noncritical mcus

klippy/extras/adxl345.py

@@ -223,6 +223,13 @@ def _build_config(self):
             "query_adxl345 oid=%c rest_ticks=%u", cq=cmdqueue)
         self.ffreader.setup_query_command("query_adxl345_status oid=%c",
                                           oid=self.oid, cq=cmdqueue)
+
+    def check_connected(self):
+        if self.mcu.non_critical_disconnected:
+            raise self.printer.command_error(
+                f"ADXL: {self.name} could not connect because mcu: {self.mcu.get_name()} is non_critical_disconnected!"
+            )
+
     def read_reg(self, reg):
         params = self.spi.spi_transfer([reg | REG_MOD_READ, 0x00])
         response = bytearray(params['response'])
@@ -237,6 +244,7 @@ def set_reg(self, reg, val, minclock=0):
                     "(e.g. faulty wiring) or a faulty adxl345 chip." % (
                         reg, val, stored_val))
     def start_internal_client(self):
+        self.check_connected()
         aqh = AccelQueryHelper(self.printer)
         self.batch_bulk.add_client(aqh.handle_batch)
         return aqh

klippy/extras/display/display.py

@@ -199,6 +199,10 @@ def __init__(self, config):
             raise config.error("Unknown display_data group '%s'" % (dgroup,))
         # Screen updating
         self.printer.register_event_handler("klippy:ready", self.handle_ready)
+        self.printer.register_event_handler(
+            self.lcd_chip.mcu.get_non_critical_reconnect_event_name(),
+            self.handle_reconnect,
+        )
         self.screen_update_timer = self.reactor.register_timer(
             self.screen_update_event)
         self.redraw_request_pending = False
@@ -213,6 +217,10 @@ def __init__(self, config):
                                        self.cmd_SET_DISPLAY_GROUP)
     def get_dimensions(self):
         return self.lcd_chip.get_dimensions()
+
+    def handle_reconnect(self):
+        self.lcd_chip.init()
+
     def handle_ready(self):
         self.lcd_chip.init()
         # Start screen update timer

klippy/extras/lis2dw.py

@@ -68,6 +68,13 @@ def _build_config(self):
             "query_lis2dw oid=%c rest_ticks=%u", cq=cmdqueue)
         self.ffreader.setup_query_command("query_lis2dw_status oid=%c",
                                           oid=self.oid, cq=cmdqueue)
+
+    def check_connected(self):
+        if self.mcu.non_critical_disconnected:
+            raise self.printer.command_error(
+                f"LIS2DW: {self.name} could not connect because mcu: {self.mcu.get_name()} is non_critical_disconnected!"
+            )
+
     def read_reg(self, reg):
         params = self.spi.spi_transfer([reg | REG_MOD_READ, 0x00])
         response = bytearray(params['response'])
@@ -82,6 +89,7 @@ def set_reg(self, reg, val, minclock=0):
                     "(e.g. faulty wiring) or a faulty lis2dw chip." % (
                         reg, val, stored_val))
     def start_internal_client(self):
+        self.check_connected()
         aqh = adxl345.AccelQueryHelper(self.printer)
         self.batch_bulk.add_client(aqh.handle_batch)
         return aqh

klippy/extras/mpu9250.py

@@ -93,12 +93,20 @@ def _build_config(self):
             "query_mpu9250 oid=%c rest_ticks=%u", cq=cmdqueue)
         self.ffreader.setup_query_command("query_mpu9250_status oid=%c",
                                           oid=self.oid, cq=cmdqueue)
+
+    def check_connected(self):
+        if self.mcu.non_critical_disconnected:
+            raise self.printer.command_error(
+                f"MPU: {self.name} could not connect because mcu: {self.mcu.get_name()} is non_critical_disconnected!"
+            )
+
     def read_reg(self, reg):
         params = self.i2c.i2c_read([reg], 1)
         return bytearray(params['response'])[0]
     def set_reg(self, reg, val, minclock=0):
         self.i2c.i2c_write([reg, val & 0xFF], minclock=minclock)
     def start_internal_client(self):
+        self.check_connected()
         aqh = adxl345.AccelQueryHelper(self.printer)
         self.batch_bulk.add_client(aqh.handle_batch)
         return aqh

klippy/extras/neopixel.py

@@ -48,6 +48,9 @@ def __init__(self, config):
         self.old_color_data = bytearray([d ^ 1 for d in self.color_data])
         # Register callbacks
         printer.register_event_handler("klippy:connect", self.send_data)
+        printer.register_event_handler(
+            self.mcu.get_non_critical_reconnect_event_name(), self.send_data
+        )
     def build_config(self):
         bmt = self.mcu.seconds_to_clock(BIT_MAX_TIME)
         rmt = self.mcu.seconds_to_clock(RESET_MIN_TIME)

klippy/extras/temperature_mcu.py

@@ -40,6 +40,7 @@ def __init__(self, config):
             return
         self.printer.register_event_handler("klippy:mcu_identify",
                                             self.handle_mcu_identify)
+        self.mcu_adc.get_mcu().register_config_callback(self._build_config)
     # Temperature interface
     def setup_callback(self, temperature_callback):
         self.temperature_callback = temperature_callback
@@ -59,6 +60,9 @@ def calc_adc(self, temp):
     def calc_base(self, temp, adc):
         return temp - adc * self.slope
     def handle_mcu_identify(self):
+        self._build_config()
+
+    def _build_config(self):
         # Obtain mcu information
         mcu = self.mcu_adc.get_mcu()
         self.debug_read_cmd = mcu.lookup_query_command(

klippy/extras/tmc.py

@@ -403,7 +403,14 @@ def _handle_connect(self):
                          self.stepper_name)
         # Send init
         try:
-            self._init_registers()
+            if self.mcu_tmc.mcu.non_critical_disconnected:
+                logging.info(
+                    "TMC %s failed to init - non_critical_mcu: %s is disconnected!",
+                    self.name,
+                    self.mcu_tmc.mcu.get_name(),
+                )
+            else:
+                self._init_registers()
         except self.printer.command_error as e:
             logging.info("TMC %s failed to init: %s", self.name, str(e))
     # get_status information export

klippy/extras/tmc2130.py

@@ -256,6 +256,8 @@ def __init__(self, config, name_to_reg, fields, tmc_frequency):
         self.name_to_reg = name_to_reg
         self.fields = fields
         self.tmc_frequency = tmc_frequency
+        self.mcu = self.tmc_spi.spi.get_mcu()
+
     def get_fields(self):
         return self.fields
     def get_register(self, reg_name):

klippy/extras/tmc2660.py

@@ -196,6 +196,8 @@ def __init__(self, config, name_to_reg, fields):
         self.spi = bus.MCU_SPI_from_config(config, 0, default_speed=4000000)
         self.name_to_reg = name_to_reg
         self.fields = fields
+        self.mcu = self.spi.get_mcu()
+
     def get_fields(self):
         return self.fields
     def get_register(self, reg_name):

klippy/extras/tmc_uart.py

@@ -220,6 +220,8 @@ def __init__(self, config, name_to_reg, fields, max_addr, tmc_frequency):
             config, max_addr)
         self.mutex = self.mcu_uart.mutex
         self.tmc_frequency = tmc_frequency
+        self.mcu = self.mcu_uart.mcu
+
     def get_fields(self):
         return self.fields
     def _do_get_register(self, reg_name):

klippy/mcu.py

@@ -550,6 +550,7 @@ class MCU:
     def __init__(self, config, clocksync):
         self._config = config
         self._printer = printer = config.get_printer()
+        self.gcode = printer.lookup_object("gcode")
         self._clocksync = clocksync
         self._reactor = printer.get_reactor()
         self._name = config.get_name()
@@ -606,15 +607,31 @@ def __init__(self, config, clocksync):
         self._mcu_tick_stddev = 0.
         self._mcu_tick_awake = 0.
 
-        #noncritical mcus
-        self.non_critical_recon_timer = self._reactor.register_timer(
-            self.non_critical_recon_event
-        )
+        # noncritical mcus
         self.is_non_critical = config.getboolean("is_non_critical", False)
-        self._non_critical_disconnected = False
-        # self.last_noncrit_recon_eventtime = None
-        self.reconnect_interval = config.getfloat("reconnect_interval", 2.0) + 0.12 #add small change to not collide with other events
-
+        if self.is_non_critical and self.get_name() == "mcu":
+            raise error("Primary MCU cannot be marked as non-critical!")
+        if self.is_non_critical:
+            self.non_critical_recon_timer = self._reactor.register_timer(
+                self.non_critical_recon_event
+            )
+            if canbus_uuid:
+                raise error("CAN MCUs can't be non-critical yet!")
+        self.non_critical_disconnected = False
+        self._non_critical_reconnect_event_name = (
+            f"danger:non_critical_mcu_{self.get_name()}:reconnected"
+        )
+        self._non_critical_disconnect_event_name = (
+            f"danger:non_critical_mcu_{self.get_name()}:disconnected"
+        )
+        self.reconnect_interval = (
+            config.getfloat("reconnect_interval", 2.0) + 0.12
+        )  # add small change to not collide with other events
+        self._cached_init_state = False
+        self._oid_count_post_inits = 0
+        self._config_cmds_post_inits = []
+        self._init_cmds_post_inits = []
+        self._restart_cmds_post_inits = []
         # Register handlers
         printer.load_object(config, "error_mcu")
         printer.register_event_handler("klippy:firmware_restart",
@@ -687,32 +704,45 @@ def dummy_estimated_print_time(eventtime):
             self.estimated_print_time = dummy_estimated_print_time
 
     def handle_non_critical_disconnect(self):
-        self._non_critical_disconnected = True
+        self.non_critical_disconnected = True
         self._clocksync.disconnect()
         self._disconnect()
         self._reactor.update_timer(
             self.non_critical_recon_timer, self._reactor.NOW
         )
-        logging.info("mcu: %s disconnected", self._name)
+        self._printer.send_event(self._non_critical_disconnect_event_name)
+        self.gcode.respond_info(f"mcu: '{self._name}' disconnected!", log=True)
 
     def non_critical_recon_event(self, eventtime):
-        self.recon_mcu()
-        return eventtime + self.reconnect_interval
+        success = self.recon_mcu()
+        if success:
+            self.gcode.respond_info(
+                f"mcu: '{self._name}' reconnected!", log=True
+            )
+            return self._reactor.NEVER
+        else:
+            return eventtime + self.reconnect_interval
 
     def _send_config(self, prev_crc):
+        if not self._cached_init_state:
+            # first time config, we haven't created callback oids yet
+            # so save the oid count for state reset later
+            self._oid_count_post_inits = self._oid_count
+            self._config_cmds_post_inits = self._config_cmds.copy()
+            self._init_cmds_post_inits = self._init_cmds.copy()
+            self._restart_cmds_post_inits = self._restart_cmds.copy()
+            self._cached_init_state = True
         # Build config commands
         for cb in self._config_callbacks:
             cb()
         self._config_cmds.insert(0, "allocate_oids count=%d"
                                  % (self._oid_count,))
-
         # Resolve pin names
         ppins = self._printer.lookup_object('pins')
         pin_resolver = ppins.get_pin_resolver(self._name)
         for cmdlist in (self._config_cmds, self._restart_cmds, self._init_cmds):
             for i, cmd in enumerate(cmdlist):
                 cmdlist[i] = pin_resolver.update_command(cmd)
-                logging.info("command: %s", cmdlist[i])
         # Calculate config CRC
         encoded_config = '\n'.join(self._config_cmds).encode()
         config_crc = zlib.crc32(encoded_config) & 0xffffffff
@@ -770,30 +800,27 @@ def _log_info(self):
     def recon_mcu(self):
         res = self._mcu_identify()
         if not res:
-            return
+            return False
         self.reset_to_initial_state()
-
+        self.non_critical_disconnected = False
         self._connect()
-        self._reactor.update_timer(
-            self.non_critical_recon_timer, self._reactor.NEVER
-        )
-        self._reactor.unregister_timer(self.non_critical_recon_timer)
-        self.last_noncrit_recon_eventtime = None
-        logging.info("mcu: %s reconnected", self._name)
+        self._printer.send_event(self._non_critical_reconnect_event_name)
+        return True
 
     def reset_to_initial_state(self):
-        self._oid_count = 0
-        self._config_cmds = []
-        self._restart_cmds = []
-        self._init_cmds = []
+        if self._cached_init_state:
+            self._oid_count = self._oid_count_post_inits
+            self._config_cmds = self._config_cmds_post_inits.copy()
+            self._init_cmds = self._init_cmds_post_inits.copy()
+            self._restart_cmds = self._restart_cmds_post_inits.copy()
         self._reserved_move_slots = 0
-        self._stepqueues = []
         self._steppersync = None
 
     def _connect(self):
-        if self._non_critical_disconnected:
-            self.non_critical_recon_timer = self._reactor.register_timer(
-                self.non_critical_recon_event, self._reactor.NOW + self.reconnect_interval
+        if self.non_critical_disconnected:
+            self._reactor.update_timer(
+                self.non_critical_recon_timer,
+                self._reactor.NOW + self.reconnect_interval,
             )
             return
         config_params = self._send_get_config()
@@ -829,15 +856,17 @@ def _connect(self):
         logging.info(move_msg)
         log_info = self._log_info() + "\n" + move_msg
         self._printer.set_rollover_info(self._name, log_info, log=False)
+
     def _check_serial_exists(self):
         rts = self._restart_method != "cheetah"
-        return self._serial.check_connect(self._serialport, self._baud,  rts)
+        return self._serial.check_connect(self._serialport, self._baud, rts)
+
     def _mcu_identify(self):
         if self.is_non_critical and not self._check_serial_exists():
-            self._non_critical_disconnected = True
+            self.non_critical_disconnected = True
             return False
         else:
-            self._non_critical_disconnected = False
+            self.non_critical_disconnected = False
         if self.is_fileoutput():
             self._connect_file()
         else:
@@ -937,6 +966,13 @@ def get_printer(self):
         return self._printer
     def get_name(self):
         return self._name
+
+    def get_non_critical_reconnect_event_name(self):
+        return self._non_critical_reconnect_event_name
+
+    def get_non_critical_disconnect_event_name(self):
+        return self._non_critical_disconnect_event_name
+
     def register_response(self, cb, msg, oid=None):
         self._serial.register_response(cb, msg, oid)
     def alloc_command_queue(self):
@@ -1009,7 +1045,7 @@ def _restart_rpi_usb(self):
         self._reactor.pause(self._reactor.monotonic() + 2.)
         chelper.run_hub_ctrl(1)
     def _firmware_restart(self, force=False):
-        if self._is_mcu_bridge and not force:
+        if (self._is_mcu_bridge and not force) or self.non_critical_disconnected:
             return
         if self._restart_method == 'rpi_usb':
             self._restart_rpi_usb()
@@ -1051,10 +1087,10 @@ def check_active(self, print_time, eventtime):
         if (self._clocksync.is_active() or self.is_fileoutput()
             or self._is_timeout):
             return
-        self._is_timeout = True
         if self.is_non_critical:
             self.handle_non_critical_disconnect()
             return
+        self._is_timeout = True
         logging.info("Timeout with MCU '%s' (eventtime=%f)",
                      self._name, eventtime)
         self._printer.invoke_shutdown("Lost communication with MCU '%s'" % (