diff options
Diffstat (limited to 'klippy/extras')
| -rw-r--r-- | klippy/extras/pwm_tool.py | 79 |
1 files changed, 52 insertions, 27 deletions
diff --git a/klippy/extras/pwm_tool.py b/klippy/extras/pwm_tool.py index e3a7377c..0b3dd0c0 100644 --- a/klippy/extras/pwm_tool.py +++ b/klippy/extras/pwm_tool.py @@ -5,8 +5,8 @@ # 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 +CLOCK_SYNC_EXTRA_TIME = 0.050 class error(Exception): pass @@ -27,9 +27,15 @@ class MCU_queued_pwm: 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._last_clock = self._last_value = self._default_value = 0 + self._duration_ticks = 0 self._pwm_max = 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): @@ -52,20 +58,26 @@ class MCU_queued_pwm: 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: + if cycle_ticks >= 1<<31: + raise pins.error("PWM pin cycle time too large") + self._duration_ticks = self._mcu.seconds_to_clock(self._max_duration) + if self._duration_ticks >= 1<<31: raise pins.error("PWM pin max duration too large") + if self._duration_ticks: + self._mcu.register_flush_callback(self._flush_notification) if self._hardware_pwm: self._pwm_max = self._mcu.get_constant_float("PWM_MAX") + self._default_value = self._shutdown_value * self._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._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, svalue), + % (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", @@ -74,39 +86,50 @@ class MCU_queued_pwm: # 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._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)) - self._cycle_ticks = cycle_ticks - svalue = int(self._start_value * cycle_ticks + 0.5) + 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, svalue), 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() - 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) + 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)) if ret: raise error("Internal error in stepcompress") + # Notify toolhead so that it will flush this update + wakeclock = clock + if self._last_value != self._default_value: + # Continue flushing to resend time + wakeclock += self._duration_ticks + wake_print_time = self._mcu.clock_to_print_time(wakeclock) + self._toolhead.note_kinematic_activity(wake_print_time + + CLOCK_SYNC_EXTRA_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) + 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) class PrinterOutputPin: def __init__(self, config): @@ -121,7 +144,11 @@ class PrinterOutputPin: 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.) + # Support mcu checking for maximum duration + max_mcu_duration = config.getfloat('maximum_mcu_duration', 0., + minval=0.500, + maxval=MAX_SCHEDULE_TIME) + 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 @@ -143,8 +170,6 @@ class PrinterOutputPin: self.mcu_pin.set_pwm(print_time, value) self.last_value = value self.last_print_time = print_time - toolhead = self.printer.lookup_object('toolhead') - toolhead.note_kinematic_activity(print_time) cmd_SET_PIN_help = "Set the value of an output pin" def cmd_SET_PIN(self, gcmd): # Read requested value |