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-rw-r--r--config/sample-pwm-tool.cfg11
-rw-r--r--docs/Config_Reference.md20
-rw-r--r--docs/G-Codes.md3
-rw-r--r--docs/Status_Reference.md3
-rw-r--r--docs/Using_PWM_Tools.md10
-rw-r--r--klippy/extras/pwm_tool.py157
-rw-r--r--test/klippy/pwm.cfg6
-rw-r--r--test/klippy/pwm.test8
8 files changed, 201 insertions, 17 deletions
diff --git a/config/sample-pwm-tool.cfg b/config/sample-pwm-tool.cfg
index 4adcea6f..48986061 100644
--- a/config/sample-pwm-tool.cfg
+++ b/config/sample-pwm-tool.cfg
@@ -2,9 +2,8 @@
# such as a laser or spindle.
# See docs/Using_PWM_Tools.md for a more detailed description.
-[output_pin TOOL]
+[pwm_tool TOOL]
pin: !ar9 # use your fan's pin number
-pwm: True
hardware_pwm: True
cycle_time: 0.001
shutdown_value: 0
@@ -36,9 +35,9 @@ gcode:
[menu __main __control __toolonoff]
type: input
-enable: {'output_pin TOOL' in printer}
+enable: {'pwm_tool TOOL' in printer}
name: Fan: {'ON ' if menu.input else 'OFF'}
-input: {printer['output_pin TOOL'].value}
+input: {printer['pwm_tool TOOL'].value}
input_min: 0
input_max: 1
input_step: 1
@@ -47,9 +46,9 @@ gcode:
[menu __main __control __toolspeed]
type: input
-enable: {'output_pin TOOL' in printer}
+enable: {'pwm_tool TOOL' in printer}
name: Tool speed: {'%3d' % (menu.input*100)}%
-input: {printer['output_pin TOOL'].value}
+input: {printer['pwm_tool TOOL'].value}
input_min: 0
input_max: 1
input_step: 0.01
diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
index 24139183..c7a2a3db 100644
--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@@ -3127,6 +3127,26 @@ pin:
# parameter.
```
+### [pwm_tool]
+
+Pulse width modulation digital output pins capable of high speed
+updates (one may define any number of sections with an "output_pin"
+prefix). Pins configured here will be setup as output pins and one may
+modify them at run-time using "SET_PIN PIN=my_pin VALUE=.1" type
+extended [g-code commands](G-Codes.md#output_pin).
+
+```
+[pwm_tool my_tool]
+pin:
+# The pin to configure as an output. This parameter must be provided.
+#value:
+#shutdown_value:
+#cycle_time: 0.100
+#hardware_pwm: False
+#scale:
+# See the "output_pin" section for the definition of these parameters.
+```
+
### [static_digital_output]
Statically configured digital output pins (one may define any number
diff --git a/docs/G-Codes.md b/docs/G-Codes.md
index 1f466dcd..6d492c25 100644
--- a/docs/G-Codes.md
+++ b/docs/G-Codes.md
@@ -834,7 +834,8 @@ commands to manage the LED's color settings).
### [output_pin]
The following command is available when an
-[output_pin config section](Config_Reference.md#output_pin) is
+[output_pin config section](Config_Reference.md#output_pin) or
+[pwm_tool config section](Config_Reference.md#pwm_tool) is
enabled.
#### SET_PIN
diff --git a/docs/Status_Reference.md b/docs/Status_Reference.md
index 13139dd0..5477049a 100644
--- a/docs/Status_Reference.md
+++ b/docs/Status_Reference.md
@@ -318,7 +318,8 @@ is defined):
## output_pin
The following information is available in
-[output_pin some_name](Config_Reference.md#output_pin) objects:
+[output_pin some_name](Config_Reference.md#output_pin) and
+[pwm_tool some_name](Config_Reference.md#pwm_tool) objects:
- `value`: The "value" of the pin, as set by a `SET_PIN` command.
## palette2
diff --git a/docs/Using_PWM_Tools.md b/docs/Using_PWM_Tools.md
index a67df84d..108ae37a 100644
--- a/docs/Using_PWM_Tools.md
+++ b/docs/Using_PWM_Tools.md
@@ -1,7 +1,7 @@
# Using PWM tools
This document describes how to setup a PWM-controlled laser or spindle
-using `output_pin` and some macros.
+using `pwm_tool` and some macros.
## How does it work?
@@ -26,14 +26,6 @@ so that when your host or MCU encounters an error, the tool will stop.
For an example configuration, see [config/sample-pwm-tool.cfg](/config/sample-pwm-tool.cfg).
-## Current Limitations
-
-There is a limitation of how frequent PWM updates may occur.
-While being very precise, a PWM update may only occur every 0.1 seconds,
-rendering it almost useless for raster engraving.
-However, there exists an [experimental branch](https://github.com/Cirromulus/klipper/tree/laser_tool) with its own tradeoffs.
-In long term, it is planned to add this functionality to main-line klipper.
-
## Commands
`M3/M4 S<value>` : Set PWM duty-cycle. Values between 0 and 255.
diff --git a/klippy/extras/pwm_tool.py b/klippy/extras/pwm_tool.py
new file mode 100644
index 00000000..c012bb31
--- /dev/null
+++ b/klippy/extras/pwm_tool.py
@@ -0,0 +1,157 @@
+# Queued PWM gpio output
+#
+# Copyright (C) 2017-2023 Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import chelper
+
+PIN_MIN_TIME = 0.100
+MAX_SCHEDULE_TIME = 5.0
+
+class error(Exception):
+ pass
+
+class MCU_queued_pwm:
+ def __init__(self, pin_params):
+ self._mcu = pin_params['chip']
+ self._hardware_pwm = False
+ self._cycle_time = 0.100
+ self._max_duration = 2.
+ self._oid = self._mcu.create_oid()
+ ffi_main, ffi_lib = chelper.get_ffi()
+ self._stepqueue = ffi_main.gc(ffi_lib.stepcompress_alloc(self._oid),
+ ffi_lib.stepcompress_free)
+ self._mcu.register_stepqueue(self._stepqueue)
+ self._stepcompress_queue_mq_msg = ffi_lib.stepcompress_queue_mq_msg
+ self._mcu.register_config_callback(self._build_config)
+ self._pin = pin_params['pin']
+ self._invert = pin_params['invert']
+ self._start_value = self._shutdown_value = float(self._invert)
+ self._last_clock = self._cycle_ticks = 0
+ self._pwm_max = 0.
+ self._set_cmd_tag = None
+ def get_mcu(self):
+ return self._mcu
+ def setup_max_duration(self, max_duration):
+ self._max_duration = max_duration
+ def setup_cycle_time(self, cycle_time, hardware_pwm=False):
+ self._cycle_time = cycle_time
+ self._hardware_pwm = hardware_pwm
+ def setup_start_value(self, start_value, shutdown_value):
+ if self._invert:
+ start_value = 1. - start_value
+ shutdown_value = 1. - shutdown_value
+ self._start_value = max(0., min(1., start_value))
+ self._shutdown_value = max(0., min(1., shutdown_value))
+ def _build_config(self):
+ if self._max_duration and self._start_value != self._shutdown_value:
+ raise pins.error("Pin with max duration must have start"
+ " value equal to shutdown value")
+ cmd_queue = self._mcu.alloc_command_queue()
+ curtime = self._mcu.get_printer().get_reactor().monotonic()
+ printtime = self._mcu.estimated_print_time(curtime)
+ self._last_clock = self._mcu.print_time_to_clock(printtime + 0.200)
+ cycle_ticks = self._mcu.seconds_to_clock(self._cycle_time)
+ mdur_ticks = self._mcu.seconds_to_clock(self._max_duration)
+ if mdur_ticks >= 1<<31:
+ raise pins.error("PWM pin max duration too large")
+ if self._hardware_pwm:
+ self._pwm_max = self._mcu.get_constant_float("PWM_MAX")
+ self._mcu.add_config_cmd(
+ "config_pwm_out oid=%d pin=%s cycle_ticks=%d value=%d"
+ " default_value=%d max_duration=%d"
+ % (self._oid, self._pin, cycle_ticks,
+ self._start_value * self._pwm_max,
+ self._shutdown_value * self._pwm_max, mdur_ticks))
+ svalue = int(self._start_value * self._pwm_max + 0.5)
+ 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_tag = self._mcu.lookup_command(
+ "queue_pwm_out oid=%c clock=%u value=%hu",
+ cq=cmd_queue).get_command_tag()
+ return
+ # Software PWM
+ if self._shutdown_value not in [0., 1.]:
+ raise pins.error("shutdown value must be 0.0 or 1.0 on soft pwm")
+ if cycle_ticks >= 1<<31:
+ raise pins.error("PWM pin cycle time too large")
+ self._mcu.add_config_cmd(
+ "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, mdur_ticks))
+ self._mcu.add_config_cmd(
+ "set_digital_out_pwm_cycle oid=%d cycle_ticks=%d"
+ % (self._oid, cycle_ticks))
+ self._cycle_ticks = cycle_ticks
+ svalue = int(self._start_value * cycle_ticks + 0.5)
+ self._mcu.add_config_cmd(
+ "queue_digital_out oid=%d clock=%d on_ticks=%d"
+ % (self._oid, self._last_clock, svalue), is_init=True)
+ self._set_cmd_tag = self._mcu.lookup_command(
+ "queue_digital_out oid=%c clock=%u on_ticks=%u",
+ cq=cmd_queue).get_command_tag()
+ def set_pwm(self, print_time, value):
+ clock = self._mcu.print_time_to_clock(print_time)
+ minclock = self._last_clock
+ self._last_clock = clock
+ if self._invert:
+ value = 1. - value
+ max_count = self._cycle_ticks
+ if self._hardware_pwm:
+ max_count = self._pwm_max
+ v = int(max(0., min(1., value)) * max_count + 0.5)
+ data = (self._set_cmd_tag, self._oid, clock & 0xffffffff, v)
+ ret = self._stepcompress_queue_mq_msg(self._stepqueue, clock,
+ data, len(data))
+ if ret:
+ raise error("Internal error in stepcompress")
+
+class PrinterOutputPin:
+ def __init__(self, config):
+ self.printer = config.get_printer()
+ ppins = self.printer.lookup_object('pins')
+ # Determine pin type
+ pin_params = ppins.lookup_pin(config.get('pin'), can_invert=True)
+ self.mcu_pin = MCU_queued_pwm(pin_params)
+ cycle_time = config.getfloat('cycle_time', 0.100, above=0.,
+ maxval=MAX_SCHEDULE_TIME)
+ hardware_pwm = config.getboolean('hardware_pwm', False)
+ self.mcu_pin.setup_cycle_time(cycle_time, hardware_pwm)
+ self.scale = config.getfloat('scale', 1., above=0.)
+ self.last_print_time = 0.
+ self.mcu_pin.setup_max_duration(0.)
+ # Determine start and shutdown values
+ self.last_value = config.getfloat(
+ 'value', 0., minval=0., maxval=self.scale) / self.scale
+ self.shutdown_value = config.getfloat(
+ 'shutdown_value', 0., minval=0., maxval=self.scale) / self.scale
+ self.mcu_pin.setup_start_value(self.last_value, self.shutdown_value)
+ # Register commands
+ pin_name = config.get_name().split()[1]
+ gcode = self.printer.lookup_object('gcode')
+ gcode.register_mux_command("SET_PIN", "PIN", pin_name,
+ self.cmd_SET_PIN,
+ desc=self.cmd_SET_PIN_help)
+ def get_status(self, eventtime):
+ return {'value': self.last_value}
+ def _set_pin(self, print_time, value):
+ if value == self.last_value:
+ return
+ print_time = max(print_time, self.last_print_time)
+ self.mcu_pin.set_pwm(print_time, value)
+ self.last_value = value
+ self.last_print_time = print_time
+ cmd_SET_PIN_help = "Set the value of an output pin"
+ def cmd_SET_PIN(self, gcmd):
+ # Read requested value
+ value = gcmd.get_float('VALUE', minval=0., maxval=self.scale)
+ value /= self.scale
+ # Obtain print_time and apply requested settings
+ toolhead = self.printer.lookup_object('toolhead')
+ toolhead.register_lookahead_callback(
+ lambda print_time: self._set_pin(print_time, value))
+
+def load_config_prefix(config):
+ return PrinterOutputPin(config)
diff --git a/test/klippy/pwm.cfg b/test/klippy/pwm.cfg
index 45555ca8..fbda9126 100644
--- a/test/klippy/pwm.cfg
+++ b/test/klippy/pwm.cfg
@@ -13,6 +13,12 @@ value: 0
shutdown_value: 0
cycle_time: 0.01
+[pwm_tool test_pwm_tool]
+pin: PH4
+value: 0
+shutdown_value: 0
+cycle_time: 0.01
+
[mcu]
serial: /dev/ttyACM0
diff --git a/test/klippy/pwm.test b/test/klippy/pwm.test
index d204cbc6..5e74a3e0 100644
--- a/test/klippy/pwm.test
+++ b/test/klippy/pwm.test
@@ -28,3 +28,11 @@ SET_PIN PIN=soft_pwm_pin VALUE=0.5 CYCLE_TIME=0.5
SET_PIN PIN=soft_pwm_pin VALUE=0.5 CYCLE_TIME=0.5
SET_PIN PIN=soft_pwm_pin VALUE=0.75 CYCLE_TIME=0.5
SET_PIN PIN=soft_pwm_pin VALUE=0.75 CYCLE_TIME=0.75
+
+# PWM tool
+# Basic test
+SET_PIN PIN=test_pwm_tool VALUE=0
+SET_PIN PIN=test_pwm_tool VALUE=0.5
+SET_PIN PIN=test_pwm_tool VALUE=0.5
+SET_PIN PIN=test_pwm_tool VALUE=0.25
+SET_PIN PIN=test_pwm_tool VALUE=1
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-09-02 08:51:04 +0000