pca9685: Support default values

Allow the pwm pin to have a non-zero default value.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

2 files changed, 46 insertions, 25 deletions

diff --git a/klippy/chipmisc.py b/klippy/chipmisc.py
index 454754ff..8ca90eca 100644
--- a/klippy/chipmisc.py
+++ b/klippy/chipmisc.py
@@ -123,6 +123,7 @@ class pca9685_pwm:
         self._max_duration = 2.
         self._oid = None
         self._invert = pin_params['invert']
+        self._shutdown_value = float(self._invert)
         self._last_clock = 0
         self._pwm_max = 0.
         self._cmd_queue = self._mcu.alloc_command_queue()
@@ -141,6 +142,12 @@ class pca9685_pwm:
         if self._invert:
             value = 1. - value
         self._static_value = max(0., min(1., value))
+    def setup_shutdown_value(self, value):
+        if self._invert:
+            value = 1. - value
+        self._shutdown_value = max(0., min(1., value))
+        if self._shutdown_value:
+            self._replicape.note_enable_on_shutdown()
     def build_config(self):
         self._pwm_max = self._mcu.get_constant_float("PCA9685_MAX")
         cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time)
@@ -154,10 +161,12 @@ class pca9685_pwm:
             return
         self._oid = self._mcu.create_oid()
         self._mcu.add_config_cmd(
-            "config_pca9685 oid=%d bus=%d addr=%d channel=%d"
-            " cycle_ticks=%d max_duration=%d" % (
-                self._oid, self._bus, self._address, self._channel,
-                cycle_ticks, self._mcu.seconds_to_clock(self._max_duration)))
+            "config_pca9685 oid=%d bus=%d addr=%d channel=%d cycle_ticks=%d"
+            " value=%d default_value=%d max_duration=%d" % (
+                self._oid, self._bus, self._address, self._channel, cycle_ticks,
+                self._invert * self._pwm_max,
+                self._shutdown_value * self._pwm_max,
+                self._mcu.seconds_to_clock(self._max_duration)))
         self._set_cmd = self._mcu.lookup_command(
             "schedule_pca9685_out oid=%c clock=%u value=%hu")
     def set_pwm(self, print_time, value):
@@ -249,6 +258,8 @@ class Replicape:
         self.host_mcu.add_config_cmd("send_spi bus=%d dev=%d msg=%s" % (
             REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
             "".join(["%02x" % (x,) for x in shift_registers])))
+    def note_enable_on_shutdown(self):
+        self.mcu_enable.setup_shutdown_value(1)
     def note_enable(self, print_time, channel, is_enable):
         if is_enable:
             is_off = not self.enabled_channels
diff --git a/src/linux/pca9685.c b/src/linux/pca9685.c
index 4c1611aa..386ad292 100644
--- a/src/linux/pca9685.c
+++ b/src/linux/pca9685.c
@@ -118,15 +118,6 @@ open_i2c(uint8_t bus, uint8_t addr, uint32_t cycle_ticks)
     return fd;
 }
 
-void
-pca9685_shutdown(void)
-{
-    int i;
-    for (i=0; i<devices_count; i++)
-        pca9685_write(devices[i].fd, CHANNEL_ALL, 0);
-}
-DECL_SHUTDOWN(pca9685_shutdown);
-
 
 /****************************************************************
  * Command interface
@@ -136,7 +127,7 @@ struct i2cpwm_s {
     struct timer timer;
     int fd;
     uint8_t channel;
-    uint16_t value;
+    uint16_t value, default_value;
     uint32_t max_duration;
 };
 
@@ -153,7 +144,7 @@ pca9685_event(struct timer *timer)
 {
     struct i2cpwm_s *p = container_of(timer, struct i2cpwm_s, timer);
     pca9685_write(p->fd, p->channel, p->value);
-    if (!p->value || !p->max_duration)
+    if (p->value == p->default_value || !p->max_duration)
         return SF_DONE;
     p->timer.waketime += p->max_duration;
     p->timer.func = pca9685_end_event;
@@ -163,18 +154,22 @@ pca9685_event(struct timer *timer)
 void
 command_config_pca9685(uint32_t *args)
 {
-    struct i2cpwm_s *p = oid_alloc(args[0], command_config_pca9685
-                                   , sizeof(*p));
-    uint8_t bus = args[1];
-    uint8_t addr = args[2];
-    p->channel = args[3];
-    if (p->channel > CHANNEL_MAX)
-        shutdown("Invalid pca9685 channel");
-    p->max_duration = args[5];
-    p->fd = open_i2c(bus, addr, args[4]);
+    uint8_t bus = args[1], addr = args[2], channel = args[3];
+    uint16_t value = args[5], default_value = args[6];
+    if (channel > CHANNEL_MAX || value > VALUE_MAX || default_value > VALUE_MAX)
+        shutdown("Invalid pca9685 channel or value");
+    int fd = open_i2c(bus, addr, args[4]);
+    if (value)
+        pca9685_write(fd, channel, value);
+    struct i2cpwm_s *p = oid_alloc(args[0], command_config_pca9685, sizeof(*p));
+    p->fd = fd;
+    p->channel = channel;
+    p->default_value = default_value;
+    p->max_duration = args[7];
 }
 DECL_COMMAND(command_config_pca9685, "config_pca9685 oid=%c bus=%c addr=%c"
-             " channel=%c cycle_ticks=%u max_duration=%u");
+             " channel=%c cycle_ticks=%u value=%hu"
+             " default_value=%hu max_duration=%u");
 
 void
 command_schedule_pca9685_out(uint32_t *args)
@@ -203,3 +198,18 @@ command_set_pca9685_out(uint32_t *args)
 }
 DECL_COMMAND(command_set_pca9685_out, "set_pca9685_out bus=%c addr=%c"
              " channel=%c cycle_ticks=%u value=%hu");
+
+void
+pca9685_shutdown(void)
+{
+    int i;
+    for (i=0; i<devices_count; i++)
+        pca9685_write(devices[i].fd, CHANNEL_ALL, 0);
+    uint8_t j;
+    struct i2cpwm_s *p;
+    foreach_oid(j, p, command_config_pca9685) {
+        if (p->default_value)
+            pca9685_write(p->fd, p->channel, p->default_value);
+    }
+}
+DECL_SHUTDOWN(pca9685_shutdown);