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:
Pascal Pieper 2020-11-20 21:44:35 -05:00 committed by Kevin O'Connor
parent 99fe290753
commit e8ec1801ff
3 changed files with 61 additions and 15 deletions

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@ -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

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@ -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.]:

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@ -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
@ -25,12 +34,32 @@ 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)
return SF_DONE;
p->timer.waketime += p->max_duration;
p->timer.func = pwm_end_event;
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;
}
@ -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);