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gpiocmds: Send soft pwm cycle_time separately from schedule_soft_pwm_out 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-11-21 15:04:39 -05:00
parent 7b28cdbae5
commit 086f0fafde
3 changed files with 44 additions and 27 deletions
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11
docs/MCU_Commands.md
View File

@ -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 a hardware PWM output pin. See the 'schedule_digital_out' and
'config_pwm_out' commands for more info. 'config_pwm_out' commands for more info.
* `schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u off_ticks=%u` : Schedules a * `schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u` : Schedules a
change to a software PWM output pin. The parameters 'on_ticks' and 'off_ticks' change to a software PWM output pin. Because the output switching is
define for how many ticks the pin will be on and off, respectively. implemented in the micro-controller software, it is recommended that
Because the output switching is implemented in the micro-controller software, the sum of on_ticks and off_ticks parameters corresponds to a time
it is recommended that the sum of on_ticks and off_ticks parameters of 10ms or greater. See the 'schedule_digital_out' and
corresponds to a time of 10ms or greater. See the 'schedule_digital_out' and
'config_soft_pwm_out' commands for more info. 'config_soft_pwm_out' commands for more info.
* `query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c * `query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c

27
klippy/mcu.py
View File

@ -175,9 +175,9 @@ class MCU_pwm:
self._invert = pin_params['invert'] self._invert = pin_params['invert']
self._start_value = self._shutdown_value = float(self._invert) self._start_value = self._shutdown_value = float(self._invert)
self._is_static = False self._is_static = False
self._last_clock = 0 self._last_clock = self._last_cycle_ticks = 0
self._pwm_max = 0. self._pwm_max = 0.
self._set_cmd = None self._set_cmd = self._set_cycle_ticks = None
def get_mcu(self): def get_mcu(self):
return self._mcu return self._mcu
def setup_max_duration(self, max_duration): def setup_max_duration(self, max_duration):
@ -226,7 +226,6 @@ class MCU_pwm:
# Software PWM # Software PWM
if self._shutdown_value not in [0., 1.]: if self._shutdown_value not in [0., 1.]:
raise pins.error("shutdown value must be 0.0 or 1.0 on soft pwm") 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: if self._is_static:
self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" self._mcu.add_config_cmd("set_digital_out pin=%s value=%d"
% (self._pin, self._start_value >= 0.5)) % (self._pin, self._start_value >= 0.5))
@ -238,14 +237,18 @@ class MCU_pwm:
% (self._oid, self._pin, self._start_value >= 1.0, % (self._oid, self._pin, self._start_value >= 1.0,
self._shutdown_value >= 0.5, self._shutdown_value >= 0.5,
self._mcu.seconds_to_clock(self._max_duration))) self._mcu.seconds_to_clock(self._max_duration)))
svalue = int(self._start_value * self._pwm_max + 0.5)
self._mcu.add_config_cmd( self._mcu.add_config_cmd(
"schedule_soft_pwm_out oid=%d clock=%d on_ticks=%d off_ticks=%d" "set_soft_pwm_cycle_ticks oid=%d cycle_ticks=%d"
% (self._oid, self._last_clock, svalue, cycle_ticks - svalue), % (self._oid, cycle_ticks))
is_init=True) 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( self._set_cmd = self._mcu.lookup_command(
"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", cq=cmd_queue)
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): def set_pwm(self, print_time, value, cycle_time=None):
clock = self._mcu.print_time_to_clock(print_time) clock = self._mcu.print_time_to_clock(print_time)
minclock = self._last_clock minclock = self._last_clock
@ -261,8 +264,12 @@ class MCU_pwm:
if cycle_time is None: if cycle_time is None:
cycle_time = self._cycle_time cycle_time = self._cycle_time
cycle_ticks = self._mcu.seconds_to_clock(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) 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) minclock=minclock, reqclock=clock)
class MCU_adc: class MCU_adc:

33
src/gpiocmds.c
View File

@ -1,6 +1,6 @@
// Commands for controlling GPIO pins // Commands for controlling GPIO pins
// //
// Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> // Copyright (C) 2016-2020 Kevin O'Connor <kevin@koconnor.net>
// //
// This file may be distributed under the terms of the GNU GPLv3 license. // 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 soft_pwm_s {
struct timer timer; struct timer timer;
uint32_t on_duration, off_duration, end_time; uint32_t on_duration, off_duration, end_time;
uint32_t next_on_duration, next_off_duration; uint32_t next_on_duration;
uint32_t max_duration; uint32_t max_duration, cycle_time;
struct gpio_out pin; struct gpio_out pin;
uint8_t default_value, flags; uint8_t default_value, flags;
}; };
@ -154,7 +154,7 @@ soft_pwm_load_event(struct timer *timer)
s->flags = flags; s->flags = flags;
gpio_out_write(s->pin, flags & SPF_ON); gpio_out_write(s->pin, flags & SPF_ON);
if (!(flags & SPF_TOGGLING)) { 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)) if (!(flags & SPF_CHECK_END))
return SF_DONE; return SF_DONE;
s->timer.waketime = s->end_time = s->end_time + s->max_duration; 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 // Schedule normal pin toggle timer events
s->timer.func = soft_pwm_toggle_event; s->timer.func = soft_pwm_toggle_event;
s->off_duration = s->next_off_duration;
s->on_duration = s->next_on_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->timer.waketime = s->end_time + s->on_duration;
s->end_time += s->max_duration; s->end_time += s->max_duration;
return SF_RESCHEDULE; return SF_RESCHEDULE;
@ -184,18 +184,30 @@ DECL_COMMAND(command_config_soft_pwm_out,
"config_soft_pwm_out oid=%c pin=%u value=%c" "config_soft_pwm_out oid=%c pin=%u value=%c"
" default_value=%c max_duration=%u"); " 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 void
command_schedule_soft_pwm_out(uint32_t *args) command_schedule_soft_pwm_out(uint32_t *args)
{ {
struct soft_pwm_s *s = oid_lookup(args[0], command_config_soft_pwm_out); struct soft_pwm_s *s = oid_lookup(args[0], command_config_soft_pwm_out);
uint32_t time = args[1], next_on_duration = args[2], uint32_t time = args[1], next_on_duration = args[2];
next_off_duration = args[3];
uint8_t next_flags = SPF_CHECK_END | SPF_HAVE_NEXT; 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; next_flags |= next_on_duration ? SPF_NEXT_ON : 0;
if (!!next_on_duration != s->default_value && s->max_duration) if (!!next_on_duration != s->default_value && s->max_duration)
next_flags |= SPF_NEXT_CHECK_END; next_flags |= SPF_NEXT_CHECK_END;
next_on_duration = next_off_duration = 0; next_on_duration = 0;
} else { } else {
next_flags |= SPF_NEXT_ON | SPF_NEXT_TOGGLING; next_flags |= SPF_NEXT_ON | SPF_NEXT_TOGGLING;
if (s->max_duration) if (s->max_duration)
@ -206,7 +218,6 @@ command_schedule_soft_pwm_out(uint32_t *args)
shutdown("next soft pwm extends existing pwm"); shutdown("next soft pwm extends existing pwm");
s->end_time = time; s->end_time = time;
s->next_on_duration = next_on_duration; s->next_on_duration = next_on_duration;
s->next_off_duration = next_off_duration;
s->flags = (s->flags & 0xf) | next_flags; s->flags = (s->flags & 0xf) | next_flags;
if (s->flags & SPF_TOGGLING && timer_is_before(s->timer.waketime, time)) { if (s->flags & SPF_TOGGLING && timer_is_before(s->timer.waketime, time)) {
// soft_pwm_toggle_event() will schedule a load event when ready // 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(); irq_enable();
} }
DECL_COMMAND(command_schedule_soft_pwm_out, 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 void
soft_pwm_shutdown(void) soft_pwm_shutdown(void)