diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 53 |
1 files changed, 29 insertions, 24 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 864ebbfb..2c7dcbd3 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -134,6 +134,7 @@ class MCU_digital_out: pin, pullup, self._invert = parse_pin_extras(pin) self._last_clock = 0 self._last_value = None + self._mcu_freq = mcu.get_mcu_freq() self._cmd_queue = mcu.alloc_command_queue() mcu.add_config_cmd( "config_digital_out oid=%d pin=%s default_value=%d" @@ -148,7 +149,8 @@ class MCU_digital_out: self._last_value = value def get_last_setting(self): return self._last_value - def set_pwm(self, clock, value): + def set_pwm(self, mcu_time, value): + clock = int(mcu_time * self._mcu_freq) dval = 0 if value > 127: dval = 1 @@ -161,6 +163,7 @@ class MCU_pwm: self._mcu = mcu self._oid = mcu.create_oid() self._last_clock = 0 + self._mcu_freq = mcu.get_mcu_freq() self._cmd_queue = mcu.alloc_command_queue() if hard_pwm: mcu.add_config_cmd( @@ -175,13 +178,13 @@ class MCU_pwm: self._oid, pin, cycle_ticks, max_duration)) self._set_cmd = mcu.lookup_command( "schedule_soft_pwm_out oid=%c clock=%u value=%c") - def set_pwm(self, clock, value): + self.print_to_mcu_time = mcu.print_to_mcu_time + def set_pwm(self, mcu_time, value): + clock = int(mcu_time * self._mcu_freq) msg = self._set_cmd.encode(self._oid, clock, value) self._mcu.send(msg, minclock=self._last_clock, reqclock=clock , cq=self._cmd_queue) self._last_clock = clock - def get_print_clock(self, print_time): - return self._mcu.get_print_clock(print_time) class MCU_adc: ADC_MAX = 1024 # 10bit adc @@ -193,10 +196,9 @@ class MCU_adc: self._sample_ticks = 0 self._sample_count = 1 self._report_clock = 0 - self._last_value = 0 - self._last_read_clock = 0 self._callback = None - self._max_adc_inv = 0. + self._inv_max_adc = 0. + self._mcu_freq = mcu.get_mcu_freq() self._cmd_queue = mcu.alloc_command_queue() mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % (self._oid, pin)) mcu.register_msg(self._handle_analog_in_state, "analog_in_state" @@ -204,36 +206,33 @@ class MCU_adc: self._query_cmd = mcu.lookup_command( "query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c" " rest_ticks=%u min_value=%hu max_value=%hu") - def set_minmax(self, sample_ticks, sample_count, minval=None, maxval=None): + def set_minmax(self, sample_time, sample_count, minval=None, maxval=None): + self._sample_ticks = int(sample_time * self._mcu_freq) + self._sample_count = sample_count if minval is None: minval = 0 if maxval is None: maxval = 0xffff - self._sample_ticks = sample_ticks - self._sample_count = sample_count max_adc = sample_count * self.ADC_MAX self._min_sample = int(minval * max_adc) self._max_sample = min(0xffff, int(math.ceil(maxval * max_adc))) - self._max_adc_inv = 1.0 / max_adc - def query_analog_in(self, report_clock): - self._report_clock = report_clock - mcu_freq = self._mcu.get_mcu_freq() + self._inv_max_adc = 1.0 / max_adc + def query_analog_in(self, report_time): + self._report_clock = int(report_time * self._mcu_freq) cur_clock = self._mcu.get_last_clock() - clock = cur_clock + int(mcu_freq * (1.0 + self._oid * 0.01)) # XXX + clock = cur_clock + int(self._mcu_freq * (1.0 + self._oid * 0.01)) # XXX msg = self._query_cmd.encode( self._oid, clock, self._sample_ticks, self._sample_count - , report_clock, self._min_sample, self._max_sample) + , self._report_clock, self._min_sample, self._max_sample) self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue) def _handle_analog_in_state(self, params): - self._last_value = params['value'] * self._max_adc_inv + last_value = params['value'] * self._inv_max_adc next_clock = self._mcu.serial.translate_clock(params['next_clock']) - self._last_read_clock = next_clock - self._report_clock + last_read_time = (next_clock - self._report_clock) / self._mcu_freq if self._callback is not None: - self._callback(self._last_read_clock, self._last_value) + self._callback(last_read_time, last_value) def set_adc_callback(self, cb): self._callback = cb - def get_print_clock(self, print_time): - return self._mcu.get_print_clock(print_time) class MCU: def __init__(self, printer, config): @@ -419,6 +418,8 @@ class MCU: def get_print_buffer_time(self, eventtime, last_move_end): clock_diff = self.serial.get_clock(eventtime) - self._print_start_clock return last_move_end - (float(clock_diff) / self._clock_freq) + def print_to_mcu_time(self, print_time): + return print_time + self._print_start_clock / self._clock_freq def get_print_clock(self, print_time): return print_time * self._clock_freq + self._print_start_clock def get_mcu_freq(self): @@ -469,14 +470,16 @@ class Dummy_MCU_obj: return False def home_finalize(self): pass - def set_pwm(self, print_time, value): + def set_pwm(self, mcu_time, value): pass - def set_minmax(self, sample_ticks, sample_count, minval=None, maxval=None): + def set_minmax(self, sample_time, sample_count, minval=None, maxval=None): pass - def query_analog_in(self, report_clock): + def query_analog_in(self, report_time): pass def set_adc_callback(self, cb): pass + def print_to_mcu_time(self, print_time): + return self._mcu.print_to_mcu_time(print_time) def get_print_clock(self, print_time): return self._mcu.get_print_clock(print_time) @@ -510,6 +513,8 @@ class DummyMCU: pass def get_print_buffer_time(self, eventtime, last_move_end): return 0.250 + def print_to_mcu_time(self, print_time): + return print_time + self._print_start_clock / self._clock_freq def get_print_clock(self, print_time): return print_time * self._clock_freq + self._print_start_clock def get_mcu_freq(self): |