->errors++;
-        }
-        return;
-    }
-    int err = 0;
-    if (!move.count || (!move.interval && !move.add)
+        return 0;
+    if (!move.count || (!move.interval && !move.add && move.count > 1)
         || move.interval >= 0x80000000) {
-        errorf("Point out of range: %d %d %d"
-               , move.interval, move.count, move.add);
-        err++;
+        errorf("stepcompress o=%d i=%d c=%d a=%d: Invalid sequence"
+               , sc->oid, move.interval, move.count, move.add);
+        return ERROR_RET;
     }
     uint32_t interval = move.interval, p = 0;
     uint16_t i;
@@ -249,18 +207,21 @@ check_line(struct stepcompress *sc, struct step_move move)
         struct points point = minmax_point(sc, sc->queue_pos + i);
         p += interval;
         if (p < point.minp || p > point.maxp) {
-            errorf("Point %d of %d: %d not in %d:%d"
-                   , i+1, move.count, p, point.minp, point.maxp);
-            err++;
+            errorf("stepcompress o=%d i=%d c=%d a=%d: Point %d: %d not in %d:%d"
+                   , sc->oid, move.interval, move.count, move.add
+                   , i+1, p, point.minp, point.maxp);
+            return ERROR_RET;
         }
         if (interval >= 0x80000000) {
-            errorf("Point %d of %d: interval overflow %d"
-                   , i+1, move.count, interval);
-            err++;
+            errorf("stepcompress o=%d i=%d c=%d a=%d:"
+                   " Point %d: interval overflow %d"
+                   , sc->oid, move.interval, move.count, move.add
+                   , i+1, interval);
+            return ERROR_RET;
         }
         interval += move.add;
     }
-    sc->errors += err;
+    return 0;
 }
 
 
@@ -268,22 +229,6 @@ check_line(struct stepcompress *sc, struct step_move move)
  * Step compress interface
  ****************************************************************/
 
-#define likely(x)       __builtin_expect(!!(x), 1)
-
-// Wrapper around sqrt() to handle small negative numbers
-static double
-_safe_sqrt(double v)
-{
-    if (v > -0.001)
-        // Due to floating point truncation, it's possible to get a
-        // small negative number - treat it as zero.
-        return 0.;
-    return sqrt(v);
-}
-static inline double safe_sqrt(double v) {
-    return likely(v >= 0.) ? sqrt(v) : _safe_sqrt(v);
-}
-
 // Allocate a new 'stepcompress' object
 struct stepcompress *
 stepcompress_alloc(uint32_t max_error, uint32_t queue_step_msgid
@@ -314,28 +259,28 @@ stepcompress_free(struct stepcompress *sc)
 }
 
 // Convert previously scheduled steps into commands for the mcu
-static void
+static int
 stepcompress_flush(struct stepcompress *sc, uint64_t move_clock)
 {
     if (sc->queue_pos >= sc->queue_next)
-        return;
-    while (move_clock > sc->last_step_clock) {
+        return 0;
+    while (sc->last_step_clock < move_clock) {
         struct step_move move = compress_bisect_add(sc);
-        check_line(sc, move);
+        int ret = check_line(sc, move);
+        if (ret)
+            return ret;
 
         uint32_t msg[5] = {
             sc->queue_step_msgid, sc->oid, move.interval, move.count, move.add
         };
         struct queue_message *qm = message_alloc_and_encode(msg, 5);
         qm->min_clock = qm->req_clock = sc->last_step_clock;
-        if (move.count == 1 && sc->last_step_clock + (1<<27) < *sc->queue_pos) {
-            // Be careful with 32bit overflow
-            sc->last_step_clock = qm->req_clock = *sc->queue_pos;
-        } else {
-            uint32_t addfactor = move.count*(move.count-1)/2;
+        int32_t addfactor = move.count*(move.count-1)/2;
         uint32_t ticks = move.add*addfactor + move.interval*move.count;
         sc->last_step_clock += ticks;
-        }
+        if (sc->homing_clock)
+            // When homing, all steps should be sent prior to homing_clock
+            qm->min_clock = qm->req_clock = sc->homing_clock;
         list_add_tail(&qm->node, &sc->msg_queue);
 
         if (sc->queue_pos + move.count >= sc->queue_next) {
@@ -344,232 +289,415 @@ stepcompress_flush(struct stepcompress *sc, uint64_t move_clock)
         }
         sc->queue_pos += move.count;
     }
+    return 0;
+}
+
+// Generate a queue_step for a step far in the future from the last step
+static int
+stepcompress_flush_far(struct stepcompress *sc, uint64_t abs_step_clock)
+{
+    uint32_t msg[5] = {
+        sc->queue_step_msgid, sc->oid, abs_step_clock - sc->last_step_clock, 1, 0
+    };
+    struct queue_message *qm = message_alloc_and_encode(msg, 5);
+    qm->min_clock = sc->last_step_clock;
+    sc->last_step_clock = qm->req_clock = abs_step_clock;
+    if (sc->homing_clock)
+        // When homing, all steps should be sent prior to homing_clock
+        qm->min_clock = qm->req_clock = sc->homing_clock;
+    list_add_tail(&qm->node, &sc->msg_queue);
+    return 0;
 }
 
 // Send the set_next_step_dir command
-static void
+static int
 set_next_step_dir(struct stepcompress *sc, int sdir)
 {
+    if (sc->sdir == sdir)
+        return 0;
     sc->sdir = sdir;
-    stepcompress_flush(sc, UINT64_MAX);
+    int ret = stepcompress_flush(sc, UINT64_MAX);
+    if (ret)
+        return ret;
     uint32_t msg[3] = {
         sc->set_next_step_dir_msgid, sc->oid, sdir ^ sc->invert_sdir
     };
     struct queue_message *qm = message_alloc_and_encode(msg, 3);
-    qm->req_clock = sc->last_step_clock;
+    qm->req_clock = sc->homing_clock ?: sc->last_step_clock;
     list_add_tail(&qm->node, &sc->msg_queue);
-}
-
-// Check if the internal queue needs to be expanded, and expand if so
-static inline void
-check_expand(struct stepcompress *sc, int sdir, int count)
-{
-    if (sdir != sc->sdir)
-        set_next_step_dir(sc, sdir);
-    if (sc->queue_next + count > sc->queue_end)
-        expand_queue(sc, count);
-}
-
-// Schedule a step event at the specified step_clock time
-void
-stepcompress_push(struct stepcompress *sc, double step_clock, int32_t sdir)
-{
-    sdir = !!sdir;
-    check_expand(sc, sdir, 1);
-    step_clock += 0.5;
-    *sc->queue_next++ = step_clock;
-}
-
-// Schedule 'steps' number of steps with a constant time between steps
-// using the formula: step_clock = clock_offset + step_num*factor
-int32_t
-stepcompress_push_factor(struct stepcompress *sc
-                         , double steps, double step_offset
-                         , double clock_offset, double factor)
-{
-    // Calculate number of steps to take
-    int sdir = 1;
-    if (steps < 0) {
-        sdir = 0;
-        steps = -steps;
-        step_offset = -step_offset;
-    }
-    int count = steps + .5 - step_offset;
-    if (count <= 0 || count > 1000000) {
-        if (count && steps)
-            errorf("push_factor invalid count %d %f %f %f %f"
-                   , sc->oid, steps, step_offset, clock_offset, factor);
     return 0;
-    }
-    check_expand(sc, sdir, count);
-
-    // Calculate each step time
-    uint64_t *qn = sc->queue_next, *end = &qn[count];
-    clock_offset += 0.5;
-    double pos = step_offset + .5;
-    while (qn < end) {
-        *qn++ = clock_offset + pos*factor;
-        pos += 1.0;
-    }
-    sc->queue_next = qn;
-    return sdir ? count : -count;
-}
-
-// Schedule 'steps' number of steps using the formula:
-//  step_clock = clock_offset + sqrt(step_num*factor + sqrt_offset)
-int32_t
-stepcompress_push_sqrt(struct stepcompress *sc, double steps, double step_offset
-                       , double clock_offset, double sqrt_offset, double factor)
-{
-    // Calculate number of steps to take
-    int sdir = 1;
-    if (steps < 0) {
-        sdir = 0;
-        steps = -steps;
-        step_offset = -step_offset;
-    }
-    int count = steps + .5 - step_offset;
-    if (count <= 0 || count > 1000000) {
-        if (count && steps)
-            errorf("push_sqrt invalid count %d %f %f %f %f %f"
-                   , sc->oid, steps, step_offset, clock_offset, sqrt_offset
-                   , factor);
-        return 0;
-    }
-    check_expand(sc, sdir, count);
-
-    // Calculate each step time
-    uint64_t *qn = sc->queue_next, *end = &qn[count];
-    clock_offset += 0.5;
-    double pos = step_offset + .5 + sqrt_offset/factor;
-    while (qn < end) {
-        double v = safe_sqrt(pos*factor);
-        *qn++ = clock_offset + (factor >= 0. ? v : -v);
-        pos += 1.0;
-    }
-    sc->queue_next = qn;
-    return sdir ? count : -count;
-}
-
-// Schedule 'count' number of steps using the delta kinematic const speed
-int32_t
-stepcompress_push_delta_const(
-    struct stepcompress *sc, double clock_offset, double dist, double start_pos
-    , double inv_velocity, double step_dist
-    , double height, double closestxy_d, double closest_height2, double movez_r)
-{
-    // Calculate number of steps to take
-    double movexy_r = movez_r ? sqrt(1. - movez_r*movez_r) : 1.;
-    double reldist = closestxy_d - movexy_r*dist;
-    double end_height = safe_sqrt(closest_height2 - reldist*reldist);
-    int count = (end_height - height + movez_r*dist) / step_dist + .5;
-    if (count <= 0 || count > 1000000) {
-        if (count)
-            errorf("push_delta_const invalid count %d %d %f %f %f %f %f %f %f %f"
-                   , sc->oid, count, clock_offset, dist, step_dist, start_pos
-                   , closest_height2, height, movez_r, inv_velocity);
-        return 0;
-    }
-    check_expand(sc, step_dist > 0., count);
-
-    // Calculate each step time
-    uint64_t *qn = sc->queue_next, *end = &qn[count];
-    clock_offset += 0.5;
-    start_pos += movexy_r*closestxy_d;
-    height += .5 * step_dist;
-    if (!movez_r) {
-        // Optmized case for common XY only moves (no Z movement)
-        while (qn < end) {
-            double v = safe_sqrt(closest_height2 - height*height);
-            double pos = start_pos + (step_dist > 0. ? -v : v);
-            *qn++ = clock_offset + pos * inv_velocity;
-            height += step_dist;
-        }
-    } else if (!movexy_r) {
-        // Optmized case for Z only moves
-        double v = (step_dist > 0. ? -end_height : end_height);
-        while (qn < end) {
-            double pos = start_pos + movez_r*height + v;
-            *qn++ = clock_offset + pos * inv_velocity;
-            height += step_dist;
-        }
-    } else {
-        // General case (handles XY+Z moves)
-        while (qn < end) {
-            double relheight = movexy_r*height - movez_r*closestxy_d;
-            double v = safe_sqrt(closest_height2 - relheight*relheight);
-            double pos = start_pos + movez_r*height + (step_dist > 0. ? -v : v);
-            *qn++ = clock_offset + pos * inv_velocity;
-            height += step_dist;
-        }
-    }
-    sc->queue_next = qn;
-    return step_dist > 0. ? count : -count;
-}
-
-// Schedule 'count' number of steps using delta kinematic acceleration
-int32_t
-stepcompress_push_delta_accel(
-    struct stepcompress *sc, double clock_offset, double dist, double start_pos
-    , double accel_multiplier, double step_dist
-    , double height, double closestxy_d, double closest_height2, double movez_r)
-{
-    // Calculate number of steps to take
-    double movexy_r = movez_r ? sqrt(1. - movez_r*movez_r) : 1.;
-    double reldist = closestxy_d - movexy_r*dist;
-    double end_height = safe_sqrt(closest_height2 - reldist*reldist);
-    int count = (end_height - height + movez_r*dist) / step_dist + .5;
-    if (count <= 0 || count > 1000000) {
-        if (count)
-            errorf("push_delta_accel invalid count %d %d %f %f %f %f %f %f %f %f"
-                   , sc->oid, count, clock_offset, dist, step_dist, start_pos
-                   , closest_height2, height, movez_r, accel_multiplier);
-        return 0;
-    }
-    check_expand(sc, step_dist > 0., count);
-
-    // Calculate each step time
-    uint64_t *qn = sc->queue_next, *end = &qn[count];
-    clock_offset += 0.5;
-    start_pos += movexy_r*closestxy_d;
-    height += .5 * step_dist;
-    while (qn < end) {
-        double relheight = movexy_r*height - movez_r*closestxy_d;
-        double v = safe_sqrt(closest_height2 - relheight*relheight);
-        double pos = start_pos + movez_r*height + (step_dist > 0. ? -v : v);
-        v = safe_sqrt(pos * accel_multiplier);
-        *qn++ = clock_offset + (accel_multiplier >= 0. ? v : -v);
-        height += step_dist;
-    }
-    sc->queue_next = qn;
-    return step_dist > 0. ? count : -count;
 }
 
 // Reset the internal state of the stepcompress object
-void
+int
 stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock)
 {
-    stepcompress_flush(sc, UINT64_MAX);
+    int ret = stepcompress_flush(sc, UINT64_MAX);
+    if (ret)
+        return ret;
     sc->last_step_clock = last_step_clock;
     sc->sdir = -1;
+    return 0;
+}
+
+// Indicate the stepper is in homing mode (or done homing if zero)
+int
+stepcompress_set_homing(struct stepcompress *sc, uint64_t homing_clock)
+{
+    int ret = stepcompress_flush(sc, UINT64_MAX);
+    if (ret)
+        return ret;
+    sc->homing_clock = homing_clock;
+    return 0;
 }
 
 // Queue an mcu command to go out in order with stepper commands
-void
+int
 stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len)
 {
-    stepcompress_flush(sc, UINT64_MAX);
+    int ret = stepcompress_flush(sc, UINT64_MAX);
+    if (ret)
+        return ret;
 
     struct queue_message *qm = message_alloc_and_encode(data, len);
-    qm->req_clock = sc->last_step_clock;
+    qm->req_clock = sc->homing_clock ?: sc->last_step_clock;
     list_add_tail(&qm->node, &sc->msg_queue);
+    return 0;
 }
 
-// Return the count of internal errors found
-uint32_t
-stepcompress_get_errors(struct stepcompress *sc)
+// Set the conversion rate of 'print_time' to mcu clock
+static void
+stepcompress_set_time(struct stepcompress *sc
+                      , double time_offset, double mcu_freq)
 {
-    return sc->errors;
+    sc->mcu_time_offset = time_offset;
+    sc->mcu_freq = mcu_freq;
+}
+
+
+/****************************************************************
+ * Queue management
+ ****************************************************************/
+
+struct queue_append {
+    struct stepcompress *sc;
+    uint32_t *qnext, *qend, last_step_clock_32;
+    double clock_offset;
+};
+
+// Maximium clock delta between messages in the queue
+#define CLOCK_DIFF_MAX (3<<28)
+
+// Create a cursor for inserting clock times into the queue
+static inline struct queue_append
+queue_append_start(struct stepcompress *sc, double print_time, double adjust)
+{
+    double print_clock = (print_time - sc->mcu_time_offset) * sc->mcu_freq;
+    return (struct queue_append) {
+        .sc = sc, .qnext = sc->queue_next, .qend = sc->queue_end,
+        .last_step_clock_32 = sc->last_step_clock,
+        .clock_offset = (print_clock - (double)sc->last_step_clock) + adjust };
+}
+
+// Finalize a cursor created with queue_append_start()
+static inline void
+queue_append_finish(struct queue_append qa)
+{
+    qa.sc->queue_next = qa.qnext;
+}
+
+// Slow path for queue_append()
+static int
+queue_append_slow(struct stepcompress *sc, double rel_sc)
+{
+    uint64_t abs_step_clock = (uint64_t)rel_sc + sc->last_step_clock;
+    if (abs_step_clock >= sc->last_step_clock + CLOCK_DIFF_MAX) {
+        // Avoid integer overflow on steps far in the future
+        int ret = stepcompress_flush(sc, abs_step_clock - CLOCK_DIFF_MAX + 1);
+        if (ret)
+            return ret;
+
+        if (abs_step_clock >= sc->last_step_clock + CLOCK_DIFF_MAX)
+            return stepcompress_flush_far(sc, abs_step_clock);
+    }
+
+    if (sc->queue_next - sc->queue_pos > 65535 + 2000) {
+        // No point in keeping more than 64K steps in memory
+        int ret = stepcompress_flush(sc, *(sc->queue_next - 65535));
+        if (ret)
+            return ret;
+    }
+
+    int in_use = sc->queue_next - sc->queue_pos;
+    if (sc->queue_pos > sc->queue) {
+        // Shuffle the internal queue to avoid having to allocate more ram
+        memmove(sc->queue, sc->queue_pos, in_use * sizeof(*sc->queue));
+    } else {
+        // Expand the internal queue of step times
+        int alloc = sc->queue_end - sc->queue;
+        if (!alloc)
+            alloc = QUEUE_START_SIZE;
+        while (in_use >= alloc)
+            alloc *= 2;
+        sc->queue = realloc(sc->queue, alloc * sizeof(*sc->queue));
+        sc->queue_end = sc->queue + alloc;
+    }
+    sc->queue_pos = sc->queue;
+    sc->queue_next = sc->queue + in_use;
+    *sc->queue_next++ = abs_step_clock;
+    return 0;
+}
+
+// Add a clock time to the queue (flushing the queue if needed)
+static inline int
+queue_append(struct queue_append *qa, double step_clock)
+{
+    double rel_sc = step_clock + qa->clock_offset;
+    if (likely(!(qa->qnext >= qa->qend || rel_sc >= (double)CLOCK_DIFF_MAX))) {
+        *qa->qnext++ = qa->last_step_clock_32 + (uint32_t)rel_sc;
+        return 0;
+    }
+    // Call queue_append_slow() to handle queue expansion and integer overflow
+    struct stepcompress *sc = qa->sc;
+    uint64_t old_last_step_clock = sc->last_step_clock;
+    sc->queue_next = qa->qnext;
+    int ret = queue_append_slow(sc, rel_sc);
+    if (ret)
+        return ret;
+    qa->qnext = sc->queue_next;
+    qa->qend = sc->queue_end;
+    qa->last_step_clock_32 = sc->last_step_clock;
+    qa->clock_offset -= sc->last_step_clock - old_last_step_clock;
+    return 0;
+}
+
+
+/****************************************************************
+ * Motion to step conversions
+ ****************************************************************/
+
+// Common suffixes: _sd is step distance (a unit length the same
+// distance the stepper moves on each step), _sv is step velocity (in
+// units of step distance per time), _sd2 is step distance squared, _r
+// is ratio (scalar usually between 0.0 and 1.0).  Times are in
+// seconds and acceleration is in units of step distance per second
+// squared.
+
+// Wrapper around sqrt() to handle small negative numbers
+static double
+_safe_sqrt(double v)
+{
+    // Due to floating point truncation, it's possible to get a small
+    // negative number - treat it as zero.
+    if (v < -0.001)
+        errorf("safe_sqrt of %.9f", v);
+    return 0.;
+}
+static inline double safe_sqrt(double v) {
+    return likely(v >= 0.) ? sqrt(v) : _safe_sqrt(v);
+}
+
+// Schedule a step event at the specified step_clock time
+int32_t
+stepcompress_push(struct stepcompress *sc, double print_time, int32_t sdir)
+{
+    int ret = set_next_step_dir(sc, !!sdir);
+    if (ret)
+        return ret;
+    struct queue_append qa = queue_append_start(sc, print_time, 0.5);
+    ret = queue_append(&qa, 0.);
+    if (ret)
+        return ret;
+    queue_append_finish(qa);
+    return sdir ? 1 : -1;
+}
+
+// Schedule 'steps' number of steps at constant acceleration. If
+// acceleration is zero (ie, constant velocity) it uses the formula:
+//  step_time = print_time + step_num/start_sv
+// Otherwise it uses the formula:
+//  step_time = (print_time + sqrt(2*step_num/accel + (start_sv/accel)**2)
+//               - start_sv/accel)
+int32_t
+stepcompress_push_const(
+    struct stepcompress *sc, double print_time
+    , double step_offset, double steps, double start_sv, double accel)
+{
+    // Calculate number of steps to take
+    int sdir = 1;
+    if (steps < 0) {
+        sdir = 0;
+        steps = -steps;
+        step_offset = -step_offset;
+    }
+    int count = steps + .5 - step_offset;
+    if (count <= 0 || count > 10000000) {
+        if (count && steps) {
+            errorf("push_const invalid count %d %f %f %f %f %f"
+                   , sc->oid, print_time, step_offset, steps
+                   , start_sv, accel);
+            return ERROR_RET;
+        }
+        return 0;
+    }
+    int ret = set_next_step_dir(sc, sdir);
+    if (ret)
+        return ret;
+    int res = sdir ? count : -count;
+
+    // Calculate each step time
+    if (!accel) {
+        // Move at constant velocity (zero acceleration)
+        struct queue_append qa = queue_append_start(sc, print_time, .5);
+        double inv_cruise_sv = sc->mcu_freq / start_sv;
+        double pos = (step_offset + .5) * inv_cruise_sv;
+        while (count--) {
+            ret = queue_append(&qa, pos);
+            if (ret)
+                return ret;
+            pos += inv_cruise_sv;
+        }
+        queue_append_finish(qa);
+    } else {
+        // Move with constant acceleration
+        double inv_accel = 1. / accel;
+        double accel_time = start_sv * inv_accel * sc->mcu_freq;
+        struct queue_append qa = queue_append_start(
+            sc, print_time, 0.5 - accel_time);
+        double accel_multiplier = 2. * inv_accel * sc->mcu_freq * sc->mcu_freq;
+        double pos = (step_offset + .5)*accel_multiplier + accel_time*accel_time;
+        while (count--) {
+            double v = safe_sqrt(pos);
+            int ret = queue_append(&qa, accel_multiplier >= 0. ? v : -v);
+            if (ret)
+                return ret;
+            pos += accel_multiplier;
+        }
+        queue_append_finish(qa);
+    }
+    return res;
+}
+
+// Schedule steps using delta kinematics
+static int32_t
+_stepcompress_push_delta(
+    struct stepcompress *sc, int sdir
+    , double print_time, double move_sd, double start_sv, double accel
+    , double height, double startxy_sd, double arm_sd, double movez_r)
+{
+    // Calculate number of steps to take
+    double movexy_r = movez_r ? sqrt(1. - movez_r*movez_r) : 1.;
+    double arm_sd2 = arm_sd * arm_sd;
+    double endxy_sd = startxy_sd - movexy_r*move_sd;
+    double end_height = safe_sqrt(arm_sd2 - endxy_sd*endxy_sd);
+    int count = (end_height + movez_r*move_sd - height) * (sdir ? 1. : -1.) + .5;
+    if (count <= 0 || count > 10000000) {
+        if (count) {
+            errorf("push_delta invalid count %d %d %f %f %f %f %f %f %f %f"
+                   , sc->oid, count, print_time, move_sd, start_sv, accel
+                   , height, startxy_sd, arm_sd, movez_r);
+            return ERROR_RET;
+        }
+        return 0;
+    }
+    int ret = set_next_step_dir(sc, sdir);
+    if (ret)
+        return ret;
+    int res = sdir ? count : -count;
+
+    // Calculate each step time
+    height += (sdir ? .5 : -.5);
+    if (!accel) {
+        // Move at constant velocity (zero acceleration)
+        struct queue_append qa = queue_append_start(sc, print_time, .5);
+        double inv_cruise_sv = sc->mcu_freq / start_sv;
+        if (!movez_r) {
+            // Optimized case for common XY only moves (no Z movement)
+            while (count--) {
+                double v = safe_sqrt(arm_sd2 - height*height);
+                double pos = startxy_sd + (sdir ? -v : v);
+                int ret = queue_append(&qa, pos * inv_cruise_sv);
+                if (ret)
+                    return ret;
+                height += (sdir ? 1. : -1.);
+            }
+        } else if (!movexy_r) {
+            // Optimized case for Z only moves
+            double pos = ((sdir ? height-end_height : end_height-height)
+                          * inv_cruise_sv);
+            while (count--) {
+                int ret = queue_append(&qa, pos);
+                if (ret)
+                    return ret;
+                pos += inv_cruise_sv;
+            }
+        } else {
+            // General case (handles XY+Z moves)
+            double start_pos = movexy_r*startxy_sd, zoffset = movez_r*startxy_sd;
+            while (count--) {
+                double relheight = movexy_r*height - zoffset;
+                double v = safe_sqrt(arm_sd2 - relheight*relheight);
+                double pos = start_pos + movez_r*height + (sdir ? -v : v);
+                int ret = queue_append(&qa, pos * inv_cruise_sv);
+                if (ret)
+                    return ret;
+                height += (sdir ? 1. : -1.);
+            }
+        }
+        queue_append_finish(qa);
+    } else {
+        // Move with constant acceleration
+        double start_pos = movexy_r*startxy_sd, zoffset = movez_r*startxy_sd;
+        double inv_accel = 1. / accel;
+        start_pos += 0.5 * start_sv*start_sv * inv_accel;
+        struct queue_append qa = queue_append_start(
+            sc, print_time, 0.5 - start_sv * inv_accel * sc->mcu_freq);
+        double accel_multiplier = 2. * inv_accel * sc->mcu_freq * sc->mcu_freq;
+        while (count--) {
+            double relheight = movexy_r*height - zoffset;
+            double v = safe_sqrt(arm_sd2 - relheight*relheight);
+            double pos = start_pos + movez_r*height + (sdir ? -v : v);
+            v = safe_sqrt(pos * accel_multiplier);
+            int ret = queue_append(&qa, accel_multiplier >= 0. ? v : -v);
+            if (ret)
+                return ret;
+            height += (sdir ? 1. : -1.);
+        }
+        queue_append_finish(qa);
+    }
+    return res;
+}
+
+int32_t
+stepcompress_push_delta(
+    struct stepcompress *sc, double print_time, double move_sd
+    , double start_sv, double accel
+    , double height, double startxy_sd, double arm_sd, double movez_r)
+{
+    double reversexy_sd = startxy_sd + arm_sd*movez_r;
+    if (reversexy_sd <= 0.)
+        // All steps are in down direction
+        return _stepcompress_push_delta(
+            sc, 0, print_time, move_sd, start_sv, accel
+            , height, startxy_sd, arm_sd, movez_r);
+    double movexy_r = movez_r ? sqrt(1. - movez_r*movez_r) : 1.;
+    if (reversexy_sd >= move_sd * movexy_r)
+        // All steps are in up direction
+        return _stepcompress_push_delta(
+            sc, 1, print_time, move_sd, start_sv, accel
+            , height, startxy_sd, arm_sd, movez_r);
+    // Steps in both up and down direction
+    int res1 = _stepcompress_push_delta(
+        sc, 1, print_time, reversexy_sd / movexy_r, start_sv, accel
+        , height, startxy_sd, arm_sd, movez_r);
+    if (res1 == ERROR_RET)
+        return res1;
+    int res2 = _stepcompress_push_delta(
+        sc, 0, print_time, move_sd, start_sv, accel
+        , height + res1, startxy_sd, arm_sd, movez_r);
+    if (res2 == ERROR_RET)
+        return res2;
+    return res1 + res2;
 }
 
 
@@ -629,6 +757,17 @@ steppersync_free(struct steppersync *ss)
     free(ss);
 }
 
+// Set the conversion rate of 'print_time' to mcu clock
+void
+steppersync_set_time(struct steppersync *ss, double time_offset, double mcu_freq)
+{
+    int i;
+    for (i=0; i<ss->sc_num; i++) {
+        struct stepcompress *sc = ss->sc_list[i];
+        stepcompress_set_time(sc, time_offset, mcu_freq);
+    }
+}
+
 // Implement a binary heap algorithm to track when the next available
 // 'struct move' in the mcu will be available
 static void
@@ -655,13 +794,16 @@ heap_replace(struct steppersync *ss, uint64_t req_clock)
 }
 
 // Find and transmit any scheduled steps prior to the given 'move_clock'
-void
+int
 steppersync_flush(struct steppersync *ss, uint64_t move_clock)
 {
     // Flush each stepcompress to the specified move_clock
     int i;
-    for (i=0; i<ss->sc_num; i++)
-        stepcompress_flush(ss->sc_list[i], move_clock);
+    for (i=0; i<ss->sc_num; i++) {
+        int ret = stepcompress_flush(ss->sc_list[i], move_clock);
+        if (ret)
+            return ret;
+    }
 
     // Order commands by the reqclock of each pending command
     struct list_head msgs;
@@ -701,4 +843,5 @@ steppersync_flush(struct steppersync *ss, uint64_t move_clock)
     // Transmit commands
     if (!list_empty(&msgs))
         serialqueue_send_batch(ss->sq, ss->cq, &msgs);
+    return 0;
 }

klippy/stepper.py

@@ -1,31 +1,100 @@
 # Printer stepper support
 #
-# Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2016,2017  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import math, logging
-import homing
+import homing, pins
 
 class PrinterStepper:
     def __init__(self, printer, config, name):
-        self.printer = printer
-        self.config = config
         self.name = name
-        self.mcu_stepper = self.mcu_enable = self.mcu_endstop = None
 
-        self.step_dist = config.getfloat('step_distance')
+        self.step_dist = config.getfloat('step_distance', above=0.)
         self.inv_step_dist = 1. / self.step_dist
         self.min_stop_interval = 0.
+        self.mcu_stepper = pins.setup_pin(
+            printer, 'stepper', config.get('step_pin'))
+        dir_pin_params = pins.get_printer_pins(printer).parse_pin_desc(
+            config.get('dir_pin'), can_invert=True)
+        self.mcu_stepper.setup_dir_pin(dir_pin_params)
+        self.mcu_stepper.setup_step_distance(self.step_dist)
 
-        self.homing_speed = config.getfloat('homing_speed', 5.0)
-        self.homing_positive_dir = config.getboolean(
-            'homing_positive_dir', False)
-        self.homing_retract_dist = config.getfloat('homing_retract_dist', 5.)
-        self.homing_stepper_phases = config.getint('homing_stepper_phases', None)
-        self.homing_endstop_phase = config.getint('homing_endstop_phase', None)
-        endstop_accuracy = config.getfloat('homing_endstop_accuracy', None)
-        self.homing_endstop_accuracy = None
+        enable_pin = config.get('enable_pin', None)
+        self.mcu_enable = None
+        if enable_pin is not None:
+            self.mcu_enable = pins.setup_pin(printer, 'digital_out', enable_pin)
+            self.mcu_enable.setup_max_duration(0.)
+        self.need_motor_enable = True
+    def _dist_to_time(self, dist, start_velocity, accel):
+        # Calculate the time it takes to travel a distance with constant accel
+        time_offset = start_velocity / accel
+        return math.sqrt(2. * dist / accel + time_offset**2) - time_offset
+    def set_max_jerk(self, max_halt_velocity, max_accel):
+        # Calculate the firmware's maximum halt interval time
+        last_step_time = self._dist_to_time(
+            self.step_dist, max_halt_velocity, max_accel)
+        second_last_step_time = self._dist_to_time(
+            2. * self.step_dist, max_halt_velocity, max_accel)
+        min_stop_interval = second_last_step_time - last_step_time
+        self.mcu_stepper.setup_min_stop_interval(min_stop_interval)
+    def motor_enable(self, print_time, enable=0):
+        if enable and self.need_motor_enable:
+            self.mcu_stepper.reset_step_clock(print_time)
+        if (self.mcu_enable is not None
+            and self.mcu_enable.get_last_setting() != enable):
+            self.mcu_enable.set_digital(print_time, enable)
+        self.need_motor_enable = not enable
+
+class PrinterHomingStepper(PrinterStepper):
+    def __init__(self, printer, config, name):
+        PrinterStepper.__init__(self, printer, config, name)
+
+        self.mcu_endstop = pins.setup_pin(
+            printer, 'endstop', config.get('endstop_pin'))
+        self.mcu_endstop.add_stepper(self.mcu_stepper)
+        self.position_min = config.getfloat('position_min', 0.)
+        self.position_max = config.getfloat(
+            'position_max', 0., above=self.position_min)
+        self.position_endstop = config.getfloat('position_endstop')
+
+        self.homing_speed = config.getfloat('homing_speed', 5.0, above=0.)
+        self.homing_positive_dir = config.getboolean('homing_positive_dir', None)
+        if self.homing_positive_dir is None:
+            axis_len = self.position_max - self.position_min
+            if self.position_endstop <= self.position_min + axis_len / 4.:
+                self.homing_positive_dir = False
+            elif self.position_endstop >= self.position_max - axis_len / 4.:
+                self.homing_positive_dir = True
+            else:
+                raise config.error(
+                    "Unable to infer homing_positive_dir in section '%s'" % (
+                        config.section,))
+        self.homing_retract_dist = config.getfloat(
+            'homing_retract_dist', 5., above=0.)
+        self.homing_stepper_phases = config.getint(
+            'homing_stepper_phases', None, minval=0)
+        endstop_accuracy = config.getfloat(
+            'homing_endstop_accuracy', None, above=0.)
+        self.homing_endstop_accuracy = self.homing_endstop_phase = None
         if self.homing_stepper_phases:
+            self.homing_endstop_phase = config.getint(
+                'homing_endstop_phase', None, minval=0
+                , maxval=self.homing_stepper_phases-1)
+            if self.homing_endstop_phase is not None:
+                # Adjust the endstop position so 0.0 is always at a full step
+                micro_steps = self.homing_stepper_phases // 4
+                phase_offset = (
+                    ((self.homing_endstop_phase + micro_steps // 2) % micro_steps)
+                    - micro_steps // 2) * self.step_dist
+                full_step = micro_steps * self.step_dist
+                es_pos = (int(self.position_endstop / full_step + .5) * full_step
+                          + phase_offset)
+                if es_pos != self.position_endstop:
+                    logging.info("Changing %s endstop position to %.3f"
+                                 " (from %.3f)", self.name, es_pos,
+                                 self.position_endstop)
+                    self.position_endstop = es_pos
             if endstop_accuracy is None:
                 self.homing_endstop_accuracy = self.homing_stepper_phases//2 - 1
             elif self.homing_endstop_phase is not None:
@@ -34,61 +103,26 @@ class PrinterStepper:
             else:
                 self.homing_endstop_accuracy = int(math.ceil(
                     endstop_accuracy * self.inv_step_dist))
-            if self.homing_endstop_accuracy >= self.homing_stepper_phases/2:
+            if self.homing_endstop_accuracy >= self.homing_stepper_phases // 2:
                 logging.info("Endstop for %s is not accurate enough for stepper"
-                             " phase adjustment" % (self.config.section,))
+                             " phase adjustment", name)
                 self.homing_stepper_phases = None
-        self.position_min = self.position_endstop = self.position_max = None
-        if config.get('endstop_pin', None) is not None:
-            self.position_min = config.getfloat('position_min', 0.)
-            self.position_endstop = config.getfloat('position_endstop')
-            self.position_max = config.getfloat('position_max', 0.)
-
-        self.need_motor_enable = True
-    def set_max_jerk(self, max_halt_velocity, max_accel):
-        jc = max_halt_velocity / max_accel
-        inv_max_step_accel = self.step_dist / max_accel
-        self.min_stop_interval = (math.sqrt(3.*inv_max_step_accel + jc**2)
-                                  - math.sqrt(inv_max_step_accel + jc**2))
-    def build_config(self):
-        max_error = self.config.getfloat('max_error', 0.000050)
-        step_pin = self.config.get('step_pin')
-        dir_pin = self.config.get('dir_pin')
-        min_stop_interval = max(0., self.min_stop_interval - max_error)
-        mcu = self.printer.mcu
-        self.mcu_stepper = mcu.create_stepper(
-            step_pin, dir_pin, min_stop_interval, max_error)
-        enable_pin = self.config.get('enable_pin', None)
-        if enable_pin is not None:
-            self.mcu_enable = mcu.create_digital_out(enable_pin, 0)
-        endstop_pin = self.config.get('endstop_pin', None)
-        if endstop_pin is not None:
-            self.mcu_endstop = mcu.create_endstop(endstop_pin, self.mcu_stepper)
-    def motor_enable(self, move_time, enable=0):
-        if enable and self.need_motor_enable:
-            mcu_time = self.mcu_stepper.print_to_mcu_time(move_time)
-            self.mcu_stepper.reset_step_clock(mcu_time)
-        if (self.mcu_enable is not None
-            and self.mcu_enable.get_last_setting() != enable):
-            mcu_time = self.mcu_enable.print_to_mcu_time(move_time)
-            self.mcu_enable.set_digital(mcu_time, enable)
-        self.need_motor_enable = not enable
-    def enable_endstop_checking(self, move_time, step_time):
-        mcu_time = self.mcu_endstop.print_to_mcu_time(move_time)
-        self.mcu_endstop.home_start(mcu_time, step_time)
-        return self.mcu_endstop
-    def query_endstop(self, print_time):
-        mcu_time = self.mcu_endstop.print_to_mcu_time(print_time)
-        self.mcu_endstop.query_endstop(mcu_time)
-        return self.mcu_endstop
+            if self.mcu_endstop.get_mcu().is_fileoutput():
+                self.homing_endstop_accuracy = self.homing_stepper_phases
+    def get_homing_speed(self):
+        # Round the configured homing speed so that it is an even
+        # number of ticks per step.
+        adjusted_freq = self.mcu_stepper.get_mcu().get_adjusted_freq()
+        dist_ticks = adjusted_freq * self.step_dist
+        ticks_per_step = round(dist_ticks / self.homing_speed)
+        return dist_ticks / ticks_per_step
     def get_homed_offset(self):
         if not self.homing_stepper_phases or self.need_motor_enable:
             return 0
         pos = self.mcu_stepper.get_mcu_position()
         pos %= self.homing_stepper_phases
         if self.homing_endstop_phase is None:
-            logging.info("Setting %s endstop phase to %d" % (
-                self.config.section, pos))
+            logging.info("Setting %s endstop phase to %d", self.name, pos)
             self.homing_endstop_phase = pos
             return 0
         delta = (pos - self.homing_endstop_phase) % self.homing_stepper_phases
@@ -98,4 +132,4 @@ class PrinterStepper:
             raise homing.EndstopError(
                 "Endstop %s incorrect phase (got %d vs %d)" % (
                     self.name, pos, self.homing_endstop_phase))
-        return delta
+        return delta * self.step_dist

klippy/toolhead.py

@@ -3,148 +3,174 @@
 # Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import math, logging, time
-import cartesian, delta
-
-EXTRUDE_DIFF_IGNORE = 1.02
+import math, logging
+import mcu, homing, cartesian, corexy, delta, extruder
 
 # Common suffixes: _d is distance (in mm), _v is velocity (in
-#   mm/second), _t is time (in seconds), _r is ratio (scalar between
-#   0.0 and 1.0)
+#   mm/second), _v2 is velocity squared (mm^2/s^2), _t is time (in
+#   seconds), _r is ratio (scalar between 0.0 and 1.0)
 
 # Class to track each move request
 class Move:
-    def __init__(self, toolhead, start_pos, end_pos, speed, accel):
+    def __init__(self, toolhead, start_pos, end_pos, speed):
         self.toolhead = toolhead
         self.start_pos = tuple(start_pos)
         self.end_pos = tuple(end_pos)
-        self.accel = accel
-        self.do_calc_junction = True
+        self.accel = toolhead.max_accel
+        self.is_kinematic_move = True
         self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
-        if axes_d[2]:
-            # Move with Z
-            move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
-            self.do_calc_junction = False
-        else:
-            move_d = math.sqrt(axes_d[0]**2 + axes_d[1]**2)
+        self.move_d = move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
         if not move_d:
             # Extrude only move
-                move_d = abs(axes_d[3])
-                if not move_d:
-                    # No move
-                    self.move_d = 0.
-                    return
-                self.do_calc_junction = False
-        self.move_d = move_d
-        self.extrude_r = axes_d[3] / move_d
-        # Junction speeds are velocities squared.  The junction_delta
-        # is the maximum amount of this squared-velocity that can
-        # change in this move.
-        self.junction_max = speed**2
-        self.junction_delta = 2.0 * move_d * accel
-        self.junction_start_max = 0.
+            self.move_d = move_d = abs(axes_d[3])
+            self.is_kinematic_move = False
+        self.min_move_t = move_d / speed
+        # Junction speeds are tracked in velocity squared.  The
+        # delta_v2 is the maximum amount of this squared-velocity that
+        # can change in this move.
+        self.max_start_v2 = 0.
+        self.max_cruise_v2 = speed**2
+        self.delta_v2 = 2.0 * move_d * self.accel
+        self.max_smoothed_v2 = 0.
+        self.smooth_delta_v2 = 2.0 * move_d * toolhead.max_accel_to_decel
     def limit_speed(self, speed, accel):
-        self.junction_max = min(self.junction_max, speed**2)
+        speed2 = speed**2
+        if speed2 < self.max_cruise_v2:
+            self.max_cruise_v2 = speed2
+            self.min_move_t = self.move_d / speed
         self.accel = min(self.accel, accel)
-        self.junction_delta = 2.0 * self.move_d * self.accel
+        self.delta_v2 = 2.0 * self.move_d * self.accel
+        self.smooth_delta_v2 = min(self.smooth_delta_v2, self.delta_v2)
     def calc_junction(self, prev_move):
-        if not self.do_calc_junction or not prev_move.do_calc_junction:
+        if not self.is_kinematic_move or not prev_move.is_kinematic_move:
             return
-        # Find max junction_start_velocity between two moves
-        if (self.extrude_r > prev_move.extrude_r * EXTRUDE_DIFF_IGNORE
-            or prev_move.extrude_r > self.extrude_r * EXTRUDE_DIFF_IGNORE):
-            # Extrude ratio between moves is too different
-            return
-        self.extrude_r = prev_move.extrude_r
+        # Allow extruder to calculate its maximum junction
+        extruder_v2 = self.toolhead.extruder.calc_junction(prev_move, self)
         # Find max velocity using approximated centripetal velocity as
         # described at:
         # https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/
-        junction_cos_theta = -((self.axes_d[0] * prev_move.axes_d[0]
-                                + self.axes_d[1] * prev_move.axes_d[1])
+        axes_d = self.axes_d
+        prev_axes_d = prev_move.axes_d
+        junction_cos_theta = -((axes_d[0] * prev_axes_d[0]
+                                + axes_d[1] * prev_axes_d[1]
+                                + axes_d[2] * prev_axes_d[2])
                                / (self.move_d * prev_move.move_d))
         if junction_cos_theta > 0.999999:
             return
         junction_cos_theta = max(junction_cos_theta, -0.999999)
         sin_theta_d2 = math.sqrt(0.5*(1.0-junction_cos_theta))
         R = self.toolhead.junction_deviation * sin_theta_d2 / (1. - sin_theta_d2)
-        self.junction_start_max = min(
-            R * self.accel, self.junction_max, prev_move.junction_max
-            , prev_move.junction_start_max + prev_move.junction_delta)
-    def process(self, junction_start, junction_cruise, junction_end
-                , cornering_min, cornering_max):
+        self.max_start_v2 = min(
+            R * self.accel, R * prev_move.accel, extruder_v2
+            , self.max_cruise_v2, prev_move.max_cruise_v2
+            , prev_move.max_start_v2 + prev_move.delta_v2)
+        self.max_smoothed_v2 = min(
+            self.max_start_v2
+            , prev_move.max_smoothed_v2 + prev_move.smooth_delta_v2)
+    def set_junction(self, start_v2, cruise_v2, end_v2):
         # Determine accel, cruise, and decel portions of the move distance
-        inv_junction_delta = 1. / self.junction_delta
-        accel_r = (junction_cruise-junction_start) * inv_junction_delta
-        decel_r = (junction_cruise-junction_end) * inv_junction_delta
-        cruise_r = 1. - accel_r - decel_r
-        self.accel_r, self.cruise_r, self.decel_r = accel_r, cruise_r, decel_r
+        inv_delta_v2 = 1. / self.delta_v2
+        self.accel_r = accel_r = (cruise_v2 - start_v2) * inv_delta_v2
+        self.decel_r = decel_r = (cruise_v2 - end_v2) * inv_delta_v2
+        self.cruise_r = cruise_r = 1. - accel_r - decel_r
         # Determine move velocities
-        start_v = math.sqrt(junction_start)
-        cruise_v = math.sqrt(junction_cruise)
-        end_v = math.sqrt(junction_end)
-        self.start_v, self.cruise_v, self.end_v = start_v, cruise_v, end_v
-        self.corner_min = math.sqrt(cornering_min)
-        self.corner_max = math.sqrt(cornering_max)
+        self.start_v = start_v = math.sqrt(start_v2)
+        self.cruise_v = cruise_v = math.sqrt(cruise_v2)
+        self.end_v = end_v = math.sqrt(end_v2)
         # Determine time spent in each portion of move (time is the
         # distance divided by average velocity)
-        accel_t = accel_r * self.move_d / ((start_v + cruise_v) * 0.5)
-        cruise_t = cruise_r * self.move_d / cruise_v
-        decel_t = decel_r * self.move_d / ((end_v + cruise_v) * 0.5)
-        self.accel_t, self.cruise_t, self.decel_t = accel_t, cruise_t, decel_t
+        self.accel_t = accel_r * self.move_d / ((start_v + cruise_v) * 0.5)
+        self.cruise_t = cruise_r * self.move_d / cruise_v
+        self.decel_t = decel_r * self.move_d / ((end_v + cruise_v) * 0.5)
+    def move(self):
         # Generate step times for the move
         next_move_time = self.toolhead.get_next_move_time()
+        if self.is_kinematic_move:
             self.toolhead.kin.move(next_move_time, self)
         if self.axes_d[3]:
             self.toolhead.extruder.move(next_move_time, self)
-        self.toolhead.update_move_time(accel_t + cruise_t + decel_t)
+        self.toolhead.update_move_time(
+            self.accel_t + self.cruise_t + self.decel_t)
+
+LOOKAHEAD_FLUSH_TIME = 0.250
 
 # Class to track a list of pending move requests and to facilitate
 # "look-ahead" across moves to reduce acceleration between moves.
 class MoveQueue:
     def __init__(self):
+        self.extruder_lookahead = None
         self.queue = []
-        self.junction_flush = 0.
+        self.leftover = 0
+        self.junction_flush = LOOKAHEAD_FLUSH_TIME
     def reset(self):
         del self.queue[:]
+        self.leftover = 0
+        self.junction_flush = LOOKAHEAD_FLUSH_TIME
+    def set_flush_time(self, flush_time):
+        self.junction_flush = flush_time
+    def set_extruder(self, extruder):
+        self.extruder_lookahead = extruder.lookahead
     def flush(self, lazy=False):
-        flush_count = len(self.queue)
-        move_info = [None] * flush_count
+        self.junction_flush = LOOKAHEAD_FLUSH_TIME
+        update_flush_count = lazy
+        queue = self.queue
+        flush_count = len(queue)
         # Traverse queue from last to first move and determine maximum
         # junction speed assuming the robot comes to a complete stop
         # after the last move.
-        next_junction_end = cornering_min = cornering_max = 0.
-        for i in range(flush_count-1, -1, -1):
-            move = self.queue[i]
-            reachable_start = next_junction_end + move.junction_delta
-            junction_start = min(move.junction_start_max, reachable_start)
-            junction_cruise = min((junction_start + reachable_start) * .5
-                                  , move.junction_max)
-            move_info[i] = (junction_start, junction_cruise, next_junction_end
-                            , cornering_min, cornering_max)
-            if reachable_start > junction_start:
-                cornering_min = junction_start
-                if junction_start + move.junction_delta > next_junction_end:
-                    cornering_max = junction_cruise
-                    if lazy:
+        delayed = []
+        next_end_v2 = next_smoothed_v2 = peak_cruise_v2 = 0.
+        for i in range(flush_count-1, self.leftover-1, -1):
+            move = queue[i]
+            reachable_start_v2 = next_end_v2 + move.delta_v2
+            start_v2 = min(move.max_start_v2, reachable_start_v2)
+            reachable_smoothed_v2 = next_smoothed_v2 + move.smooth_delta_v2
+            smoothed_v2 = min(move.max_smoothed_v2, reachable_smoothed_v2)
+            if smoothed_v2 < reachable_smoothed_v2:
+                # It's possible for this move to accelerate
+                if (smoothed_v2 + move.smooth_delta_v2 > next_smoothed_v2
+                    or delayed):
+                    # This move can decelerate or this is a full accel
+                    # move after a full decel move
+                    if update_flush_count and peak_cruise_v2:
                         flush_count = i
-                        lazy = False
-            next_junction_end = junction_start
-        if lazy:
-            flush_count = 0
+                        update_flush_count = False
+                    peak_cruise_v2 = min(move.max_cruise_v2, (
+                        smoothed_v2 + reachable_smoothed_v2) * .5)
+                    if delayed:
+                        # Propagate peak_cruise_v2 to any delayed moves
+                        if not update_flush_count and i < flush_count:
+                            for m, ms_v2, me_v2 in delayed:
+                                mc_v2 = min(peak_cruise_v2, ms_v2)
+                                m.set_junction(min(ms_v2, mc_v2), mc_v2
+                                               , min(me_v2, mc_v2))
+                        del delayed[:]
+                if not update_flush_count and i < flush_count:
+                    cruise_v2 = min((start_v2 + reachable_start_v2) * .5
+                                    , move.max_cruise_v2, peak_cruise_v2)
+                    move.set_junction(min(start_v2, cruise_v2), cruise_v2
+                                      , min(next_end_v2, cruise_v2))
+            else:
+                # Delay calculating this move until peak_cruise_v2 is known
+                delayed.append((move, start_v2, next_end_v2))
+            next_end_v2 = start_v2
+            next_smoothed_v2 = smoothed_v2
+        if update_flush_count:
+            return
+        # Allow extruder to do its lookahead
+        move_count = self.extruder_lookahead(queue, flush_count, lazy)
         # Generate step times for all moves ready to be flushed
-        for i in range(flush_count):
-            self.queue[i].process(*move_info[i])
+        for move in queue[:move_count]:
+            move.move()
         # Remove processed moves from the queue
-        del self.queue[:flush_count]
-        if self.queue:
-            self.junction_flush = 2. * self.queue[-1].junction_max
+        self.leftover = flush_count - move_count
+        del queue[:move_count]
     def add_move(self, move):
         self.queue.append(move)
         if len(self.queue) == 1:
-            self.junction_flush = 2. * move.junction_max
             return
         move.calc_junction(self.queue[-2])
-        self.junction_flush -= move.junction_delta
+        self.junction_flush -= move.min_move_t
         if self.junction_flush <= 0.:
             # There are enough queued moves to return to zero velocity
             # from the first move's maximum possible velocity, so at
@@ -158,113 +184,142 @@ class ToolHead:
     def __init__(self, printer, config):
         self.printer = printer
         self.reactor = printer.reactor
-        self.extruder = printer.objects.get('extruder')
-        kintypes = {'cartesian': cartesian.CartKinematics,
-                    'delta': delta.DeltaKinematics}
-        self.kin = config.getchoice('kinematics', kintypes)(printer, config)
-        self.max_speed = config.getfloat('max_velocity')
-        self.max_accel = config.getfloat('max_accel')
-        self.junction_deviation = config.getfloat('junction_deviation', 0.02)
+        self.all_mcus = mcu.get_printer_mcus(printer)
+        self.mcu = self.all_mcus[0]
+        self.max_velocity = config.getfloat('max_velocity', above=0.)
+        self.max_accel = config.getfloat('max_accel', above=0.)
+        self.max_accel_to_decel = config.getfloat(
+            'max_accel_to_decel', self.max_accel * 0.5
+            , above=0., maxval=self.max_accel)
+        self.junction_deviation = config.getfloat(
+            'junction_deviation', 0.02, above=0.)
         self.move_queue = MoveQueue()
         self.commanded_pos = [0., 0., 0., 0.]
         # Print time tracking
-        self.buffer_time_high = config.getfloat('buffer_time_high', 5.000)
-        self.buffer_time_low = config.getfloat('buffer_time_low', 0.150)
-        self.move_flush_time = config.getfloat('move_flush_time', 0.050)
-        self.motor_off_delay = config.getfloat('motor_off_time', 60.000)
+        self.buffer_time_low = config.getfloat(
+            'buffer_time_low', 1.000, above=0.)
+        self.buffer_time_high = config.getfloat(
+            'buffer_time_high', 2.000, above=self.buffer_time_low)
+        self.buffer_time_start = config.getfloat(
+            'buffer_time_start', 0.250, above=0.)
+        self.move_flush_time = config.getfloat(
+            'move_flush_time', 0.050, above=0.)
         self.print_time = 0.
         self.need_check_stall = -1.
-        self.print_time_stall = 0
-        self.motor_off_time = self.reactor.NEVER
+        self.print_stall = 0
+        self.sync_print_time = True
+        self.last_flush_from_idle = False
         self.flush_timer = self.reactor.register_timer(self._flush_handler)
-    def build_config(self):
-        self.kin.set_max_jerk(0.005 * self.max_accel, self.max_accel) # XXX
-        self.kin.build_config()
+        self.move_queue.set_flush_time(self.buffer_time_high)
+        # Motor off tracking
+        self.need_motor_off = False
+        self.motor_off_time = config.getfloat('motor_off_time', 600., above=0.)
+        self.motor_off_timer = self.reactor.register_timer(
+            self._motor_off_handler, self.reactor.NOW)
+        # Create kinematics class
+        self.extruder = extruder.DummyExtruder()
+        self.move_queue.set_extruder(self.extruder)
+        kintypes = {'cartesian': cartesian.CartKinematics,
+                    'corexy': corexy.CoreXYKinematics,
+                    'delta': delta.DeltaKinematics}
+        self.kin = config.getchoice('kinematics', kintypes)(
+            self, printer, config)
     # Print time tracking
     def update_move_time(self, movetime):
         self.print_time += movetime
         flush_to_time = self.print_time - self.move_flush_time
-        self.printer.mcu.flush_moves(flush_to_time)
+        for m in self.all_mcus:
+            m.flush_moves(flush_to_time)
     def get_next_move_time(self):
-        if not self.print_time:
-            self.print_time = self.buffer_time_low + STALL_TIME
-            curtime = time.time()
-            self.printer.mcu.set_print_start_time(curtime)
+        if not self.sync_print_time:
+            return self.print_time
+        self.sync_print_time = False
+        est_print_time = self.mcu.estimated_print_time(self.reactor.monotonic())
+        if self.last_flush_from_idle and self.print_time > est_print_time:
+            self.print_stall += 1
+        self.last_flush_from_idle = False
+        self.need_motor_off = True
+        self.print_time = max(
+            self.print_time, est_print_time + self.buffer_time_start)
         self.reactor.update_timer(self.flush_timer, self.reactor.NOW)
         return self.print_time
-    def get_last_move_time(self):
+    def _flush_lookahead(self, must_sync=False):
+        sync_print_time = self.sync_print_time
         self.move_queue.flush()
-        return self.get_next_move_time()
-    def reset_motor_off_time(self, eventtime):
-        self.motor_off_time = eventtime + self.motor_off_delay
-    def reset_print_time(self):
-        self.move_queue.flush()
-        self.printer.mcu.flush_moves(self.print_time)
-        self.print_time = 0.
+        self.last_flush_from_idle = False
+        if sync_print_time or must_sync:
+            self.sync_print_time = True
+            self.move_queue.set_flush_time(self.buffer_time_high)
             self.need_check_stall = -1.
-        self.reset_motor_off_time(time.time())
-        self.reactor.update_timer(self.flush_timer, self.motor_off_time)
+            self.reactor.update_timer(self.flush_timer, self.reactor.NEVER)
+            for m in self.all_mcus:
+                m.flush_moves(self.print_time)
+    def get_last_move_time(self):
+        self._flush_lookahead()
+        return self.get_next_move_time()
+    def reset_print_time(self, min_print_time=0.):
+        self._flush_lookahead(must_sync=True)
+        self.print_time = max(min_print_time, self.mcu.estimated_print_time(
+            self.reactor.monotonic()))
     def _check_stall(self):
-        if not self.print_time:
-            # XXX - find better way to flush initial move_queue items
-            if self.move_queue.queue:
-                self.reactor.update_timer(self.flush_timer, time.time() + 0.100)
+        eventtime = self.reactor.monotonic()
+        if self.sync_print_time:
+            # Building initial queue - make sure to flush on idle input
+            self.reactor.update_timer(self.flush_timer, eventtime + 0.100)
             return
-        eventtime = time.time()
+        # Check if there are lots of queued moves and stall if so
         while 1:
-            buffer_time = self.printer.mcu.get_print_buffer_time(
-                eventtime, self.print_time)
+            est_print_time = self.mcu.estimated_print_time(eventtime)
+            buffer_time = self.print_time - est_print_time
             stall_time = buffer_time - self.buffer_time_high
             if stall_time <= 0.:
                 break
-            eventtime = self.reactor.pause(eventtime + stall_time)
-            if not self.print_time:
+            if self.mcu.is_fileoutput():
+                self.need_check_stall = self.reactor.NEVER
                 return
-        self.need_check_stall = self.print_time - stall_time + 0.100
+            eventtime = self.reactor.pause(eventtime + min(1., stall_time))
+        self.need_check_stall = est_print_time + self.buffer_time_high + 0.100
     def _flush_handler(self, eventtime):
         try:
-            if not self.print_time:
-                self.move_queue.flush()
-                if not self.print_time:
-                    if eventtime >= self.motor_off_time:
-                        self.motor_off()
-                        self.reset_print_time()
-                        self.motor_off_time = self.reactor.NEVER
-                    return self.motor_off_time
             print_time = self.print_time
-            buffer_time = self.printer.mcu.get_print_buffer_time(
-                eventtime, print_time)
+            buffer_time = print_time - self.mcu.estimated_print_time(eventtime)
             if buffer_time > self.buffer_time_low:
+                # Running normally - reschedule check
                 return eventtime + buffer_time - self.buffer_time_low
-            self.move_queue.flush()
+            # Under ran low buffer mark - flush lookahead queue
+            self._flush_lookahead(must_sync=True)
             if print_time != self.print_time:
-                self.print_time_stall += 1
-                self.dwell(self.buffer_time_low + STALL_TIME)
-                return self.reactor.NOW
-            self.reset_print_time()
-            return self.motor_off_time
+                self.last_flush_from_idle = True
         except:
             logging.exception("Exception in flush_handler")
-            self.force_shutdown()
-    def stats(self, eventtime):
-        buffer_time = 0.
-        if self.print_time:
-            buffer_time = self.printer.mcu.get_print_buffer_time(
-                eventtime, self.print_time)
-        return "print_time=%.3f buffer_time=%.3f print_time_stall=%d" % (
-            self.print_time, buffer_time, self.print_time_stall)
+            self.printer.invoke_shutdown("Exception in flush_handler")
+        return self.reactor.NEVER
+    # Motor off timer
+    def _motor_off_handler(self, eventtime):
+        if not self.need_motor_off or not self.sync_print_time:
+            return eventtime + self.motor_off_time
+        elapsed_time = self.mcu.estimated_print_time(eventtime) - self.print_time
+        if elapsed_time < self.motor_off_time:
+            return eventtime + self.motor_off_time - elapsed_time
+        try:
+            self.motor_off()
+        except:
+            logging.exception("Exception in motor_off_handler")
+            self.printer.invoke_shutdown("Exception in motor_off_handler")
+        return eventtime + self.motor_off_time
     # Movement commands
     def get_position(self):
         return list(self.commanded_pos)
     def set_position(self, newpos):
-        self.move_queue.flush()
+        self._flush_lookahead()
         self.commanded_pos[:] = newpos
         self.kin.set_position(newpos)
     def move(self, newpos, speed):
-        speed = min(speed, self.max_speed)
-        move = Move(self, self.commanded_pos, newpos, speed, self.max_accel)
+        speed = min(speed, self.max_velocity)
+        move = Move(self, self.commanded_pos, newpos, speed)
         if not move.move_d:
             return
+        if move.is_kinematic_move:
             self.kin.check_move(move)
         if move.axes_d[3]:
             self.extruder.check_move(move)
@@ -284,10 +339,52 @@ class ToolHead:
         self.kin.motor_off(last_move_time)
         self.extruder.motor_off(last_move_time)
         self.dwell(STALL_TIME)
-        logging.debug('; Max time of %f' % (last_move_time,))
-    def query_endstops(self):
+        self.need_motor_off = False
+        logging.debug('; Max time of %f', last_move_time)
+    def wait_moves(self):
+        self._flush_lookahead()
+        if self.mcu.is_fileoutput():
+            return
+        eventtime = self.reactor.monotonic()
+        while (not self.sync_print_time
+               or self.print_time >= self.mcu.estimated_print_time(eventtime)):
+            eventtime = self.reactor.pause(eventtime + 0.100)
+    def query_endstops(self, query_flags=""):
         last_move_time = self.get_last_move_time()
-        return self.kin.query_endstops(last_move_time)
-    def force_shutdown(self):
-        self.printer.mcu.force_shutdown()
+        return self.kin.query_endstops(last_move_time, query_flags)
+    def set_extruder(self, extruder):
+        last_move_time = self.get_last_move_time()
+        self.extruder.set_active(last_move_time, False)
+        extrude_pos = extruder.set_active(last_move_time, True)
+        self.extruder = extruder
+        self.move_queue.set_extruder(extruder)
+        self.commanded_pos[3] = extrude_pos
+    # Misc commands
+    def check_active(self, eventtime):
+        for m in self.all_mcus:
+            m.check_active(self.print_time, eventtime)
+        if not self.sync_print_time:
+            return True
+        return self.print_time + 60. > self.mcu.estimated_print_time(eventtime)
+    def stats(self, eventtime):
+        est_print_time = self.mcu.estimated_print_time(eventtime)
+        buffer_time = max(0., self.print_time - est_print_time)
+        return "print_time=%.3f buffer_time=%.3f print_stall=%d" % (
+            self.print_time, buffer_time, self.print_stall)
+    def do_shutdown(self):
+        try:
             self.move_queue.reset()
+            self.reset_print_time()
+        except:
+            logging.exception("Exception in do_shutdown")
+    def get_max_velocity(self):
+        return self.max_velocity, self.max_accel
+    def get_max_axis_halt(self):
+        # Determine the maximum velocity a cartesian axis could halt
+        # at due to the junction_deviation setting.  The 8.0 was
+        # determined experimentally.
+        return min(self.max_velocity,
+                   math.sqrt(8. * self.junction_deviation * self.max_accel))
+
+def add_printer_objects(printer, config):
+    printer.add_object('toolhead', ToolHead(printer, config))

klippy/util.py

@@ -3,8 +3,8 @@
 # Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-
-import os, pty, fcntl, termios, signal
+import sys, os, pty, fcntl, termios, signal, logging
+import subprocess, traceback, shlex
 
 # Return the SIGINT interrupt handler back to the OS default
 def fix_sigint():
@@ -36,3 +36,34 @@ def create_pty(ptyname):
     old[3] = old[3] & ~termios.ECHO
     termios.tcsetattr(mfd, termios.TCSADRAIN, old)
     return mfd
+
+def get_cpu_info():
+    try:
+        f = open('/proc/cpuinfo', 'rb')
+        data = f.read()
+        f.close()
+    except OSError:
+        logging.debug("Exception on read /proc/cpuinfo: %s",
+                      traceback.format_exc())
+        return "?"
+    lines = [l.split(':', 1) for l in data.split('\n')]
+    lines = [(l[0].strip(), l[1].strip()) for l in lines if len(l) == 2]
+    core_count = [k for k, v in lines].count("processor")
+    model_name = dict(lines).get("model name", "?")
+    return "%d core %s" % (core_count, model_name)
+
+def get_git_version():
+    # Obtain version info from "git" program
+    gitdir = os.path.join(sys.path[0], '..')
+    if not os.path.exists(gitdir):
+        logging.debug("No '.git' file/directory found")
+        return "?"
+    prog = "git -C %s describe --tags --long --dirty" % (gitdir,)
+    try:
+        process = subprocess.Popen(shlex.split(prog), stdout=subprocess.PIPE)
+        output = process.communicate()[0]
+        retcode = process.poll()
+    except OSError:
+        logging.debug("Exception on run: %s", traceback.format_exc())
+        return "?"
+    return output.strip()

lib/README

@@ -3,10 +3,22 @@ This directory contains external library code.
 The pjrc_usb_serial directory contains code from:
   http://www.pjrc.com/teensy/usb_serial.html
 version 1.7 (extracted on 20160605). It has been modified to compile
-on recent versions of gcc. See usb_serial.patch for the modifications.
+on recent versions of gcc, to support asynchronous notification of
+incoming data, and to not use SOF interrupts. See usb_serial.patch for
+the modifications.
 
 The cmsis-sam3x8e directory contains code from the Arduino project:
   https://www.arduino.cc/
-version 1.5.1 (extracted on 20160608).  It has been modified to
-compile with gcc's LTO feature. See cmsis-sam3x8e.patch for the
-modifications.
+version 1.5.1 (extracted on 20160608). It has been modified to compile
+with gcc's LTO feature. See cmsis-sam3x8e.patch for the modifications.
+
+The hub-ctrl directory contains code from:
+  https://github.com/codazoda/hub-ctrl.c/
+revision 42095e522859059e8a5f4ec05c1e3def01a870a9.
+
+The pru_rpmsg directory contains code from:
+  https://github.com/dinuxbg/pru-gcc-examples
+revision 425a42d82006cf0aa24be27b483d2f6a41607489. The code is taken
+from the repo's hc-sr04-range-sensor directory. It has been modified
+so that the IEP definitions compile correctly. See pru_rpmsg.patch for
+the modifications.

lib/hub-ctrl/hub-ctrl.c

@@ -0,0 +1,412 @@
+/*
+ * Copyright (C) 2006 Free Software Initiative of Japan
+ *
+ * Author: NIIBE Yutaka  <gniibe at fsij.org>
+ *
+ * This file can be distributed under the terms and conditions of the
+ * GNU General Public License version 2 (or later).
+ *
+ */
+
+#include <errno.h>
+#include <usb.h>
+#include <stdio.h>
+#include <string.h>
+
+#define USB_RT_HUB			(USB_TYPE_CLASS | USB_RECIP_DEVICE)
+#define USB_RT_PORT			(USB_TYPE_CLASS | USB_RECIP_OTHER)
+#define USB_PORT_FEAT_POWER		8
+#define USB_PORT_FEAT_INDICATOR         22
+#define USB_DIR_IN			0x80		/* to host */
+
+#define COMMAND_SET_NONE  0
+#define COMMAND_SET_LED   1
+#define COMMAND_SET_POWER 2
+#define HUB_LED_GREEN 2
+
+static void
+usage (const char *progname)
+{
+  fprintf (stderr,
+	   "Usage: %s [{-h HUBNUM | -b BUSNUM -d DEVNUM}] \\\n"
+	   "          [-P PORT] [{-p [VALUE]|-l [VALUE]}]\n", progname);
+}
+
+static void
+exit_with_usage (const char *progname)
+{
+  usage (progname);
+  exit (1);
+}
+
+#define HUB_CHAR_LPSM		0x0003
+#define HUB_CHAR_PORTIND        0x0080
+
+struct usb_hub_descriptor {
+  unsigned char bDescLength;
+  unsigned char bDescriptorType;
+  unsigned char bNbrPorts;
+  unsigned char wHubCharacteristics[2];
+  unsigned char bPwrOn2PwrGood;
+  unsigned char bHubContrCurrent;
+  unsigned char data[0];
+};
+
+#define CTRL_TIMEOUT 1000
+#define USB_STATUS_SIZE 4
+
+#define MAX_HUBS 128
+struct hub_info {
+  int busnum, devnum;
+  struct usb_device *dev;
+  int nport;
+  int indicator_support;
+};
+
+static struct hub_info hubs[MAX_HUBS];
+static int number_of_hubs_with_feature;
+
+static void
+hub_port_status (usb_dev_handle *uh, int nport)
+{
+  int i;
+
+  printf(" Hub Port Status:\n");
+  for (i = 0; i < nport; i++)
+    {
+      char buf[USB_STATUS_SIZE];
+      int ret;
+
+      ret = usb_control_msg (uh,
+			     USB_ENDPOINT_IN | USB_TYPE_CLASS | USB_RECIP_OTHER,
+			     USB_REQ_GET_STATUS, 
+			     0, i + 1,
+			     buf, USB_STATUS_SIZE,
+			     CTRL_TIMEOUT);
+      if (ret < 0)
+	{
+	  fprintf (stderr,
+		   "cannot read port %d status, %s (%d)\n",
+		   i + 1, strerror(errno), errno);
+	  break;
+	}
+
+      printf("   Port %d: %02x%02x.%02x%02x", i + 1,
+	     buf[3], buf [2],
+	     buf[1], buf [0]);
+
+      printf("%s%s%s%s%s",
+	     (buf[2] & 0x10) ? " C_RESET" : "",
+	     (buf[2] & 0x08) ? " C_OC" : "",
+	     (buf[2] & 0x04) ? " C_SUSPEND" : "",
+	     (buf[2] & 0x02) ? " C_ENABLE" : "",
+	     (buf[2] & 0x01) ? " C_CONNECT" : "");
+
+      printf("%s%s%s%s%s%s%s%s%s%s\n",
+	     (buf[1] & 0x10) ? " indicator" : "",
+	     (buf[1] & 0x08) ? " test" : "",
+	     (buf[1] & 0x04) ? " highspeed" : "",
+	     (buf[1] & 0x02) ? " lowspeed" : "",
+	     (buf[1] & 0x01) ? " power" : "",
+	     (buf[0] & 0x10) ? " RESET" : "",
+	     (buf[0] & 0x08) ? " oc" : "",
+	     (buf[0] & 0x04) ? " suspend" : "",
+	     (buf[0] & 0x02) ? " enable" : "",
+	     (buf[0] & 0x01) ? " connect" : "");
+    }
+}
+
+static int
+usb_find_hubs (int listing, int verbose, int busnum, int devnum, int hub)
+{
+  struct usb_bus *busses;
+  struct usb_bus *bus;
+
+  number_of_hubs_with_feature = 0;
+  busses = usb_get_busses();
+  if (busses == NULL)
+    {
+      perror ("failed to access USB");
+      return -1;
+    }
+
+  for (bus = busses; bus; bus = bus->next)
+    {
+      struct usb_device *dev;
+
+      for (dev = bus->devices; dev; dev = dev->next)
+	{
+	  usb_dev_handle *uh;
+	  int print = 0;
+
+	  if (dev->descriptor.bDeviceClass != USB_CLASS_HUB)
+	    continue;
+
+	  if (listing
+	      || (verbose
+		  && ((atoi (bus->dirname) == busnum && dev->devnum == devnum)
+		      || hub == number_of_hubs_with_feature)))
+	    print = 1;
+
+	  uh = usb_open (dev);
+
+	  if (uh != NULL)
+	    {
+	      char buf[1024];
+	      int len;
+	      int nport;
+	      struct usb_hub_descriptor *uhd = (struct usb_hub_descriptor *)buf;
+	      if ((len = usb_control_msg (uh, USB_DIR_IN | USB_RT_HUB,
+					  USB_REQ_GET_DESCRIPTOR,
+					  USB_DT_HUB << 8, 0, 
+					  buf, sizeof (buf), CTRL_TIMEOUT))
+		  > sizeof (struct usb_hub_descriptor))
+		{
+		  if (!(uhd->wHubCharacteristics[0] & HUB_CHAR_PORTIND)
+		      && (uhd->wHubCharacteristics[0] & HUB_CHAR_LPSM) >= 2)
+		    continue;
+
+		  if (print)
+		    printf ("Hub #%d at %s:%03d\n",
+			    number_of_hubs_with_feature,
+			    bus->dirname, dev->devnum);
+
+		  switch ((uhd->wHubCharacteristics[0] & HUB_CHAR_LPSM))
+		    {
+		    case 0:
+		      if (print)
+			fprintf (stderr, " INFO: ganged switching.\n");
+		      break;
+		    case 1:
+		      if (print)
+			fprintf (stderr, " INFO: individual power switching.\n");
+		      break;
+		    case 2:
+		    case 3:
+		      if (print)
+			fprintf (stderr, " WARN: No power switching.\n");
+		      break;
+		    }
+
+		  if (print
+		      && !(uhd->wHubCharacteristics[0] & HUB_CHAR_PORTIND))
+		    fprintf (stderr, " WARN: Port indicators are NOT supported.\n");
+		}
+	      else
+		{
+		  perror ("Can't get hub descriptor");
+		  usb_close (uh);
+		  continue;
+		}
+
+	      nport = buf[2];
+	      hubs[number_of_hubs_with_feature].busnum = atoi (bus->dirname);
+	      hubs[number_of_hubs_with_feature].devnum = dev->devnum;
+	      hubs[number_of_hubs_with_feature].dev = dev;
+	      hubs[number_of_hubs_with_feature].indicator_support =
+		(uhd->wHubCharacteristics[0] & HUB_CHAR_PORTIND)? 1 : 0;
+	      hubs[number_of_hubs_with_feature].nport = nport;
+
+	      number_of_hubs_with_feature++;
+
+	      if (verbose)
+		hub_port_status (uh, nport);
+
+	      usb_close (uh);
+	    }
+	}
+    }
+
+  return number_of_hubs_with_feature;
+}
+
+int
+get_hub (int busnum, int devnum)
+{
+  int i;
+
+  for (i = 0; i < number_of_hubs_with_feature; i++)
+    if (hubs[i].busnum == busnum && hubs[i].devnum == devnum)
+      return i;
+
+  return -1;
+}
+
+/*
+ * HUB-CTRL  -  program to control port power/led of USB hub
+ *
+ *   # hub-ctrl                    // List hubs available
+ *   # hub-ctrl -P 1               // Power off at port 1
+ *   # hub-ctrl -P 1 -p 1          // Power on at port 1
+ *   # hub-ctrl -P 2 -l            // LED on at port 1
+ *
+ * Requirement: USB hub which implements port power control / indicator control
+ *
+ *      Work fine:
+ *         Elecom's U2H-G4S: www.elecom.co.jp (indicator depends on power)
+ *         04b4:6560
+ *
+ *	   Sanwa Supply's USB-HUB14GPH: www.sanwa.co.jp (indicators don't)
+ *
+ *	   Targus, Inc.'s PAUH212: www.targus.com (indicators don't)
+ *         04cc:1521
+ *
+ *	   Hawking Technology's UH214: hawkingtech.com (indicators don't)
+ *
+ */
+
+int
+main (int argc, const char *argv[])
+{
+  int busnum = 0, devnum = 0;
+  int cmd = COMMAND_SET_NONE;
+  int port = 1;
+  int value = 0;
+  int request, feature, index;
+  int result = 0;
+  int listing = 0;
+  int verbose = 0;
+  int hub = -1;
+  usb_dev_handle *uh = NULL;
+  int i;
+
+  if (argc == 1)
+    listing = 1;
+
+  for (i = 1; i < argc; i++)
+    if (argv[i][0] == '-')
+      switch (argv[i][1])
+	{
+	case 'h':
+	  if (++i >= argc || busnum > 0 || devnum > 0)
+	    exit_with_usage (argv[0]);
+	  hub = atoi (argv[i]);
+	  break;
+
+	case 'b':
+	  if (++i >= argc || hub >= 0)
+	    exit_with_usage (argv[0]);
+	  busnum = atoi (argv[i]);
+	  break;
+
+	case 'd':
+	  if (++i >= argc || hub >= 0)
+	    exit_with_usage (argv[0]);
+	  devnum = atoi (argv[i]);
+	  break;
+
+	case 'P':
+	  if (++i >= argc)
+	    exit_with_usage (argv[0]);
+	  port = atoi (argv[i]);
+	  break;
+
+	case 'l':
+	  if (cmd != COMMAND_SET_NONE)
+	    exit_with_usage (argv[0]);
+	  if (++i < argc)
+	    value = atoi (argv[i]);
+	  else
+	    value = HUB_LED_GREEN;
+	  cmd = COMMAND_SET_LED;
+	  break;
+
+	case 'p':
+	  if (cmd != COMMAND_SET_NONE)
+	    exit_with_usage (argv[0]);
+	  if (++i < argc)
+	    value = atoi (argv[i]);
+	  else
+	    value= 0;
+	  cmd = COMMAND_SET_POWER;
+	  break;
+
+	case 'v':
+	  verbose = 1;
+	  if (argc == 2)
+	    listing = 1;
+	  break;
+
+	default:
+	  exit_with_usage (argv[0]);
+	}
+    else
+      exit_with_usage (argv[0]);
+
+  if ((busnum > 0 && devnum <= 0) || (busnum <= 0 && devnum > 0))
+    /* BUS is specified, but DEV is'nt, or ... */
+    exit_with_usage (argv[0]);
+
+  /* Default is the hub #0 */
+  if (hub < 0 && busnum == 0)
+    hub = 0;
+
+  /* Default is POWER */
+  if (cmd == COMMAND_SET_NONE)
+    cmd = COMMAND_SET_POWER;
+
+  usb_init ();
+  usb_find_busses ();
+  usb_find_devices ();
+
+  if (usb_find_hubs (listing, verbose, busnum, devnum, hub) <= 0)
+    {
+      fprintf (stderr, "No hubs found.\n");
+      exit (1);
+    }
+
+  if (listing)
+    exit (0);
+
+  if (hub < 0)
+    hub = get_hub (busnum, devnum);
+
+  if (hub >= 0 && hub < number_of_hubs_with_feature)
+    uh = usb_open (hubs[hub].dev);
+
+  if (uh == NULL)
+    {
+      fprintf (stderr, "Device not found.\n");
+      result = 1;
+    }
+  else
+    {
+      if (cmd == COMMAND_SET_POWER)
+	if (value)
+	  {
+	    request = USB_REQ_SET_FEATURE;
+	    feature = USB_PORT_FEAT_POWER;
+	    index = port;
+	  }
+	else
+	  {
+	    request = USB_REQ_CLEAR_FEATURE;
+	    feature = USB_PORT_FEAT_POWER;
+	    index = port;
+	  }
+      else
+	{
+	  request = USB_REQ_SET_FEATURE;
+	  feature = USB_PORT_FEAT_INDICATOR;
+	  index = (value << 8) | port;
+	}
+
+      if (verbose)
+	printf ("Send control message (REQUEST=%d, FEATURE=%d, INDEX=%d)\n",
+		request, feature, index);
+
+      if (usb_control_msg (uh, USB_RT_PORT, request, feature, index,
+			   NULL, 0, CTRL_TIMEOUT) < 0)
+	{
+	  perror ("failed to control.\n");
+	  result = 1;
+	}
+
+      if (verbose)
+	hub_port_status (uh, hubs[hub].nport);
+
+      usb_close (uh);
+    }
+
+  exit (result);
+}

lib/pjrc_usb_serial/usb_serial.c

@@ -325,7 +325,7 @@ void usb_init(void)
         UDCON = 0;				// enable attach resistor
 	usb_configuration = 0;
 	cdc_line_rtsdtr = 0;
-        UDIEN = (1<<EORSTE)|(1<<SOFE);
+        UDIEN = (1<<EORSTE);
 	sei();
 }
 
@@ -359,6 +359,7 @@ int16_t usb_serial_getchar(void)
 			UEINTX = 0x6B;
 			goto retry;
 		}	
+		UEIENX = (1<<RXOUTE);
 		SREG = intr_state;
 		return -1;
 	}
@@ -775,7 +776,14 @@ static inline void usb_ack_out(void)
 //
 ISR(USB_COM_vect)
 {
-        uint8_t intbits;
+        uint8_t intbits = UEINT;
+        if (intbits & (1<<CDC_RX_ENDPOINT)) {
+                UENUM = CDC_RX_ENDPOINT;
+                UEIENX = 0;
+                extern void sched_wake_tasks(void);
+                sched_wake_tasks();
+                return;
+        }
 	const uint8_t *list;
         const uint8_t *cfg;
 	uint8_t i, n, len, en;

lib/pjrc_usb_serial/usb_serial.patch

@@ -1,5 +1,5 @@
---- usb_serial.c	2011-04-19 05:54:12.000000000 -0400
-+++ usb_serial.c	2016-06-04 23:48:52.590001697 -0400
+--- ../../../lib/pjrc/usb_serial/usb_serial.c	2011-04-19 05:54:12.000000000 -0400
++++ usb_serial.c	2017-08-07 11:32:47.106357362 -0400
 @@ -30,6 +30,7 @@
  // Version 1.6: fix zero length packet bug
  // Version 1.7: fix usb_serial_set_control
@@ -62,7 +62,24 @@
  	uint16_t	wValue;
  	uint16_t	wIndex;
  	const uint8_t	*addr;
-@@ -646,7 +647,9 @@
+@@ -324,7 +325,7 @@
+         UDCON = 0;				// enable attach resistor
+ 	usb_configuration = 0;
+ 	cdc_line_rtsdtr = 0;
+-        UDIEN = (1<<EORSTE)|(1<<SOFE);
++        UDIEN = (1<<EORSTE);
+ 	sei();
+ }
+ 
+@@ -358,6 +359,7 @@
+ 			UEINTX = 0x6B;
+ 			goto retry;
+ 		}	
++		UEIENX = (1<<RXOUTE);
+ 		SREG = intr_state;
+ 		return -1;
+ 	}
+@@ -646,7 +648,9 @@
  // communication
  uint32_t usb_serial_get_baud(void)
  {
@@ -73,3 +90,19 @@
  }
  uint8_t usb_serial_get_stopbits(void)
  {
+@@ -772,7 +776,14 @@
+ //
+ ISR(USB_COM_vect)
+ {
+-        uint8_t intbits;
++        uint8_t intbits = UEINT;
++        if (intbits & (1<<CDC_RX_ENDPOINT)) {
++                UENUM = CDC_RX_ENDPOINT;
++                UEIENX = 0;
++                extern void sched_wake_tasks(void);
++                sched_wake_tasks();
++                return;
++        }
+ 	const uint8_t *list;
+         const uint8_t *cfg;
+ 	uint8_t i, n, len, en;

lib/pru_rpmsg/include/ReadMe.txt

@@ -0,0 +1,25 @@
+Programmable Real-time Unit (PRU) Software Support Package
+------------------------------------------------------------
+============================================================
+   INCLUDE
+============================================================
+
+DESCRIPTION
+
+   This directory provides header files for PRU firmware.
+
+   For more details about these header files, visit:
+
+       http://processors.wiki.ti.com/index.php/PRU-ICSS_Header_Files
+
+
+
+ADDITIONAL RESOURCES
+
+   For more information about the PRU, visit:
+
+	PRU-ICSS Wiki            - http://processors.wiki.ti.com/index.php/PRU-ICSS
+	PRU Training Slides      - http://www.ti.com/sitarabootcamp
+	PRU Evaluation Hardware  - http://www.ti.com/tool/PRUCAPE
+        Support                  - http://e2e.ti.com
+

lib/pru_rpmsg/include/am335x/pru_cfg.h

@@ -0,0 +1,249 @@
+/*
+ * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *	* Redistributions of source code must retain the above copyright
+ *	  notice, this list of conditions and the following disclaimer.
+ *
+ *	* Redistributions in binary form must reproduce the above copyright
+ *	  notice, this list of conditions and the following disclaimer in the
+ *	  documentation and/or other materials provided with the
+ *	  distribution.
+ *
+ *	* Neither the name of Texas Instruments Incorporated nor the names of
+ *	  its contributors may be used to endorse or promote products derived
+ *	  from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _PRU_CFG_H_
+#define _PRU_CFG_H_
+
+/* PRU_CFG register set */
+typedef struct {
+
+	/* PRU_CFG_REVID register bit field */
+	union {
+		volatile uint32_t REVID;
+
+		volatile struct {
+			unsigned REVID : 32;
+		} REVID_bit;
+	};	// 0x0
+
+
+	/* PRU_CFG_SYSCFG register bit field */
+	union {
+		volatile uint32_t SYSCFG;
+
+		volatile struct {
+			unsigned IDLE_MODE : 2;
+			unsigned STANDBY_MODE : 2;
+			unsigned STANDBY_INIT : 1;
+			unsigned SUB_MWAIT : 1;
+			unsigned rsvd6 : 26;
+		} SYSCFG_bit;
+	};	// 0x4
+
+
+	/* PRU_CFG_GPCFG0 register bit field */
+	union {
+		volatile uint32_t GPCFG0;
+
+		volatile struct {
+			unsigned PRU0_GPI_MODE : 2;	// 1:0
+			unsigned PRU0_GPI_CLK_MODE : 1;	// 2
+			unsigned PRU0_GPI_DIV0 : 5;	// 7:3
+			unsigned PRU0_GPI_DIV1 : 5;	// 12:8
+			unsigned PRU0_GPI_SB : 1;	// 13
+			unsigned PRU0_GPO_MODE : 1;	// 14
+			unsigned PRU0_GPO_DIV0 : 5;	// 19:15
+			unsigned PRU0_GPO_DIV1 : 5;	// 24:20
+			unsigned PRU0_GPO_SH_SEL : 1;	// 25
+			unsigned rsvd26 : 6;		// 31:26
+		} GPCFG0_bit;
+	};	// 0x8
+
+
+	/* PRU_CFG_GPCFG1 register bit field */
+	union {
+		volatile uint32_t GPCFG1;
+
+		volatile struct {
+			unsigned PRU1_GPI_MODE : 2;	// 1:0
+			unsigned PRU1_GPI_CLK_MODE : 1;	// 2
+			unsigned PRU1_GPI_DIV0 : 5;	// 7:3
+			unsigned PRU1_GPI_DIV1 : 5;	// 12:8
+			unsigned PRU1_GPI_SB : 1;	// 13
+			unsigned PRU1_GPO_MODE : 1;	// 14
+			unsigned PRU1_GPO_DIV0 : 5;	// 19:15
+			unsigned PRU1_GPO_DIV1 : 5;	// 24:20
+			unsigned PRU1_GPO_SH_SEL : 1;	// 25
+			unsigned rsvd26 : 6;		// 31:26
+		} GPCFG1_bit;
+	};	// 0xC
+
+
+	/* PRU_CFG_CGR register bit field */
+	union {
+		volatile uint32_t CGR;
+
+		volatile struct {
+			unsigned PRU0_CLK_STOP_REQ : 1;	// 0
+			unsigned PRU0_CLK_STOP_ACK : 1;	// 1
+			unsigned PRU0_CLK_EN : 1;	// 2
+			unsigned PRU1_CLK_STOP_REQ : 1;	// 3
+			unsigned PRU1_CLK_STOP_ACK : 1;	// 4
+			unsigned PRU1_CLK_EN : 1;	// 5
+			unsigned INTC_CLK_STOP_REQ : 1;	// 6
+			unsigned INTC_CLK_STOP_ACK : 1;	// 7
+			unsigned INTC_CLK_EN : 1;	// 8
+			unsigned UART_CLK_STOP_REQ : 1;	// 9
+			unsigned UART_CLK_STOP_ACK : 1;	// 10
+			unsigned UART_CLK_EN : 1;	// 11
+			unsigned ECAP_CLK_STOP_REQ : 1;	// 12
+			unsigned ECAP_CLK_STOP_ACK : 1;	// 13
+			unsigned ECAP_CLK_EN : 1;	// 14
+			unsigned IEP_CLK_STOP_REQ : 1;	// 15
+			unsigned IEP_CLK_STOP_ACK : 1;	// 16
+			unsigned IEP_CLK_EN : 1;	// 17
+			unsigned rsvd18 : 14;		// 31:18
+		} CGR_bit;
+	};	// 0x10
+
+
+	/* PRU_CFG_ISRP register bit field */
+	union {
+		volatile uint32_t ISRP;
+
+		volatile  struct {
+			unsigned PRU0_IMEM_PE_RAW : 4;	// 3:0
+			unsigned PRU0_DMEM_PE_RAW : 4;	// 7:4
+			unsigned PRU1_IMEM_PE_RAW : 4;	// 11:8
+			unsigned PRU1_DMEM_PE_RAW : 4;	// 15:12
+			unsigned RAM_PE_RAW : 4;	// 19:16
+			unsigned rsvd20 : 12;		// 31:20
+		} ISRP_bit;
+	};	// 0x14
+
+
+	/* PRU_CFG_ISP register bit field */
+	union {
+		volatile uint32_t ISP;
+
+		volatile  struct {
+			unsigned PRU0_IMEM_PE : 4;	// 3:0
+			unsigned PRU0_DMEM_PE : 4;	// 7:4
+			unsigned PRU1_IMEM_PE : 4;	// 11:8
+			unsigned PRU1_DMEM_PE : 4;	// 15:12
+			unsigned RAM_PE : 4;		// 19:16
+			unsigned rsvd20 : 12;		// 31:20
+		} ISP_bit;
+	};	// 0x18
+
+	/* PRU_CFG_IESP register bit field */
+	union {
+		volatile uint32_t IESP;
+
+		volatile struct {
+			unsigned PRU0_IMEM_PE_SET : 4;	// 3:0
+			unsigned PRU0_DMEM_PE_SET : 4;	// 7:4
+			unsigned PRU1_IMEM_PE_SET : 4;	// 11:8
+			unsigned PRU1_DMEM_PE_SET : 4;	// 15:12
+			unsigned RAM_PE_SET : 4;	// 19:16
+			unsigned rsvd20 : 12;		// 31:20
+		} IESP_bit;
+	};	// 0x1C
+
+
+	/* PRU_CFG_IECP register bit field */
+	union {
+		volatile uint32_t IECP;
+
+		volatile struct {
+			unsigned PRU0_IMEM_PE_CLR : 4;	// 3:0
+			unsigned PRU0_DMEM_PE_CLR : 4;	// 7:4
+			unsigned PRU1_IMEM_PE_CLR : 4;	// 11:8
+			unsigned PRU1_DMEM_PE_CLR : 4;	// 15:12
+			unsigned rsvd16 : 16;		// 31:16
+		} IECP_bit;
+	};	// 0x20
+
+
+	uint32_t rsvd24;	// 0x24
+
+
+	/* PRU_CFG_PMAO register bit field */
+	union {
+		volatile uint32_t PMAO;
+
+		volatile struct {
+			unsigned PMAO_PRU0 : 1;		// 0
+			unsigned PMAO_PRU1 : 1;		// 1
+			unsigned rsvd2 : 30;		// 31:2
+		} PMAO_bit;
+	};	// 0x28
+
+
+	uint32_t rsvd2c[1];     // 0x2C
+
+
+	/* PRU_CFG_IEPCLK register bit field */
+	union {
+		volatile uint32_t IEPCLK;
+
+		volatile struct {
+			unsigned OCP_EN : 1;		// 0
+			unsigned rsvd1 : 31;		// 31:1
+		} IEPCLK_bit;
+	};	// 0x30
+
+
+	/* PRU_CFG_SPP register bit field */
+	union {
+		volatile uint32_t SPP;
+
+		volatile struct {
+			unsigned PRU1_PAD_HP_EN : 1;	// 0
+			unsigned XFR_SHIFT_EN : 1;	// 1
+			unsigned rsvd2 : 30;		// 31:2
+		} SPP_bit;
+	};	// 0x34
+
+
+	uint32_t rsvd38[2];	// 0x38 - 0x3C
+
+
+	union {
+		volatile uint32_t PIN_MX;
+
+		volatile struct {
+			unsigned PIN_MUX_SEL : 8;	// 7:0
+			unsigned rsvd2 : 24;		// 31:8
+		} PIN_MX_bit;
+	};	//0x40
+} pruCfg;
+
+#ifdef __GNUC__
+static volatile pruCfg *__CT_CFG = (void *)0x00026000;
+#define CT_CFG	(*__CT_CFG)
+#else
+volatile __far pruCfg CT_CFG __attribute__((cregister("PRU_CFG", near), peripheral));
+#endif
+
+#endif /* _PRU_CFG_H_ */

lib/pru_rpmsg/include/am335x/pru_ctrl.h

@@ -0,0 +1,155 @@
+/*
+ * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *	* Redistributions of source code must retain the above copyright
+ *	  notice, this list of conditions and the following disclaimer.
+ *
+ *	* Redistributions in binary form must reproduce the above copyright
+ *	  notice, this list of conditions and the following disclaimer in the
+ *	  documentation and/or other materials provided with the
+ *	  distribution.
+ *
+ *	* Neither the name of Texas Instruments Incorporated nor the names of
+ *	  its contributors may be used to endorse or promote products derived
+ *	  from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _PRU_CTRL_H_
+#define _PRU_CTRL_H_
+
+/* PRU_CTRL register set */
+typedef struct {
+
+	/* PRU_CTRL_CTRL register bit field */
+	union {
+		volatile uint32_t CTRL;
+
+		volatile struct {
+			unsigned SOFT_RST_N : 1;
+			unsigned EN : 1;
+			unsigned SLEEPING : 1;
+			unsigned CTR_EN : 1;
+			unsigned rsvd4 : 4;
+			unsigned SINGLE_STEP : 1;
+			unsigned rsvd9 : 6;
+			unsigned RUNSTATE : 1;
+			unsigned PCTR_RST_VAL : 16;
+		} CTRL_bit;
+	};	// 0x0
+
+
+	/* PRU_CTRL_STS register bit field */
+	union {
+		volatile uint32_t STS;
+
+		volatile struct {
+			unsigned PCTR : 16;
+			unsigned rsvd16 : 16;
+		} STS_bit;
+	};	// 0x4
+
+
+	/* PRU_CTRL_WAKEUP_EN register bit field */
+	union {
+		volatile uint32_t WAKEUP_EN;
+
+		volatile struct {
+			unsigned BITWISE_ENS : 32;
+		} WAKEUP_EN_bit;
+	};	// 0x8
+
+
+	/* PRU_CTRL_CYCLE register bit field */
+	union {
+		volatile uint32_t CYCLE;
+
+		volatile struct {
+			unsigned CYCLECOUNT : 32;
+		} CYCLE_bit;
+	};	// 0xC
+
+
+	/* PRU_CTRL_STALL register bit field */
+	union {
+		volatile uint32_t STALL;
+
+		volatile  struct {
+			unsigned STALLCOUNT : 32;
+		} STALL_bit;
+	};	// 0x10
+
+
+	uint32_t rsvd14[3];	// 0x14 - 0x1C
+
+
+	/* PRU_CTRL_CTBIR0 register bit field */
+	union {
+		volatile uint32_t CTBIR0;
+
+		volatile struct {
+			unsigned C24_BLK_IDX : 8;
+			unsigned rsvd8 : 8;
+			unsigned C25_BLK_IDX : 8;
+			unsigned rsvd24 : 8;
+		} CTBIR0_bit;
+	};	// 0x20
+
+
+	/* PRU_CTRL_CTBIR1 register bit field */
+	union {
+		volatile uint32_t CTBIR1;
+
+		volatile struct {
+			unsigned C26_BLK_IDX : 8;
+			unsigned rsvd8 : 8;
+			unsigned C27_BLK_IDX : 8;
+			unsigned rsvd24 : 8;
+		} CTBIR1_bit;
+	};	// 0x24
+
+
+	/* PRU_CTRL_CTPPR0 register bit field */
+	union {
+		volatile uint32_t CTPPR0;
+
+		volatile struct {
+			unsigned C28_BLK_POINTER : 16;
+			unsigned C29_BLK_POINTER : 16;
+		} CTPPR0_bit;
+	};	// 0x28
+
+
+	/* PRU_CTRL_CTPPR1 register bit field */
+	union {
+		volatile uint32_t CTPPR1;
+
+		volatile struct {
+			unsigned C30_BLK_POINTER : 16;
+			unsigned C31_BLK_POINTER : 16;
+		} CTPPR1_bit;
+	};	// 0x2C
+
+} pruCtrl;
+
+/* Definition of control register structures. */
+#define PRU0_CTRL (*((volatile pruCtrl*)0x22000))
+#define PRU1_CTRL (*((volatile pruCtrl*)0x24000))
+
+#endif /* _PRU_CTRL_H_ */

lib/pru_rpmsg/include/am335x/pru_ecap.h

@@ -0,0 +1,128 @@
+/*
+ * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *	* Redistributions of source code must retain the above copyright
+ *	  notice, this list of conditions and the following disclaimer.
+ *
+ *	* Redistributions in binary form must reproduce the above copyright
+ *	  notice, this list of conditions and the following disclaimer in the
+ *	  documentation and/or other materials provided with the
+ *	  distribution.
+ *
+ *	* Neither the name of Texas Instruments Incorporated nor the names of
+ *	  its contributors may be used to endorse or promote products derived
+ *	  from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _PRU_ECAP_H_
+#define _PRU_ECAP_H_
+
+/* PRU_ECAP register set */
+typedef struct {
+
+	/* PRU_ECAP_TSCTR register bit field */
+	union {
+		volatile uint32_t TSCTR;
+
+		volatile struct {
+			unsigned TSCTR	: 32;		//31:0
+		} TSCTR_bit;
+	};	// 0x0
+
+	/* PRU_ECAP_CTRPHS register bit field */
+	union {
+		volatile uint32_t CTRPHS;
+
+		volatile struct {
+			unsigned CTRPHS	: 32;		//31:0
+		} CTRPHS_bit;
+	};	// 0x4
+
+	/* PRU_ECAP_CAP1 register bit field */
+	union {
+		volatile uint32_t CAP1;
+
+		volatile struct {
+			unsigned CAP1	: 32;		//31:0
+		} CAP1_bit;
+	};	// 0x8
+
+	/* PRU_ECAP_CAP2 register bit field */
+	union {
+		volatile uint32_t CAP2;
+
+		volatile struct {
+			unsigned CAP2	: 32;		//31:0
+		} CAP2_bit;
+	};	// 0xC
+
+	/* PRU_ECAP_CAP3 register bit field */
+	union {
+		volatile uint32_t CAP3;
+
+		volatile struct {
+			unsigned CAP3	: 32;		//31:0
+		} CAP3_bit;
+	};	// 0x10
+
+	/* PRU_ECAP_CAP4 register bit field */
+	union {
+		volatile uint32_t CAP4;
+
+		volatile struct {
+			unsigned CAP4	: 32;		//31:0
+		} CAP4_bit;
+	};	// 0x14
+
+	uint32_t rsvd118[4];		// 0x118 - 0x124
+
+	/* PRU_ECAP_ECCTL1 register bit field */
+	volatile uint16_t ECCTL1; // 0x28
+
+	/* PRU_ECAP_ECCTL2 register bit field */
+	volatile uint16_t ECCTL2;	// 0x2A
+
+	/* PRU_ECAP_ECEINT register bit field */
+	volatile uint16_t ECEINT;	// 0x2C
+
+	/* PRU_ECAP_ECFLG register bit field */
+	volatile uint16_t ECFLG;	// 0x2E
+
+	/* PRU_ECAP_ECCLR register bit field */
+	volatile uint16_t ECCLR;	// 0x30
+
+	/* PRU_ECAP_ECFRC register bit field */
+	volatile uint16_t ECFRC;	// 0x32
+
+	uint32_t rsvd34[10];		// 0x34 - 0x58
+
+	/* PRU_ECAP_REVID register bit field */
+	union {
+		volatile uint32_t REVID;
+
+		volatile struct {
+			unsigned REV		: 32;		//31:0
+		} REVID_bit;
+	};	// 0x5C
+} pruEcap;
+
+volatile __far pruEcap CT_ECAP __attribute__((cregister("PRU_ECAP", near), peripheral));
+
+#endif /* _PRU_ECAP_H_ */

lib/pru_rpmsg/include/am335x/pru_iep.h

@@ -0,0 +1,261 @@
+/*
+ * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *	* Redistributions of source code must retain the above copyright
+ *	  notice, this list of conditions and the following disclaimer.
+ *
+ *	* Redistributions in binary form must reproduce the above copyright
+ *	  notice, this list of conditions and the following disclaimer in the
+ *	  documentation and/or other materials provided with the
+ *	  distribution.
+ *
+ *	* Neither the name of Texas Instruments Incorporated nor the names of
+ *	  its contributors may be used to endorse or promote products derived
+ *	  from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _PRU_IEP_H_
+#define _PRU_IEP_H_
+
+/* PRU IEP register set */
+typedef struct {
+
+	/* PRU_IEP_TMR_GLB_CFG register bit field */
+	union {
+		volatile uint32_t TMR_GLB_CFG;
+
+		volatile struct {
+			unsigned CNT_EN : 1;		// 0
+			unsigned rsvd1 : 3;		// 3:1
+			unsigned DEFAULT_INC : 4;	// 7:4
+			unsigned CMP_INC : 12;		// 19:8
+			unsigned rsvd12 : 12;		// 31:20
+		} TMR_GLB_CFG_bit;
+	};	// 0x0
+
+
+	/* PRU_IEP_TMR_GLB_STS register bit field */
+	union {
+		volatile uint32_t TMR_GLB_STS;
+
+		volatile struct {
+			unsigned CNT_OVF : 1;		// 0
+			unsigned rsvd1 : 31;		// 31:1
+		} TMR_GLB_STS_bit;
+	};	// 0x4
+
+
+	/* PRU_IEP_TMR_COMPEN register bit field */
+	union {
+		volatile uint32_t TMR_COMPEN;
+
+		volatile struct {
+			unsigned COMPEN_CNT : 24;	// 23:0
+			unsigned rsvd24 : 8;		// 31:24
+		} TMR_COMPEN_bit;
+	};	// 0x8
+
+
+	/* PRU_IEP_TMR_CNT register bit field */
+	union {
+		volatile uint32_t TMR_CNT;
+
+		volatile struct {
+			unsigned COUNT : 32;		// 31:0
+		} TMR_CNT_bit;
+	};	// 0xC
+
+
+	uint32_t rsvd10[12];		// 0x10 - 0x3C
+
+
+	/* PRU_IEP_TMR_CMP_CFG register bit field */
+	union {
+		volatile uint32_t TMR_CMP_CFG;
+
+		volatile struct {
+			unsigned CMP0_RST_CNT_EN : 1;	// 0
+			unsigned CMP_EN : 8;		// 8:1
+			unsigned rsvd9 : 23;		// 31:9
+		} TMR_CMP_CFG_bit;
+	};	// 0x40
+
+
+	/* PRU_IEP_TMR_CMP_STS register bit field */
+	union {
+		volatile uint32_t TMR_CMP_STS;
+
+		volatile struct {
+			unsigned CMP_HIT : 8;		// 7:0
+			unsigned rsvd8 : 24;		// 31:8
+		} TMR_CMP_STS_bit;
+	};	// 0x44
+
+	/* PRU_IEP_TMR_CMP0 register bit field */
+	union {
+		volatile uint32_t TMR_CMP0;
+
+		volatile struct {
+			unsigned CMP0 : 32;		// 31:0
+		} TMR_CMP0_bit;
+	};	// 0x48
+
+
+	/* PRU_IEP_TMR_CMP1 register bit field */
+	union {
+		volatile uint32_t TMR_CMP1;
+
+		volatile struct {
+			unsigned CMP1 : 32;		// 31:0
+		} TMR_CMP1_bit;
+	};	// 0x4C
+
+
+	/* PRU_IEP_TMR_CMP2 register bit field */
+	union {
+		volatile uint32_t TMR_CMP2;
+
+		volatile struct {
+			unsigned CMP2 : 32;		// 31:0
+		} TMR_CMP2_bit;
+	};	// 0x50
+
+
+	/* PRU_IEP_TMR_CMP3 register bit field */
+	union {
+		volatile uint32_t TMR_CMP3;
+
+		volatile struct {
+			unsigned CMP3 : 32;		// 31:0
+		} TMR_CMP3_bit;
+	};	// 0x54
+
+
+	/* PRU_IEP_TMR_CMP4 register bit field */
+	union {
+		volatile uint32_t TMR_CMP4;
+
+		volatile struct {
+			unsigned CMP4 : 32;		// 31:0
+		} TMR_CMP4_bit;
+	};	// 0x58
+
+
+	/* PRU_IEP_TMR_CMP5 register bit field */
+	union {
+		volatile uint32_t TMR_CMP5;
+
+		volatile struct {
+			unsigned CMP5 : 32;		// 31:0
+		} TMR_CMP5_bit;
+	};	// 0x5C
+
+
+	/* PRU_IEP_TMR_CMP6 register bit field */
+	union {
+		volatile uint32_t TMR_CMP6;
+
+		volatile struct {
+			unsigned CMP6 : 32;		// 31:0
+		} TMR_CMP6_bit;
+	};	// 0x60
+
+
+	/* PRU_IEP_TMR_CMP7 register bit field */
+	union {
+		volatile uint32_t TMR_CMP7;
+
+		volatile struct {
+			unsigned CMP7 : 32;		// 31:0
+		} TMR_CMP7_bit;
+	};	// 0x64
+
+	uint32_t rsvd68[166];            // 0x68 - 0x2FF
+
+	/* PRU_IEP_DIGIO_CTRL register bit field */
+	union {
+		volatile uint32_t DIGIO_CTRL;
+
+		volatile struct {
+			unsigned RESERVED0 : 4;	// 3:0
+			unsigned IN_MODE : 1;           // 4
+			unsigned RESERVED5 : 27;        // 31:5
+		} DIGIO_CTRL_bit;
+	};     // 0x300
+
+	uint32_t rsvd304[1];            // 0x304
+
+	/* PRU_IEP_DIGIO_DATA_IN register bit field */
+	union {
+		volatile uint32_t DIGIO_DATA_IN;
+
+		volatile struct {
+			unsigned DATA_IN : 32;           // 31:0
+		} DIGIO_DATA_IN_bit;
+	};     // 0x308
+
+	/* PRU_IEP_DIGIO_DATA_IN_RAW register bit field */
+	union {
+		volatile uint32_t DIGIO_DATA_IN_RAW;
+
+		volatile struct {
+			unsigned DATA_IN_RAW : 32;       // 31:0
+		} DIGIO_DATA_IN_RAW_bit;
+	};     // 0x30C
+
+	/* PRU_IEP_DIGIO_DATA_OUT register bit field */
+	union {
+		volatile uint32_t DIGIO_DATA_OUT;
+
+		volatile struct {
+			unsigned DATA_OUT : 32;           // 31:0
+		} DIGIO_DATA_OUT_bit;
+	};     // 0x310
+
+	/* PRU_IEP_DIGIO_DATA_OUT_EN register bit field */
+	union {
+		volatile uint32_t DIGIO_DATA_OUT_EN;
+
+		volatile struct {
+			unsigned DATA_OUT_EN : 32;        // 31:0
+		} DIGIO_DATA_OUT_EN_bit;
+	};     // 0x314
+
+	/* PRU_IEP_DIGIO_EXP register bit field */
+	union {
+		volatile uint32_t DIGIO_EXP;
+
+		volatile struct {
+			unsigned SW_DATA_OUT_UPDATE : 1; // 0
+			unsigned OUTVALID_OVR_EN : 1;    // 1
+			unsigned RESERVED2 : 30;         // 31:2
+		} DIGIO_EXP_bit;
+	};     // 0x318
+
+} pruIep;
+
+#ifdef __GNUC__
+static volatile pruIep *__CT_IEP = (void *)0x0002e000;
+#define CT_IEP	(*__CT_IEP)
+#else
+volatile __far pruIep CT_IEP __attribute__((cregister("PRU_IEP", far), peripheral));
+#endif
+
+#endif /* _PRU_IEP_H_ */

lib/pru_rpmsg/include/am335x/pru_intc.h

@@ -0,0 +1,912 @@
+/*
+ * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *	* Redistributions of source code must retain the above copyright
+ *	  notice, this list of conditions and the following disclaimer.
+ *
+ *	* Redistributions in binary form must reproduce the above copyright
+ *	  notice, this list of conditions and the following disclaimer in the
+ *	  documentation and/or other materials provided with the
+ *	  distribution.
+ *
+ *	* Neither the name of Texas Instruments Incorporated nor the names of
+ *	  its contributors may be used to endorse or promote products derived
+ *	  from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _PRU_INTC_H_
+#define _PRU_INTC_H_
+
+/* PRU INTC register set */
+typedef struct {
+
+	/* PRU_INTC_REVID register bit field */
+	union {
+		volatile uint32_t REVID;
+
+		volatile struct {
+			unsigned REV_MINOR : 6;		// 5:0
+			unsigned REV_CUSTOM : 2;	// 7:6
+			unsigned REV_MAJOR : 3;		// 10:8
+			unsigned REV_RTL : 5;		// 15:11
+			unsigned REV_MODULE : 12;	// 27:16
+			unsigned rsvd28 : 2;		// 29:28
+			unsigned REV_SCHEME : 2;	// 31:30
+		} REVID_bit;
+	};	// 0x0
+
+
+	/* PRU_INTC_CR register bit field */
+	union {
+		volatile uint32_t CR;
+
+		volatile struct {
+			unsigned rsvd0 : 2;		// 1:0
+			unsigned NEST_MODE : 2;		// 3:2
+			unsigned rsvd4 : 28;		// 31:4
+		} CR_bit;
+	};	// 0x4
+
+
+	uint32_t rsvd8[2];		// 0x8 - 0xC
+
+
+	/* PRU_INTC_GER register bit field */
+	union {
+		volatile uint32_t GER;
+
+		volatile struct {
+			unsigned EN_HINT_ANY : 1;	// 0
+			unsigned rsvd1 : 31;		// 31:1
+		} GER_bit;
+	};	// 0x10
+
+
+	uint32_t rsvd14[2];	// 0x14 - 0x18
+
+
+	/* PRU_INTC_GNLR register bit field */
+	union {
+		volatile uint32_t GNLR;
+
+		volatile struct {
+			unsigned GLB_NEST_LEVEL : 9;	// 8:0
+			unsigned rsvd9 : 22;		// 30:9
+			unsigned AUTO_OVERRIDE : 1;	// 31
+		} GNLR_bit;
+	};	// 0x1C
+
+
+	/* PRU_INTC_SISR register bit field */
+	union {
+		volatile uint32_t SISR;
+
+		volatile struct {
+			unsigned STS_SET_IDX : 10;	// 9:0
+			unsigned rsvd10 : 22;		// 31:10
+		} SISR_bit;
+	};	// 0x20
+
+
+	/* PRU_INTC_SICR register bit field */
+	union {
+		volatile uint32_t SICR;
+
+		volatile struct {
+			unsigned STS_CLR_IDX : 10;	// 9:0
+			unsigned rsvd10 : 22;		// 31:10
+		} SICR_bit;
+	};	// 0x24
+
+
+	/* PRU_INTC_EISR register bit field */
+	union {
+		volatile uint32_t EISR;
+
+		volatile struct {
+			unsigned EN_SET_IDX : 10;	// 9:0
+			unsigned rsvd10 : 22;		// 31:10
+		} EISR_bit;
+	};	// 0x28
+
+
+	/* PRU_INTC_EICR register bit field */
+	union {
+		volatile uint32_t EICR;
+
+		volatile struct {
+			unsigned EN_CLR_IDX : 10;	// 9:0
+			unsigned rsvd10 : 22;		// 31:10
+		} EICR_bit;
+	};	// 0x2C
+
+
+	uint32_t rsvd30;	// 0x30
+
+
+	/* PRU_INTC_HIEISR register bit field */
+	union {
+		volatile uint32_t HIEISR;
+
+		volatile struct {
+			unsigned HINT_EN_SET_IDX : 4;	// 3:0
+			unsigned rsvd4 : 28;		// 31:4
+		} HIEISR_bit;
+	};	// 0x34
+
+
+	/* PRU_INTC_HIDISR register bit field */
+	union {
+		volatile uint32_t HIDISR;
+
+		volatile struct {
+			unsigned HINT_EN_CLR_IDX : 4;	// 3:0
+			unsigned rsvd4 : 28;		// 31:4
+		} HIDISR_bit;
+	};	// 0x38
+
+
+	uint32_t rsvd3C[17];	// 0x3C - 0x7C
+
+
+	/* PRU_INTC_GPIR register bit field */
+	union {
+		volatile uint32_t GPIR;
+
+		volatile struct {
+			unsigned GLB_PRI_INTR : 10;	// 9:0
+			unsigned rsvd10 : 21;		// 30:10
+			unsigned GLB_NONE : 1;		// 31
+		} GPIR_bit;
+	};	// 0x80
+
+
+	uint32_t rsvd84[95];	// 0x84 - 0x1FC
+
+
+	/* PRU_INTC_SRSR0 register bit field */
+	union {
+		volatile uint32_t SRSR0;
+
+		volatile struct {
+			unsigned RAW_STS_31_0 : 32;	// 31:0
+		} SRSR0_bit;
+	};	// 0x200
+
+
+	/* PRU_INTC_SRSR1 register bit field */
+	union {
+		volatile uint32_t SRSR1;
+
+		volatile struct {
+			unsigned RAW_STS_63_32 : 32;	// 31:0
+		} SRSR1_bit;
+	};	// 0x204
+
+
+	uint32_t rsvd208[30];	// 0x208 - 0x27C
+
+
+	/* PRU_INTC_SECR0 register bit field */
+	union {
+		volatile uint32_t SECR0;
+
+		volatile struct {
+			unsigned ENA_STS_31_0 : 32;	// 31:0
+		} SECR0_bit;
+	};	// 0x280
+
+
+	/* PRU_INTC_SECR1 register bit field */
+	union {
+		volatile uint32_t SECR1;
+
+		volatile struct {
+			unsigned ENA_STS_63_32 : 32;	// 31:0
+		} SECR1_bit;
+	};	// 0x284
+
+
+	uint32_t rsvd288[30];	// 0x288 - 0x2FC
+
+
+	/* PRU_INTC_ESR0 register bit field */
+	union {
+		volatile uint32_t ESR0;
+
+		volatile struct {
+			unsigned EN_SET_31_0 : 32;	// 31:0
+		} ESR0_bit;
+	};	// 0x300
+
+
+	/* PRU_INTC_ESR1 register bit field */
+	union {
+		volatile uint32_t ESR1;
+
+		volatile struct {
+			unsigned EN_SET_63_32 : 32;	// 31:0
+		} ESR1_bit;
+	};	// 0x304
+
+
+	uint32_t rsvd308[30];	// 0x308 - 0x37C
+
+
+	/* PRU_INTC_ECR0 register bit field */
+	union {
+		volatile uint32_t ECR0;
+
+		volatile struct {
+			unsigned EN_CLR_31_0 : 32;	// 31:0
+		} ECR0_bit;
+	};	// 0x380
+
+
+	/* PRU_INTC_ECR1 register bit field */
+	union {
+		volatile uint32_t ECR1;
+
+		volatile struct {
+			unsigned EN_CLR_63_32 : 32;	// 31:0
+		} ECR1_bit;
+	};	// 0x384
+
+
+	uint32_t rsvd388[30];	// 0x388 - 0x3FC
+
+
+	/* PRU_INTC_CMR0 register bit field */
+	union {
+		volatile uint32_t CMR0;
+
+		volatile struct {
+			unsigned CH_MAP_0 : 4;		// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned CH_MAP_1 : 4;		// 11:8
+			unsigned rsvd12 : 4;		// 15:12
+			unsigned CH_MAP_2 : 4;		// 19:16
+			unsigned rsvd20 : 4;		// 23:20
+			unsigned CH_MAP_3 : 4;		// 27:24
+			unsigned rsvd28 : 4;		// 31:28
+		} CMR0_bit;
+	};	// 0x400
+
+
+	/* PRU_INTC_CMR1 register bit field */
+	union {
+		volatile uint32_t CMR1;
+
+		volatile struct {
+			unsigned CH_MAP_4 : 4;		// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned CH_MAP_5 : 4;		// 11:8
+			unsigned rsvd12 : 4;		// 15:12
+			unsigned CH_MAP_6 : 4;		// 19:16
+			unsigned rsvd20 : 4;		// 23:20
+			unsigned CH_MAP_7 : 4;		// 27:24
+			unsigned rsvd28 : 4;		// 31:28
+		} CMR1_bit;
+	};	// 0x404
+
+
+	/* PRU_INTC_CMR2 register bit field */
+	union {
+		volatile uint32_t CMR2;
+
+		volatile struct {
+			unsigned CH_MAP_8 : 4;		// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned CH_MAP_9 : 4;		// 11:8
+			unsigned rsvd12 : 4;		// 15:12
+			unsigned CH_MAP_10 : 4;		// 19:16
+			unsigned rsvd20 : 4;		// 23:20
+			unsigned CH_MAP_11 : 4;		// 27:24
+			unsigned rsvd28 : 4;		// 31:28
+		} CMR2_bit;
+	};	// 0x408
+
+
+	/* PRU_INTC_CMR3 register bit field */
+	union {
+		volatile uint32_t CMR3;
+
+		volatile struct {
+			unsigned CH_MAP_12 : 4;		// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned CH_MAP_13 : 4;		// 11:8
+			unsigned rsvd12 : 4;		// 15:12
+			unsigned CH_MAP_14 : 4;		// 19:16
+			unsigned rsvd20 : 4;		// 23:20
+			unsigned CH_MAP_15 : 4;		// 27:24
+			unsigned rsvd28 : 4;		// 31:28
+		} CMR3_bit;
+	};	// 0x40C
+
+
+	/* PRU_INTC_CMR4 register bit field */
+	union {
+		volatile uint32_t CMR4;
+
+		volatile struct {
+			unsigned CH_MAP_16 : 4;		// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned CH_MAP_17 : 4;		// 11:8
+			unsigned rsvd12 : 4;		// 15:12
+			unsigned CH_MAP_18 : 4;		// 19:16
+			unsigned rsvd20 : 4;		// 23:20
+			unsigned CH_MAP_19 : 4;		// 27:24
+			unsigned rsvd28 : 4;		// 31:28
+		} CMR4_bit;
+	};	// 0x410
+
+
+	/* PRU_INTC_CMR5 register bit field */
+	union {
+		volatile uint32_t CMR5;
+
+		volatile struct {
+			unsigned CH_MAP_20 : 4;		// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned CH_MAP_21 : 4;		// 11:8
+			unsigned rsvd12 : 4;		// 15:12
+			unsigned CH_MAP_22 : 4;		// 19:16
+			unsigned rsvd20 : 4;		// 23:20
+			unsigned CH_MAP_23 : 4;		// 27:24
+			unsigned rsvd28 : 4;		// 31:28
+		} CMR5_bit;
+	};	// 0x414
+
+
+	/* PRU_INTC_CMR6 register bit field */
+	union {
+		volatile uint32_t CMR6;
+
+		volatile struct {
+			unsigned CH_MAP_24 : 4;		// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned CH_MAP_25 : 4;		// 11:8
+			unsigned rsvd12 : 4;		// 15:12
+			unsigned CH_MAP_26 : 4;		// 19:16
+			unsigned rsvd20 : 4;		// 23:20
+			unsigned CH_MAP_27 : 4;		// 27:24
+			unsigned rsvd28 : 4;		// 31:28
+		} CMR6_bit;
+	};	// 0x418
+
+
+	/* PRU_INTC_CMR7 register bit field */
+	union {
+		volatile uint32_t CMR7;
+
+		volatile struct {
+			unsigned CH_MAP_28 : 4;		// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned CH_MAP_29 : 4;		// 11:8
+			unsigned rsvd12 : 4;		// 15:12
+			unsigned CH_MAP_30 : 4;		// 19:16
+			unsigned rsvd20 : 4;		// 23:20
+			unsigned CH_MAP_31 : 4;		// 27:24
+			unsigned rsvd28 : 4;		// 31:28
+		} CMR7_bit;
+	};	// 0x41C
+
+
+	/* PRU_INTC_CMR8 register bit field */
+	union {
+		volatile uint32_t CMR8;
+
+		volatile struct {
+			unsigned CH_MAP_32 : 4;		// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned CH_MAP_33 : 4;		// 11:8
+			unsigned rsvd12 : 4;		// 15:12
+			unsigned CH_MAP_34 : 4;		// 19:16
+			unsigned rsvd20 : 4;		// 23:20
+			unsigned CH_MAP_35 : 4;		// 27:24
+			unsigned rsvd28 : 4;		// 31:28
+		} CMR8_bit;
+	};	// 0x420
+
+
+	/* PRU_INTC_CMR9 register bit field */
+	union {
+		volatile uint32_t CMR9;
+
+		volatile struct {
+			unsigned CH_MAP_36 : 4;		// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned CH_MAP_37 : 4;		// 11:8
+			unsigned rsvd12 : 4;		// 15:12
+			unsigned CH_MAP_38 : 4;		// 19:16
+			unsigned rsvd20 : 4;		// 23:20
+			unsigned CH_MAP_39 : 4;		// 27:24
+			unsigned rsvd28 : 4;		// 31:28
+		} CMR9_bit;
+	};	// 0x424
+
+
+	/* PRU_INTC_CMR10 register bit field */
+	union {
+		volatile uint32_t CMR10;
+
+		volatile struct {
+			unsigned CH_MAP_40 : 4;		// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned CH_MAP_41 : 4;		// 11:8
+			unsigned rsvd12 : 4;		// 15:12
+			unsigned CH_MAP_42 : 4;		// 19:16
+			unsigned rsvd20 : 4;		// 23:20
+			unsigned CH_MAP_43 : 4;		// 27:24
+			unsigned rsvd28 : 4;		// 31:28
+		} CMR10_bit;
+	};	// 0x428
+
+
+	/* PRU_INTC_CMR11 register bit field */
+	union {
+		volatile uint32_t CMR11;
+
+		volatile struct {
+			unsigned CH_MAP_44 : 4;		// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned CH_MAP_45 : 4;		// 11:8
+			unsigned rsvd12 : 4;		// 15:12
+			unsigned CH_MAP_46 : 4;		// 19:16
+			unsigned rsvd20 : 4;		// 23:20
+			unsigned CH_MAP_47 : 4;		// 27:24
+			unsigned rsvd28 : 4;		// 31:28
+		} CMR11_bit;
+	};	// 0x42C
+
+
+	/* PRU_INTC_CMR12 register bit field */
+	union {
+		volatile uint32_t CMR12;
+
+		volatile struct {
+			unsigned CH_MAP_48 : 4;		// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned CH_MAP_49 : 4;		// 11:8
+			unsigned rsvd12 : 4;		// 15:12
+			unsigned CH_MAP_50 : 4;		// 19:16
+			unsigned rsvd20 : 4;		// 23:20
+			unsigned CH_MAP_51 : 4;		// 27:24
+			unsigned rsvd28 : 4;		// 31:28
+		} CMR12_bit;
+	};	// 0x430
+
+
+	/* PRU_INTC_CMR13 register bit field */
+	union {
+		volatile uint32_t CMR13;
+
+		volatile struct {
+			unsigned CH_MAP_52 : 4;		// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned CH_MAP_53 : 4;		// 11:8
+			unsigned rsvd12 : 4;		// 15:12
+			unsigned CH_MAP_54 : 4;		// 19:16
+			unsigned rsvd20 : 4;		// 23:20
+			unsigned CH_MAP_55 : 4;		// 27:24
+			unsigned rsvd28 : 4;		// 31:28
+		} CMR13_bit;
+	};	// 0x434
+
+
+	/* PRU_INTC_CMR14 register bit field */
+	union {
+		volatile uint32_t CMR14;
+
+		volatile struct {
+			unsigned CH_MAP_56 : 4;		// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned CH_MAP_57 : 4;		// 11:8
+			unsigned rsvd12 : 4;		// 15:12
+			unsigned CH_MAP_58 : 4;		// 19:16
+			unsigned rsvd20 : 4;		// 23:20
+			unsigned CH_MAP_59 : 4;		// 27:24
+			unsigned rsvd28 : 4;		// 31:28
+		} CMR14_bit;
+	};	// 0x438
+
+
+	/* PRU_INTC_CMR15 register bit field */
+	union {
+		volatile uint32_t CMR15;
+
+		volatile struct {
+			unsigned CH_MAP_60 : 4;		// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned CH_MAP_61 : 4;		// 11:8
+			unsigned rsvd12 : 4;		// 15:12
+			unsigned CH_MAP_62 : 4;		// 19:16
+			unsigned rsvd20 : 4;		// 23:20
+			unsigned CH_MAP_63 : 4;		// 27:24
+			unsigned rsvd28 : 4;		// 31:28
+		} CMR15_bit;
+	};	// 0x43C
+
+
+	uint32_t rsvd440[240];	// 0x440 - 0x7FC
+
+
+	/* PRU_INTC_HMR0 register bit field */
+	union {
+		volatile uint32_t HMR0;
+
+		volatile struct {
+			unsigned HINT_MAP_0 : 4;	// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned HINT_MAP_1 : 4;	// 11:8
+			unsigned rsvd12 : 4;		// 15:12
+			unsigned HINT_MAP_2 : 4;	// 19:16
+			unsigned rsvd20 : 4;		// 23:20
+			unsigned HINT_MAP_3 : 4;	// 27:24
+			unsigned rsvd28 : 4;		// 31:28
+		} HMR0_bit;
+	};	// 0x800
+
+
+	/* PRU_INTC_HMR1 register bit field */
+	union {
+		volatile uint32_t HMR1;
+
+		volatile struct {
+			unsigned HINT_MAP_4 : 4;	// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned HINT_MAP_5 : 4;	// 11:8
+			unsigned rsvd12 : 4;		// 15:12
+			unsigned HINT_MAP_6 : 4;	// 19:16
+			unsigned rsvd20 : 4;		// 23:20
+			unsigned HINT_MAP_7 : 4;	// 27:24
+			unsigned rsvd28 : 4;		// 31:28
+		} HMR1_bit;
+	};	// 0x804
+
+
+	/* PRU_INTC_HMR2 register bit field */
+	union {
+		volatile uint32_t HMR2;
+
+		volatile struct {
+			unsigned HINT_MAP_8 : 4;	// 3:0
+			unsigned rsvd4 : 4;		// 7:4
+			unsigned HINT_MAP_9 : 4;	// 11:8
+			unsigned rsvd12 : 20;		// 31:12
+		} HMR2_bit;
+	};	// 0x808
+
+
+	uint32_t rsvd80C[61];	// 0x80C - 0x8FC
+
+
+	/* PRU_INTC_HIPIR0 register bit field */
+	union {
+		volatile uint32_t HIPIR0;
+
+		volatile struct {
+			unsigned PRI_HINT_0 : 10;	// 9:0
+			unsigned rsvd10 : 21;		// 30:10
+			unsigned NONE_HINT_0 : 1;	// 31
+		} HIPIR0_bit;
+	};	// 0x900
+
+
+	/* PRU_INTC_HIPIR1 register bit field */
+	union {
+		volatile uint32_t HIPIR1;
+
+		volatile struct {
+			unsigned PRI_HINT_1 : 10;	// 9:0
+			unsigned rsvd10 : 21;		// 30:10
+			unsigned NONE_HINT_1 : 1;	// 31
+		} HIPIR1_bit;
+	};	// 0x904
+
+
+	/* PRU_INTC_HIPIR2 register bit field */
+	union {
+		volatile uint32_t HIPIR2;
+
+		volatile struct {
+			unsigned PRI_HINT_2 : 10;	// 9:0
+			unsigned rsvd10 : 21;		// 30:10
+			unsigned NONE_HINT_2 : 1;	// 31
+		} HIPIR2_bit;
+	};	// 0x908
+
+
+	/* PRU_INTC_HIPIR3 register bit field */
+	union {
+		volatile uint32_t HIPIR3;
+
+		volatile struct {
+			unsigned PRI_HINT_3 : 10;	// 9:0
+			unsigned rsvd10 : 21;		// 30:10
+			unsigned NONE_HINT_3 : 1;	// 31
+		} HIPIR3_bit;
+	};	// 0x90C
+
+
+	/* PRU_INTC_HIPIR4 register bit field */
+	union {
+		volatile uint32_t HIPIR4;
+
+		volatile struct {
+			unsigned PRI_HINT_4 : 10;	// 9:0
+			unsigned rsvd10 : 21;		// 30:10
+			unsigned NONE_HINT_4 : 1;	// 31
+		} HIPIR4_bit;
+	};	// 0x910
+
+
+	/* PRU_INTC_HIPIR5 register bit field */
+	union {
+		volatile uint32_t HIPIR5;
+
+		volatile struct {
+			unsigned PRI_HINT_5 : 10;	// 9:0
+			unsigned rsvd10 : 21;		// 30:10
+			unsigned NONE_HINT_5 : 1;	// 31
+		} HIPIR5_bit;
+	};	// 0x914
+
+
+	/* PRU_INTC_HIPIR6 register bit field */
+	union {
+		volatile uint32_t HIPIR6;
+
+		volatile struct {
+			unsigned PRI_HINT_6 : 10;	// 9:0
+			unsigned rsvd10 : 21;		// 30:10
+			unsigned NONE_HINT_6 : 1;	// 31
+		} HIPIR6_bit;
+	};	// 0x918
+
+
+	/* PRU_INTC_HIPIR7 register bit field */
+	union {
+		volatile uint32_t HIPIR7;
+
+		volatile struct {
+			unsigned PRI_HINT_7 : 10;	// 9:0
+			unsigned rsvd10 : 21;		// 30:10
+			unsigned NONE_HINT_7 : 1;	// 31
+		} HIPIR7_bit;
+	};	// 0x91C
+
+
+	/* PRU_INTC_HIPIR8 register bit field */
+	union {
+		volatile uint32_t HIPIR8;
+
+		volatile struct {
+			unsigned PRI_HINT_8 : 10;	// 9:0
+			unsigned rsvd10 : 21;		// 30:10
+			unsigned NONE_HINT_8 : 1;	// 31
+		} HIPIR8_bit;
+	};	// 0x920
+
+
+	/* PRU_INTC_HIPIR9 register bit field */
+	union {
+		volatile uint32_t HIPIR9;
+
+		volatile struct {
+			unsigned PRI_HINT_9 : 10;	// 9:0
+			unsigned rsvd10 : 21;		// 30:10
+			unsigned NONE_HINT_9 : 1;	// 31
+		} HIPIR9_bit;
+	};	// 0x924
+
+
+	uint32_t rsvd928[246];	// 0x928 - 0xCFC
+
+
+	/* PRU_INTC_SIPR0 register bit field */
+	union {
+		volatile uint32_t SIPR0;
+
+		volatile struct {
+			unsigned POLARITY_31_0 : 32;	// 31:0
+		} SIPR0_bit;
+	};	// 0xD00
+
+
+	/* PRU_INTC_SIPR1 register bit field */
+	union {
+		volatile uint32_t SIPR1;
+
+		volatile struct {
+			unsigned POLARITY_63_32 : 32;	// 31:0
+		} SIPR1_bit;
+	};	// 0xD04
+
+
+	uint32_t rsvdD08[30];	// 0xD08 - 0xD7C
+
+
+	/* PRU_INTC_SITR0 register bit field */
+	union {
+		volatile uint32_t SITR0;
+
+		volatile struct {
+			unsigned TYPE_31_0 : 32;	// 31:0
+		} SITR0_bit;
+	};	// 0xD80
+
+
+	/* PRU_INTC_SITR1 register bit field */
+	union {
+		volatile uint32_t SITR1;
+
+		volatile struct {
+			unsigned TYPE_63_32 : 32;	// 31:0
+		} SITR1_bit;
+	};	// 0xD84
+
+
+	uint32_t rsvdD84[222];	// 0xD88 - 0x10FC
+
+
+	/* PRU_INTC_HINLR0 register bit field */
+	union {
+		volatile uint32_t HINLR0;
+
+		volatile struct {
+			unsigned NEST_HINT_0 : 9;	// 8:0
+			unsigned rsvd9 : 22;		// 30:9
+			unsigned AUTO_OVERRIDE : 1;	// 31
+		} HINLR0_bit;
+	};	// 0x1100
+
+
+	/* PRU_INTC_HINLR1 register bit field */
+	union {
+		volatile uint32_t HINLR1;
+
+		volatile struct {
+			unsigned NEST_HINT_1 : 9;	// 8:0
+			unsigned rsvd9 : 22;		// 30:9
+			unsigned AUTO_OVERRIDE : 1;	// 31
+		} HINLR1_bit;
+	};	// 0x1104
+
+
+	/* PRU_INTC_HINLR2 register bit field */
+	union {
+		volatile uint32_t HINLR2;
+
+		volatile struct {
+			unsigned NEST_HINT_2 : 9;	// 8:0
+			unsigned rsvd9 : 22;		// 30:9
+			unsigned AUTO_OVERRIDE : 1;	// 31
+		} HINLR2_bit;
+	};	// 0x1108
+
+
+	/* PRU_INTC_HINLR3 register bit field */
+	union {
+		volatile uint32_t HINLR3;
+
+		volatile struct {
+			unsigned NEST_HINT_3 : 9;	// 8:0
+			unsigned rsvd9 : 22;		// 30:9
+			unsigned AUTO_OVERRIDE : 1;	// 31
+		} HINLR3_bit;
+	};	// 0x110C
+
+
+	/* PRU_INTC_HINLR4 register bit field */
+	union {
+		volatile uint32_t HINLR4;
+
+		volatile struct {
+			unsigned NEST_HINT_4 : 9;	// 8:0
+			unsigned rsvd9 : 22;		// 30:9
+			unsigned AUTO_OVERRIDE : 1;	// 31
+		} HINLR4_bit;
+	};	// 0x1110
+
+
+	/* PRU_INTC_HINLR5 register bit field */
+	union {
+		volatile uint32_t HINLR5;
+
+		volatile struct {
+			unsigned NEST_HINT_5 : 9;	// 8:0
+			unsigned rsvd9 : 22;		// 30:9
+			unsigned AUTO_OVERRIDE : 1;	// 31
+		} HINLR5_bit;
+	};	// 0x1114
+
+
+	/* PRU_INTC_HINLR6 register bit field */
+	union {
+		volatile uint32_t HINLR6;
+
+		volatile struct {
+			unsigned NEST_HINT_6 : 9;	// 8:0
+			unsigned rsvd9 : 22;		// 30:9
+			unsigned AUTO_OVERRIDE : 1;	// 31
+		} HINLR6_bit;
+	};	// 0x1118
+
+
+	/* PRU_INTC_HINLR7 register bit field */
+	union {
+		volatile uint32_t HINLR7;
+
+		volatile struct {
+			unsigned NEST_HINT_7 : 9;	// 8:0
+			unsigned rsvd9 : 22;		// 30:9
+			unsigned AUTO_OVERRIDE : 1;	// 31
+		} HINLR7_bit;
+	};	// 0x111C
+
+
+	/* PRU_INTC_HINLR8 register bit field */
+	union {
+		volatile uint32_t HINLR8;
+
+		volatile struct {
+			unsigned NEST_HINT_8 : 9;	// 8:0
+			unsigned rsvd9 : 22;		// 30:9
+			unsigned AUTO_OVERRIDE : 1;	// 31
+		} HINLR8_bit;
+	};	// 0x1120
+
+
+	/* PRU_INTC_HINLR9 register bit field */
+	union {
+		volatile uint32_t HINLR9;
+
+		volatile struct {
+			unsigned NEST_HINT_9 : 9;	// 8:0
+			unsigned rsvd9 : 22;		// 30:9
+			unsigned AUTO_OVERRIDE : 1;	// 31
+		} HINLR9_bit;
+	};	// 0x1124
+
+
+	uint32_t rsvd1128[246];	// 0x1128 - 0x14FC
+
+
+	/* PRU_INTC_HIER register bit field */
+	union {
+		volatile uint32_t HIER;
+
+		volatile struct {
+			unsigned EN_HINT : 10;	// 9:0
+			unsigned rsvd9 : 22;		// 31:10
+		} HIER_bit;
+	};	// 0x1500
+
+} pruIntc;
+
+#ifdef __GNUC__
+static volatile pruIntc *__CT_INTC = (void *)0x00020000;
+#define CT_INTC	(*__CT_INTC)
+#else
+volatile __far pruIntc CT_INTC __attribute__((cregister("PRU_INTC", far), peripheral));
+#endif
+
+#endif /* _PRU_INTC_H_ */

lib/pru_rpmsg/include/am335x/pru_uart.h

@@ -0,0 +1,285 @@
+/*
+ * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *	* Redistributions of source code must retain the above copyright
+ *	  notice, this list of conditions and the following disclaimer.
+ *
+ *	* Redistributions in binary form must reproduce the above copyright
+ *	  notice, this list of conditions and the following disclaimer in the
+ *	  documentation and/or other materials provided with the
+ *	  distribution.
+ *
+ *	* Neither the name of Texas Instruments Incorporated nor the names of
+ *	  its contributors may be used to endorse or promote products derived
+ *	  from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _PRU_UART_H_
+#define _PRU_UART_H_
+
+/* UART Register set */
+typedef struct {
+
+	/*
+	 * RBR and THR register pair
+	 * This is a unique register pair in that RBR and THR
+	 * share the same address. RBR is read-only while THR is
+	 * write-only.
+	 *
+	 * Additionally, RBR and THR share an address with DLL. To
+	 * read/write RBR/THR write 0 to the DLAB bit in the LCR
+	 * register. To modify DLL write a 1.
+	 *
+	 * DLL also has a dedicated
+	 * address which does not require toggling the DLAB bit.
+	 */
+	union {
+		/* PRU_UART_RBR register bit field */
+		union {
+			volatile uint32_t RBR;
+
+			volatile struct {
+				unsigned DATA : 8;		// 7:0
+				unsigned rsvd8 : 24;		// 31:8
+			} RBR_bit;
+		};
+
+		/* PRU_UART_THR register bit field */
+		union {
+			volatile uint32_t THR;
+
+			volatile struct {
+				unsigned DATA : 8;		// 7:0
+				unsigned rsvd8 : 24;		// 31:8
+			} THR_bit;
+		};
+	};	// 0x0
+
+
+	/* PRU_UART_IER register bit field */
+	/*
+	 * IER shares an address with DLH. To modify IER write 0
+	 * to the DLAB bit in the LCR register. To modify DLH write a 1.
+	 *
+	 * DLH also has a dedicated address which does not require
+	 * toggling the DLAB bit.
+	 */
+	union {
+		volatile uint32_t IER;
+
+		volatile struct {
+			unsigned ERBI : 1;		// 0
+			unsigned ETBEI : 1;		// 1
+			unsigned ELSI : 1;		// 2
+			unsigned EDSSI : 1;		// 3
+			unsigned rsvd4 : 28;		// 31:4
+		} IER_bit;
+	};	// 0x4
+
+
+	/*
+	 * IIR and FCR register pair
+	 * This is a unique register pair in that IIR and FCR
+	 * share the same address. IIR is read-only while FCR is
+	 * write-only.
+	 */
+	union {
+		/* PRU_UART_IIR register bit field */
+		union {
+			volatile uint32_t IIR;
+
+			volatile struct {
+				unsigned IPEND : 1;		// 0
+				unsigned INTID : 3;		// 3:1
+				unsigned rsvd4 : 2;		// 5:4
+				unsigned FIFOEN : 2;		// 7:6
+				unsigned rsvd8 : 24;		// 31:8
+			} IIR_bit;
+		};
+
+		/* PRU_UART_FCR register bit field */
+		union {
+			volatile uint32_t FCR;
+
+			volatile struct {
+				unsigned FIFOEN : 1;		// 0
+				unsigned RXCLR : 1;		// 1
+				unsigned TXCLR : 1;		// 2
+				unsigned DMAMODE1 : 1;		// 3
+				unsigned rsvd4 : 2;		// 5:4
+				unsigned RXFIFTL : 2;		// 7:6
+				unsigned rsvd8 : 24;		// 31:8
+			} FCR_bit;
+		};
+	};	// 0x8
+
+
+	/* PRU_UART_LCR register bit field */
+	union {
+		volatile uint32_t LCR;
+
+		volatile struct {
+			unsigned WLS : 2;		// 1:0
+			unsigned STB : 1;		// 2
+			unsigned PEN : 1;		// 3
+			unsigned EPS : 1;		// 4
+			unsigned SP : 1;		// 5
+			unsigned BC : 1;		// 6
+			unsigned DLAB : 1;		// 7
+			unsigned rsvd8 : 24;		// 31:8
+		} LCR_bit;
+	};	// 0xC
+
+
+	/* PRU_UART_MCR register bit field */
+	union {
+		volatile uint32_t MCR;
+
+		volatile struct {
+			unsigned rsvd0 : 1;		// 0
+			unsigned RTS : 1;		// 1
+			unsigned OUT1 : 1;		// 2
+			unsigned OUT2 : 1;		// 3
+			unsigned LOOP : 1;		// 4
+			unsigned AFE : 1;		// 5
+			unsigned rsvd8 : 26;		// 31:6
+		} MCR_bit;
+	};	// 0x10
+
+
+	/* PRU_UART_LSR register bit field */
+	union {
+		volatile uint32_t LSR;
+
+		volatile struct {
+			unsigned DR : 1;		// 0
+			unsigned OE : 1;		// 1
+			unsigned PE : 1;		// 2
+			unsigned FE : 1;		// 3
+			unsigned BI : 1;		// 4
+			unsigned THRE : 1;		// 5
+			unsigned TEMT : 1;		// 6
+			unsigned RXFIFOE : 1;		// 7
+			unsigned rsvd8 : 24;		// 31:8
+		} LSR_bit;
+	};	// 0x14
+
+
+	/* PRU_UART_MSR register bit field */
+	union {
+		volatile uint32_t MSR;
+
+		volatile struct {
+			unsigned DCTS : 1;		// 0
+			unsigned DDSR : 1;		// 1
+			unsigned TERI : 1;		// 2
+			unsigned DCD : 1;		// 3
+			unsigned CTS : 1;		// 4
+			unsigned DSR : 1;		// 5
+			unsigned RI : 1;		// 6
+			unsigned CD : 1;		// 7
+			unsigned rsvd8 : 24;		// 31:8
+		} MSR_bit;
+	};	// 0x18
+
+
+	/* PRU_UART_SCR register bit field */
+	union {
+		volatile uint32_t SCR;
+
+		volatile struct {
+			unsigned SCR : 8;		// 7:0
+			unsigned rsvd8 : 24;		// 31:8
+		} SCR_bit;
+	};	// 0x1C
+
+
+	/* PRU_UART_DLL register bit field */
+	union {
+		volatile uint32_t DLL;
+
+		volatile struct {
+			unsigned DLL : 8;		// 7:0
+			unsigned rsvd8 : 24;		// 31:8
+		} DLL_bit;
+	};	// 0x20
+
+
+	/* PRU_UART_DLH register bit field */
+	union {
+		volatile uint32_t DLH;
+
+		volatile  struct {
+			unsigned DLH : 8;		// 7:0
+			unsigned rsvd8 : 24;		// 31:8
+		} DLH_bit;
+	};	// 0x24
+
+
+	/* PRU_UART_REVID1 register bit field */
+	union {
+		volatile uint32_t REVID1;
+
+		volatile struct {
+			unsigned REVID1 : 32;		// 31:0
+		} REVID1_bit;
+	};	// 0x28
+
+
+	/* PRU_UART_REVID2 register bit field */
+	union {
+		volatile uint32_t REVID2;
+
+		volatile struct {
+			unsigned REVID2 : 8;		// 7:0
+			unsigned rsvd8	: 24;		// 31:8
+		} REVID2_bit;
+	};	// 0x2C
+
+
+	/* PRU_UART_PWREMU_MGMT register bit field */
+	union {
+		volatile uint32_t PWREMU_MGMT;
+
+		volatile struct {
+			unsigned FREE : 1;		// 0
+			unsigned rsvd1 : 12;		// 12:1
+			unsigned URRST : 1;		// 13
+			unsigned UTRST : 1;		// 14
+			unsigned rsvd15 : 17;		// 31:15
+		} PWREMU_MGMT_bit;
+	};	// 0x30
+
+
+	/* PRU_UART_MDR register bit field */
+	union {
+		volatile uint32_t MDR;
+
+		volatile struct {
+			unsigned OSM_SEL : 1;		// 0
+			unsigned rsvd1 : 31;		// 31:1
+		} MDR_bit;
+	};	// 0x34
+
+} pruUart;
+
+volatile __far pruUart CT_UART __attribute__((cregister("PRU_UART", near), peripheral));
+
+#endif /* _PRU_UART_H_ */

lib/pru_rpmsg/include/am335x/sys_mailbox.h

@@ -0,0 +1,210 @@
+/*
+ * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *	* Redistributions of source code must retain the above copyright
+ *	  notice, this list of conditions and the following disclaimer.
+ *
+ *	* Redistributions in binary form must reproduce the above copyright
+ *	  notice, this list of conditions and the following disclaimer in the
+ *	  documentation and/or other materials provided with the
+ *	  distribution.
+ *
+ *	* Neither the name of Texas Instruments Incorporated nor the names of
+ *	  its contributors may be used to endorse or promote products derived
+ *	  from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _SYS_MAILBOX_H_
+#define _SYS_MAILBOX_H_
+
+/* SYS_MAILBOX register set */
+typedef struct {
+
+	/* SYS_MAILBOX_REVISION register bit field */
+	union {
+		volatile uint32_t REVISION;
+
+		volatile struct {
+			unsigned MINOR	: 6;		//5:0
+			unsigned CUSTOM : 2;		//7:6
+			unsigned MAJOR	: 3;		//10:8
+			unsigned RTL	: 5;		//15:11
+			unsigned FUNC	: 12;		//27:16
+			unsigned rsvd28 : 2;		//29:28
+			unsigned SCHEME : 2;		//31:30
+		} REVISION_bit;
+	};	// 0x0
+
+	uint32_t rsvd4[3];		// 0x4 - 0xC
+
+	/* SYS_MAILBOX_SYSCONFIG register bit field */
+	union {
+		volatile uint32_t SYSCONFIG;
+
+		volatile struct {
+			unsigned SOFTRESET	: 1;	//0
+			unsigned rsvd		: 1;	//1
+			unsigned SLIDLEMODE : 2;	//3:2
+			unsigned rsvd1		: 28;	//31:4
+		} SYSCONFIG_bit;
+	};	// 0x10
+
+	uint32_t rsvd14[11];		// 0x14 - 0x3C
+
+	/* SYS_MAILBOX_MESSAGE register bit fields */
+	union {
+		volatile uint32_t MESSAGE[8];
+
+		volatile struct {
+			unsigned MESSAGE : 32;		//31:0
+		} MESSAGE_bit[8];
+	};	// 0x40-0x5C
+
+	uint32_t rsvd60[8];		// 0x60 - 0x7C
+
+	/* SYS_MAILBOX_FIFOSTATUS register bit fields */
+	union {
+		volatile uint32_t FIFOSTATUS[8];
+
+		volatile struct {
+			unsigned FIFOFULL	: 1;		//0
+			unsigned rsvd		: 31;		//31:1
+		} FIFOSTATUS_bit[8];
+	};	// 0x80-0x9C
+
+	uint32_t rsvdA0[8];		// 0xA0 - 0xBC
+
+	/* SYS_MAILBOX_MSGSTATUS register bit fields */
+	union {
+		volatile uint32_t MSGSTATUS[8];
+
+		volatile struct {
+			unsigned NBOFMSG : 3;		//2:0
+			unsigned rsvd	 : 29;		//31:3
+		} MSGSTATUS_bit[8];
+	};	// 0xC0-DC
+
+	uint32_t rsvdE0[8];		// 0xE0 - 0xFC
+
+	volatile struct {
+		union {
+			volatile uint32_t STATUS_RAW;
+
+			volatile struct {
+				unsigned NEWMSGSTATUSMB0	: 1;		//0
+				unsigned NOTFULLSTATUSMB0	: 1;		//1
+				unsigned NEWMSGSTATUSMB1	: 1;		//2
+				unsigned NOTFULLSTATUSMB1	: 1;		//3
+				unsigned NEWMSGSTATUSMB2	: 1;		//4
+				unsigned NOTFULLSTATUSMB2	: 1;		//5
+				unsigned NEWMSGSTATUSMB3	: 1;		//6
+				unsigned NOTFULLSTATUSMB3	: 1;		//7
+				unsigned NEWMSGSTATUSMB4	: 1;		//8
+				unsigned NOTFULLSTATUSMB4	: 1;		//9
+				unsigned NEWMSGSTATUSMB5	: 1;		//10
+				unsigned NOTFULLSTATUSMB5	: 1;		//11
+				unsigned NEWMSGSTATUSMB6	: 1;		//12
+				unsigned NOTFULLSTATUSMB6	: 1;		//13
+				unsigned NEWMSGSTATUSMB7	: 1;		//14
+				unsigned NOTFULLSTATUSMB7	: 1;		//15
+				unsigned rsvd				: 16;		//31:16
+			} STATUS_RAW_bit;
+		};
+		union {
+			volatile uint32_t STATUS_CLR;
+
+			volatile struct {
+				unsigned NEWMSGSTATUSMB0	: 1;		//0
+				unsigned NOTFULLSTATUSMB0	: 1;		//1
+				unsigned NEWMSGSTATUSMB1	: 1;		//2
+				unsigned NOTFULLSTATUSMB1	: 1;		//3
+				unsigned NEWMSGSTATUSMB2	: 1;		//4
+				unsigned NOTFULLSTATUSMB2	: 1;		//5
+				unsigned NEWMSGSTATUSMB3	: 1;		//6
+				unsigned NOTFULLSTATUSMB3	: 1;		//7
+				unsigned NEWMSGSTATUSMB4	: 1;		//8
+				unsigned NOTFULLSTATUSMB4	: 1;		//9
+				unsigned NEWMSGSTATUSMB5	: 1;		//10
+				unsigned NOTFULLSTATUSMB5	: 1;		//11
+				unsigned NEWMSGSTATUSMB6	: 1;		//12
+				unsigned NOTFULLSTATUSMB6	: 1;		//13
+				unsigned NEWMSGSTATUSMB7	: 1;		//14
+				unsigned NOTFULLSTATUSMB7	: 1;		//15
+				unsigned rsvd				: 16;		//31:16
+			} STATUS_CLR_bit;
+		};
+		union {
+			volatile uint32_t ENABLE_SET;
+
+			volatile struct {
+				unsigned NEWMSGSTATUSMB0	: 1;		//0
+				unsigned NOTFULLSTATUSMB0	: 1;		//1
+				unsigned NEWMSGSTATUSMB1	: 1;		//2
+				unsigned NOTFULLSTATUSMB1	: 1;		//3
+				unsigned NEWMSGSTATUSMB2	: 1;		//4
+				unsigned NOTFULLSTATUSMB2	: 1;		//5
+				unsigned NEWMSGSTATUSMB3	: 1;		//6
+				unsigned NOTFULLSTATUSMB3	: 1;		//7
+				unsigned NEWMSGSTATUSMB4	: 1;		//8
+				unsigned NOTFULLSTATUSMB4	: 1;		//9
+				unsigned NEWMSGSTATUSMB5	: 1;		//10
+				unsigned NOTFULLSTATUSMB5	: 1;		//11
+				unsigned NEWMSGSTATUSMB6	: 1;		//12
+				unsigned NOTFULLSTATUSMB6	: 1;		//13
+				unsigned NEWMSGSTATUSMB7	: 1;		//14
+				unsigned NOTFULLSTATUSMB7	: 1;		//15
+				unsigned rsvd				: 16;		//31:16
+			} ENABLE_SET_bit;
+		};
+		union {
+			volatile uint32_t ENABLE_CLR;
+
+			volatile struct {
+				unsigned NEWMSGSTATUSMB0	: 1;		//0
+				unsigned NOTFULLSTATUSMB0	: 1;		//1
+				unsigned NEWMSGSTATUSMB1	: 1;		//2
+				unsigned NOTFULLSTATUSMB1	: 1;		//3
+				unsigned NEWMSGSTATUSMB2	: 1;		//4
+				unsigned NOTFULLSTATUSMB2	: 1;		//5
+				unsigned NEWMSGSTATUSMB3	: 1;		//6
+				unsigned NOTFULLSTATUSMB3	: 1;		//7
+				unsigned NEWMSGSTATUSMB4	: 1;		//8
+				unsigned NOTFULLSTATUSMB4	: 1;		//9
+				unsigned NEWMSGSTATUSMB5	: 1;		//10
+				unsigned NOTFULLSTATUSMB5	: 1;		//11
+				unsigned NEWMSGSTATUSMB6	: 1;		//12
+				unsigned NOTFULLSTATUSMB6	: 1;		//13
+				unsigned NEWMSGSTATUSMB7	: 1;		//14
+				unsigned NOTFULLSTATUSMB7	: 1;		//15
+				unsigned rsvd				: 16;		//31:16
+			} ENABLE_CLR_bit;
+		};
+	} IRQ[4];
+
+} sysMailbox;
+
+#ifdef __GNUC__
+static volatile sysMailbox *__CT_MBX = (void *)0x480C8000;
+#define CT_MBX	(*__CT_MBX)
+#else
+volatile __far sysMailbox CT_MBX __attribute__((cregister("MBX0", far), peripheral));
+#endif
+
+#endif /* _SYS_MAILBOX_H_ */

lib/pru_rpmsg/include/am335x/sys_pwmss.h

@@ -0,0 +1,446 @@
+/*
+ * Copyright (C) 2015 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *	* Redistributions of source code must retain the above copyright
+ *	  notice, this list of conditions and the following disclaimer.
+ *
+ *	* Redistributions in binary form must reproduce the above copyright
+ *	  notice, this list of conditions and the following disclaimer in the
+ *	  documentation and/or other materials provided with the
+ *	  distribution.
+ *
+ *	* Neither the name of Texas Instruments Incorporated nor the names of
+ *	  its contributors may be used to endorse or promote products derived
+ *	  from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _SYS_PWMSS_H_
+#define _SYS_PWMSS_H_
+
+/* SYS_PWMSS register set */
+typedef struct {
+
+	/***************************/
+	/* PWM Subsystem Registers */
+	/***************************/
+	/* SYS_PWMSS_IDVER register bit field */
+	union {
+		volatile uint32_t IDVER;
+
+		volatile struct {
+			unsigned Y_MINOR	: 6;		//5:0
+			unsigned CUSTOM		: 2;		//7:6
+			unsigned X_MAJOR	: 3;		//10:8
+			unsigned R_RTL		: 5;		//15:11
+			unsigned FUNC		: 12;		//27:16
+			unsigned rsvd28		: 2;		//29:28
+			unsigned SCHEME		: 2;		//31:30
+		} IDVER_bit;
+	};	// 0x0
+
+	/* SYS_PWMSS_SYSCONFIG register bit field */
+	union {
+		volatile uint32_t SYSCONFIG;
+
+		volatile struct {
+			unsigned SOFTRESET		: 1;		//0
+			unsigned FREEEMU		: 1;		//1
+			unsigned IDLEMODE		: 2;		//3:2
+			unsigned STANDBYMODE	: 2;		//5:4
+			unsigned rsvd6			: 26;		//31:6
+		} SYSCONFIG_bit;
+	};	// 0x4
+
+	/* SYS_PWMSS_CLKCONFIG register bit field */
+	union {
+		volatile uint32_t CLKCONFIG;
+
+		volatile struct {
+			unsigned ECAPCLK_EN			: 1;		//0
+			unsigned ECAPCLKSTOP_REQ	: 1;		//1
+			unsigned rsvd2				: 2;		//3:2
+			unsigned EQEPCLK_EN			: 1;		//4
+			unsigned EQEPCLKSTOP_REQ	: 1;		//5
+			unsigned rsvd6				: 2;		//7:6
+			unsigned EPWMCLK_EN			: 1;		//8
+			unsigned EPWMCLKSTOP_REQ	: 1;		//9
+			unsigned rsvd10				: 22;		//31:10
+		} CLKCONFIG_bit;
+	};	// 0x8
+
+	/* SYS_PWMSS_CLKSTATUS register bit field */
+	union {
+		volatile uint32_t CLKSTATUS;
+
+		volatile struct {
+			unsigned ECAPCLK_EN_ACK		: 1;		//0
+			unsigned ECAPCLKSTOP_ACK	: 1;		//1
+			unsigned rsvd2				: 2;		//3:2
+			unsigned EQEPCLK_EN_ACK		: 1;		//4
+			unsigned EQEPCLKSTOP_ACK	: 1;		//5
+			unsigned rsvd6				: 2;		//7:6
+			unsigned EPWMCLK_EN_ACK		: 1;		//8
+			unsigned EPWMCLKSTOP_ACK	: 1;		//9
+			unsigned rsvd10				: 22;		//31:10
+		} CLKSTATUS_bit;
+	};	// 0xC
+
+	uint32_t rsvd10[60];		// 0x10 - 0xFC
+
+	/*************************/
+	/* eCAP Module Registers */
+	/*************************/
+	/* SYS_PWMSS_ECAP_TSCTR register bit field */
+	union {
+		volatile uint32_t ECAP_TSCTR;
+
+		volatile struct {
+			unsigned TSCTR	: 32;		//31:0
+		} ECAP_TSCTR_bit;
+	};	// 0x100
+
+	/* SYS_PWMSS_ECAP_CTRPHS register bit field */
+	union {
+		volatile uint32_t ECAP_CTRPHS;
+
+		volatile struct {
+			unsigned CTRPHS	: 32;		//31:0
+		} ECAP_CTRPHS_bit;
+	};	// 0x104
+
+	/* SYS_PWMSS_ECAP_CAP1 register bit field */
+	union {
+		volatile uint32_t ECAP_CAP1;
+
+		volatile struct {
+			unsigned CAP1	: 32;		//31:0
+		} ECAP_CAP1_bit;
+	};	// 0x108
+
+	/* SYS_PWMSS_ECAP_CAP2 register bit field */
+	union {
+		volatile uint32_t ECAP_CAP2;
+
+		volatile struct {
+			unsigned CAP2	: 32;		//31:0
+		} ECAP_CAP2_bit;
+	};	// 0x10C
+
+	/* SYS_PWMSS_ECAP_CAP3 register bit field */
+	union {
+		volatile uint32_t ECAP_CAP3;
+
+		volatile struct {
+			unsigned CAP3	: 32;		//31:0
+		} ECAP_CAP3_bit;
+	};	// 0x110
+
+	/* SYS_PWMSS_ECAP_CAP4 register bit field */
+	union {
+		volatile uint32_t ECAP_CAP4;
+
+		volatile struct {
+			unsigned CAP4	: 32;		//31:0
+		} ECAP_CAP4_bit;
+	};	// 0x114
+
+	uint32_t rsvd118[4];		// 0x118 - 0x124
+
+	/* SYS_PWMSS_ECAP_ECCTL1 register bit field */
+	volatile uint16_t ECAP_ECCTL1;	// 0x128
+
+	/* SYS_PWMSS_ECAP_ECCTL2 register bit field */
+	volatile uint16_t ECAP_ECCTL2;	// 0x12A
+
+	/* SYS_PWMSS_ECAP_ECEINT register bit field */
+	volatile uint16_t ECAP_ECEINT;	// 0x12C
+
+	/* SYS_PWMSS_ECAP_ECFLG register bit field */
+	volatile uint16_t ECAP_ECFLG;	// 0x12E
+
+	/* SYS_PWMSS_ECAP_ECCLR register bit field */
+	volatile uint16_t ECAP_ECCLR;	// 0x130
+
+	/* SYS_PWMSS_ECAP_ECFRC register bit field */
+	volatile uint16_t ECAP_ECFRC;	// 0x132
+
+	uint32_t rsvd134[10];		// 0x134 - 0x158
+
+	/* SYS_PWMSS_ECAP_REVID register bit field */
+	union {
+		volatile uint32_t ECAP_REVID;
+
+		volatile struct {
+			unsigned REV		: 32;		//31:0
+		} ECAP_REVID_bit;
+	};	// 0x15C
+
+	uint32_t rsvd160[8];		// 0x160 - 0x17C
+
+	/*************************/
+	/* eQEP Module Registers */
+	/*************************/
+	/* SYS_PWMSS_EQEP_QPOSCNT register bit field */
+	union {
+		volatile uint32_t EQEP_QPOSCNT;
+
+		volatile struct {
+			unsigned QPOSCNT	: 32;		//31:0
+		} EQEP_QPOSCNT_bit;
+	};	// 0x180
+
+	/* SYS_PWMSS_EQEP_QPOSINIT register bit field */
+	union {
+		volatile uint32_t EQEP_QPOSINIT;
+
+		volatile struct {
+			unsigned QPOSINIT	: 32;		//31:0
+		} EQEP_QPOSINIT_bit;
+	};	// 0x184
+
+	/* SYS_PWMSS_EQEP_QPOSMAX register bit field */
+	union {
+		volatile uint32_t EQEP_QPOSMAX;
+
+		volatile struct {
+			unsigned QPOSMAX	: 32;		//31:0
+		} EQEP_QPOSMAX_bit;
+	};	// 0x188
+
+	/* SYS_PWMSS_EQEP_QPOSCMP register bit field */
+	union {
+		volatile uint32_t EQEP_QPOSCMP;
+
+		volatile struct {
+			unsigned QPOSCMP	: 32;		//31:0
+		} EQEP_QPOSCMP_bit;
+	};	// 0x18C
+
+	/* SYS_PWMSS_EQEP_QPOSILAT register bit field */
+	union {
+		volatile uint32_t EQEP_QPOSILAT;
+
+		volatile struct {
+			unsigned QPOSILAT	: 32;		//31:0
+		} EQEP_QPOSILAT_bit;
+	};	// 0x190
+
+	/* SYS_PWMSS_EQEP_QPOSSLAT register bit field */
+	union {
+		volatile uint32_t EQEP_QPOSSLAT;
+
+		volatile struct {
+			unsigned QPOSSLAT	: 32;		//31:0
+		} EQEP_QPOSSLAT_bit;
+	};	// 0x194
+
+	/* SYS_PWMSS_EQEP_QPOSLAT register bit field */
+	union {
+		volatile uint32_t EQEP_QPOSLAT;
+
+		volatile struct {
+			unsigned QPOSLAT	: 32;		//31:0
+		} EQEP_QPOSLAT_bit;
+	};	// 0x198
+
+	/* SYS_PWMSS_EQEP_QUTMR register bit field */
+	union {
+		volatile uint32_t EQEP_QUTMR;
+
+		volatile struct {
+			unsigned QUTMR	: 32;		//31:0
+		} EQEP_QUTMR_bit;
+	};	// 0x19C
+
+	/* SYS_PWMSS_EQEP_QUPRD register bit field */
+	union {
+		volatile uint32_t EQEP_QUPRD;
+
+		volatile struct {
+			unsigned QUPRD	: 32;		//31:0
+		} EQEP_QUPRD_bit;
+	};	// 0x1A0
+
+	/* SYS_PWMSS_EQEP_QWDTMR register bit field */
+	volatile uint16_t EQEP_QWDTMR;	// 0x1A4
+
+	/* SYS_PWMSS_EQEP_QWDPRD register bit field */
+	volatile uint16_t EQEP_QWDPRD;	// 0x1A6
+
+	/* SYS_PWMSS_EQEP_QDECCTL register bit field */
+	volatile uint16_t EQEP_QDECCTL;	// 0x1A8
+
+	/* SYS_PWMSS_EQEP_QEPCTL register bit field */
+	volatile uint16_t EQEP_QEPCTL;	// 0x1AA
+
+	/* SYS_PWMSS_EQEP_QCAPCTL register bit field */
+	volatile uint16_t EQEP_QCAPCTL;	// 0x1AC
+
+	/* SYS_PWMSS_EQEP_QPOSCTL register bit field */
+	volatile uint16_t EQEP_QPOSCTL;	// 0x1AE
+
+	/* SYS_PWMSS_EQEP_QEINT register bit field */
+	volatile uint16_t EQEP_QEINT;	// 0x1B0
+
+	/* SYS_PWMSS_EQEP_QFLG register bit field */
+	volatile uint16_t EQEP_QFLG;	// 0x1B2
+
+	/* SYS_PWMSS_EQEP_QCLR register bit field */
+	volatile uint16_t EQEP_QCLR;	// 0x1B4
+
+	/* SYS_PWMSS_EQEP_QFRC register bit field */
+	volatile uint16_t EQEP_QFRC;	// 0x1B6
+
+	/* SYS_PWMSS_EQEP_QEPSTS register bit field */
+	volatile uint16_t EQEP_QEPSTS;	// 0x1B8
+
+	/* SYS_PWMSS_EQEP_QCTMR register bit field */
+	volatile uint16_t EQEP_QCTMR;	// 0x1BA
+
+	/* SYS_PWMSS_EQEP_QCPRD register bit field */
+	volatile uint16_t EQEP_QCPRD;	// 0x1BC
+
+	/* SYS_PWMSS_EQEP_QCTMRLAT register bit field */
+	volatile uint16_t EQEP_QCTMRLAT;	// 0x1BE
+
+	/* SYS_PWMSS_EQEP_QCPRDLAT register bit field */
+	volatile uint16_t EQEP_QCPRDLAT;	// 0x1C0
+
+	uint16_t rsvd1C2[1];		// 0x1C2 - 0x1C3
+	uint32_t rsvd1C4[6];		// 0x1C4 - 0x1D8
+
+	/* SYS_PWMSS_EQEP_REVID register bit field */
+	union {
+		volatile uint32_t EQEP_REVID;
+
+		volatile struct {
+			unsigned REVID	: 32;		//31:0
+		} EQEP_REVID_bit;
+	};	// 0x1DC
+
+	uint32_t rsvd1E0[8];		// 0x1E0 - 0x1FC
+
+	/*************************/
+	/* ePWM Module Registers */
+	/*************************/
+	/* SYS_PWMSS_EPWM_TBCTL register bit field */
+	volatile uint16_t EPWM_TBCTL;	// 0x200
+
+	/* SYS_PWMSS_EPWM_TBSTS register bit field */
+	volatile uint16_t EPWM_TBSTS;	// 0x202
+
+	/* SYS_PWMSS_EPWM_TBPHSHR register bit field */
+	volatile uint16_t EPWM_TBPHSHR;	// 0x204
+
+	/* SYS_PWMSS_EPWM_TBPHS register bit field */
+	volatile uint16_t EPWM_TBPHS;	// 0x206
+
+	/* SYS_PWMSS_EPWM_TBCNT register bit field */
+	volatile uint16_t EPWM_TBCNT;	// 0x208
+
+	/* SYS_PWMSS_EPWM_TBPRD register bit field */
+	volatile uint16_t EPWM_TBPRD;	// 0x20A
+
+	uint16_t rsvd20C[1];		// 0x20C - 0x20D
+
+	/* SYS_PWMSS_EPWM_CMPCTL register bit field */
+	volatile uint16_t EPWM_CMPCTL;	// 0x20E
+
+	/* SYS_PWMSS_EPWM_CMPAHR register bit field */
+	volatile uint16_t EPWM_CMPAHR;	// 0x210
+
+	/* SYS_PWMSS_EPWM_CMPA register bit field */
+	volatile uint16_t EPWM_CMPA;	// 0x212
+
+	/* SYS_PWMSS_EPWM_CMPB register bit field */
+	volatile uint16_t EPWM_CMPB;	// 0x214
+
+	/* SYS_PWMSS_EPWM_AQCTLA register bit field */
+	volatile uint16_t EPWM_AQCTLA;	// 0x216
+
+	/* SYS_PWMSS_EPWM_AQCTLB register bit field */
+	volatile uint16_t EPWM_AQCTLB;	// 0x218
+
+	/* SYS_PWMSS_EPWM_AQSFRC register bit field */
+	volatile uint16_t EPWM_AQSFRC;	// 0x21A
+
+	/* SYS_PWMSS_EPWM_AQCSFRC register bit field */
+	volatile uint16_t EPWM_AQCSFRC;	// 0x21C
+
+	/* SYS_PWMSS_EPWM_DBCTL register bit field */
+	volatile uint16_t EPWM_DBCTL;	// 0x21E
+
+	/* SYS_PWMSS_EPWM_DBRED register bit field */
+	volatile uint16_t EPWM_DBRED;	// 0x220
+
+	/* SYS_PWMSS_EPWM_DBFED register bit field */
+	volatile uint16_t EPWM_DBFED;	// 0x222
+
+	/* SYS_PWMSS_EPWM_TZSEL register bit field */
+	volatile uint16_t EPWM_TZSEL;	// 0x224
+
+	uint16_t rsvd226[1];		// 0x226 - 0x227
+
+	/* SYS_PWMSS_EPWM_TZCTL register bit field */
+	volatile uint16_t EPWM_TZCTL;	// 0x228
+
+	/* SYS_PWMSS_EPWM_TZEINT register bit field */
+	volatile uint16_t EPWM_TZEINT;	// 0x22A
+
+	/* SYS_PWMSS_EPWM_TZFLG register bit field */
+	volatile uint16_t EPWM_TZFLG;	// 0x22C
+
+	/* SYS_PWMSS_EPWM_TZCLR register bit field */
+	volatile uint16_t EPWM_TZCLR;	// 0x22E
+
+	/* SYS_PWMSS_EPWM_TZFRC register bit field */
+	volatile uint16_t EPWM_TZFRC;	// 0x230
+
+	/* SYS_PWMSS_EPWM_ETSEL register bit field */
+	volatile uint16_t EPWM_ETSEL;	// 0x232
+
+	/* SYS_PWMSS_EPWM_ETPS register bit field */
+	volatile uint16_t EPWM_ETPS;	// 0x234
+
+	/* SYS_PWMSS_EPWM_ETFLG register bit field */
+	volatile uint16_t EPWM_ETFLG;	// 0x236
+
+	/* SYS_PWMSS_EPWM_ETCLR register bit field */
+	volatile uint16_t EPWM_ETCLR;	// 0x238
+
+	/* SYS_PWMSS_EPWM_ETFRC register bit field */
+	volatile uint16_t EPWM_ETFRC;	// 0x23A
+
+	/* SYS_PWMSS_EPWM_PCCTL register bit field */
+	volatile uint16_t EPWM_PCCTL;	// 0x23C
+
+	uint16_t rsvd23E[1];		// 0x23E - 0x23F
+	uint32_t rsvd240[32];		// 0x240 - 0x2BC
+
+	/* SYS_PWMSS_EPWM_HRCNGF register bit field */
+	volatile uint16_t EPWM_HRCNGF;	// 0x2C0
+
+} sysPwmss;
+
+volatile __far sysPwmss PWMSS0 __attribute__((cregister("PWMSS0", far), peripheral));
+volatile __far sysPwmss PWMSS1 __attribute__((cregister("PWMSS1", far), peripheral));
+volatile __far sysPwmss PWMSS2 __attribute__((cregister("PWMSS2", far), peripheral));
+
+#endif /* _SYS_PWMSS_H_ */

lib/pru_rpmsg/include/pru_rpmsg.h

@@ -0,0 +1,268 @@
+/*
+ * Copyright (C) 2016 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *	* Redistributions of source code must retain the above copyright
+ *	  notice, this list of conditions and the following disclaimer.
+ *
+ *	* Redistributions in binary form must reproduce the above copyright
+ *	  notice, this list of conditions and the following disclaimer in the
+ *	  documentation and/or other materials provided with the
+ *	  distribution.
+ *
+ *	* Neither the name of Texas Instruments Incorporated nor the names of
+ *	  its contributors may be used to endorse or promote products derived
+ *	  from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/**
+ *  File	:	pru_rpmsg.h
+ *
+ *  Summary	:	An RPMsg interface for the PRU to use while communicating with
+ *			the ARM host.
+ *
+ *  Notes	:
+ *  - This file creates a structure (pru_rpmsg_transport) that contains
+ *    pointers to two pru_virtqueue structures. This structure is used as the
+ *    underlying transport layer of all RPMsg communication. Only one
+ *    pru_rpmsg_transport structure is needed because multiple logical channels
+ *    can use the same underlying transport.
+ *  - This pru_rpmsg interface is meant to sit on top of the pru_virtqueue
+ *    interface and abstract the communication even further away from the
+ *    underlying data structures. The goal is to make the communication as
+ *    simple as possible at the user application level.
+ *  - The logic for the PRU side is summarized below:
+ *
+ *    PRU Slave:
+ *    - To receive buffer from the ARM host:
+ *          pru_rpmsg_receive(*transport, *src, *dst, *data, *len);
+ *    - To send buffer to the host:
+ *          pru_rpmsg_send(*transport, src, dst, *data, len);
+ */
+
+#ifndef _PRU_RPMSG_H_
+#define _PRU_RPMSG_H_
+
+#include <pru_virtqueue.h>
+#include <pru_virtio_ring.h>
+
+/* Return value indicating no kick was sent */
+#define PRU_RPMSG_NO_KICK			1
+/* Return value indicating success */
+#define PRU_RPMSG_SUCCESS			0
+/* Return value indicating there were no available buffers */
+#define PRU_RPMSG_NO_BUF_AVAILABLE		-1
+/* Return value indicating that the buffer from the virtqueue was too small */
+#define PRU_RPMSG_BUF_TOO_SMALL			-2
+/* Return value indicating that an invalid head index was given */
+#define PRU_RPMSG_INVALID_HEAD			-3
+/* Return value indication that an invalid event number was given */
+#define PRU_RPMSG_INVALID_EVENT			-4
+
+/* Max PRU-ICSS system event number for pru_mst_intr */
+#define MAX_VALID_EVENT				31
+/* Min PRU-ICSS system event number for pru_mst_intr */
+#define MIN_VALID_EVENT				16
+
+/* The maximum size of the channel name and description */
+#define RPMSG_NAME_SIZE 			32
+/* The maximum size of the buffer (including the header) */
+#define RPMSG_BUF_SIZE				512
+
+enum pru_rpmsg_ns_flags {
+    RPMSG_NS_CREATE = 0,
+    RPMSG_NS_DESTROY = 1
+};
+
+/**
+ * Summary	:	pru_rpmsg_transport is a structure that groups together the
+ *			two pru_virtqueues that are needed for two-way communication
+ *			with the ARM. This structure provides a logical wrapper for
+ *			the transport layer of the application. NOTE: Multiple
+ *			(logical) channels can be implemented on top of the same
+ *			transport layer.
+ *
+ * Variables	:	virtqueue0: contains the pru_virtqueue that is used for the
+ *				    PRU->ARM communication
+ *			virtqueue1: contains the pru_virtqueue that is used for
+ *				    the ARM->PRU communication
+ */
+struct pru_rpmsg_transport {
+	struct pru_virtqueue	virtqueue0;
+	struct pru_virtqueue	virtqueue1;
+};
+
+/**
+ * Summary	:	pru_rpmsg_init initializes the underlying transport layer
+ *			data structures.
+ *
+ * Parameters	:	transport: a pointer to the transport data structure that
+ *				   contains the underlying data structures to be
+ *				   initialized
+ *			vring0: a pointer to vring0 which is provided by the ARM
+ *				core through the resource table
+ *			vring1: a pointer to vring1 which is provided by the ARM
+ *				core through the resource table
+ *			to_arm_event: the number of the PRU-ICSS system event
+ *				      that is specified in the device tree that
+ *				      is used to 'kick' the ARM core
+ *			from_arm_event: the number of the PRU-ICSS system event
+ *					that is specified in the device tree
+ *					that is used to receive 'kicks' from the
+ *					ARM core
+ *
+ * Description	:	pru_rpmsg_init takes the vrings and the events provided
+ *			through the resource table and initializes the transport
+ *			layer. Once this function call is successful RPMsg
+ *			channels can be created and used.
+ *
+ * Return Value :	Returns PRU_RPMSG_INVALID_EVENT if the values provided
+ *			in to_arm_event or from_arm_event are outside of the
+ *			allowable range of events. Returns PRU_RPMSG_SUCCESS
+ *			if the initialization is successful.
+ */
+int16_t pru_rpmsg_init(
+	struct pru_rpmsg_transport	*transport,
+	struct fw_rsc_vdev_vring 	*vring0,
+	struct fw_rsc_vdev_vring 	*vring1,
+	uint32_t 			to_arm_event,
+	uint32_t 			from_arm_event
+);
+
+/**
+* Summary	:	pru_rpmsg_receive receives a message, if available, from
+*			the ARM host.
+*
+* Parameters	:	transport: a pointer to the transport layer from which the
+*				   message should be received
+*			src: a pointer that is populated with the source address
+*			     where the message originated
+*			dst: a pointer that is populated with the destination
+*			     address where the message was sent (can help determine
+*			     for which channel the message is intended on the PRU)
+*			data: a pointer that is populated with a local data buffer
+*			      containing the message payload
+*			len: a pointer that is populated with the length of the
+*			     message payload
+*
+* Description	:	pru_rpmsg_receive uses the pru_virtqueue interface to get
+*			an available buffer, copy the buffer into local memory,
+*			add the buffer as a used buffer to the vring, and then kick
+*			the remote processor if necessary. The src, dst, data, and
+*			len pointers are populated with the information about the
+*			message and local buffer data if the reception is
+*			successful.
+*
+* Return Value	:	Returns PRU_RPMSG_NO_BUF_AVAILABLE if there is currently no
+*			buffer available for receive. Returns PRU_RPMSG_INVALID_HEAD
+*			if the head index returned for the available buffer is
+*			invalid. Returns PRU_RPMSG_SUCCESS if the message is
+*			successfully received.
+*/
+int16_t pru_rpmsg_receive(
+    struct pru_rpmsg_transport	*transport,
+    uint16_t			*src,
+    uint16_t			*dst,
+    void			*data,
+    uint16_t			*len
+);
+
+/**
+* Summary	:	pru_rpmsg_send sends a message to the ARM host using the
+*			virtqueues in the pru_rpmsg_transport structure. The
+*			source and destination address of the message are passed
+*			in as parameters to the function. The data to be sent and
+*			its length are passed in the data and len parameters.
+*
+* Parameters	:	transport: a pointer to the transport layer from which the
+*				   message should be sent
+*			src: the source address where this message will originate
+*			dst: the destination address where the message will be sent
+*			data: a pointer to a local data buffer containing the
+*			      message payload
+*			len: the length of the message payload
+*
+* Description	:	pru_rpmsg_send sends a message to the src parameter and
+*			from the dst parameter. The transport structure defines the
+*			underlying transport mechanism that will be used. The
+*			data parameter is a pointer to a local buffer that should
+*			be sent to the destination address and the len parameter is
+*			the length of that buffer.
+*
+* Return Value	:	Returns PRU_RPMSG_NO_BUF_AVAILABLE if there is currently no
+*			buffer available for send. Returns PRU_RPMSG_BUF_TOO_SMALL
+*			if the buffer from the vring is too small to hold the
+*			message payload being sent. Returns PRU_RPMSG_INVALID_HEAD
+*			if the head index returned for the send buffer is invalid.
+*			Returns PRU_RPMSG_SUCCESS if the message is successfully
+*			sent.
+*/
+int16_t pru_rpmsg_send(
+    struct pru_rpmsg_transport	*transport,
+    uint32_t			src,
+    uint32_t			dst,
+    void			*data,
+    uint16_t			len
+);
+
+/**
+* Summary	:	pru_rpmsg_channel uses an RPMsg Name Service Announcment
+*			to either create or destroy an RPMsg channel depending on
+*			the pru_rpmsg_ns_flags parameter that is specified.
+*
+* Parameters	:	flags: an enum that is used to create (RPMSG_NS_CREATE) or
+*			       destroy (RPMSG_NS_DESTROY) an RPMsg channel
+*			transport: a pointer to the transport layer on which this
+*				   Name Service Announcement will be sent
+*			name: the name of the channel being created or destroyed
+*			      ******* The name of the channel is very important as
+*			      ******* it is the method that Linux on the ARM uses
+*			      ******* to connect a PRU firmware with a corresponding
+*			      ******* Linux driver
+*			desc: the description of the RPMsg channel being created
+*			      or destroyed
+*			port: the local source address of the RPMsg channel. This
+*			      is the address where PRU messages destined for the
+*			      ARM host will originate
+*
+* Description	:	pru_rpmsg_channel sends a message letting the ARM
+*			host know that a channel is to be created or destroyed. If
+*			a channel is to be created then this message will notify
+*			the name server on the ARM host to create a new channel. If
+*			a channel is to be destroyed this will tear down this
+*			logical channel of communication between the PRU and the
+*			ARM host.
+*
+* Return Value	:	Returns PRU_RPMSG_NO_BUF_AVAILABLE if there is currently no
+*			buffer available for send. Returns PRU_RPMSG_BUF_TOO_SMALL
+*			if the buffer from the vring is too small to hold the
+*			message payload being sent. Returns PRU_RPMSG_INVALID_HEAD
+*			if the head index returned for the send buffer is invalid.
+*			Returns PRU_RPMSG_SUCCESS if the message is successfully
+*			sent.
+*/
+int16_t pru_rpmsg_channel(
+    enum pru_rpmsg_ns_flags	flags,
+    struct pru_rpmsg_transport	*transport,
+    char			*name,
+    char			*desc,
+    int32_t			port
+);
+
+#endif /* _PRU_RPMSG_H_ */