pwmcmds: Use move queue for hard PWM
Signed-off-by: Pascal Pieper <accounts@pascalpieper.de> Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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@ -197,8 +197,8 @@ only of interest to developers looking to gain insight into Klipper.
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same 'oid' parameter must have been issued during micro-controller
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configuration.
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* `schedule_pwm_out oid=%c clock=%u value=%hu` : Schedules a change to
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a hardware PWM output pin. See the 'schedule_digital_out' and
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* `queue_pwm_out oid=%c clock=%u value=%hu` : Schedules a change to a
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hardware PWM output pin. See the 'schedule_digital_out' and
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'config_pwm_out' commands for more info.
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* `schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u` : Schedules a
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@ -208,6 +208,7 @@ class MCU_pwm:
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% (self._pin, cycle_ticks,
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self._start_value * self._pwm_max))
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return
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self._mcu.request_move_queue_slot()
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self._oid = self._mcu.create_oid()
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self._mcu.add_config_cmd(
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"config_pwm_out oid=%d pin=%s cycle_ticks=%d value=%d"
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@ -217,11 +218,11 @@ class MCU_pwm:
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self._shutdown_value * self._pwm_max,
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self._mcu.seconds_to_clock(self._max_duration)))
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svalue = int(self._start_value * self._pwm_max + 0.5)
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self._mcu.add_config_cmd("schedule_pwm_out oid=%d clock=%d value=%d"
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self._mcu.add_config_cmd("queue_pwm_out oid=%d clock=%d value=%d"
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% (self._oid, self._last_clock, svalue),
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on_restart=True)
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self._set_cmd = self._mcu.lookup_command(
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"schedule_pwm_out oid=%c clock=%u value=%hu", cq=cmd_queue)
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"queue_pwm_out oid=%c clock=%u value=%hu", cq=cmd_queue)
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return
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# Software PWM
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if self._shutdown_value not in [0., 1.]:
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@ -6,6 +6,8 @@
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#include "basecmd.h" // oid_alloc
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#include "board/gpio.h" // struct gpio_pwm
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#include "board/irq.h" // irq_disable
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#include "board/misc.h" // timer_is_before
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#include "command.h" // DECL_COMMAND
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#include "sched.h" // sched_add_timer
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@ -13,7 +15,14 @@ struct pwm_out_s {
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struct timer timer;
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struct gpio_pwm pin;
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uint32_t max_duration;
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uint16_t value, default_value;
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uint16_t default_value;
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struct move_queue_head mq;
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};
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struct pwm_move {
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struct move_node node;
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uint32_t waketime;
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uint16_t value;
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};
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static uint_fast8_t
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@ -25,12 +34,32 @@ pwm_end_event(struct timer *timer)
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static uint_fast8_t
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pwm_event(struct timer *timer)
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{
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// Apply next update and remove it from queue
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struct pwm_out_s *p = container_of(timer, struct pwm_out_s, timer);
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gpio_pwm_write(p->pin, p->value);
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if (p->value == p->default_value || !p->max_duration)
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return SF_DONE;
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p->timer.waketime += p->max_duration;
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p->timer.func = pwm_end_event;
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struct move_node *mn = move_queue_pop(&p->mq);
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struct pwm_move *m = container_of(mn, struct pwm_move, node);
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uint16_t value = m->value;
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gpio_pwm_write(p->pin, value);
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move_free(m);
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// Check if more updates queued
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if (move_queue_empty(&p->mq)) {
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if (value == p->default_value || !p->max_duration)
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return SF_DONE;
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// Start the safety timeout
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p->timer.waketime += p->max_duration;
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p->timer.func = pwm_end_event;
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return SF_RESCHEDULE;
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}
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// Schedule next update
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struct move_node *nn = move_queue_first(&p->mq);
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uint32_t wake = container_of(nn, struct pwm_move, node)->waketime;
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if (value != p->default_value && p->max_duration
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&& timer_is_before(p->timer.waketime + p->max_duration, wake))
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shutdown("Scheduled pwm event will exceed max_duration");
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p->timer.waketime = wake;
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return SF_RESCHEDULE;
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}
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@ -43,23 +72,37 @@ command_config_pwm_out(uint32_t *args)
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p->pin = pin;
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p->default_value = args[4];
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p->max_duration = args[5];
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p->timer.func = pwm_event;
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move_queue_setup(&p->mq, sizeof(struct pwm_move));
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}
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DECL_COMMAND(command_config_pwm_out,
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"config_pwm_out oid=%c pin=%u cycle_ticks=%u value=%hu"
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" default_value=%hu max_duration=%u");
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void
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command_schedule_pwm_out(uint32_t *args)
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command_queue_pwm_out(uint32_t *args)
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{
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struct pwm_out_s *p = oid_lookup(args[0], command_config_pwm_out);
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struct pwm_move *m = move_alloc();
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m->waketime = args[1];
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m->value = args[2];
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irq_disable();
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int need_add_timer = move_queue_push(&m->node, &p->mq);
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irq_enable();
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if (!need_add_timer)
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return;
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// queue was empty and a timer needs to be added
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sched_del_timer(&p->timer);
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if (p->timer.func == pwm_end_event
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&& timer_is_before(p->timer.waketime, m->waketime))
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shutdown("Scheduled pwm event will exceed max_duration");
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p->timer.func = pwm_event;
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p->timer.waketime = args[1];
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p->value = args[2];
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p->timer.waketime = m->waketime;
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sched_add_timer(&p->timer);
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}
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DECL_COMMAND(command_schedule_pwm_out,
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"schedule_pwm_out oid=%c clock=%u value=%hu");
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DECL_COMMAND(command_queue_pwm_out, "queue_pwm_out oid=%c clock=%u value=%hu");
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void
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pwm_shutdown(void)
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@ -68,6 +111,8 @@ pwm_shutdown(void)
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struct pwm_out_s *p;
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foreach_oid(i, p, command_config_pwm_out) {
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gpio_pwm_write(p->pin, p->default_value);
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p->timer.func = pwm_event;
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move_queue_clear(&p->mq);
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}
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}
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DECL_SHUTDOWN(pwm_shutdown);
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