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pwm_tool: Add support for high-speed PWM pin updates
The output_pin module is only capable of updating an output pin at most once every 100ms. Add a new pwm_tool module that is capable of queuing updates in the micro-controller and thus allowing for much higher update rates. Signed-off-by: Kevin O'Connor <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,157 @@ | ||
| # Queued PWM gpio output | ||
| # | ||
| # Copyright (C) 2017-2023 Kevin O'Connor <[email protected]> | ||
| # | ||
| # This file may be distributed under the terms of the GNU GPLv3 license. | ||
| import chelper | ||
|
|
||
| PIN_MIN_TIME = 0.100 | ||
| MAX_SCHEDULE_TIME = 5.0 | ||
|
|
||
| class error(Exception): | ||
| pass | ||
|
|
||
| class MCU_queued_pwm: | ||
| def __init__(self, pin_params): | ||
| self._mcu = pin_params['chip'] | ||
| self._hardware_pwm = False | ||
| self._cycle_time = 0.100 | ||
| self._max_duration = 2. | ||
| self._oid = self._mcu.create_oid() | ||
| ffi_main, ffi_lib = chelper.get_ffi() | ||
| self._stepqueue = ffi_main.gc(ffi_lib.stepcompress_alloc(self._oid), | ||
| ffi_lib.stepcompress_free) | ||
| self._mcu.register_stepqueue(self._stepqueue) | ||
| self._stepcompress_queue_mq_msg = ffi_lib.stepcompress_queue_mq_msg | ||
| self._mcu.register_config_callback(self._build_config) | ||
| self._pin = pin_params['pin'] | ||
| self._invert = pin_params['invert'] | ||
| self._start_value = self._shutdown_value = float(self._invert) | ||
| self._last_clock = self._cycle_ticks = 0 | ||
| self._pwm_max = 0. | ||
| self._set_cmd_tag = None | ||
| def get_mcu(self): | ||
| return self._mcu | ||
| def setup_max_duration(self, max_duration): | ||
| self._max_duration = max_duration | ||
| def setup_cycle_time(self, cycle_time, hardware_pwm=False): | ||
| self._cycle_time = cycle_time | ||
| self._hardware_pwm = hardware_pwm | ||
| def setup_start_value(self, start_value, shutdown_value): | ||
| 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)) | ||
| def _build_config(self): | ||
| if self._max_duration and self._start_value != self._shutdown_value: | ||
| raise pins.error("Pin with max duration must have start" | ||
| " value equal to shutdown value") | ||
| 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) | ||
| mdur_ticks = self._mcu.seconds_to_clock(self._max_duration) | ||
| if mdur_ticks >= 1<<31: | ||
| raise pins.error("PWM pin max duration too large") | ||
| if self._hardware_pwm: | ||
| self._pwm_max = self._mcu.get_constant_float("PWM_MAX") | ||
| self._mcu.add_config_cmd( | ||
| "config_pwm_out oid=%d pin=%s cycle_ticks=%d value=%d" | ||
| " default_value=%d max_duration=%d" | ||
| % (self._oid, self._pin, cycle_ticks, | ||
| self._start_value * self._pwm_max, | ||
| self._shutdown_value * self._pwm_max, mdur_ticks)) | ||
| svalue = int(self._start_value * self._pwm_max + 0.5) | ||
| self._mcu.add_config_cmd("queue_pwm_out oid=%d clock=%d value=%d" | ||
| % (self._oid, self._last_clock, svalue), | ||
| on_restart=True) | ||
| self._set_cmd_tag = self._mcu.lookup_command( | ||
| "queue_pwm_out oid=%c clock=%u value=%hu", | ||
| cq=cmd_queue).get_command_tag() | ||
| return | ||
| # Software PWM | ||
| if self._shutdown_value not in [0., 1.]: | ||
| raise pins.error("shutdown value must be 0.0 or 1.0 on soft pwm") | ||
| if cycle_ticks >= 1<<31: | ||
| raise pins.error("PWM pin cycle time too large") | ||
| 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, mdur_ticks)) | ||
| 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_tag = self._mcu.lookup_command( | ||
| "queue_digital_out oid=%c clock=%u on_ticks=%u", | ||
| cq=cmd_queue).get_command_tag() | ||
| def set_pwm(self, print_time, value): | ||
| clock = self._mcu.print_time_to_clock(print_time) | ||
| minclock = self._last_clock | ||
| self._last_clock = clock | ||
| if self._invert: | ||
| value = 1. - value | ||
| max_count = self._cycle_ticks | ||
| if self._hardware_pwm: | ||
| max_count = self._pwm_max | ||
| v = int(max(0., min(1., value)) * max_count + 0.5) | ||
| data = (self._set_cmd_tag, self._oid, clock, v) | ||
| ret = self._stepcompress_queue_mq_msg(self._stepqueue, clock, | ||
| data, len(data)) | ||
| if ret: | ||
| raise error("Internal error in stepcompress") | ||
|
|
||
| class PrinterOutputPin: | ||
| def __init__(self, config): | ||
| self.printer = config.get_printer() | ||
| ppins = self.printer.lookup_object('pins') | ||
| # Determine pin type | ||
| pin_params = ppins.lookup_pin(config.get('pin'), can_invert=True) | ||
| self.mcu_pin = MCU_queued_pwm(pin_params) | ||
| cycle_time = config.getfloat('cycle_time', 0.100, above=0., | ||
| maxval=MAX_SCHEDULE_TIME) | ||
| 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_print_time = 0. | ||
| self.mcu_pin.setup_max_duration(0.) | ||
| # Determine start and shutdown values | ||
| 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 | ||
| self.mcu_pin.setup_start_value(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): | ||
| if value == self.last_value: | ||
| return | ||
| print_time = max(print_time, self.last_print_time) | ||
| self.mcu_pin.set_pwm(print_time, value) | ||
| self.last_value = value | ||
| 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 | ||
| # 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)) | ||
|
|
||
| def load_config_prefix(config): | ||
| return PrinterOutputPin(config) |
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