mirror of https://github.com/Desuuuu/klipper.git
gpiocmds: Use move queue for digital output pins
Signed-off-by: Pascal Pieper <accounts@pascalpieper.de> Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -113,18 +113,18 @@ This section lists some commonly used config commands.
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digital output mode and set to an initial value as specified by
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digital output mode and set to an initial value as specified by
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'value' (0 for low, 1 for high). Creating a digital_out object
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'value' (0 for low, 1 for high). Creating a digital_out object
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allows the host to schedule GPIO updates for the given pin at
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allows the host to schedule GPIO updates for the given pin at
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specified times (see the schedule_digital_out command described
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specified times (see the queue_digital_out command described below).
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below). Should the micro-controller software go into shutdown mode
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Should the micro-controller software go into shutdown mode then all
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then all configured digital_out objects will be set to
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configured digital_out objects will be set to 'default_value'. The
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'default_value'. The 'max_duration' parameter is used to implement a
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'max_duration' parameter is used to implement a safety check - if it
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safety check - if it is non-zero then it is the maximum number of
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is non-zero then it is the maximum number of clock ticks that the
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clock ticks that the host may set the given GPIO to a non-default
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host may set the given GPIO to a non-default value without further
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value without further updates. For example, if the default_value is
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updates. For example, if the default_value is zero and the
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zero and the max_duration is 16000 then if the host sets the gpio to
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max_duration is 16000 then if the host sets the gpio to a value of
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a value of one then it must schedule another update to the gpio pin
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one then it must schedule another update to the gpio pin (to either
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(to either zero or one) within 16000 clock ticks. This safety
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zero or one) within 16000 clock ticks. This safety feature can be
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feature can be used with heater pins to ensure the host does not
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used with heater pins to ensure the host does not enable the heater
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enable the heater and then go off-line.
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and then go off-line.
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* `config_pwm_out oid=%c pin=%u cycle_ticks=%u value=%hu
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* `config_pwm_out oid=%c pin=%u cycle_ticks=%u value=%hu
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default_value=%hu max_duration=%u` : This command creates an
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default_value=%hu max_duration=%u` : This command creates an
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@ -191,21 +191,21 @@ Common commands
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This section lists some commonly used run-time commands. It is likely
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This section lists some commonly used run-time commands. It is likely
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only of interest to developers looking to gain insight into Klipper.
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only of interest to developers looking to gain insight into Klipper.
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* `schedule_digital_out oid=%c clock=%u value=%c` : This command will
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* `queue_digital_out oid=%c clock=%u value=%c` : This command will
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schedule a change to a digital output GPIO pin at the given clock
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schedule a change to a digital output GPIO pin at the given clock
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time. To use this command a 'config_digital_out' command with the
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time. To use this command a 'config_digital_out' command with the
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same 'oid' parameter must have been issued during micro-controller
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same 'oid' parameter must have been issued during micro-controller
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configuration.
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configuration.
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* `queue_pwm_out oid=%c clock=%u value=%hu` : Schedules a change to a
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* `queue_pwm_out oid=%c clock=%u value=%hu` : Schedules a change to a
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hardware PWM output pin. See the 'schedule_digital_out' and
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hardware PWM output pin. See the 'queue_digital_out' and
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'config_pwm_out' commands for more info.
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'config_pwm_out' commands for more info.
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* `schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u` : Schedules a
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* `schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u` : Schedules a
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change to a software PWM output pin. Because the output switching is
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change to a software PWM output pin. Because the output switching is
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implemented in the micro-controller software, it is recommended that
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implemented in the micro-controller software, it is recommended that
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the sum of on_ticks and off_ticks parameters corresponds to a time
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the sum of on_ticks and off_ticks parameters corresponds to a time
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of 10ms or greater. See the 'schedule_digital_out' and
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of 10ms or greater. See the 'queue_digital_out' and
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'config_soft_pwm_out' commands for more info.
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'config_soft_pwm_out' commands for more info.
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* `query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c
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* `query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c
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@ -143,18 +143,19 @@ class MCU_digital_out:
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self._mcu.add_config_cmd("set_digital_out pin=%s value=%d"
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self._mcu.add_config_cmd("set_digital_out pin=%s value=%d"
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% (self._pin, self._start_value))
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% (self._pin, self._start_value))
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return
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return
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self._mcu.request_move_queue_slot()
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self._oid = self._mcu.create_oid()
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self._oid = self._mcu.create_oid()
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self._mcu.add_config_cmd(
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self._mcu.add_config_cmd(
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"config_digital_out oid=%d pin=%s value=%d default_value=%d"
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"config_digital_out oid=%d pin=%s value=%d default_value=%d"
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" max_duration=%d" % (
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" max_duration=%d"
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self._oid, self._pin, self._start_value, self._shutdown_value,
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% (self._oid, self._pin, self._start_value, self._shutdown_value,
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self._mcu.seconds_to_clock(self._max_duration)))
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self._mcu.seconds_to_clock(self._max_duration)))
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self._mcu.add_config_cmd("update_digital_out oid=%d value=%d"
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self._mcu.add_config_cmd("update_digital_out oid=%d value=%d"
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% (self._oid, self._start_value),
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% (self._oid, self._start_value),
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on_restart=True)
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on_restart=True)
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cmd_queue = self._mcu.alloc_command_queue()
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cmd_queue = self._mcu.alloc_command_queue()
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self._set_cmd = self._mcu.lookup_command(
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self._set_cmd = self._mcu.lookup_command(
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"schedule_digital_out oid=%c clock=%u value=%c", cq=cmd_queue)
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"queue_digital_out oid=%c clock=%u value=%c", cq=cmd_queue)
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def set_digital(self, print_time, value):
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def set_digital(self, print_time, value):
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clock = self._mcu.print_time_to_clock(print_time)
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clock = self._mcu.print_time_to_clock(print_time)
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self._set_cmd.send([self._oid, clock, (not not value) ^ self._invert],
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self._set_cmd.send([self._oid, clock, (not not value) ^ self._invert],
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@ -20,7 +20,14 @@ struct digital_out_s {
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struct timer timer;
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struct timer timer;
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struct gpio_out pin;
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struct gpio_out pin;
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uint32_t max_duration;
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uint32_t max_duration;
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uint8_t value, default_value;
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uint8_t default_value;
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struct move_queue_head mq;
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};
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struct digital_move {
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struct move_node node;
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uint32_t waketime;
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uint8_t value;
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};
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};
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static uint_fast8_t
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static uint_fast8_t
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@ -32,12 +39,32 @@ digital_end_event(struct timer *timer)
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static uint_fast8_t
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static uint_fast8_t
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digital_out_event(struct timer *timer)
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digital_out_event(struct timer *timer)
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{
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{
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// Apply next update and remove it from queue
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struct digital_out_s *d = container_of(timer, struct digital_out_s, timer);
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struct digital_out_s *d = container_of(timer, struct digital_out_s, timer);
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gpio_out_write(d->pin, d->value);
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struct move_node *mn = move_queue_pop(&d->mq);
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if (d->value == d->default_value || !d->max_duration)
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struct digital_move *m = container_of(mn, struct digital_move, node);
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return SF_DONE;
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uint8_t value = m->value;
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d->timer.waketime += d->max_duration;
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gpio_out_write(d->pin, value);
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d->timer.func = digital_end_event;
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move_free(m);
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// Check if more updates queued
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if (move_queue_empty(&d->mq)) {
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if (value == d->default_value || !d->max_duration)
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return SF_DONE;
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// Start the safety timeout
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d->timer.waketime += d->max_duration;
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d->timer.func = digital_end_event;
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return SF_RESCHEDULE;
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}
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// Schedule next update
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struct move_node *nn = move_queue_first(&d->mq);
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uint32_t wake = container_of(nn, struct digital_move, node)->waketime;
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if (value != d->default_value && d->max_duration
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&& timer_is_before(d->timer.waketime + d->max_duration, wake))
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shutdown("Scheduled digital out event will exceed max_duration");
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d->timer.waketime = wake;
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return SF_RESCHEDULE;
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return SF_RESCHEDULE;
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}
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}
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@ -50,29 +77,46 @@ command_config_digital_out(uint32_t *args)
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d->pin = pin;
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d->pin = pin;
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d->default_value = args[3];
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d->default_value = args[3];
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d->max_duration = args[4];
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d->max_duration = args[4];
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d->timer.func = digital_out_event;
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move_queue_setup(&d->mq, sizeof(struct digital_move));
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}
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}
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DECL_COMMAND(command_config_digital_out,
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DECL_COMMAND(command_config_digital_out,
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"config_digital_out oid=%c pin=%u value=%c default_value=%c"
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"config_digital_out oid=%c pin=%u value=%c default_value=%c"
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" max_duration=%u");
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" max_duration=%u");
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void
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void
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command_schedule_digital_out(uint32_t *args)
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command_queue_digital_out(uint32_t *args)
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{
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{
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struct digital_out_s *d = oid_lookup(args[0], command_config_digital_out);
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struct digital_out_s *d = oid_lookup(args[0], command_config_digital_out);
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struct digital_move *m = move_alloc();
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m->waketime = args[1];
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m->value = args[2];
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irq_disable();
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int need_add_timer = move_queue_push(&m->node, &d->mq);
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irq_enable();
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if (!need_add_timer)
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return;
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// queue was empty and a timer needs to be added
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sched_del_timer(&d->timer);
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sched_del_timer(&d->timer);
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if (d->timer.func == digital_end_event
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&& timer_is_before(d->timer.waketime, m->waketime))
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shutdown("Scheduled digital out event will exceed max_duration");
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d->timer.func = digital_out_event;
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d->timer.func = digital_out_event;
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d->timer.waketime = args[1];
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d->timer.waketime = m->waketime;
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d->value = args[2];
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sched_add_timer(&d->timer);
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sched_add_timer(&d->timer);
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}
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}
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DECL_COMMAND(command_schedule_digital_out,
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DECL_COMMAND(command_queue_digital_out,
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"schedule_digital_out oid=%c clock=%u value=%c");
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"queue_digital_out oid=%c clock=%u value=%c");
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void
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void
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command_update_digital_out(uint32_t *args)
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command_update_digital_out(uint32_t *args)
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{
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{
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struct digital_out_s *d = oid_lookup(args[0], command_config_digital_out);
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struct digital_out_s *d = oid_lookup(args[0], command_config_digital_out);
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sched_del_timer(&d->timer);
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sched_del_timer(&d->timer);
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if (!move_queue_empty(&d->mq))
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shutdown("update_digital_out not valid with active queue");
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uint8_t value = args[1];
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uint8_t value = args[1];
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gpio_out_write(d->pin, value);
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gpio_out_write(d->pin, value);
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if (value != d->default_value && d->max_duration) {
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if (value != d->default_value && d->max_duration) {
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@ -90,6 +134,8 @@ digital_out_shutdown(void)
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struct digital_out_s *d;
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struct digital_out_s *d;
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foreach_oid(i, d, command_config_digital_out) {
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foreach_oid(i, d, command_config_digital_out) {
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gpio_out_write(d->pin, d->default_value);
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gpio_out_write(d->pin, d->default_value);
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d->timer.func = digital_out_event;
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move_queue_clear(&d->mq);
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}
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}
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}
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}
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DECL_SHUTDOWN(digital_out_shutdown);
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DECL_SHUTDOWN(digital_out_shutdown);
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