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gpiocmds: Use move queue for software pwm 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-11-25 14:22:15 -05:00
parent 9cdf9bb6ec
commit 19a96346a8
3 changed files with 82 additions and 44 deletions
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2
docs/MCU_Commands.md
View File

@ -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 hardware PWM output pin. See the 'queue_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` : 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 change to a software PWM output pin. Because the output switching is
implemented in the micro-controller software, it is recommended that implemented in the micro-controller software, it is recommended that
the sum of on_ticks and off_ticks parameters corresponds to a time the sum of on_ticks and off_ticks parameters corresponds to a time

5
klippy/mcu.py
View File

@ -232,6 +232,7 @@ class MCU_pwm:
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))
return return
self._mcu.request_move_queue_slot()
self._oid = self._mcu.create_oid() self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd( self._mcu.add_config_cmd(
"config_soft_pwm_out oid=%d pin=%s value=%d" "config_soft_pwm_out oid=%d pin=%s value=%d"
@ -245,10 +246,10 @@ class MCU_pwm:
self._last_cycle_ticks = cycle_ticks self._last_cycle_ticks = cycle_ticks
svalue = int(self._start_value * cycle_ticks + 0.5) svalue = int(self._start_value * cycle_ticks + 0.5)
self._mcu.add_config_cmd( 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._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", 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( self._set_cycle_ticks = self._mcu.lookup_command(
"set_soft_pwm_cycle_ticks oid=%c cycle_ticks=%u", cq=cmd_queue) "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):

119
src/gpiocmds.c
View File

@ -155,15 +155,19 @@ 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;
uint32_t max_duration, cycle_time;
struct gpio_out pin; 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 { enum {
SPF_ON=1<<0, SPF_TOGGLING=1<<1, SPF_CHECK_END=1<<2, SPF_HAVE_NEXT=1<<3, SPF_ON=1<<0, SPF_TOGGLING=1<<1, SPF_CHECK_END=1<<2, SPF_DEFAULT_ON=1<<4
SPF_NEXT_ON=1<<4, SPF_NEXT_TOGGLING=1<<5, SPF_NEXT_CHECK_END=1<<6,
}; };
static uint_fast8_t soft_pwm_load_event(struct timer *timer); 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 static uint_fast8_t
soft_pwm_load_event(struct timer *timer) 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); 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"); shutdown("Missed scheduling of next pwm event");
uint8_t flags = s->flags >> 4; struct move_node *mn = move_queue_pop(&s->mq);
s->flags = flags; struct soft_pwm_move *m = container_of(mn, struct soft_pwm_move, node);
gpio_out_write(s->pin, flags & SPF_ON); uint32_t on_duration = m->on_duration;
if (!(flags & SPF_TOGGLING)) { 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 // 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)) if (!(flags & SPF_CHECK_END))
// Pin not toggling and nothing scheduled
return SF_DONE; 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; return SF_RESCHEDULE;
} }
// Schedule normal pin toggle timer events
s->timer.func = soft_pwm_toggle_event; s->timer.func = soft_pwm_toggle_event;
s->on_duration = s->next_on_duration; s->timer.waketime = waketime;
s->off_duration = s->cycle_time - s->on_duration; s->on_duration = on_duration;
s->timer.waketime = s->end_time + s->on_duration; s->off_duration = s->cycle_time - on_duration;
s->end_time += s->max_duration;
return SF_RESCHEDULE; 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 struct soft_pwm_s *s = oid_alloc(args[0], command_config_soft_pwm_out
, sizeof(*s)); , sizeof(*s));
s->pin = pin; 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->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, 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"
@ -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); struct soft_pwm_s *s = oid_lookup(args[0], command_config_soft_pwm_out);
irq_disable(); 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"); shutdown("Can not set soft pwm cycle ticks while updates pending");
s->cycle_time = args[1]; s->cycle_time = args[1];
irq_enable(); irq_enable();
@ -244,28 +283,25 @@ DECL_COMMAND(command_set_soft_pwm_cycle_ticks,
"set_soft_pwm_cycle_ticks oid=%c cycle_ticks=%u"); "set_soft_pwm_cycle_ticks oid=%c cycle_ticks=%u");
void 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); struct soft_pwm_s *s = oid_lookup(args[0], command_config_soft_pwm_out);
uint32_t time = args[1], next_on_duration = args[2]; struct soft_pwm_move *m = move_alloc();
uint8_t next_flags = SPF_CHECK_END | SPF_HAVE_NEXT; uint32_t time = m->waketime = args[1];
if (next_on_duration == 0 || next_on_duration >= s->cycle_time) { m->on_duration = args[2];
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;
}
irq_disable(); irq_disable();
if (s->flags & SPF_CHECK_END && timer_is_before(s->end_time, time)) int first_on_queue = move_queue_push(&m->node, &s->mq);
shutdown("next soft pwm extends existing pwm"); 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->end_time = time;
s->next_on_duration = next_on_duration; s->flags = flags | SPF_CHECK_END;
s->flags = (s->flags & 0xf) | next_flags; if (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
} else { } else {
// Schedule the loading of the pwm parameters at the requested time // 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(); irq_enable();
} }
DECL_COMMAND(command_schedule_soft_pwm_out, DECL_COMMAND(command_queue_soft_pwm_out,
"schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u"); "queue_soft_pwm_out oid=%c clock=%u on_ticks=%u");
void void
soft_pwm_shutdown(void) soft_pwm_shutdown(void)
@ -285,8 +321,9 @@ soft_pwm_shutdown(void)
uint8_t i; uint8_t i;
struct soft_pwm_s *s; struct soft_pwm_s *s;
foreach_oid(i, s, command_config_soft_pwm_out) { foreach_oid(i, s, command_config_soft_pwm_out) {
gpio_out_write(s->pin, s->default_value); gpio_out_write(s->pin, s->flags & SPF_DEFAULT_ON);
s->flags = s->default_value ? SPF_ON : 0; s->flags = s->flags & SPF_DEFAULT_ON ? SPF_ON | SPF_DEFAULT_ON : 0;
move_queue_clear(&s->mq);
} }
} }
DECL_SHUTDOWN(soft_pwm_shutdown); DECL_SHUTDOWN(soft_pwm_shutdown);