How do GCode and MCU interact?

Flander · August 28, 2024, 2:06am

How to call the function in mcu.py after processing the gcode command with the _process_command function of gcode.py?

3dcoded · August 28, 2024, 10:32am

I’m not entirely sure what you’re trying to do, but if you’re trying to run GCode commands from a Klippy extra, here is a tutorial. If you’re trying to run a function when a certain GCode command is run, here is an example of how.

Flander · August 29, 2024, 12:27am

The complete process of calling gcode commands and how do gcode threads interact with serial threads?

BevanWeiss · August 30, 2024, 11:37am

When the GCode command is parsed if it matches your registered command, then it will call your method for it.
Like this…

github.com

Klipper3d/klipper/blob/f71d2c7cfc97d3e7964403463e513ac7f9b90050/klippy/extras/bed_screws.py#L64


      
              coord, name = self.states[state][screw]
              self.move((coord[0], coord[1], self.horizontal_move_z), self.speed)
              self.move((coord[0], coord[1], self.probe_z), self.lift_speed)
              # Update state
              self.state = state
              self.current_screw = screw
              # Register commands
              self.gcode.respond_info(
                  "Adjust %s. Then run ACCEPT, ADJUSTED, or ABORT\n"
                  "Use ADJUSTED if a significant screw adjustment is made" % (name,))
              self.gcode.register_command('ACCEPT', self.cmd_ACCEPT,
                                          desc=self.cmd_ACCEPT_help)
              self.gcode.register_command('ADJUSTED', self.cmd_ADJUSTED,
                                          desc=self.cmd_ADJUSTED_help)
              self.gcode.register_command('ABORT', self.cmd_ABORT,
                                          desc=self.cmd_ABORT_help)
          def unregister_commands(self):
              self.gcode.register_command('ACCEPT', None)
              self.gcode.register_command('ADJUSTED', None)
              self.gcode.register_command('ABORT', None)
          def get_status(self, eventtime):

So when ACCEPT is called from the console, or gcode, then it will call the cmd_ACCEPT function.

It’s up to this function to decide whether it will call one of the pre-configured mcu commands. If it does decide to send something to the MCU, it would do it like this…

github.com

Klipper3d/klipper/blob/f71d2c7cfc97d3e7964403463e513ac7f9b90050/klippy/extras/bus.py#L193


      
              self.i2c_modify_bits_cmd = self.mcu.lookup_command(
                  "i2c_modify_bits oid=%c reg=%*s clear_set_bits=%*s",
                  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)
                  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)
          def i2c_read(self, write, read_len):
              return self.i2c_read_cmd.send([self.oid, write, read_len])
          def i2c_modify_bits(self, reg, clear_bits, set_bits,
                              minclock=0, reqclock=0):
              clearset = clear_bits + set_bits
              if self.i2c_modify_bits_cmd is None:

Or it might just call a higher level function like the i2c read/write stuff… or the spi stuff… which will in turn call its own mcu interfacing commands.

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How do GCode and MCU interact?

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