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gpiocmds: Add soft-pwm frequency modulation support 

Signed-off-by: Guy Shapira <gayuha@gmail.com>
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Guy Shapira 2020-09-07 13:31:35 +03:00 committed by Kevin O'Connor
parent a79c57ab29
commit 27cefb2b38
3 changed files with 35 additions and 27 deletions
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18
docs/MCU_Commands.md
View File

@ -133,15 +133,13 @@ This section lists some commonly used config commands.
see the description of the 'set_pwm_out' and 'config_digital_out'
commands for parameter description.
* `config_soft_pwm_out oid=%c pin=%u cycle_ticks=%u value=%c
* `config_soft_pwm_out oid=%c pin=%u value=%c
default_value=%c max_duration=%u` : This command creates an internal
micro-controller object for software implemented PWM. Unlike
hardware pwm pins, a software pwm object does not require any
special hardware support (other than the ability to configure the
pin as a digital output GPIO). Because the output switching is
implemented in the micro-controller software, it is recommended that
the cycle_ticks parameter correspond to a time of 10ms or greater.
See the description of the 'set_pwm_out' and 'config_digital_out'
pin as a digital output GPIO). See the description of
the 'set_pwm_out' and 'config_digital_out'
commands for parameter description.
* `config_analog_in oid=%c pin=%u` : This command is used to configure
@ -203,9 +201,13 @@ 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` : Schedules a
change to a software PWM output pin. See the 'schedule_digital_out'
and 'config_soft_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
'config_soft_pwm_out' commands for more info.
* `query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c
rest_ticks=%u min_value=%hu max_value=%hu` : This command sets up a

23
klippy/mcu.py
View File

@ -233,27 +233,34 @@ class MCU_pwm:
return
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_soft_pwm_out oid=%d pin=%s cycle_ticks=%d value=%d"
"config_soft_pwm_out oid=%d pin=%s value=%d"
" default_value=%d max_duration=%d"
% (self._oid, self._pin, cycle_ticks,
self._start_value >= 1.0, self._shutdown_value >= 0.5,
% (self._oid, self._pin, self._start_value >= 1.0,
self._shutdown_value >= 0.5,
self._mcu.seconds_to_clock(self._max_duration)))
curtime = self._mcu.get_printer().get_reactor().monotonic()
printtime = self._mcu.estimated_print_time(curtime)
self._last_clock = self._mcu.print_time_to_clock(printtime + 0.100)
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"
% (self._oid, self._last_clock, svalue), is_init=True)
"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)
self._set_cmd = self._mcu.lookup_command(
"schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u",
"schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u off_ticks=%u",
cq=cmd_queue)
def set_pwm(self, print_time, value):
cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time)
clock = self._mcu.print_time_to_clock(print_time)
if self._invert:
value = 1. - value
value = int(max(0., min(1., value)) * self._pwm_max + 0.5)
self._set_cmd.send([self._oid, clock, value],
on_ticks = int(max(0., min(1., value)) * float(cycle_ticks) + 0.5)
if self._hardware_pwm:
self._set_cmd.send([self._oid, clock, on_ticks],
minclock=self._last_clock, reqclock=clock)
else:
off_ticks = cycle_ticks - on_ticks
self._set_cmd.send([self._oid, clock, on_ticks, off_ticks],
minclock=self._last_clock, reqclock=clock)
self._last_clock = clock

19
src/gpiocmds.c
View File

@ -110,7 +110,7 @@ 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, cycle_time;
uint32_t max_duration;
struct gpio_out pin;
uint8_t default_value, flags;
};
@ -172,32 +172,31 @@ soft_pwm_load_event(struct timer *timer)
void
command_config_soft_pwm_out(uint32_t *args)
{
struct gpio_out pin = gpio_out_setup(args[1], !!args[3]);
struct gpio_out pin = gpio_out_setup(args[1], !!args[2]);
struct soft_pwm_s *s = oid_alloc(args[0], command_config_soft_pwm_out
, sizeof(*s));
s->pin = pin;
s->cycle_time = args[2];
s->default_value = !!args[4];
s->max_duration = args[5];
s->default_value = !!args[3];
s->max_duration = args[4];
s->flags = s->default_value ? SPF_ON : 0;
}
DECL_COMMAND(command_config_soft_pwm_out,
"config_soft_pwm_out oid=%c pin=%u cycle_ticks=%u value=%c"
"config_soft_pwm_out oid=%c pin=%u value=%c"
" default_value=%c max_duration=%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;
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;
if (next_on_duration == 0 || next_on_duration >= s->cycle_time) {
if (next_on_duration == 0 || next_off_duration == 0) {
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;
} else {
next_off_duration = s->cycle_time - next_on_duration;
next_flags |= SPF_NEXT_ON | SPF_NEXT_TOGGLING;
if (s->max_duration)
next_flags |= SPF_NEXT_CHECK_END;
@ -221,7 +220,7 @@ 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");
"schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u off_ticks=%u");
void
soft_pwm_shutdown(void)