diff --git a/docs/MCU_Commands.md b/docs/MCU_Commands.md index 8b20c6a4..d647c871 100644 --- a/docs/MCU_Commands.md +++ b/docs/MCU_Commands.md @@ -201,7 +201,7 @@ only of interest to developers looking to gain insight into Klipper. hardware PWM output pin. See the 'queue_digital_out' and 'config_pwm_out' commands for more info. -* `schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u` : Schedules a +* `queue_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 diff --git a/klippy/mcu.py b/klippy/mcu.py index a4924163..d9470c25 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -232,6 +232,7 @@ class MCU_pwm: self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % (self._pin, self._start_value >= 0.5)) return + self._mcu.request_move_queue_slot() self._oid = self._mcu.create_oid() self._mcu.add_config_cmd( "config_soft_pwm_out oid=%d pin=%s value=%d" @@ -245,10 +246,10 @@ class MCU_pwm: 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" + "queue_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", cq=cmd_queue) + "queue_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): diff --git a/src/gpiocmds.c b/src/gpiocmds.c index 7871d33d..fb4f27ac 100644 --- a/src/gpiocmds.c +++ b/src/gpiocmds.c @@ -155,15 +155,19 @@ 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; - uint32_t max_duration, cycle_time; struct gpio_out pin; - uint8_t default_value, flags; + uint32_t max_duration, cycle_time; + struct move_queue_head mq; + uint8_t flags; +}; + +struct soft_pwm_move { + struct move_node node; + uint32_t waketime, on_duration; }; enum { - SPF_ON=1<<0, SPF_TOGGLING=1<<1, SPF_CHECK_END=1<<2, SPF_HAVE_NEXT=1<<3, - SPF_NEXT_ON=1<<4, SPF_NEXT_TOGGLING=1<<5, SPF_NEXT_CHECK_END=1<<6, + SPF_ON=1<<0, SPF_TOGGLING=1<<1, SPF_CHECK_END=1<<2, SPF_DEFAULT_ON=1<<4 }; static uint_fast8_t soft_pwm_load_event(struct timer *timer); @@ -193,25 +197,60 @@ soft_pwm_toggle_event(struct timer *timer) static uint_fast8_t soft_pwm_load_event(struct timer *timer) { + // Apply next update and remove it from queue struct soft_pwm_s *s = container_of(timer, struct soft_pwm_s, timer); - if (!(s->flags & SPF_HAVE_NEXT)) + if (move_queue_empty(&s->mq)) shutdown("Missed scheduling of next pwm event"); - uint8_t flags = s->flags >> 4; - s->flags = flags; - gpio_out_write(s->pin, flags & SPF_ON); - if (!(flags & SPF_TOGGLING)) { + struct move_node *mn = move_queue_pop(&s->mq); + struct soft_pwm_move *m = container_of(mn, struct soft_pwm_move, node); + uint32_t on_duration = m->on_duration; + uint8_t flags = on_duration ? SPF_ON : 0; + gpio_out_write(s->pin, flags); + move_free(m); + + // Calculate next end_time and flags + uint32_t end_time = 0; + if (!flags || on_duration >= s->cycle_time) { // Pin is in an always on or always off state + if (!flags != !(s->flags & SPF_DEFAULT_ON) && s->max_duration) { + end_time = s->timer.waketime + s->max_duration; + flags |= SPF_CHECK_END; + } + } else { + flags |= SPF_TOGGLING; + if (s->max_duration) { + end_time = s->timer.waketime + s->max_duration; + flags |= SPF_CHECK_END; + } + } + if (!move_queue_empty(&s->mq)) { + struct move_node *nn = move_queue_first(&s->mq); + uint32_t wake = container_of(nn, struct soft_pwm_move, node)->waketime; + if (flags & SPF_CHECK_END && timer_is_before(end_time, wake)) + shutdown("Scheduled soft pwm event will exceed max_duration"); + end_time = wake; + flags |= SPF_CHECK_END; + } + s->end_time = end_time; + s->flags = flags | (s->flags & SPF_DEFAULT_ON); + + // Schedule next event + if (!(flags & SPF_TOGGLING)) { if (!(flags & SPF_CHECK_END)) + // Pin not toggling and nothing scheduled return SF_DONE; - s->timer.waketime = s->end_time = s->end_time + s->max_duration; + s->timer.waketime = end_time; + return SF_RESCHEDULE; + } + uint32_t waketime = s->timer.waketime + on_duration; + if (flags & SPF_CHECK_END && !timer_is_before(waketime, end_time)) { + s->timer.waketime = end_time; return SF_RESCHEDULE; } - // Schedule normal pin toggle timer events s->timer.func = soft_pwm_toggle_event; - 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; + s->timer.waketime = waketime; + s->on_duration = on_duration; + s->off_duration = s->cycle_time - on_duration; return SF_RESCHEDULE; } @@ -222,9 +261,9 @@ command_config_soft_pwm_out(uint32_t *args) struct soft_pwm_s *s = oid_alloc(args[0], command_config_soft_pwm_out , sizeof(*s)); s->pin = pin; - s->default_value = !!args[3]; + s->flags = (args[2] ? SPF_ON : 0) | (args[3] ? SPF_DEFAULT_ON : 0); s->max_duration = args[4]; - s->flags = s->default_value ? SPF_ON : 0; + move_queue_setup(&s->mq, sizeof(struct soft_pwm_move)); } DECL_COMMAND(command_config_soft_pwm_out, "config_soft_pwm_out oid=%c pin=%u value=%c" @@ -235,7 +274,7 @@ 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) + if (!move_queue_empty(&s->mq)) shutdown("Can not set soft pwm cycle ticks while updates pending"); s->cycle_time = args[1]; irq_enable(); @@ -244,28 +283,25 @@ 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) +command_queue_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]; - uint8_t next_flags = SPF_CHECK_END | SPF_HAVE_NEXT; - 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 = 0; - } else { - next_flags |= SPF_NEXT_ON | SPF_NEXT_TOGGLING; - if (s->max_duration) - next_flags |= SPF_NEXT_CHECK_END; - } + struct soft_pwm_move *m = move_alloc(); + uint32_t time = m->waketime = args[1]; + m->on_duration = args[2]; + irq_disable(); - if (s->flags & SPF_CHECK_END && timer_is_before(s->end_time, time)) - shutdown("next soft pwm extends existing pwm"); + int first_on_queue = move_queue_push(&m->node, &s->mq); + if (!first_on_queue) { + irq_enable(); + return; + } + uint8_t flags = s->flags; + if (flags & SPF_CHECK_END && timer_is_before(s->end_time, time)) + shutdown("Scheduled soft pwm event will exceed max_duration"); s->end_time = time; - s->next_on_duration = next_on_duration; - s->flags = (s->flags & 0xf) | next_flags; - if (s->flags & SPF_TOGGLING && timer_is_before(s->timer.waketime, time)) { + s->flags = flags | SPF_CHECK_END; + if (flags & SPF_TOGGLING && timer_is_before(s->timer.waketime, time)) { // soft_pwm_toggle_event() will schedule a load event when ready } else { // Schedule the loading of the pwm parameters at the requested time @@ -276,8 +312,8 @@ 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"); +DECL_COMMAND(command_queue_soft_pwm_out, + "queue_soft_pwm_out oid=%c clock=%u on_ticks=%u"); void soft_pwm_shutdown(void) @@ -285,8 +321,9 @@ soft_pwm_shutdown(void) uint8_t i; struct soft_pwm_s *s; foreach_oid(i, s, command_config_soft_pwm_out) { - gpio_out_write(s->pin, s->default_value); - s->flags = s->default_value ? SPF_ON : 0; + gpio_out_write(s->pin, s->flags & SPF_DEFAULT_ON); + s->flags = s->flags & SPF_DEFAULT_ON ? SPF_ON | SPF_DEFAULT_ON : 0; + move_queue_clear(&s->mq); } } DECL_SHUTDOWN(soft_pwm_shutdown);