diff --git a/docs/MCU_Commands.md b/docs/MCU_Commands.md index 79425a2e..133476d8 100644 --- a/docs/MCU_Commands.md +++ b/docs/MCU_Commands.md @@ -201,12 +201,11 @@ only of interest to developers looking to gain insight into Klipper. a hardware PWM output pin. See the 'schedule_digital_out' and 'config_pwm_out' commands for more info. -* `schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u off_ticks=%u` : Schedules a - change to a software PWM output pin. The parameters 'on_ticks' and 'off_ticks' - define for how many ticks the pin will be on and off, respectively. - Because the output switching is implemented in the micro-controller software, - it is recommended that the sum of on_ticks and off_ticks parameters - corresponds to a time of 10ms or greater. See the 'schedule_digital_out' and +* `schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u` : Schedules a + change to a software PWM output pin. Because the output switching is + implemented in the micro-controller software, it is recommended that + the sum of on_ticks and off_ticks parameters corresponds to a time + of 10ms or greater. See the 'schedule_digital_out' and 'config_soft_pwm_out' commands for more info. * `query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c diff --git a/klippy/mcu.py b/klippy/mcu.py index 1d661050..d6d754c2 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -175,9 +175,9 @@ class MCU_pwm: self._invert = pin_params['invert'] self._start_value = self._shutdown_value = float(self._invert) self._is_static = False - self._last_clock = 0 + self._last_clock = self._last_cycle_ticks = 0 self._pwm_max = 0. - self._set_cmd = None + self._set_cmd = self._set_cycle_ticks = None def get_mcu(self): return self._mcu def setup_max_duration(self, max_duration): @@ -226,7 +226,6 @@ class MCU_pwm: # Software PWM if self._shutdown_value not in [0., 1.]: raise pins.error("shutdown value must be 0.0 or 1.0 on soft pwm") - self._pwm_max = float(cycle_ticks) if self._is_static: self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % (self._pin, self._start_value >= 0.5)) @@ -238,14 +237,18 @@ class MCU_pwm: % (self._oid, self._pin, self._start_value >= 1.0, self._shutdown_value >= 0.5, self._mcu.seconds_to_clock(self._max_duration))) - svalue = int(self._start_value * self._pwm_max + 0.5) self._mcu.add_config_cmd( - "schedule_soft_pwm_out oid=%d clock=%d on_ticks=%d off_ticks=%d" - % (self._oid, self._last_clock, svalue, cycle_ticks - svalue), - is_init=True) + "set_soft_pwm_cycle_ticks oid=%d cycle_ticks=%d" + % (self._oid, cycle_ticks)) + self._last_cycle_ticks = cycle_ticks + svalue = int(self._start_value * cycle_ticks + 0.5) + self._mcu.add_config_cmd( + "schedule_soft_pwm_out oid=%d clock=%d on_ticks=%d" + % (self._oid, self._last_clock, svalue), is_init=True) self._set_cmd = self._mcu.lookup_command( - "schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u off_ticks=%u", - cq=cmd_queue) + "schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u", cq=cmd_queue) + self._set_cycle_ticks = self._mcu.lookup_command( + "set_soft_pwm_cycle_ticks oid=%c cycle_ticks=%u", cq=cmd_queue) def set_pwm(self, print_time, value, cycle_time=None): clock = self._mcu.print_time_to_clock(print_time) minclock = self._last_clock @@ -261,8 +264,12 @@ class MCU_pwm: if cycle_time is None: cycle_time = self._cycle_time cycle_ticks = self._mcu.seconds_to_clock(cycle_time) + if cycle_ticks != self._last_cycle_ticks: + self._set_cycle_ticks.send([self._oid, cycle_ticks], + minclock=minclock, reqclock=clock) + self._last_cycle_ticks = cycle_ticks on_ticks = int(max(0., min(1., value)) * float(cycle_ticks) + 0.5) - self._set_cmd.send([self._oid, clock, on_ticks, cycle_ticks - on_ticks], + self._set_cmd.send([self._oid, clock, on_ticks], minclock=minclock, reqclock=clock) class MCU_adc: diff --git a/src/gpiocmds.c b/src/gpiocmds.c index e6bf4671..a9eabdac 100644 --- a/src/gpiocmds.c +++ b/src/gpiocmds.c @@ -1,6 +1,6 @@ // Commands for controlling GPIO pins // -// Copyright (C) 2016 Kevin O'Connor +// Copyright (C) 2016-2020 Kevin O'Connor // // This file may be distributed under the terms of the GNU GPLv3 license. @@ -109,8 +109,8 @@ DECL_COMMAND(command_set_digital_out, "set_digital_out pin=%u value=%c"); struct soft_pwm_s { struct timer timer; uint32_t on_duration, off_duration, end_time; - uint32_t next_on_duration, next_off_duration; - uint32_t max_duration; + uint32_t next_on_duration; + uint32_t max_duration, cycle_time; struct gpio_out pin; uint8_t default_value, flags; }; @@ -154,7 +154,7 @@ soft_pwm_load_event(struct timer *timer) s->flags = flags; gpio_out_write(s->pin, flags & SPF_ON); if (!(flags & SPF_TOGGLING)) { - // Pin is in an always on (value=256) or always off (value=0) state + // Pin is in an always on or always off state if (!(flags & SPF_CHECK_END)) return SF_DONE; s->timer.waketime = s->end_time = s->end_time + s->max_duration; @@ -162,8 +162,8 @@ soft_pwm_load_event(struct timer *timer) } // Schedule normal pin toggle timer events s->timer.func = soft_pwm_toggle_event; - s->off_duration = s->next_off_duration; s->on_duration = s->next_on_duration; + s->off_duration = s->cycle_time - s->on_duration; s->timer.waketime = s->end_time + s->on_duration; s->end_time += s->max_duration; return SF_RESCHEDULE; @@ -184,18 +184,30 @@ DECL_COMMAND(command_config_soft_pwm_out, "config_soft_pwm_out oid=%c pin=%u value=%c" " default_value=%c max_duration=%u"); +void +command_set_soft_pwm_cycle_ticks(uint32_t *args) +{ + struct soft_pwm_s *s = oid_lookup(args[0], command_config_soft_pwm_out); + irq_disable(); + if (s->flags & SPF_HAVE_NEXT) + shutdown("Can not set soft pwm cycle ticks while updates pending"); + s->cycle_time = args[1]; + irq_enable(); +} +DECL_COMMAND(command_set_soft_pwm_cycle_ticks, + "set_soft_pwm_cycle_ticks oid=%c cycle_ticks=%u"); + void command_schedule_soft_pwm_out(uint32_t *args) { struct soft_pwm_s *s = oid_lookup(args[0], command_config_soft_pwm_out); - uint32_t time = args[1], next_on_duration = args[2], - next_off_duration = args[3]; + uint32_t time = args[1], next_on_duration = args[2]; uint8_t next_flags = SPF_CHECK_END | SPF_HAVE_NEXT; - if (next_on_duration == 0 || next_off_duration == 0) { + if (next_on_duration == 0 || next_on_duration >= s->cycle_time) { next_flags |= next_on_duration ? SPF_NEXT_ON : 0; if (!!next_on_duration != s->default_value && s->max_duration) next_flags |= SPF_NEXT_CHECK_END; - next_on_duration = next_off_duration = 0; + next_on_duration = 0; } else { next_flags |= SPF_NEXT_ON | SPF_NEXT_TOGGLING; if (s->max_duration) @@ -206,7 +218,6 @@ command_schedule_soft_pwm_out(uint32_t *args) shutdown("next soft pwm extends existing pwm"); s->end_time = time; s->next_on_duration = next_on_duration; - s->next_off_duration = next_off_duration; s->flags = (s->flags & 0xf) | next_flags; if (s->flags & SPF_TOGGLING && timer_is_before(s->timer.waketime, time)) { // soft_pwm_toggle_event() will schedule a load event when ready @@ -220,7 +231,7 @@ command_schedule_soft_pwm_out(uint32_t *args) irq_enable(); } DECL_COMMAND(command_schedule_soft_pwm_out, - "schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u off_ticks=%u"); + "schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u"); void soft_pwm_shutdown(void)