support klipper mcus

klippy/mcu.py

@@ -523,6 +523,7 @@ def _handle_analog_in_state(self, params):
 class MCU:
     error = error
     def __init__(self, config, clocksync):
+        self._config = config
         self._printer = printer = config.get_printer()
         self._clocksync = clocksync
         self._reactor = printer.get_reactor()
@@ -678,13 +679,15 @@ def _send_config(self, prev_crc):
             cb()
         self._config_cmds.insert(0, "allocate_oids count=%d"
                                  % (self._oid_count,))
+
         # Resolve pin names
         mcu_type = self._serial.get_msgparser().get_constant('MCU')
         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
@@ -743,15 +746,23 @@ def recon_mcu(self):
         res = self._mcu_identify()
         if not res:
             return
-
+        self.reset_to_initial_state()
         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)
-
+
+    def reset_to_initial_state(self):
+        self._oid_count = 0
+        self._config_cmds = []
+        self._restart_cmds = []
+        self._init_cmds = []
+        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(

src/basecmd.c

@@ -261,8 +261,8 @@ DECL_COMMAND(command_finalize_config, "finalize_config crc=%u");
 void
 config_reset(uint32_t *args)
 {
-    if (! sched_is_shutdown())
-        shutdown("config_reset only available when shutdown");
+    // if (! sched_is_shutdown())
+    //     shutdown("config_reset only available when shutdown");
     irq_disable();
     config_crc = 0;
     oid_count = 0;

src/linux/main.c

@@ -51,8 +51,8 @@ static char **orig_argv;
 void
 command_config_reset(uint32_t *args)
 {
-    if (! sched_is_shutdown())
-        shutdown("config_reset only available when shutdown");
+    // if (! sched_is_shutdown())
+    //     shutdown("config_reset only available when shutdown");
     int ret = execv(orig_argv[0], orig_argv);
     report_errno("execv", ret);
 }