diff --git a/docs/MCU_Commands.md b/docs/MCU_Commands.md index d647c871..e599ccff 100644 --- a/docs/MCU_Commands.md +++ b/docs/MCU_Commands.md @@ -133,15 +133,6 @@ 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 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). 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 a pin in analog input sampling mode. Once configured, the pin can be sampled at regular interval using the query_analog_in command (see @@ -191,23 +182,26 @@ Common commands This section lists some commonly used run-time commands. It is likely only of interest to developers looking to gain insight into Klipper. -* `queue_digital_out oid=%c clock=%u value=%c` : This command will +* `set_digital_out_pwm_cycle oid=%c cycle_ticks=%u` : This command + configures a digital output pin (as created by config_digital_out) + to use "software PWM". The 'cycle_ticks' is the number of clock + ticks for the PWM cycle. Because the output switching is implemented + in the micro-controller software, it is recommended that + 'cycle_ticks' correspond to a time of 10ms or greater. + +* `queue_digital_out oid=%c clock=%u on_ticks=%u` : This command will schedule a change to a digital output GPIO pin at the given clock time. To use this command a 'config_digital_out' command with the same 'oid' parameter must have been issued during micro-controller - configuration. + configuration. If 'set_digital_out_pwm_cycle' has been called then + 'on_ticks' is the on duration (in clock ticks) for the pwm cycle. + Otherwise, 'on_ticks' should be either 0 (for low voltage) or 1 (for + high voltage). * `queue_pwm_out oid=%c clock=%u value=%hu` : Schedules a change to a hardware PWM output pin. See the 'queue_digital_out' and 'config_pwm_out' commands for more info. -* `queue_soft_pwm_out oid=%c clock=%u on_ticks=%u` : Schedules a - change to a software PWM output pin. 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 'queue_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 recurring schedule of analog input samples. To use this command a diff --git a/klippy/mcu.py b/klippy/mcu.py index d9470c25..6e8149a6 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -155,7 +155,7 @@ class MCU_digital_out: on_restart=True) cmd_queue = self._mcu.alloc_command_queue() self._set_cmd = self._mcu.lookup_command( - "queue_digital_out oid=%c clock=%u value=%c", cq=cmd_queue) + "queue_digital_out oid=%c clock=%u on_ticks=%u", cq=cmd_queue) def set_digital(self, print_time, value): clock = self._mcu.print_time_to_clock(print_time) self._set_cmd.send([self._oid, clock, (not not value) ^ self._invert], @@ -235,23 +235,23 @@ class MCU_pwm: self._mcu.request_move_queue_slot() self._oid = self._mcu.create_oid() self._mcu.add_config_cmd( - "config_soft_pwm_out oid=%d pin=%s value=%d" + "config_digital_out oid=%d pin=%s value=%d" " default_value=%d max_duration=%d" % (self._oid, self._pin, self._start_value >= 1.0, self._shutdown_value >= 0.5, self._mcu.seconds_to_clock(self._max_duration))) self._mcu.add_config_cmd( - "set_soft_pwm_cycle_ticks oid=%d cycle_ticks=%d" + "set_digital_out_pwm_cycle oid=%d cycle_ticks=%d" % (self._oid, cycle_ticks)) self._last_cycle_ticks = cycle_ticks svalue = int(self._start_value * cycle_ticks + 0.5) self._mcu.add_config_cmd( - "queue_soft_pwm_out oid=%d clock=%d on_ticks=%d" + "queue_digital_out oid=%d clock=%d on_ticks=%d" % (self._oid, self._last_clock, svalue), is_init=True) self._set_cmd = self._mcu.lookup_command( - "queue_soft_pwm_out oid=%c clock=%u on_ticks=%u", cq=cmd_queue) + "queue_digital_out oid=%c clock=%u on_ticks=%u", cq=cmd_queue) self._set_cycle_ticks = self._mcu.lookup_command( - "set_soft_pwm_cycle_ticks oid=%c cycle_ticks=%u", cq=cmd_queue) + "set_digital_out_pwm_cycle oid=%c cycle_ticks=%u", cq=cmd_queue) def set_pwm(self, print_time, value, cycle_time=None): clock = self._mcu.print_time_to_clock(print_time) minclock = self._last_clock diff --git a/src/gpiocmds.c b/src/gpiocmds.c index fb4f27ac..42c9f371 100644 --- a/src/gpiocmds.c +++ b/src/gpiocmds.c @@ -1,4 +1,4 @@ -// Commands for controlling GPIO pins +// Commands for controlling GPIO output pins // // Copyright (C) 2016-2020 Kevin O'Connor // @@ -11,104 +11,168 @@ #include "command.h" // DECL_COMMAND #include "sched.h" // sched_add_timer - -/**************************************************************** - * Digital out pins - ****************************************************************/ - struct digital_out_s { struct timer timer; + uint32_t on_duration, off_duration, end_time; struct gpio_out pin; - uint32_t max_duration; - uint8_t default_value; + uint32_t max_duration, cycle_time; struct move_queue_head mq; + uint8_t flags; }; struct digital_move { struct move_node node; - uint32_t waketime; - uint8_t value; + uint32_t waketime, on_duration; }; +enum { + DF_ON=1<<0, DF_TOGGLING=1<<1, DF_CHECK_END=1<<2, DF_DEFAULT_ON=1<<4 +}; + +static uint_fast8_t digital_load_event(struct timer *timer); + +// Software PWM toggle event static uint_fast8_t -digital_end_event(struct timer *timer) +digital_toggle_event(struct timer *timer) { - shutdown("Missed scheduling of next pin event"); + struct digital_out_s *d = container_of(timer, struct digital_out_s, timer); + gpio_out_toggle_noirq(d->pin); + d->flags ^= DF_ON; + uint32_t waketime = d->timer.waketime; + if (d->flags & DF_ON) + waketime += d->on_duration; + else + waketime += d->off_duration; + if (d->flags & DF_CHECK_END && !timer_is_before(waketime, d->end_time)) { + // End of normal pulsing - next event loads new pwm settings + d->timer.func = digital_load_event; + waketime = d->end_time; + } + d->timer.waketime = waketime; + return SF_RESCHEDULE; } +// Load next pin output setting static uint_fast8_t -digital_out_event(struct timer *timer) +digital_load_event(struct timer *timer) { // Apply next update and remove it from queue struct digital_out_s *d = container_of(timer, struct digital_out_s, timer); + if (move_queue_empty(&d->mq)) + shutdown("Missed scheduling of next digital out event"); struct move_node *mn = move_queue_pop(&d->mq); struct digital_move *m = container_of(mn, struct digital_move, node); - uint8_t value = m->value; - gpio_out_write(d->pin, value); + uint32_t on_duration = m->on_duration; + uint8_t flags = on_duration ? DF_ON : 0; + gpio_out_write(d->pin, flags); move_free(m); - // Check if more updates queued - if (move_queue_empty(&d->mq)) { - if (value == d->default_value || !d->max_duration) - return SF_DONE; + // Calculate next end_time and flags + uint32_t end_time = 0; + if (!flags || on_duration >= d->cycle_time) { + // Pin is in an always on or always off state + if (!flags != !(d->flags & DF_DEFAULT_ON) && d->max_duration) { + end_time = d->timer.waketime + d->max_duration; + flags |= DF_CHECK_END; + } + } else { + flags |= DF_TOGGLING; + if (d->max_duration) { + end_time = d->timer.waketime + d->max_duration; + flags |= DF_CHECK_END; + } + } + if (!move_queue_empty(&d->mq)) { + struct move_node *nn = move_queue_first(&d->mq); + uint32_t wake = container_of(nn, struct digital_move, node)->waketime; + if (flags & DF_CHECK_END && timer_is_before(end_time, wake)) + shutdown("Scheduled digital out event will exceed max_duration"); + end_time = wake; + flags |= DF_CHECK_END; + } + d->end_time = end_time; + d->flags = flags | (d->flags & DF_DEFAULT_ON); - // Start the safety timeout - d->timer.waketime += d->max_duration; - d->timer.func = digital_end_event; + // Schedule next event + if (!(flags & DF_TOGGLING)) { + if (!(flags & DF_CHECK_END)) + // Pin not toggling and nothing scheduled + return SF_DONE; + d->timer.waketime = end_time; return SF_RESCHEDULE; } - - // Schedule next update - struct move_node *nn = move_queue_first(&d->mq); - uint32_t wake = container_of(nn, struct digital_move, node)->waketime; - if (value != d->default_value && d->max_duration - && timer_is_before(d->timer.waketime + d->max_duration, wake)) - shutdown("Scheduled digital out event will exceed max_duration"); - d->timer.waketime = wake; + uint32_t waketime = d->timer.waketime + on_duration; + if (flags & DF_CHECK_END && !timer_is_before(waketime, end_time)) { + d->timer.waketime = end_time; + return SF_RESCHEDULE; + } + d->timer.func = digital_toggle_event; + d->timer.waketime = waketime; + d->on_duration = on_duration; + d->off_duration = d->cycle_time - on_duration; return SF_RESCHEDULE; } void command_config_digital_out(uint32_t *args) { - struct gpio_out pin = gpio_out_setup(args[1], args[2]); + struct gpio_out pin = gpio_out_setup(args[1], !!args[2]); struct digital_out_s *d = oid_alloc(args[0], command_config_digital_out , sizeof(*d)); d->pin = pin; - d->default_value = args[3]; + d->flags = (args[2] ? DF_ON : 0) | (args[3] ? DF_DEFAULT_ON : 0); d->max_duration = args[4]; - d->timer.func = digital_out_event; move_queue_setup(&d->mq, sizeof(struct digital_move)); } DECL_COMMAND(command_config_digital_out, - "config_digital_out oid=%c pin=%u value=%c default_value=%c" - " max_duration=%u"); + "config_digital_out oid=%c pin=%u value=%c" + " default_value=%c max_duration=%u"); + +void +command_set_digital_out_pwm_cycle(uint32_t *args) +{ + struct digital_out_s *d = oid_lookup(args[0], command_config_digital_out); + irq_disable(); + if (!move_queue_empty(&d->mq)) + shutdown("Can not set soft pwm cycle ticks while updates pending"); + d->cycle_time = args[1]; + irq_enable(); +} +DECL_COMMAND(command_set_digital_out_pwm_cycle, + "set_digital_out_pwm_cycle oid=%c cycle_ticks=%u"); void command_queue_digital_out(uint32_t *args) { struct digital_out_s *d = oid_lookup(args[0], command_config_digital_out); struct digital_move *m = move_alloc(); - m->waketime = args[1]; - m->value = args[2]; + uint32_t time = m->waketime = args[1]; + m->on_duration = args[2]; irq_disable(); - int need_add_timer = move_queue_push(&m->node, &d->mq); - irq_enable(); - if (!need_add_timer) + int first_on_queue = move_queue_push(&m->node, &d->mq); + if (!first_on_queue) { + irq_enable(); return; - - // queue was empty and a timer needs to be added - sched_del_timer(&d->timer); - if (d->timer.func == digital_end_event - && timer_is_before(d->timer.waketime, m->waketime)) + } + uint8_t flags = d->flags; + if (flags & DF_CHECK_END && timer_is_before(d->end_time, time)) shutdown("Scheduled digital out event will exceed max_duration"); - d->timer.func = digital_out_event; - d->timer.waketime = m->waketime; - sched_add_timer(&d->timer); + d->end_time = time; + d->flags = flags | DF_CHECK_END; + if (flags & DF_TOGGLING && timer_is_before(d->timer.waketime, time)) { + // digital_toggle_event() will schedule a load event when ready + } else { + // Schedule the loading of the parameters at the requested time + sched_del_timer(&d->timer); + d->timer.waketime = time; + d->timer.func = digital_load_event; + sched_add_timer(&d->timer); + } + irq_enable(); } DECL_COMMAND(command_queue_digital_out, - "queue_digital_out oid=%c clock=%u value=%c"); + "queue_digital_out oid=%c clock=%u on_ticks=%u"); void command_update_digital_out(uint32_t *args) @@ -117,12 +181,15 @@ command_update_digital_out(uint32_t *args) sched_del_timer(&d->timer); if (!move_queue_empty(&d->mq)) shutdown("update_digital_out not valid with active queue"); - uint8_t value = args[1]; - gpio_out_write(d->pin, value); - if (value != d->default_value && d->max_duration) { - d->timer.waketime = timer_read_time() + d->max_duration; - d->timer.func = digital_end_event; + uint8_t value = args[1], flags = d->flags, on_flag = value ? DF_ON : 0; + gpio_out_write(d->pin, on_flag); + if (!on_flag != !(flags & DF_DEFAULT_ON) && d->max_duration) { + d->timer.waketime = d->end_time = timer_read_time() + d->max_duration; + d->timer.func = digital_load_event; + d->flags = (flags & DF_DEFAULT_ON) | on_flag | DF_CHECK_END; sched_add_timer(&d->timer); + } else { + d->flags = (flags & DF_DEFAULT_ON) | on_flag; } } DECL_COMMAND(command_update_digital_out, "update_digital_out oid=%c value=%c"); @@ -133,8 +200,8 @@ digital_out_shutdown(void) uint8_t i; struct digital_out_s *d; foreach_oid(i, d, command_config_digital_out) { - gpio_out_write(d->pin, d->default_value); - d->timer.func = digital_out_event; + gpio_out_write(d->pin, d->flags & DF_DEFAULT_ON); + d->flags = d->flags & DF_DEFAULT_ON ? DF_ON | DF_DEFAULT_ON : 0; move_queue_clear(&d->mq); } } @@ -146,184 +213,3 @@ command_set_digital_out(uint32_t *args) gpio_out_setup(args[0], args[1]); } DECL_COMMAND(command_set_digital_out, "set_digital_out pin=%u value=%c"); - - -/**************************************************************** - * Soft PWM output pins - ****************************************************************/ - -struct soft_pwm_s { - struct timer timer; - uint32_t on_duration, off_duration, end_time; - struct gpio_out pin; - uint32_t max_duration, cycle_time; - struct move_queue_head mq; - uint8_t flags; -}; - -struct soft_pwm_move { - struct move_node node; - uint32_t waketime, on_duration; -}; - -enum { - SPF_ON=1<<0, SPF_TOGGLING=1<<1, SPF_CHECK_END=1<<2, SPF_DEFAULT_ON=1<<4 -}; - -static uint_fast8_t soft_pwm_load_event(struct timer *timer); - -// Normal pulse change event -static uint_fast8_t -soft_pwm_toggle_event(struct timer *timer) -{ - struct soft_pwm_s *s = container_of(timer, struct soft_pwm_s, timer); - gpio_out_toggle_noirq(s->pin); - s->flags ^= SPF_ON; - uint32_t waketime = s->timer.waketime; - if (s->flags & SPF_ON) - waketime += s->on_duration; - else - waketime += s->off_duration; - if (s->flags & SPF_CHECK_END && !timer_is_before(waketime, s->end_time)) { - // End of normal pulsing - next event loads new pwm settings - s->timer.func = soft_pwm_load_event; - waketime = s->end_time; - } - s->timer.waketime = waketime; - return SF_RESCHEDULE; -} - -// Load next pwm settings -static uint_fast8_t -soft_pwm_load_event(struct timer *timer) -{ - // Apply next update and remove it from queue - struct soft_pwm_s *s = container_of(timer, struct soft_pwm_s, timer); - if (move_queue_empty(&s->mq)) - shutdown("Missed scheduling of next pwm event"); - struct move_node *mn = move_queue_pop(&s->mq); - struct soft_pwm_move *m = container_of(mn, struct soft_pwm_move, node); - uint32_t on_duration = m->on_duration; - uint8_t flags = on_duration ? SPF_ON : 0; - gpio_out_write(s->pin, flags); - move_free(m); - - // Calculate next end_time and flags - uint32_t end_time = 0; - if (!flags || on_duration >= s->cycle_time) { - // Pin is in an always on or always off state - if (!flags != !(s->flags & SPF_DEFAULT_ON) && s->max_duration) { - end_time = s->timer.waketime + s->max_duration; - flags |= SPF_CHECK_END; - } - } else { - flags |= SPF_TOGGLING; - if (s->max_duration) { - end_time = s->timer.waketime + s->max_duration; - flags |= SPF_CHECK_END; - } - } - if (!move_queue_empty(&s->mq)) { - struct move_node *nn = move_queue_first(&s->mq); - uint32_t wake = container_of(nn, struct soft_pwm_move, node)->waketime; - if (flags & SPF_CHECK_END && timer_is_before(end_time, wake)) - shutdown("Scheduled soft pwm event will exceed max_duration"); - end_time = wake; - flags |= SPF_CHECK_END; - } - s->end_time = end_time; - s->flags = flags | (s->flags & SPF_DEFAULT_ON); - - // Schedule next event - if (!(flags & SPF_TOGGLING)) { - if (!(flags & SPF_CHECK_END)) - // Pin not toggling and nothing scheduled - return SF_DONE; - s->timer.waketime = end_time; - return SF_RESCHEDULE; - } - uint32_t waketime = s->timer.waketime + on_duration; - if (flags & SPF_CHECK_END && !timer_is_before(waketime, end_time)) { - s->timer.waketime = end_time; - return SF_RESCHEDULE; - } - s->timer.func = soft_pwm_toggle_event; - s->timer.waketime = waketime; - s->on_duration = on_duration; - s->off_duration = s->cycle_time - on_duration; - return SF_RESCHEDULE; -} - -void -command_config_soft_pwm_out(uint32_t *args) -{ - 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->flags = (args[2] ? SPF_ON : 0) | (args[3] ? SPF_DEFAULT_ON : 0); - s->max_duration = args[4]; - move_queue_setup(&s->mq, sizeof(struct soft_pwm_move)); -} -DECL_COMMAND(command_config_soft_pwm_out, - "config_soft_pwm_out oid=%c pin=%u value=%c" - " default_value=%c max_duration=%u"); - -void -command_set_soft_pwm_cycle_ticks(uint32_t *args) -{ - struct soft_pwm_s *s = oid_lookup(args[0], command_config_soft_pwm_out); - irq_disable(); - if (!move_queue_empty(&s->mq)) - shutdown("Can not set soft pwm cycle ticks while updates pending"); - s->cycle_time = args[1]; - irq_enable(); -} -DECL_COMMAND(command_set_soft_pwm_cycle_ticks, - "set_soft_pwm_cycle_ticks oid=%c cycle_ticks=%u"); - -void -command_queue_soft_pwm_out(uint32_t *args) -{ - struct soft_pwm_s *s = oid_lookup(args[0], command_config_soft_pwm_out); - struct soft_pwm_move *m = move_alloc(); - uint32_t time = m->waketime = args[1]; - m->on_duration = args[2]; - - irq_disable(); - int first_on_queue = move_queue_push(&m->node, &s->mq); - if (!first_on_queue) { - irq_enable(); - return; - } - uint8_t flags = s->flags; - if (flags & SPF_CHECK_END && timer_is_before(s->end_time, time)) - shutdown("Scheduled soft pwm event will exceed max_duration"); - s->end_time = time; - s->flags = flags | SPF_CHECK_END; - if (flags & SPF_TOGGLING && timer_is_before(s->timer.waketime, time)) { - // soft_pwm_toggle_event() will schedule a load event when ready - } else { - // Schedule the loading of the pwm parameters at the requested time - sched_del_timer(&s->timer); - s->timer.waketime = time; - s->timer.func = soft_pwm_load_event; - sched_add_timer(&s->timer); - } - irq_enable(); -} -DECL_COMMAND(command_queue_soft_pwm_out, - "queue_soft_pwm_out oid=%c clock=%u on_ticks=%u"); - -void -soft_pwm_shutdown(void) -{ - uint8_t i; - struct soft_pwm_s *s; - foreach_oid(i, s, command_config_soft_pwm_out) { - gpio_out_write(s->pin, s->flags & SPF_DEFAULT_ON); - s->flags = s->flags & SPF_DEFAULT_ON ? SPF_ON | SPF_DEFAULT_ON : 0; - move_queue_clear(&s->mq); - } -} -DECL_SHUTDOWN(soft_pwm_shutdown);