diff options
Diffstat (limited to 'klippy/extras/pwm_tool.py')
| -rw-r--r-- | klippy/extras/pwm_tool.py | 160 |
1 files changed, 100 insertions, 60 deletions
diff --git a/klippy/extras/pwm_tool.py b/klippy/extras/pwm_tool.py index 46873203..b1c8f5ec 100644 --- a/klippy/extras/pwm_tool.py +++ b/klippy/extras/pwm_tool.py @@ -5,61 +5,71 @@ # This file may be distributed under the terms of the GNU GPLv3 license. import chelper + class error(Exception): pass + class MCU_queued_pwm: def __init__(self, pin_params): - self._mcu = pin_params['chip'] + self._mcu = pin_params["chip"] self._hardware_pwm = False self._cycle_time = 0.100 - self._max_duration = 2. + self._max_duration = 2.0 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._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._pin = pin_params["pin"] + self._invert = pin_params["invert"] self._start_value = self._shutdown_value = float(self._invert) self._last_clock = self._last_value = self._default_value = 0 self._duration_ticks = 0 - self._pwm_max = 0. + self._pwm_max = 0.0 self._set_cmd_tag = None self._toolhead = None printer = self._mcu.get_printer() printer.register_event_handler("klippy:connect", self._handle_connect) + def _handle_connect(self): self._toolhead = self._mcu.get_printer().lookup_object("toolhead") + 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)) + start_value = 1.0 - start_value + shutdown_value = 1.0 - shutdown_value + self._start_value = max(0.0, min(1.0, start_value)) + self._shutdown_value = max(0.0, min(1.0, shutdown_value)) + def _build_config(self): config_error = self._mcu.get_printer().config_error if self._max_duration and self._start_value != self._shutdown_value: - raise config_error("Pin with max duration must have start" - " value equal to shutdown value") + raise config_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) - if cycle_ticks >= 1<<31: + if cycle_ticks >= 1 << 31: raise config_error("PWM pin cycle time too large") self._duration_ticks = self._mcu.seconds_to_clock(self._max_duration) - if self._duration_ticks >= 1<<31: + if self._duration_ticks >= 1 << 31: raise config_error("PWM pin max duration too large") if self._duration_ticks: self._mcu.register_flush_callback(self._flush_notification) @@ -69,44 +79,59 @@ class MCU_queued_pwm: 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._default_value, self._duration_ticks)) + % ( + self._oid, + self._pin, + cycle_ticks, + self._start_value * self._pwm_max, + self._default_value, + self._duration_ticks, + ) + ) self._last_value = 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, - self._last_value), - on_restart=True) + self._mcu.add_config_cmd( + "queue_pwm_out oid=%d clock=%d value=%d" + % (self._oid, self._last_clock, self._last_value), + 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() + "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.]: + if self._shutdown_value not in [0.0, 1.0]: raise config_error("shutdown value must be 0.0 or 1.0 on soft pwm") 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, self._duration_ticks)) + % ( + self._oid, + self._pin, + self._start_value >= 1.0, + self._shutdown_value >= 0.5, + self._duration_ticks, + ) + ) self._default_value = int(self._shutdown_value >= 0.5) * cycle_ticks self._mcu.add_config_cmd( - "set_digital_out_pwm_cycle oid=%d cycle_ticks=%d" - % (self._oid, cycle_ticks)) + "set_digital_out_pwm_cycle oid=%d cycle_ticks=%d" % (self._oid, cycle_ticks) + ) self._pwm_max = float(cycle_ticks) self._last_value = int(self._start_value * self._pwm_max + 0.5) self._mcu.add_config_cmd( "queue_digital_out oid=%d clock=%d on_ticks=%d" - % (self._oid, self._last_clock, self._last_value), is_init=True) + % (self._oid, self._last_clock, self._last_value), + 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() + "queue_digital_out oid=%c clock=%u on_ticks=%u", cq=cmd_queue + ).get_command_tag() + def _send_update(self, clock, val): self._last_clock = clock = max(self._last_clock, clock) self._last_value = val - data = (self._set_cmd_tag, self._oid, clock & 0xffffffff, val) - ret = self._stepcompress_queue_mq_msg(self._stepqueue, clock, - data, len(data)) + data = (self._set_cmd_tag, self._oid, clock & 0xFFFFFFFF, val) + ret = self._stepcompress_queue_mq_msg(self._stepqueue, clock, data, len(data)) if ret: raise error("Internal error in stepcompress") # Notify toolhead so that it will flush this update @@ -116,50 +141,61 @@ class MCU_queued_pwm: wakeclock += self._duration_ticks wake_print_time = self._mcu.clock_to_print_time(wakeclock) self._toolhead.note_mcu_movequeue_activity(wake_print_time) + def set_pwm(self, print_time, value): clock = self._mcu.print_time_to_clock(print_time) if self._invert: - value = 1. - value - v = int(max(0., min(1., value)) * self._pwm_max + 0.5) + value = 1.0 - value + v = int(max(0.0, min(1.0, value)) * self._pwm_max + 0.5) self._send_update(clock, v) + def _flush_notification(self, print_time, clock): if self._last_value != self._default_value: while clock >= self._last_clock + self._duration_ticks: - self._send_update(self._last_clock + self._duration_ticks, - self._last_value) + self._send_update( + self._last_clock + self._duration_ticks, self._last_value + ) + class PrinterOutputPin: def __init__(self, config): self.printer = config.get_printer() - ppins = self.printer.lookup_object('pins') + ppins = self.printer.lookup_object("pins") # Determine pin type - pin_params = ppins.lookup_pin(config.get('pin'), can_invert=True) + pin_params = ppins.lookup_pin(config.get("pin"), can_invert=True) self.mcu_pin = MCU_queued_pwm(pin_params) max_duration = self.mcu_pin.get_mcu().max_nominal_duration() - cycle_time = config.getfloat('cycle_time', 0.100, above=0., - maxval=max_duration) - hardware_pwm = config.getboolean('hardware_pwm', False) + cycle_time = config.getfloat( + "cycle_time", 0.100, above=0.0, maxval=max_duration + ) + 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.scale = config.getfloat("scale", 1.0, above=0.0) + self.last_print_time = 0.0 # Support mcu checking for maximum duration - max_mcu_duration = config.getfloat('maximum_mcu_duration', 0., - minval=0.500, maxval=max_duration) + max_mcu_duration = config.getfloat( + "maximum_mcu_duration", 0.0, minval=0.500, maxval=max_duration + ) self.mcu_pin.setup_max_duration(max_mcu_duration) # 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.last_value = ( + config.getfloat("value", 0.0, minval=0.0, maxval=self.scale) / self.scale + ) + self.shutdown_value = ( + config.getfloat("shutdown_value", 0.0, minval=0.0, 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) + 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} + return {"value": self.last_value} + def _set_pin(self, print_time, value): if value == self.last_value: return @@ -167,15 +203,19 @@ class PrinterOutputPin: 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 = gcmd.get_float("VALUE", minval=0.0, maxval=self.scale) value /= self.scale # Obtain print_time and apply requested settings - toolhead = self.printer.lookup_object('toolhead') + toolhead = self.printer.lookup_object("toolhead") toolhead.register_lookahead_callback( - lambda print_time: self._set_pin(print_time, value)) + lambda print_time: self._set_pin(print_time, value) + ) + def load_config_prefix(config): return PrinterOutputPin(config) |