diff options
| -rw-r--r-- | docs/MCU_Commands.md | 8 | ||||
| -rw-r--r-- | klippy/mcu.py | 12 | ||||
| -rw-r--r-- | src/avr/gpio.c | 2 | ||||
| -rw-r--r-- | src/gpiocmds.c | 9 | ||||
| -rw-r--r-- | src/pwmcmds.c | 6 |
5 files changed, 23 insertions, 14 deletions
diff --git a/docs/MCU_Commands.md b/docs/MCU_Commands.md index 5cd47193..6cfadd89 100644 --- a/docs/MCU_Commands.md +++ b/docs/MCU_Commands.md @@ -50,7 +50,7 @@ Common startup commands: may be useful for configuring the initial value of LEDs and for configuring the initial value of stepper driver micro-stepping pins. -* `set_pwm_out pin=%u cycle_ticks=%u value=%c` : This command will +* `set_pwm_out pin=%u cycle_ticks=%u value=%hu` : This command will immediately configure the given pin to use hardware based pulse-width-modulation (PWM) with the given number of cycle_ticks. The "cycle_ticks" is the number of MCU clock ticks each @@ -148,7 +148,7 @@ 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=%c +* `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 @@ -205,11 +205,11 @@ 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=%c` : Schedules a change to +* `schedule_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 value=%c` : Schedules a +* `schedule_soft_pwm_out oid=%c clock=%u value=%hu` : Schedules a change to a software PWM output pin. See the 'schedule_digital_out' and 'config_soft_pwm_out' commands for more info. diff --git a/klippy/mcu.py b/klippy/mcu.py index 7f5e11fc..71d58760 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -272,7 +272,6 @@ class MCU_digital_out: self.set_digital(mcu_time, dval) class MCU_pwm: - PWM_MAX = 255. def __init__(self, mcu, pin, cycle_time, hard_cycle_ticks, max_duration): self._mcu = mcu self._hard_cycle_ticks = hard_cycle_ticks @@ -280,6 +279,7 @@ class MCU_pwm: pin, pullup, self._invert = parse_pin_extras(pin) self._last_clock = 0 self._mcu_freq = 0. + self._pwm_max = 0. self._cmd_queue = mcu.alloc_command_queue() if hard_cycle_ticks: mcu.add_config_cmd( @@ -297,16 +297,20 @@ class MCU_pwm: def build_config(self): self._mcu_freq = self._mcu.get_mcu_freq() if self._hard_cycle_ticks: + self._pwm_max = self._mcu.serial.msgparser.get_constant_float( + "PWM_MAX") self._set_cmd = self._mcu.lookup_command( - "schedule_pwm_out oid=%c clock=%u value=%c") + "schedule_pwm_out oid=%c clock=%u value=%hu") else: + self._pwm_max = self._mcu.serial.msgparser.get_constant_float( + "SOFT_PWM_MAX") self._set_cmd = self._mcu.lookup_command( - "schedule_soft_pwm_out oid=%c clock=%u value=%c") + "schedule_soft_pwm_out oid=%c clock=%u value=%hu") def set_pwm(self, mcu_time, value): clock = int(mcu_time * self._mcu_freq) if self._invert: value = 1. - value - value = int(value * self.PWM_MAX + 0.5) + value = int(value * self._pwm_max + 0.5) msg = self._set_cmd.encode(self._oid, clock, value) self._mcu.send(msg, minclock=self._last_clock, reqclock=clock , cq=self._cmd_queue) diff --git a/src/avr/gpio.c b/src/avr/gpio.c index aa39f957..9d7e5148 100644 --- a/src/avr/gpio.c +++ b/src/avr/gpio.c @@ -162,6 +162,8 @@ static const uint8_t pwm_pins[ARRAY_SIZE(pwm_regs)] PROGMEM = { #endif }; +DECL_CONSTANT(PWM_MAX, 255); + struct gpio_pwm gpio_pwm_setup(uint8_t pin, uint32_t cycle_time, uint8_t val) { diff --git a/src/gpiocmds.c b/src/gpiocmds.c index 6dd29059..9262f6d6 100644 --- a/src/gpiocmds.c +++ b/src/gpiocmds.c @@ -90,6 +90,9 @@ DECL_COMMAND(command_set_digital_out, "set_digital_out pin=%u value=%c"); * Soft PWM output pins ****************************************************************/ +#define MAX_SOFT_PWM 255 +DECL_CONSTANT(SOFT_PWM_MAX, MAX_SOFT_PWM); + struct soft_pwm_s { struct timer timer; uint32_t on_duration, off_duration, end_time; @@ -159,7 +162,7 @@ command_config_soft_pwm_out(uint32_t *args) struct soft_pwm_s *s = oid_alloc(args[0], command_config_soft_pwm_out , sizeof(*s)); s->cycle_time = args[2]; - s->pulse_time = s->cycle_time / 255; + s->pulse_time = s->cycle_time / MAX_SOFT_PWM; s->default_value = !!args[3]; s->max_duration = args[4]; s->flags = s->default_value ? SPF_ON : 0; @@ -177,7 +180,7 @@ command_schedule_soft_pwm_out(uint32_t *args) uint8_t value = args[2]; uint8_t next_flags = SPF_CHECK_END | SPF_HAVE_NEXT; uint32_t next_on_duration, next_off_duration; - if (value == 0 || value == 255) { + if (value == 0 || value == MAX_SOFT_PWM) { next_on_duration = next_off_duration = 0; next_flags |= value ? SPF_NEXT_ON : 0; if (!!value != s->default_value && s->max_duration) @@ -208,7 +211,7 @@ command_schedule_soft_pwm_out(uint32_t *args) irq_enable(); } DECL_COMMAND(command_schedule_soft_pwm_out, - "schedule_soft_pwm_out oid=%c clock=%u value=%c"); + "schedule_soft_pwm_out oid=%c clock=%u value=%hu"); static void soft_pwm_shutdown(void) diff --git a/src/pwmcmds.c b/src/pwmcmds.c index e8de0a3b..f5a289d2 100644 --- a/src/pwmcmds.c +++ b/src/pwmcmds.c @@ -43,7 +43,7 @@ command_config_pwm_out(uint32_t *args) p->max_duration = args[4]; } DECL_COMMAND(command_config_pwm_out, - "config_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%c" + "config_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%hu" " max_duration=%u"); void @@ -57,7 +57,7 @@ command_schedule_pwm_out(uint32_t *args) sched_add_timer(&p->timer); } DECL_COMMAND(command_schedule_pwm_out, - "schedule_pwm_out oid=%c clock=%u value=%c"); + "schedule_pwm_out oid=%c clock=%u value=%hu"); static void pwm_shutdown(void) @@ -75,4 +75,4 @@ command_set_pwm_out(uint32_t *args) { gpio_pwm_setup(args[0], args[1], args[2]); } -DECL_COMMAND(command_set_pwm_out, "set_pwm_out pin=%u cycle_ticks=%u value=%c"); +DECL_COMMAND(command_set_pwm_out, "set_pwm_out pin=%u cycle_ticks=%u value=%hu"); |