hub-ctrl: Add support for micro-controller reset via RPi usb power to…

…ggling

Signed-off-by: Kevin O'Connor <[email protected]>

config/example.cfg

@@ -245,9 +245,12 @@ pin_map: arduino
 #   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' and 'command'. The
-#   'arduino' method (toggle DTR; set baud to 1200) is common on
-#   Arduino boards and clones. The 'command' method involves sending a
+#   micro-controller. The choices are 'arduino', 'rpi_usb', and
+#   'command'. The 'arduino' method (toggle DTR; set baud to 1200) 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'.
 custom:

docs/Installation.md

@@ -24,7 +24,7 @@ following commands:
 
 ```
 sudo apt-get update
-sudo apt-get install libncurses-dev
+sudo apt-get install libncurses-dev libusb-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
 ```

klippy/chelper.py

@@ -1,11 +1,16 @@
 # Wrapper around C helper code
 #
-# Copyright (C) 2016  Kevin O'Connor <[email protected]>
+# Copyright (C) 2016,2017  Kevin O'Connor <[email protected]>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import os, logging
 import cffi
 
+
+######################################################################
+# 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"
@@ -79,14 +84,14 @@ 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
@@ -97,7 +102,8 @@ 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)
@@ -110,3 +116,20 @@ def logging_callback(msg):
             "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/mcu.py

@@ -1,9 +1,9 @@
 # Multi-processor safe interface to micro-controller
 #
-# Copyright (C) 2016  Kevin O'Connor <[email protected]>
+# Copyright (C) 2016,2017  Kevin O'Connor <[email protected]>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
-import sys, zlib, logging, math
+import sys, os, zlib, logging, math
 import serialhdl, pins, chelper
 
 class error(Exception):
@@ -381,7 +381,7 @@ def __init__(self, printer, config):
         self._is_fileoutput = False
         self._timeout_timer = printer.reactor.register_timer(
             self.timeout_handler)
-        rmethods = {m: m for m in ['arduino', 'command']}
+        rmethods = {m: m for m in ['arduino', 'command', 'rpi_usb']}
         self._restart_method = config.getchoice(
             'restart_method', rmethods, 'arduino')
         # Config building
@@ -424,8 +424,19 @@ def handle_shutdown(self, params):
         self.serial.dump_debug()
         self._printer.note_shutdown(self._shutdown_msg)
     # Connection phase
+    def _check_restart(self, reason):
+        if self._printer.get_startup_state() == 'firmware_restart':
+            return
+        logging.info("Attempting automated firmware restart: %s" % (reason,))
+        self._printer.request_exit('firmware_restart')
+        self._printer.reactor.pause(self._printer.reactor.monotonic() + 2.000)
+        raise error("Attempt firmware restart failed")
     def connect(self):
         if not self._is_fileoutput:
+            if (self._restart_method == 'rpi_usb'
+                and not os.path.exists(self._serialport)):
+                # Try toggling usb power
+                self._check_restart("enable power")
             self.serial.connect()
             self._printer.reactor.update_timer(
                 self._timeout_timer, self.monotonic() + self.COMM_TIMEOUT)
@@ -478,6 +489,13 @@ def clear_shutdown(self):
         self.send(self._clear_shutdown_cmd.encode())
     def microcontroller_restart(self):
         reactor = self._printer.reactor
+        if self._restart_method == 'rpi_usb':
+            logging.info("Attempting a microcontroller reset via rpi usb power")
+            self.disconnect()
+            chelper.run_hub_ctrl(0)
+            reactor.pause(reactor.monotonic() + 2.000)
+            chelper.run_hub_ctrl(1)
+            return
         if self._restart_method == 'command':
             last_clock, last_clock_time = self.serial.get_last_clock()
             eventtime = reactor.monotonic()
@@ -539,6 +557,9 @@ def _send_config(self):
         else:
             config_params = self.serial.send_with_response(msg, 'config')
         if not config_params['is_config']:
+            if self._restart_method == 'rpi_usb':
+                # Only configure mcu after usb power reset
+                self._check_restart("full reset before config")
             # Send config commands
             logging.info("Sending printer configuration...")
             for c in self._config_cmds:
@@ -551,12 +572,7 @@ def _send_config(self):
                             self._shutdown_msg,))
                     raise error("Unable to configure printer")
         if self._config_crc != config_params['crc']:
-            if self._printer.get_startup_state() != 'firmware_restart':
-                # Attempt a firmware restart to fix the CRC error
-                logging.info(
-                    "Printer CRC mismatch - attempting firmware restart")
-                self._printer.request_exit('firmware_restart')
-                self._printer.reactor.pause(0.100)
+            self._check_restart("CRC mismatch")
             raise error("Printer CRC does not match config")
         move_count = config_params['move_count']
         logging.info("Configured (%d moves)" % (move_count,))

lib/README

@@ -10,3 +10,7 @@ The cmsis-sam3x8e directory contains code from the Arduino project:
 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.