diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 52 |
1 files changed, 40 insertions, 12 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 4d012286..1132ab42 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -14,7 +14,6 @@ STEPCOMPRESS_ERROR_RET = -989898989 class MCU_stepper: def __init__(self, mcu, pin_params): self._mcu = mcu - self._oid = mcu.create_oid() self._step_pin = pin_params['pin'] self._invert_step = pin_params['invert'] self._dir_pin = self._invert_dir = None @@ -23,7 +22,7 @@ class MCU_stepper: self._velocity_factor = self._accel_factor = 0. self._mcu_position_offset = 0 self._mcu_freq = self._min_stop_interval = 0. - self._reset_cmd = self._get_position_cmd = None + self._oid = self._reset_cmd = self._get_position_cmd = None self._ffi_lib = self._stepqueue = None self.print_to_mcu_time = mcu.print_to_mcu_time self.system_to_mcu_time = mcu.system_to_mcu_time @@ -39,6 +38,7 @@ class MCU_stepper: self._inv_step_dist = 1. / step_dist def build_config(self): self._mcu_freq = self._mcu.get_mcu_freq() + self._oid = self._mcu.create_oid() self._velocity_factor = 1. / (self._mcu_freq * self._step_dist) self._accel_factor = 1. / (self._mcu_freq**2 * self._step_dist) max_error = self._mcu.get_max_stepper_error() @@ -142,13 +142,12 @@ class MCU_endstop: RETRY_QUERY = 1.000 def __init__(self, mcu, pin_params): self._mcu = mcu - self._oid = mcu.create_oid() self._steppers = [] self._pin = pin_params['pin'] self._pullup = pin_params['pullup'] self._invert = pin_params['invert'] self._cmd_queue = mcu.alloc_command_queue() - self._home_cmd = self._query_cmd = None + self._oid = self._home_cmd = self._query_cmd = None self._homing = False self._min_query_time = self._mcu_freq = 0. self._next_query_clock = self._home_timeout_clock = 0 @@ -160,6 +159,7 @@ class MCU_endstop: self._steppers.append(stepper) def build_config(self): self._mcu_freq = self._mcu.get_mcu_freq() + self._oid = self._mcu.create_oid() self._mcu.add_config_cmd( "config_end_stop oid=%d pin=%s pull_up=%d stepper_count=%d" % ( self._oid, self._pin, self._pullup, len(self._steppers))) @@ -236,7 +236,8 @@ class MCU_endstop: class MCU_digital_out: def __init__(self, mcu, pin_params): self._mcu = mcu - self._oid = mcu.create_oid() + self._oid = None + self._static_value = None self._pin = pin_params['pin'] self._invert = pin_params['invert'] self._max_duration = 2. @@ -249,8 +250,15 @@ class MCU_digital_out: self.system_to_mcu_time = mcu.system_to_mcu_time def setup_max_duration(self, max_duration): self._max_duration = max_duration + def setup_static(self): + self._static_value = not self._invert def build_config(self): self._mcu_freq = self._mcu.get_mcu_freq() + if self._static_value is not None: + self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % ( + self._pin, self._static_value)) + return + self._oid = self._mcu.create_oid() self._mcu.add_config_cmd( "config_digital_out oid=%d pin=%s default_value=%d" " max_duration=TICKS(%f)" % ( @@ -278,7 +286,8 @@ class MCU_pwm: self._hard_pwm = False self._cycle_time = 0.100 self._max_duration = 2. - self._oid = mcu.create_oid() + self._oid = None + self._static_value = None self._pin = pin_params['pin'] self._invert = pin_params['invert'] self._last_clock = 0 @@ -298,26 +307,45 @@ class MCU_pwm: return self._cycle_time = hard_cycle_ticks self._hard_pwm = True + def setup_static_pwm(self, value): + if self._invert: + self._static_value = 1. - value + else: + self._static_value = value def build_config(self): self._mcu_freq = self._mcu.get_mcu_freq() if self._hard_pwm: + self._pwm_max = self._mcu.serial.msgparser.get_constant_float( + "PWM_MAX") + if self._static_value is not None: + value = int(self._static_value * self._pwm_max + 0.5) + self._mcu.add_config_cmd( + "set_pwm_out pin=%s cycle_ticks=%d value=%d" % ( + self._pin, self._cycle_time, value)) + return + self._oid = self._mcu.create_oid() self._mcu.add_config_cmd( "config_pwm_out oid=%d pin=%s cycle_ticks=%d default_value=%d" " max_duration=TICKS(%f)" % ( self._oid, self._pin, self._cycle_time, self._invert, self._max_duration)) - 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=%hu") else: + self._pwm_max = self._mcu.serial.msgparser.get_constant_float( + "SOFT_PWM_MAX") + if self._static_value is not None: + if self._static_value != 0. and self._static_value != 1.: + raise pins.error("static value on soft pwm not supported") + self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % ( + self._pin, int(self._static_value))) + return + self._oid = self._mcu.create_oid() self._mcu.add_config_cmd( "config_soft_pwm_out oid=%d pin=%s cycle_ticks=TICKS(%f)" " default_value=%d max_duration=TICKS(%f)" % ( self._oid, self._pin, self._cycle_time, self._invert, self._max_duration)) - 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=%hu") def set_pwm(self, mcu_time, value): @@ -334,12 +362,11 @@ class MCU_adc: def __init__(self, mcu, pin_params): self._mcu = mcu self._pin = pin_params['pin'] - self._oid = mcu.create_oid() self._min_sample = self._max_sample = 0. self._sample_time = self._report_time = 0. self._sample_count = 0 self._report_clock = 0 - self._callback = None + self._oid = self._callback = None self._inv_max_adc = 0. self._mcu_freq = 0. self._cmd_queue = mcu.alloc_command_queue() @@ -355,6 +382,7 @@ class MCU_adc: if not self._sample_count: return self._mcu_freq = self._mcu.get_mcu_freq() + self._oid = self._mcu.create_oid() self._mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % ( self._oid, self._pin)) last_clock, last_clock_time = self._mcu.get_last_clock() |