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pwm_cycle_time: New module for output pins with dynamic cycle times 

Remove support for changing the cycle time of pwm pins from the
output_pin module.  Use a new pwm_cycle_time module that supports
setting dynamic cycle times.  This simplifies the output_pin code and
low-level pin update code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2023-01-13 11:20:19 -05:00
parent 1baa45913f
commit fd2feff67d
9 changed files with 204 additions and 38 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
config/sample-macros.cfg
View File

@ -61,12 +61,10 @@ gcode:
# P is the tone duration, S the tone frequency.
# The frequency won't be pitch perfect.
[output_pin BEEPER_pin]
[pwm_cycle_time BEEPER_pin]
pin: ar37
# Beeper pin. This parameter must be provided.
# ar37 is the default RAMPS/MKS pin.
pwm: True
# A piezo beeper needs a PWM signal, a DC buzzer doesn't.
value: 0
# Silent at power on, set to 1 if active low.
shutdown_value: 0

5
docs/Config_Changes.md
View File

@ -8,6 +8,11 @@ All dates in this document are approximate.
## Changes
20240123: The output_pin SET_PIN CYCLE_TIME parameter has been
removed. Use the new
[pwm_cycle_time](Config_Reference.md#pwm_cycle_time) module if it is
necessary to dynamically change a pwm pin's cycle time.
20240123: The output_pin `maximum_mcu_duration` parameter is
deprecated. Use a [pwm_tool config section](Config_Reference.md#pwm_tool)
instead. The option will be removed in the near future.

18
docs/Config_Reference.md
View File

@ -3153,6 +3153,24 @@ pin:
# See the "output_pin" section for the definition of these parameters.
```
### [pwm_cycle_time]
Run-time configurable output pins with dynamic pwm cycle timing (one
may define any number of sections with an "pwm_cycle_time" prefix).
Pins configured here will be setup as output pins and one may modify
them at run-time using "SET_PIN PIN=my_pin VALUE=.1 CYCLE_TIME=0.100"
type extended [g-code commands](G-Codes.md#pwm_cycle_time).
```
[pwm_cycle_time my_pin]
pin:
#value:
#shutdown_value:
#cycle_time: 0.100
#scale:
# See the "output_pin" section for information on these parameters.
```
### [static_digital_output]
Statically configured digital output pins (one may define any number

30
docs/G-Codes.md
View File

@ -839,17 +839,10 @@ The following command is available when an
enabled.
#### SET_PIN
`SET_PIN PIN=config_name VALUE=<value> [CYCLE_TIME=<cycle_time>]`: Set
the pin to the given output `VALUE`. VALUE should be 0 or 1 for
"digital" output pins. For PWM pins, set to a value between 0.0 and
1.0, or between 0.0 and `scale` if a scale is configured in the
output_pin config section.
Some pins (currently only "soft PWM" pins) support setting an explicit
cycle time using the CYCLE_TIME parameter (specified in seconds). Note
that the CYCLE_TIME parameter is not stored between SET_PIN commands
(any SET_PIN command without an explicit CYCLE_TIME parameter will use
the `cycle_time` specified in the output_pin config section).
`SET_PIN PIN=config_name VALUE=<value>`: Set the pin to the given
output `VALUE`. VALUE should be 0 or 1 for "digital" output pins. For
PWM pins, set to a value between 0.0 and 1.0, or between 0.0 and
`scale` if a scale is configured in the output_pin config section.
### [palette2]
@ -978,6 +971,21 @@ babystepping), and subtract if from the probe's z_offset. This acts
to take a frequently used babystepping value, and "make it permanent".
Requires a `SAVE_CONFIG` to take effect.
### [pwm_cycle_time]
The following command is available when a
[pwm_cycle_time config section](Config_Reference.md#pwm_cycle_time)
is enabled.
#### SET_PIN
`SET_PIN PIN=config_name VALUE=<value> [CYCLE_TIME=<cycle_time>]`:
This command works similarly to [output_pin](#output_pin) SET_PIN
commands. The command here supports setting an explicit cycle time
using the CYCLE_TIME parameter (specified in seconds). Note that the
CYCLE_TIME parameter is not stored between SET_PIN commands (any
SET_PIN command without an explicit CYCLE_TIME parameter will use the
`cycle_time` specified in the pwm_cycle_time config section).
### [query_adc]
The query_adc module is automatically loaded.

7
docs/Status_Reference.md
View File

@ -374,6 +374,13 @@ is defined):
template expansion, the PROBE (or similar) command must be run prior
to the macro containing this reference.
## pwm_cycle_time
The following information is available in
[pwm_cycle_time some_name](Config_Reference.md#pwm_cycle_time)
objects:
- `value`: The "value" of the pin, as set by a `SET_PIN` command.
## quad_gantry_level
The following information is available in the `quad_gantry_level` object

23
klippy/extras/output_pin.py
View File

@ -1,6 +1,6 @@
# Code to configure miscellaneous chips
# PWM and digital output pin handling
#
# Copyright (C) 2017-2021 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2017-2024 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
@ -21,11 +21,9 @@ class PrinterOutputPin:
hardware_pwm = config.getboolean('hardware_pwm', False)
self.mcu_pin.setup_cycle_time(cycle_time, hardware_pwm)
self.scale = config.getfloat('scale', 1., above=0.)
self.last_cycle_time = self.default_cycle_time = cycle_time
else:
self.mcu_pin = ppins.setup_pin('digital_out', config.get('pin'))
self.scale = 1.
self.last_cycle_time = self.default_cycle_time = 0.
self.last_print_time = 0.
# Support mcu checking for maximum duration
self.reactor = self.printer.get_reactor()
@ -58,32 +56,30 @@ class PrinterOutputPin:
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, is_resend=False):
if value == self.last_value and cycle_time == self.last_cycle_time:
if not is_resend:
def _set_pin(self, print_time, value, is_resend=False):
if value == self.last_value and not is_resend:
return
print_time = max(print_time, self.last_print_time + PIN_MIN_TIME)
if self.is_pwm:
self.mcu_pin.set_pwm(print_time, value, cycle_time)
self.mcu_pin.set_pwm(print_time, value)
else:
self.mcu_pin.set_digital(print_time, value)
self.last_value = value
self.last_cycle_time = cycle_time
self.last_print_time = print_time
if self.resend_interval and self.resend_timer is None:
self.resend_timer = self.reactor.register_timer(
self._resend_current_val, self.reactor.NOW)
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)
if not self.is_pwm and value not in [0., 1.]:
raise gcmd.error("Invalid pin value")
# 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))
lambda print_time: self._set_pin(print_time, value))
def _resend_current_val(self, eventtime):
if self.last_value == self.shutdown_value:
@ -97,8 +93,7 @@ class PrinterOutputPin:
if time_diff > 0.:
# Reschedule for resend time
return systime + time_diff
self._set_pin(print_time + PIN_MIN_TIME,
self.last_value, self.last_cycle_time, True)
self._set_pin(print_time + PIN_MIN_TIME, self.last_value, True)
return systime + self.resend_interval
def load_config_prefix(config):

123
klippy/extras/pwm_cycle_time.py Normal file
View File

@ -0,0 +1,123 @@
# 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)

6
test/klippy/pwm.cfg
View File

@ -5,6 +5,12 @@ value: 0
shutdown_value: 0
cycle_time: 0.01
[pwm_cycle_time cycle_pwm_pin]
pin: PH7
value: 0
shutdown_value: 0
cycle_time: 0.01
[output_pin hard_pwm_pin]
pin: PH6
pwm: True

24
test/klippy/pwm.test
View File

@ -16,18 +16,24 @@ SET_PIN PIN=soft_pwm_pin VALUE=0
SET_PIN PIN=soft_pwm_pin VALUE=0.5
SET_PIN PIN=soft_pwm_pin VALUE=1
# Soft PWM with dynamic cycle time
# Test basic on off
SET_PIN PIN=cycle_pwm_pin VALUE=0
SET_PIN PIN=cycle_pwm_pin VALUE=0.5
SET_PIN PIN=cycle_pwm_pin VALUE=1
# Test cycle time
SET_PIN PIN=soft_pwm_pin VALUE=0 CYCLE_TIME=0.1
SET_PIN PIN=soft_pwm_pin VALUE=1 CYCLE_TIME=0.5
SET_PIN PIN=soft_pwm_pin VALUE=0.5 CYCLE_TIME=0.001
SET_PIN PIN=soft_pwm_pin VALUE=0.75 CYCLE_TIME=0.01
SET_PIN PIN=soft_pwm_pin VALUE=0.5 CYCLE_TIME=1
SET_PIN PIN=cycle_pwm_pin VALUE=0 CYCLE_TIME=0.1
SET_PIN PIN=cycle_pwm_pin VALUE=1 CYCLE_TIME=0.5
SET_PIN PIN=cycle_pwm_pin VALUE=0.5 CYCLE_TIME=0.001
SET_PIN PIN=cycle_pwm_pin VALUE=0.75 CYCLE_TIME=0.01
SET_PIN PIN=cycle_pwm_pin VALUE=0.5 CYCLE_TIME=1
# Test duplicate values
SET_PIN PIN=soft_pwm_pin VALUE=0.5 CYCLE_TIME=0.5
SET_PIN PIN=soft_pwm_pin VALUE=0.5 CYCLE_TIME=0.5
SET_PIN PIN=soft_pwm_pin VALUE=0.75 CYCLE_TIME=0.5
SET_PIN PIN=soft_pwm_pin VALUE=0.75 CYCLE_TIME=0.75
SET_PIN PIN=cycle_pwm_pin VALUE=0.5 CYCLE_TIME=0.5
SET_PIN PIN=cycle_pwm_pin VALUE=0.5 CYCLE_TIME=0.5
SET_PIN PIN=cycle_pwm_pin VALUE=0.75 CYCLE_TIME=0.5
SET_PIN PIN=cycle_pwm_pin VALUE=0.75 CYCLE_TIME=0.75
# PWM tool
# Basic test