mirror of https://github.com/Desuuuu/klipper.git
pwmcmds: Use move queue for hard PWM
Signed-off-by: Pascal Pieper <accounts@pascalpieper.de> Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
parent
99fe290753
commit
e8ec1801ff
|
@ -197,8 +197,8 @@ only of interest to developers looking to gain insight into Klipper.
|
|||
same 'oid' parameter must have been issued during micro-controller
|
||||
configuration.
|
||||
|
||||
* `schedule_pwm_out oid=%c clock=%u value=%hu` : Schedules a change to
|
||||
a hardware PWM output pin. See the 'schedule_digital_out' and
|
||||
* `queue_pwm_out oid=%c clock=%u value=%hu` : Schedules a change to 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
|
||||
|
|
|
@ -208,6 +208,7 @@ class MCU_pwm:
|
|||
% (self._pin, 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_pwm_out oid=%d pin=%s cycle_ticks=%d value=%d"
|
||||
|
@ -217,11 +218,11 @@ class MCU_pwm:
|
|||
self._shutdown_value * self._pwm_max,
|
||||
self._mcu.seconds_to_clock(self._max_duration)))
|
||||
svalue = int(self._start_value * self._pwm_max + 0.5)
|
||||
self._mcu.add_config_cmd("schedule_pwm_out oid=%d clock=%d value=%d"
|
||||
self._mcu.add_config_cmd("queue_pwm_out oid=%d clock=%d value=%d"
|
||||
% (self._oid, self._last_clock, svalue),
|
||||
on_restart=True)
|
||||
self._set_cmd = self._mcu.lookup_command(
|
||||
"schedule_pwm_out oid=%c clock=%u value=%hu", cq=cmd_queue)
|
||||
"queue_pwm_out oid=%c clock=%u value=%hu", cq=cmd_queue)
|
||||
return
|
||||
# Software PWM
|
||||
if self._shutdown_value not in [0., 1.]:
|
||||
|
|
|
@ -6,6 +6,8 @@
|
|||
|
||||
#include "basecmd.h" // oid_alloc
|
||||
#include "board/gpio.h" // struct gpio_pwm
|
||||
#include "board/irq.h" // irq_disable
|
||||
#include "board/misc.h" // timer_is_before
|
||||
#include "command.h" // DECL_COMMAND
|
||||
#include "sched.h" // sched_add_timer
|
||||
|
||||
|
@ -13,7 +15,14 @@ struct pwm_out_s {
|
|||
struct timer timer;
|
||||
struct gpio_pwm pin;
|
||||
uint32_t max_duration;
|
||||
uint16_t value, default_value;
|
||||
uint16_t default_value;
|
||||
struct move_queue_head mq;
|
||||
};
|
||||
|
||||
struct pwm_move {
|
||||
struct move_node node;
|
||||
uint32_t waketime;
|
||||
uint16_t value;
|
||||
};
|
||||
|
||||
static uint_fast8_t
|
||||
|
@ -25,15 +34,35 @@ pwm_end_event(struct timer *timer)
|
|||
static uint_fast8_t
|
||||
pwm_event(struct timer *timer)
|
||||
{
|
||||
// Apply next update and remove it from queue
|
||||
struct pwm_out_s *p = container_of(timer, struct pwm_out_s, timer);
|
||||
gpio_pwm_write(p->pin, p->value);
|
||||
if (p->value == p->default_value || !p->max_duration)
|
||||
struct move_node *mn = move_queue_pop(&p->mq);
|
||||
struct pwm_move *m = container_of(mn, struct pwm_move, node);
|
||||
uint16_t value = m->value;
|
||||
gpio_pwm_write(p->pin, 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 = pwm_end_event;
|
||||
return SF_RESCHEDULE;
|
||||
}
|
||||
|
||||
// Schedule next update
|
||||
struct move_node *nn = move_queue_first(&p->mq);
|
||||
uint32_t wake = container_of(nn, struct pwm_move, node)->waketime;
|
||||
if (value != p->default_value && p->max_duration
|
||||
&& timer_is_before(p->timer.waketime + p->max_duration, wake))
|
||||
shutdown("Scheduled pwm event will exceed max_duration");
|
||||
p->timer.waketime = wake;
|
||||
return SF_RESCHEDULE;
|
||||
}
|
||||
|
||||
void
|
||||
command_config_pwm_out(uint32_t *args)
|
||||
{
|
||||
|
@ -43,23 +72,37 @@ command_config_pwm_out(uint32_t *args)
|
|||
p->pin = pin;
|
||||
p->default_value = args[4];
|
||||
p->max_duration = args[5];
|
||||
p->timer.func = pwm_event;
|
||||
move_queue_setup(&p->mq, sizeof(struct pwm_move));
|
||||
}
|
||||
DECL_COMMAND(command_config_pwm_out,
|
||||
"config_pwm_out oid=%c pin=%u cycle_ticks=%u value=%hu"
|
||||
" default_value=%hu max_duration=%u");
|
||||
|
||||
void
|
||||
command_schedule_pwm_out(uint32_t *args)
|
||||
command_queue_pwm_out(uint32_t *args)
|
||||
{
|
||||
struct pwm_out_s *p = oid_lookup(args[0], command_config_pwm_out);
|
||||
struct pwm_move *m = move_alloc();
|
||||
m->waketime = args[1];
|
||||
m->value = args[2];
|
||||
|
||||
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 == pwm_end_event
|
||||
&& timer_is_before(p->timer.waketime, m->waketime))
|
||||
shutdown("Scheduled pwm event will exceed max_duration");
|
||||
p->timer.func = pwm_event;
|
||||
p->timer.waketime = args[1];
|
||||
p->value = args[2];
|
||||
p->timer.waketime = m->waketime;
|
||||
sched_add_timer(&p->timer);
|
||||
}
|
||||
DECL_COMMAND(command_schedule_pwm_out,
|
||||
"schedule_pwm_out oid=%c clock=%u value=%hu");
|
||||
DECL_COMMAND(command_queue_pwm_out, "queue_pwm_out oid=%c clock=%u value=%hu");
|
||||
|
||||
void
|
||||
pwm_shutdown(void)
|
||||
|
@ -68,6 +111,8 @@ pwm_shutdown(void)
|
|||
struct pwm_out_s *p;
|
||||
foreach_oid(i, p, command_config_pwm_out) {
|
||||
gpio_pwm_write(p->pin, p->default_value);
|
||||
p->timer.func = pwm_event;
|
||||
move_queue_clear(&p->mq);
|
||||
}
|
||||
}
|
||||
DECL_SHUTDOWN(pwm_shutdown);
|
||||
|
|
Loading…
Reference in New Issue