gpiocmds: Allow the start value for a pin to differ from the default_value

Allow the start value to be different from the default/shutdown value
for the pin.  This will be useful for "heater fans" that should
startup in the off state, and transition to full on in a shutdown
state.

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

4 files changed, 62 insertions, 46 deletions

diff --git a/docs/MCU_Commands.md b/docs/MCU_Commands.md
index 51505545..edbaef11 100644
--- a/docs/MCU_Commands.md
+++ b/docs/MCU_Commands.md
@@ -118,16 +118,16 @@ Common micro-controller objects
 
 This section lists some commonly used config commands.
 
-* `config_digital_out oid=%c pin=%u default_value=%c
+* `config_digital_out oid=%c pin=%u value=%c default_value=%c
   max_duration=%u` : This command creates an internal micro-controller
   object for the given GPIO 'pin'. The pin will be configured in
   digital output mode and set to an initial value as specified by
-  'default_value' (0 for low, 1 for high). Creating a digital_out
-  object allows the host to schedule GPIO updates for the given pin at
+  'value' (0 for low, 1 for high). Creating a digital_out object
+  allows the host to schedule GPIO updates for the given pin at
   specified times (see the schedule_digital_out command described
   below). Should the micro-controller software go into shutdown mode
-  then all configured digital_out objects will be set back to their
-  default values. The 'max_duration' parameter is used to implement a
+  then all configured digital_out objects will be set to
+  'default_value'. The 'max_duration' parameter is used to implement a
   safety check - if it is non-zero then it is the maximum number of
   clock ticks that the host may set the given GPIO to a non-default
   value without further updates. For example, if the default_value is
@@ -137,23 +137,23 @@ This section lists some commonly used config commands.
   feature can be used with heater pins to ensure the host does not
   enable the heater and then go off-line.
 
-* `config_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%hu
-  max_duration=%u` : This command creates an internal object for
-  hardware based PWM pins that the host may schedule updates for. Its
-  usage is analogous to config_digital_out - see the description of
-  the 'set_pwm_out' and 'config_digital_out' commands for parameter
-  description.
+* `config_pwm_out oid=%c pin=%u cycle_ticks=%u value=%hu
+  default_value=%hu max_duration=%u` : This command creates an
+  internal object for hardware based PWM pins that the host may
+  schedule updates for. Its usage is analogous to config_digital_out -
+  see the description of the 'set_pwm_out' and 'config_digital_out'
+  commands for parameter description.
 
-* `config_soft_pwm_out oid=%c pin=%u cycle_ticks=%u 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). Because the output switching is implemented in the
-  micro-controller software, it is recommended that the cycle_ticks
-  parameter correspond to a time of 10ms or greater. See the
-  description of the 'set_pwm_out' and 'config_digital_out' commands
-  for parameter description.
+* `config_soft_pwm_out oid=%c pin=%u cycle_ticks=%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). Because the output switching is
+  implemented in the micro-controller software, it is recommended that
+  the cycle_ticks parameter correspond to a time of 10ms or
+  greater. 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
diff --git a/klippy/mcu.py b/klippy/mcu.py
index a89e6106..9d76e0fa 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -226,7 +226,7 @@ class MCU_digital_out:
         self._oid = None
         self._static_value = None
         self._pin = pin_params['pin']
-        self._invert = pin_params['invert']
+        self._invert = self._shutdown_value = pin_params['invert']
         self._max_duration = 2.
         self._last_clock = 0
         self._last_value = None
@@ -238,6 +238,8 @@ class MCU_digital_out:
         self._max_duration = max_duration
     def setup_static(self):
         self._static_value = not self._invert
+    def setup_shutdown_value(self, value):
+        self._shutdown_value = (not not value) ^ self._invert
     def build_config(self):
         if self._static_value is not None:
             self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % (
@@ -245,16 +247,16 @@ class MCU_digital_out:
             return
         self._oid = self._mcu.create_oid()
         self._mcu.add_config_cmd(
-            "config_digital_out oid=%d pin=%s default_value=%d"
+            "config_digital_out oid=%d pin=%s value=%d default_value=%d"
             " max_duration=%d" % (
-                self._oid, self._pin, self._invert,
+                self._oid, self._pin, self._invert, self._shutdown_value,
                 self._mcu.seconds_to_clock(self._max_duration)))
         self._set_cmd = self._mcu.lookup_command(
             "schedule_digital_out oid=%c clock=%u value=%c")
     def set_digital(self, print_time, value):
         clock = self._mcu.print_time_to_clock(print_time)
         msg = self._set_cmd.encode(
-            self._oid, clock, not not (value ^ self._invert))
+            self._oid, clock, (not not value) ^ self._invert)
         self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
                       , cq=self._cmd_queue)
         self._last_clock = clock
@@ -274,6 +276,7 @@ class MCU_pwm:
         self._static_value = None
         self._pin = pin_params['pin']
         self._invert = pin_params['invert']
+        self._shutdown_value = float(self._invert)
         self._last_clock = 0
         self._pwm_max = 0.
         self._cmd_queue = mcu.alloc_command_queue()
@@ -294,6 +297,10 @@ class MCU_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))
     def build_config(self):
         if self._hard_pwm:
             self._pwm_max = self._mcu.get_constant_float("PWM_MAX")
@@ -305,27 +312,33 @@ class MCU_pwm:
                 return
             self._oid = self._mcu.create_oid()
             self._mcu.add_config_cmd(
-                "config_pwm_out oid=%d pin=%s cycle_ticks=%d default_value=%d"
-                " max_duration=%d" % (
-                    self._oid, self._pin, self._cycle_time, self._invert,
+                "config_pwm_out oid=%d pin=%s cycle_ticks=%d value=%d"
+                " default_value=%d max_duration=%d" % (
+                    self._oid, self._pin, self._cycle_time,
+                    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_pwm_out oid=%c clock=%u value=%hu")
         else:
             self._pwm_max = self._mcu.get_constant_float("SOFT_PWM_MAX")
             if self._static_value is not None:
-                if self._static_value != 0. and self._static_value != 1.:
-                    raise pins.error("static value on soft pwm not supported")
+                if self._static_value not in [0., 1.]:
+                    raise pins.error(
+                        "static value must be 0.0 or 1.0 on soft pwm")
                 self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % (
                     self._pin, self._static_value >= 0.5))
                 return
+            if self._shutdown_value not in [0., 1.]:
+                raise pins.error(
+                    "shutdown value must be 0.0 or 1.0 on soft pwm")
             self._oid = self._mcu.create_oid()
             self._mcu.add_config_cmd(
-                "config_soft_pwm_out oid=%d pin=%s cycle_ticks=%d"
+                "config_soft_pwm_out oid=%d pin=%s cycle_ticks=%d value=%d"
                 " default_value=%d max_duration=%d" % (
                     self._oid, self._pin,
                     self._mcu.seconds_to_clock(self._cycle_time),
-                    self._invert,
+                    self._invert, self._shutdown_value >= 0.5,
                     self._mcu.seconds_to_clock(self._max_duration)))
             self._set_cmd = self._mcu.lookup_command(
                 "schedule_soft_pwm_out oid=%c clock=%u value=%hu")
diff --git a/src/gpiocmds.c b/src/gpiocmds.c
index 69f60f97..52e3d8d5 100644
--- a/src/gpiocmds.c
+++ b/src/gpiocmds.c
@@ -44,14 +44,15 @@ digital_out_event(struct timer *timer)
 void
 command_config_digital_out(uint32_t *args)
 {
+    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->default_value = args[2];
-    d->pin = gpio_out_setup(args[1], d->default_value);
-    d->max_duration = args[3];
+    d->pin = pin;
+    d->default_value = args[3];
+    d->max_duration = args[4];
 }
 DECL_COMMAND(command_config_digital_out,
-             "config_digital_out oid=%c pin=%u default_value=%c"
+             "config_digital_out oid=%c pin=%u value=%c default_value=%c"
              " max_duration=%u");
 
 void
@@ -159,17 +160,18 @@ soft_pwm_load_event(struct timer *timer)
 void
 command_config_soft_pwm_out(uint32_t *args)
 {
+    struct gpio_out pin = gpio_out_setup(args[1], !!args[3]);
     struct soft_pwm_s *s = oid_alloc(args[0], command_config_soft_pwm_out
                                      , sizeof(*s));
+    s->pin = pin;
     s->cycle_time = args[2];
-    s->default_value = !!args[3];
-    s->max_duration = args[4];
+    s->default_value = !!args[4];
+    s->max_duration = args[5];
     s->flags = s->default_value ? SPF_ON : 0;
-    s->pin = gpio_out_setup(args[1], s->default_value);
 }
 DECL_COMMAND(command_config_soft_pwm_out,
-             "config_soft_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%c"
-             " max_duration=%u");
+             "config_soft_pwm_out oid=%c pin=%u cycle_ticks=%u value=%c"
+             " default_value=%c max_duration=%u");
 
 void
 command_schedule_soft_pwm_out(uint32_t *args)
diff --git a/src/pwmcmds.c b/src/pwmcmds.c
index 82326b9d..cf025ddb 100644
--- a/src/pwmcmds.c
+++ b/src/pwmcmds.c
@@ -37,14 +37,15 @@ pwm_event(struct timer *timer)
 void
 command_config_pwm_out(uint32_t *args)
 {
+    struct gpio_pwm pin = gpio_pwm_setup(args[1], args[2], args[3]);
     struct pwm_out_s *p = oid_alloc(args[0], command_config_pwm_out, sizeof(*p));
-    p->default_value = args[3];
-    p->pin = gpio_pwm_setup(args[1], args[2], p->default_value);
-    p->max_duration = args[4];
+    p->pin = pin;
+    p->default_value = args[4];
+    p->max_duration = args[5];
 }
 DECL_COMMAND(command_config_pwm_out,
-             "config_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%hu"
-             " max_duration=%u");
+             "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)