noncritical mcus

README.md

@@ -120,13 +120,13 @@ See the [Danger Features document](https://dangerklipper.io/Danger_Features.html
 
 - [z_tilt, quad_gantry_level: adaptive horizontal move z](https://github.com/DangerKlippers/danger-klipper/pull/336)
 
+- [core: non-critical-mcus](https://github.com/DangerKlippers/danger-klipper/pull/339)
+
 If you're feeling adventurous, take a peek at the extra features in the bleeding-edge-v2 branch [feature documentation](docs/Bleeding_Edge.md)
 and [feature configuration reference](docs/Config_Reference_Bleeding_Edge.md):
 
 - [extruder/pa: do not smooth base extruder position, only advance](https://github.com/DangerKlippers/danger-klipper/pull/266)
 
-- [core: non-critical-mcus](https://github.com/DangerKlippers/danger-klipper/pull/265)
-
 - [dmbutyugin's advanced-features branch - Pull Request #262](https://github.com/DangerKlippers/danger-klipper/pull/262)
   - stepper: high precision stepping protocol
   - extruder: sync extruder motion with input shaper

docs/Config_Reference.md

@@ -58,6 +58,10 @@ serial:
 #   sending a Klipper command to the micro-controller so that it can
 #   reset itself. The default is 'arduino' if the micro-controller
 #   communicates over a serial port, 'command' otherwise.
+#is_non_critical: False
+#   Setting this to True will allow the mcu to be disconnected and 
+#   reconnected at will without errors. Helpful for USB-accelerometer boards
+#   and USB-probes
 ```
 
 ### [mcu my_extra_mcu]

docs/Danger_Features.md

@@ -7,7 +7,7 @@
 - [`[exclude_object]`](./Config_Reference.md#exclude_object) is enabled by default. Use `[exclude_object] enable_exclude_object: False` to disable it
 
 ## Additional configuration options
-
+- [`[mcu] is_non_critical`](./Config_Reference.md#mcu) enables marking of an mcu as optional - it can be freely disconnected and connected at will. (useful for MCU-based accelerometer boards, mcu-based probes that shut down in hot chambers, etc...)
 - [`[danger_options]`](./Config_Reference.md#danger-options) - New configuration options to adjust klipper values that were previously hidden
 - Additional kinematics versions enabled per-axis acceleration, see [limited_cartesian](./Config_Reference.md#⚠️-cartesian-kinematics-with-limits-for-x-and-y-axes) and [limited_corexy](./Config_Reference.md#⚠️-corexy-kinematics-with-limits-for-x-and-y-axes)
 - `--rotate-log-at-restart` can be added to your klipper start script or service to force log rotation every restart.

klippy/clocksync.py

@@ -29,6 +29,10 @@ def __init__(self, reactor):
         self.prediction_variance = 0.0
         self.last_prediction_time = 0.0
 
+    # XXX - test to see if this is used or not
+    # def disconnect(self):
+    #     self.reactor.update_timer(self.get_clock_timer, self.reactor.NEVER)
+
     def connect(self, serial):
         self.serial = serial
         self.mcu_freq = serial.msgparser.get_constant_float("CLOCK_FREQ")

klippy/extras/adxl345.py

@@ -310,6 +310,12 @@ def _build_config(self):
             "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"])
@@ -327,6 +333,7 @@ def set_reg(self, reg, val, minclock=0):
             )
 
     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

@@ -233,6 +233,10 @@ 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
         )
@@ -255,6 +259,9 @@ def __init__(self, config):
     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/display/st7920.py

@@ -260,6 +260,7 @@ def __init__(self, config):
         sw_pins = tuple([pin_params["pin"] for pin_params in sw_pin_params])
         speed = config.getint("spi_speed", 1000000, minval=100000)
         self.spi = bus.MCU_SPI(mcu, None, None, 0, speed, sw_pins)
+        self.mcu = mcu
         # create enable helper
         self.en_helper = EnableHelper(config.get("en_pin"), self.spi)
         self.en_set = False

klippy/extras/display/uc1701.py

@@ -191,6 +191,7 @@ def init(self):
 class UC1701(DisplayBase):
     def __init__(self, config):
         io = SPI4wire(config, "a0_pin")
+        self.mcu = io.spi.get_mcu()
         DisplayBase.__init__(self, io)
         self.contrast = config.getint("contrast", 40, minval=0, maxval=63)
         self.reset = ResetHelper(config.get("rst_pin", None), io.spi)
@@ -232,6 +233,7 @@ def __init__(self, config, columns=128, x_offset=0):
         else:
             io = SPI4wire(config, "dc_pin")
             io_bus = io.spi
+        self.mcu = io_bus.get_mcu()
         self.reset = ResetHelper(config.get("reset_pin", None), io_bus)
         DisplayBase.__init__(self, io, columns, x_offset)
         self.contrast = config.getint("contrast", 239, minval=0, maxval=255)

klippy/extras/lis2dw.py

@@ -79,6 +79,12 @@ def _build_config(self):
             "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"])
@@ -96,6 +102,7 @@ def set_reg(self, reg, val, minclock=0):
             )
 
     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

@@ -105,6 +105,12 @@ def _build_config(self):
             "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]
@@ -113,6 +119,7 @@ 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

@@ -50,6 +50,9 @@ 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)

klippy/extras/temperature_mcu.py

@@ -58,6 +58,7 @@ def __init__(self, config):
         self.printer.register_event_handler(
             "klippy:mcu_identify", self._mcu_identify
         )
+        self.mcu_adc.get_mcu().register_config_callback(self._build_config)
 
     def setup_callback(self, temperature_callback):
         self.temperature_callback = temperature_callback
@@ -80,6 +81,9 @@ def calc_base(self, temp, adc):
         return temp - adc * self.slope
 
     def _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

@@ -517,7 +517,14 @@ def _handle_connect(self):
             )
         # 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))
 

klippy/extras/tmc2130.py

@@ -382,6 +382,7 @@ 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

klippy/extras/tmc2660.py

@@ -211,6 +211,7 @@ 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

klippy/extras/tmc_uart.py

@@ -272,6 +272,7 @@ def __init__(self, config, name_to_reg, fields, max_addr, tmc_frequency):
         )
         self.mutex = self.mcu_uart.mutex
         self.tmc_frequency = tmc_frequency
+        self.mcu = self.mcu_uart.mcu
 
     def get_fields(self):
         return self.fields