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pca9685: Use move queue for pwm updates 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-11-25 19:25:37 -05:00
parent 19a96346a8
commit 9e293be5e0
2 changed files with 61 additions and 15 deletions
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3
klippy/extras/replicape.py
View File

@ -63,6 +63,7 @@ class pca9685_pwm:
self._bus, self._address, self._channel,
cycle_ticks, self._start_value * self._pwm_max))
return
self._mcu.request_move_queue_slot()
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_pca9685 oid=%d bus=%d addr=%d channel=%d cycle_ticks=%d"
@ -73,7 +74,7 @@ class pca9685_pwm:
self._mcu.seconds_to_clock(self._max_duration)))
cmd_queue = self._mcu.alloc_command_queue()
self._set_cmd = self._mcu.lookup_command(
"schedule_pca9685_out oid=%c clock=%u value=%hu", cq=cmd_queue)
"queue_pca9685_out oid=%c clock=%u value=%hu", cq=cmd_queue)
def set_pwm(self, print_time, value, cycle_time=None):
clock = self._mcu.print_time_to_clock(print_time)
if self._invert:

67
src/linux/pca9685.c
View File

@ -10,6 +10,7 @@
#include <sys/ioctl.h> // ioctl
#include <unistd.h> // write
#include "basecmd.h" // oid_alloc
#include "board/irq.h" // irq_disable
#include "board/misc.h" // timer_from_us
#include "command.h" // DECL_COMMAND
#include "internal.h" // report_errno
@ -132,8 +133,15 @@ struct i2cpwm_s {
struct timer timer;
int fd;
uint8_t channel;
uint16_t value, default_value;
uint16_t default_value;
uint32_t max_duration;
struct move_queue_head mq;
};
struct pca9685_move {
struct move_node node;
uint32_t waketime;
uint16_t value;
};
DECL_CONSTANT("PCA9685_MAX", VALUE_MAX);
@ -147,13 +155,33 @@ pca9685_end_event(struct timer *timer)
static uint_fast8_t
pca9685_event(struct timer *timer)
{
// Apply next update and remove it from queue
struct i2cpwm_s *p = container_of(timer, struct i2cpwm_s, timer);
pca9685_write(p->fd, p->channel, p->value);
if (p->value == p->default_value || !p->max_duration)
struct move_node *mn = move_queue_pop(&p->mq);
struct pca9685_move *m = container_of(mn, struct pca9685_move, node);
uint16_t value = m->value;
pca9685_write(p->fd, p->channel, value);
move_free(m);
// Check if more updates queued
if (move_queue_empty(&p->mq)) {
if (value == p->default_value || !p->max_duration)
return SF_DONE;
// Start the safety timeout
p->timer.waketime += p->max_duration;
p->timer.func = pca9685_end_event;
return SF_RESCHEDULE;
}
// Schedule next update
struct move_node *nn = move_queue_first(&p->mq);
uint32_t wake = container_of(nn, struct pca9685_move, node)->waketime;
if (value != p->default_value && p->max_duration
&& timer_is_before(p->timer.waketime + p->max_duration, wake))
shutdown("Scheduled pca9685 event will exceed max_duration");
p->timer.waketime = wake;
return SF_RESCHEDULE;
}
void
@ -171,25 +199,40 @@ command_config_pca9685(uint32_t *args)
p->channel = channel;
p->default_value = default_value;
p->max_duration = args[7];
p->timer.func = pca9685_event;
move_queue_setup(&p->mq, sizeof(struct pca9685_move));
}
DECL_COMMAND(command_config_pca9685, "config_pca9685 oid=%c bus=%c addr=%c"
" channel=%c cycle_ticks=%u value=%hu"
" default_value=%hu max_duration=%u");
void
command_schedule_pca9685_out(uint32_t *args)
command_queue_pca9685_out(uint32_t *args)
{
struct i2cpwm_s *p = oid_lookup(args[0], command_config_pca9685);
sched_del_timer(&p->timer);
p->timer.func = pca9685_event;
p->timer.waketime = args[1];
p->value = args[2];
if (p->value > VALUE_MAX)
struct pca9685_move *m = move_alloc();
m->waketime = args[1];
m->value = args[2];
if (m->value > VALUE_MAX)
shutdown("Invalid pca9685 value");
irq_disable();
int need_add_timer = move_queue_push(&m->node, &p->mq);
irq_enable();
if (!need_add_timer)
return;
// queue was empty and a timer needs to be added
sched_del_timer(&p->timer);
if (p->timer.func == pca9685_end_event
&& timer_is_before(p->timer.waketime, m->waketime))
shutdown("Scheduled pca9685 event will exceed max_duration");
p->timer.func = pca9685_event;
p->timer.waketime = m->waketime;
sched_add_timer(&p->timer);
}
DECL_COMMAND(command_schedule_pca9685_out,
"schedule_pca9685_out oid=%c clock=%u value=%hu");
DECL_COMMAND(command_queue_pca9685_out,
"queue_pca9685_out oid=%c clock=%u value=%hu");
void
command_set_pca9685_out(uint32_t *args)
@ -215,6 +258,8 @@ pca9685_shutdown(void)
foreach_oid(j, p, command_config_pca9685) {
if (p->default_value)
pca9685_write(p->fd, p->channel, p->default_value);
p->timer.func = pca9685_event;
move_queue_clear(&p->mq);
}
}
DECL_SHUTDOWN(pca9685_shutdown);