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# Handle pwm output pins with variable frequency
#
# Copyright (C) 2017-2023 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
PIN_MIN_TIME = 0.100
MAX_SCHEDULE_TIME = 5.0
class MCU_pwm_cycle:
def __init__(self, pin_params, cycle_time, start_value, shutdown_value):
self._mcu = pin_params['chip']
self._cycle_time = cycle_time
self._oid = None
self._mcu.register_config_callback(self._build_config)
self._pin = pin_params['pin']
self._invert = pin_params['invert']
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))
self._last_clock = self._cycle_ticks = 0
self._set_cmd = self._set_cycle_ticks = None
def _build_config(self):
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 self._shutdown_value not in [0., 1.]:
raise self._mcu.get_printer().config_error(
"shutdown value must be 0.0 or 1.0 on soft pwm")
if cycle_ticks >= 1<<31:
raise self._mcu.get_printer().config_error(
"PWM pin cycle time too large")
self._mcu.request_move_queue_slot()
self._oid = self._mcu.create_oid()
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, 0))
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._mcu.add_config_cmd(
"queue_digital_out oid=%d clock=%d on_ticks=%d"
% (self._oid, self._last_clock, svalue), is_init=True)
self._set_cmd = self._mcu.lookup_command(
"queue_digital_out oid=%c clock=%u on_ticks=%u", cq=cmd_queue)
self._set_cycle_ticks = self._mcu.lookup_command(
"set_digital_out_pwm_cycle oid=%c cycle_ticks=%u", cq=cmd_queue)
def set_pwm_cycle(self, print_time, value, cycle_time):
clock = self._mcu.print_time_to_clock(print_time)
minclock = self._last_clock
# Send updated cycle_time if necessary
cycle_ticks = self._mcu.seconds_to_clock(cycle_time)
if cycle_ticks != self._cycle_ticks:
if cycle_ticks >= 1<<31:
raise self._mcu.get_printer().command_error(
"PWM cycle time too large")
self._set_cycle_ticks.send([self._oid, cycle_ticks],
minclock=minclock, reqclock=clock)
self._cycle_ticks = cycle_ticks
# Send pwm update
if self._invert:
value = 1. - value
v = int(max(0., min(1., value)) * float(self._cycle_ticks) + 0.5)
self._set_cmd.send([self._oid, clock, v],
minclock=self._last_clock, reqclock=clock)
self._last_clock = clock
class PrinterOutputPWMCycle:
def __init__(self, config):
self.printer = config.get_printer()
self.last_print_time = 0.
cycle_time = config.getfloat('cycle_time', 0.100, above=0.,
maxval=MAX_SCHEDULE_TIME)
self.last_cycle_time = self.default_cycle_time = cycle_time
# Determine start and shutdown values
self.scale = config.getfloat('scale', 1., above=0.)
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
# Create pwm pin object
ppins = self.printer.lookup_object('pins')
pin_params = ppins.lookup_pin(config.get('pin'), can_invert=True)
self.mcu_pin = MCU_pwm_cycle(pin_params, cycle_time,
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)
def get_status(self, eventtime):
return {'value': self.last_value}
def _set_pin(self, print_time, value, cycle_time):
if value == self.last_value and cycle_time == self.last_cycle_time:
return
print_time = max(print_time, self.last_print_time + PIN_MIN_TIME)
self.mcu_pin.set_pwm_cycle(print_time, value, cycle_time)
self.last_value = value
self.last_cycle_time = cycle_time
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 /= self.scale
cycle_time = gcmd.get_float('CYCLE_TIME', self.default_cycle_time,
above=0., maxval=MAX_SCHEDULE_TIME)
# Obtain print_time and apply requested settings
toolhead = self.printer.lookup_object('toolhead')
toolhead.register_lookahead_callback(
lambda print_time: self._set_pin(print_time, value, cycle_time))
def load_config_prefix(config):
return PrinterOutputPWMCycle(config)
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