mcu: Disable waiting in send_wait_ack() if in debugging mode

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

klippy/chelper/__init__.py

@@ -274,6 +274,28 @@ def do_build_code(cmd):
         logging.error(msg)
         raise Exception(msg)
 
+# Build the main c_helper.so c code library
+def check_build_c_library():
+    srcdir = os.path.dirname(os.path.realpath(__file__))
+    srcfiles = get_abs_files(srcdir, SOURCE_FILES)
+    ofiles = get_abs_files(srcdir, OTHER_FILES)
+    destlib = get_abs_files(srcdir, [DEST_LIB])[0]
+    if not check_build_code(srcfiles+ofiles+[__file__], destlib):
+        # Code already built
+        return destlib
+    # Select command line options
+    if check_gcc_option(SSE_FLAGS):
+        cmd = "%s %s %s" % (GCC_CMD, SSE_FLAGS, COMPILE_ARGS)
+    else:
+        cmd = "%s %s" % (GCC_CMD, COMPILE_ARGS)
+    # Invoke compiler
+    logging.info("Building C code module %s", DEST_LIB)
+    tempdestlib = get_abs_files(srcdir, ["_temp_" + DEST_LIB])[0]
+    do_build_code(cmd % (tempdestlib, ' '.join(srcfiles)))
+    # Rename from temporary file to final file name
+    os.rename(tempdestlib, destlib)
+    return destlib
+
 FFI_main = None
 FFI_lib = None
 pyhelper_logging_callback = None
@@ -286,17 +308,9 @@ def logging_callback(msg):
 def get_ffi():
     global FFI_main, FFI_lib, pyhelper_logging_callback
     if FFI_lib is None:
-        srcdir = os.path.dirname(os.path.realpath(__file__))
-        srcfiles = get_abs_files(srcdir, SOURCE_FILES)
-        ofiles = get_abs_files(srcdir, OTHER_FILES)
-        destlib = get_abs_files(srcdir, [DEST_LIB])[0]
-        if check_build_code(srcfiles+ofiles+[__file__], destlib):
-            if check_gcc_option(SSE_FLAGS):
-                cmd = "%s %s %s" % (GCC_CMD, SSE_FLAGS, COMPILE_ARGS)
-            else:
-                cmd = "%s %s" % (GCC_CMD, COMPILE_ARGS)
-            logging.info("Building C code module %s", DEST_LIB)
-            do_build_code(cmd % (destlib, ' '.join(srcfiles)))
+        # Check if library needs to be built, and build if so
+        destlib = check_build_c_library()
+        # Open library
         FFI_main = cffi.FFI()
         for d in defs_all:
             FFI_main.cdef(d)

klippy/extras/bme280.py

@@ -284,7 +284,7 @@ class BME280:
                 self.chip_type, self.i2c.i2c_address))
 
         # Reset chip
-        self.write_register('RESET', [RESET_CHIP_VALUE], wait=True)
+        self.write_register('RESET', [RESET_CHIP_VALUE])
         self.reactor.pause(self.reactor.monotonic() + .5)
 
         # Make sure non-volatile memory has been copied to registers
@@ -394,7 +394,7 @@ class BME280:
                 self.write_register('CTRL_HUM', self.os_hum)
             # Enter normal (periodic) mode
             meas = self.os_temp << 5 | self.os_pres << 2 | MODE_PERIODIC
-            self.write_register('CTRL_MEAS', meas, wait=True)
+            self.write_register('CTRL_MEAS', meas)
 
         if self.chip_type == 'BME680':
             self.write_register('CONFIG', self.iir_filter << 2)
@@ -528,7 +528,7 @@ class BME280:
 
         # Enter forced mode
         meas = self.os_temp << 5 | self.os_pres << 2 | MODE
-        self.write_register('CTRL_MEAS', meas, wait=True)
+        self.write_register('CTRL_MEAS', meas)
         max_sample_time = self.max_sample_time
         if run_gas:
             max_sample_time += self.gas_heat_duration / 1000
@@ -776,15 +776,12 @@ class BME280:
         params = self.i2c.i2c_read(regs, read_len)
         return bytearray(params['response'])
 
-    def write_register(self, reg_name, data, wait = False):
+    def write_register(self, reg_name, data):
         if type(data) is not list:
             data = [data]
         reg = self.chip_registers[reg_name]
         data.insert(0, reg)
-        if not wait:
-            self.i2c.i2c_write(data)
-        else:
-            self.i2c.i2c_write_wait_ack(data)
+        self.i2c.i2c_write(data)
 
     def get_status(self, eventtime):
         data = {

klippy/extras/bus.py

@@ -180,6 +180,13 @@ class MCU_I2C:
         self.cmd_queue = self.mcu.alloc_command_queue()
         self.mcu.register_config_callback(self.build_config)
         self.i2c_write_cmd = self.i2c_read_cmd = None
+        printer = self.mcu.get_printer()
+        printer.register_event_handler("klippy:connect", self._handle_connect)
+        # backward support i2c_write inside the init section
+        self._to_write = []
+    def _handle_connect(self):
+        for data in self._to_write:
+            self.i2c_write(data)
     def get_oid(self):
         return self.oid
     def get_mcu(self):
@@ -207,16 +214,10 @@ class MCU_I2C:
             cq=self.cmd_queue)
     def i2c_write(self, data, minclock=0, reqclock=0):
         if self.i2c_write_cmd is None:
-            # Send setup message via mcu initialization
-            data_msg = "".join(["%02x" % (x,) for x in data])
-            self.mcu.add_config_cmd("i2c_write oid=%d data=%s" % (
-                self.oid, data_msg), is_init=True)
+            self._to_write.append(data)
             return
-        self.i2c_write_cmd.send([self.oid, data],
-                                minclock=minclock, reqclock=reqclock)
-    def i2c_write_wait_ack(self, data, minclock=0, reqclock=0):
         self.i2c_write_cmd.send_wait_ack([self.oid, data],
-                                minclock=minclock, reqclock=reqclock)
+                                         minclock=minclock, reqclock=reqclock)
     def i2c_read(self, write, read_len, retry=True):
         return self.i2c_read_cmd.send([self.oid, write, read_len], retry)
 

klippy/extras/heaters.py

@@ -75,7 +75,8 @@ class Heater:
             # No significant change in value - can suppress update
             return
         pwm_time = read_time + self.pwm_delay
-        self.next_pwm_time = pwm_time + 0.75 * MAX_HEAT_TIME
+        self.next_pwm_time = (pwm_time + MAX_HEAT_TIME
+                              - (3. * self.pwm_delay + 0.001))
         self.last_pwm_value = value
         self.mcu_pwm.set_pwm(pwm_time, value)
         #logging.debug("%s: pwm=%.3f@%.3f (from %.3f@%.3f [%.3f])",

klippy/extras/sht3x.py

@@ -80,10 +80,10 @@ class SHT3X:
 
     def _init_sht3x(self):
         # Device Soft Reset
-        self.i2c.i2c_write_wait_ack(SHT3X_CMD['OTHER']['BREAK'])
+        self.i2c.i2c_write(SHT3X_CMD['OTHER']['BREAK'])
         # Break takes ~ 1ms
         self.reactor.pause(self.reactor.monotonic() + .0015)
-        self.i2c.i2c_write_wait_ack(SHT3X_CMD['OTHER']['SOFTRESET'])
+        self.i2c.i2c_write(SHT3X_CMD['OTHER']['SOFTRESET'])
         # Wait <=1.5ms after reset
         self.reactor.pause(self.reactor.monotonic() + .0015)
 
@@ -97,7 +97,7 @@ class SHT3X:
             logging.warning("sht3x: Reading status - checksum error!")
 
         # Enable periodic mode
-        self.i2c.i2c_write_wait_ack(
+        self.i2c.i2c_write(
             SHT3X_CMD['PERIODIC']['2HZ']['HIGH_REP']
         )
         # Wait <=15.5ms for first measurement

klippy/extras/sx1509.py

@@ -29,7 +29,6 @@ class SX1509(object):
         self._ppins = self._printer.lookup_object("pins")
         self._ppins.register_chip("sx1509_" + self._name, self)
         self._mcu = self._i2c.get_mcu()
-        self._mcu.register_config_callback(self._build_config)
         self._oid = self._i2c.get_oid()
         self._last_clock = 0
         # Set up registers default values
@@ -37,22 +36,26 @@ class SX1509(object):
                          REG_PULLUP : 0, REG_PULLDOWN : 0,
                          REG_INPUT_DISABLE : 0, REG_ANALOG_DRIVER_ENABLE : 0}
         self.reg_i_on_dict = {reg : 0 for reg in REG_I_ON}
-    def _build_config(self):
+        config.get_printer().register_event_handler("klippy:connect",
+                                                    self.handle_connect)
+    def handle_connect(self):
         # Reset the chip, Default RegClock/RegMisc 0x0
-        self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%02x" % (
-            self._oid, REG_RESET, 0x12))
-        self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%02x" % (
-            self._oid, REG_RESET, 0x34))
+        self._i2c.i2c_write([REG_RESET, 0x12])
+        self._i2c.i2c_write([REG_RESET, 0x34])
         # Enable Oscillator
-        self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%02x" % (
-            self._oid, REG_CLOCK, (1 << 6)))
+        self._i2c.i2c_write([REG_CLOCK, (1 << 6)])
         # Setup Clock Divider
-        self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%02x" % (
-            self._oid, REG_MISC, (1 << 4)))
+        self._i2c.i2c_write([REG_MISC, (1 << 4)])
         # Transfer all regs with their initial cached state
-        for _reg, _data in self.reg_dict.items():
-            self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%04x" % (
-                self._oid, _reg, _data), is_init=True)
+        reactor = self._mcu.get_printer().get_reactor()
+        for _reg in self.reg_dict:
+            curtime = reactor.monotonic()
+            printtime = self._mcu.estimated_print_time(curtime)
+            self.send_register(_reg, printtime)
+        for reg in self.reg_i_on_dict:
+            curtime = reactor.monotonic()
+            printtime = self._mcu.estimated_print_time(curtime)
+            self.send_register(reg, printtime)
     def setup_pin(self, pin_type, pin_params):
         if pin_type == 'digital_out' and pin_params['pin'][0:4] == "PIN_":
             return SX1509_digital_out(self, pin_params)
@@ -159,15 +162,6 @@ class SX1509_pwm(object):
             raise pins.error("SX1509_pwm must have hardware_pwm enabled")
         if self._max_duration:
             raise pins.error("SX1509 pins are not suitable for heaters")
-        # Send initial value
-        self._sx1509.set_register(self._i_on_reg,
-                                  ~int(255 * self._start_value) & 0xFF)
-        self._mcu.add_config_cmd("i2c_write oid=%d data=%02x%02x" % (
-            self._sx1509.get_oid(),
-            self._i_on_reg,
-            self._sx1509.reg_i_on_dict[self._i_on_reg]
-            ),
-                                 is_init=True)
     def get_mcu(self):
         return self._mcu
     def setup_max_duration(self, max_duration):
@@ -181,6 +175,8 @@ class SX1509_pwm(object):
             shutdown_value = 1. - shutdown_value
         self._start_value = max(0., min(1., start_value))
         self._shutdown_value = max(0., min(1., shutdown_value))
+        self._sx1509.set_register(self._i_on_reg,
+                                  ~int(255 * self._start_value) & 0xFF)
     def set_pwm(self, print_time, value):
         self._sx1509.set_register(self._i_on_reg, ~int(255 * value)
                                   if not self._invert

klippy/extras/tmc2240.py

@@ -262,6 +262,9 @@ FieldFormatters.update({
     "adc_temp":         (lambda v: "0x%04x(%.1fC)" % (v, ((v - 2038) / 7.7))),
     "adc_vsupply":      (lambda v: "0x%04x(%.3fV)" % (v, v * 0.009732)),
     "adc_ain":          (lambda v: "0x%04x(%.3fmV)" % (v, v * 0.3052)),
+    "overvoltage_vth":  (lambda v: "0x%04x(%.3fV)" % (v, v * 0.009732)),
+    "overtempprewarning_vth": (lambda v:
+                               "0x%04x(%.1fC)" % (v, ((v - 2038) / 7.7))),
 })
 
 

klippy/mcu.py

@@ -84,7 +84,7 @@ class CommandQueryWrapper:
 
 # Wrapper around command sending
 class CommandWrapper:
-    def __init__(self, serial, msgformat, cmd_queue=None):
+    def __init__(self, serial, msgformat, cmd_queue=None, debugoutput=False):
         self._serial = serial
         msgparser = serial.get_msgparser()
         self._cmd = msgparser.lookup_command(msgformat)
@@ -92,6 +92,9 @@ class CommandWrapper:
             cmd_queue = serial.get_default_command_queue()
         self._cmd_queue = cmd_queue
         self._msgtag = msgparser.lookup_msgid(msgformat) & 0xffffffff
+        if debugoutput:
+            # Can't use send_wait_ack when in debugging mode
+            self.send_wait_ack = self.send
     def send(self, data=(), minclock=0, reqclock=0):
         cmd = self._cmd.encode(data)
         self._serial.raw_send(cmd, minclock, reqclock, self._cmd_queue)
@@ -888,7 +891,8 @@ class MCU:
     def alloc_command_queue(self):
         return self._serial.alloc_command_queue()
     def lookup_command(self, msgformat, cq=None):
-        return CommandWrapper(self._serial, msgformat, cq)
+        return CommandWrapper(self._serial, msgformat, cq,
+                              debugoutput=self.is_fileoutput())
     def lookup_query_command(self, msgformat, respformat, oid=None,
                              cq=None, is_async=False):
         return CommandQueryWrapper(self._serial, msgformat, respformat, oid,

scripts/spi_flash/board_defs.py

@@ -170,6 +170,14 @@ BOARD_DEFS = {
         "firmware_path": "ZNP_ROBIN_NANO.bin",
         "current_firmware_path": "ZNP_ROBIN_NANO.CUR"
     },
+    'qidi-x6': {
+        'mcu': "stm32f401xc",
+        'spi_bus': "spi2",
+        'cs_pin': "PB12",
+        'skip_verify': False,
+        'firmware_path': 'X_4.bin',
+        'current_firmware_path': 'X_4.CUR'
+    },
     'qidi-x7': {
         'mcu': "stm32f401xc",
         'spi_bus': "spi2",
@@ -228,6 +236,9 @@ BOARD_ALIASES = {
     'robin_v3': BOARD_DEFS['monster8'],
     'btt-skrat-v1.0': BOARD_DEFS['btt-skrat'],
     'chitu-v6': BOARD_DEFS['chitu-v6'],
+    'qidi-x-smart3': BOARD_DEFS['qidi-x6'],
+    'qidi-x-plus3': BOARD_DEFS['qidi-x6'],
+    'qidi-x-max3': BOARD_DEFS['qidi-x6'],
     'qidi-q1-pro': BOARD_DEFS['qidi-x7'],
     'qidi-plus4': BOARD_DEFS['qidi-x7']
 }

src/stm32/Kconfig

@@ -302,7 +302,7 @@ choice
     config STM32_FLASH_START_C000
         bool "48KiB bootloader" if MACH_STM32F4x5 || MACH_STM32F401
     config STM32_FLASH_START_10000
-        bool "64KiB bootloader" if MACH_STM32F103 || MACH_STM32F4
+        bool "64KiB bootloader" if MACH_STM32F103 || MACH_STM32F4 || MACH_N32G45x
 
     config STM32_FLASH_START_800
         bool "2KiB bootloader" if MACH_STM32F103

src/stm32/Makefile

@@ -94,7 +94,7 @@ src-$(CONFIG_HAVE_GPIO_SDIO) += stm32/sdio.c
 target-y += $(OUT)klipper.bin
 
 $(OUT)klipper.bin: $(OUT)klipper.elf
-	@echo "  Creating hex file $@"
+	@echo "  Creating bin file $@"
 	$(Q)$(OBJCOPY) -O binary $< $@
 
 # Flash rules

src/stm32/n32g45x_adc.c

@@ -14,6 +14,8 @@
 #include "sched.h" // sched_shutdown
 #include "n32g45x_adc.h" // ADC
 
+#define ADC_INVALID_PIN 0xFF
+
 DECL_CONSTANT("ADC_MAX", 4095);
 
 #define ADC_TEMPERATURE_PIN 0xfe
@@ -21,42 +23,42 @@ DECL_ENUMERATION("pin", "ADC_TEMPERATURE", ADC_TEMPERATURE_PIN);
 
 static const uint8_t adc_pins[] = {
     // ADC1
-    0, GPIO('A', 0), GPIO('A', 1), GPIO('A', 6),
-    GPIO('A', 3), GPIO('F', 4), 0, 0,
-    0, 0, 0, 0,
-    0, 0, 0, 0,
-    ADC_TEMPERATURE_PIN, 0, 0, 0,
-    0, 0, 0, 0,
-    0, 0, 0, 0,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, GPIO('A', 0), GPIO('A', 1), GPIO('A', 6),
+    GPIO('A', 3), GPIO('F', 4), ADC_INVALID_PIN, ADC_INVALID_PIN,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
+    ADC_TEMPERATURE_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
     // ADC2
-    0, GPIO('A', 4), GPIO('A', 5), GPIO('B', 1),
+    ADC_INVALID_PIN, GPIO('A', 4), GPIO('A', 5), GPIO('B', 1),
     GPIO('A', 7), GPIO('C', 4), GPIO('C', 0), GPIO('C', 1),
     GPIO('C', 2), GPIO('C', 3), GPIO('F', 2), GPIO('A', 2),
-    GPIO('C', 5), GPIO('B', 2), 0, 0,
-    0, 0, 0, 0,
-    0, 0, 0, 0,
-    0, 0, 0, 0,
-    0, 0, 0, 0,
+    GPIO('C', 5), GPIO('B', 2), ADC_INVALID_PIN, ADC_INVALID_PIN,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
 #if CONFIG_MACH_N32G455 // ADC3/4 for G455 only
     // ADC3
-    0, GPIO('B', 11), GPIO('E', 9), GPIO('E', 13),
+    ADC_INVALID_PIN, GPIO('B', 11), GPIO('E', 9), GPIO('E', 13),
     GPIO('E', 12), GPIO('B', 13), GPIO('E', 8), GPIO('D', 10),
     GPIO('D', 11), GPIO('D', 12), GPIO('D', 13), GPIO('D', 14),
     GPIO('B', 0), GPIO('E', 7), GPIO('E', 10), GPIO('E', 11),
-    0, 0, 0, 0,
-    0, 0, 0, 0,
-    0, 0, 0, 0,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
     // ADC4
-    0, GPIO('E', 14), GPIO('E', 15), GPIO('B', 12),
-    GPIO('B', 14), GPIO('B', 15), 0, 0,
-    0, 0, 0, 0,
-    GPIO('D', 8), GPIO('D', 9), 0, 0,
-    0, 0, 0, 0,
-    0, 0, 0, 0,
-    0, 0, 0, 0,
-    0, 0, 0, 0,
+    ADC_INVALID_PIN, GPIO('E', 14), GPIO('E', 15), GPIO('B', 12),
+    GPIO('B', 14), GPIO('B', 15), ADC_INVALID_PIN, ADC_INVALID_PIN,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
+    GPIO('D', 8), GPIO('D', 9), ADC_INVALID_PIN, ADC_INVALID_PIN,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
+    ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN, ADC_INVALID_PIN,
 #endif
 };