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mcu: Convert PWM and ADC objects to take mcu_time instead of clock

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-08-24 15:16:02 -04:00
parent 5a24ab06d8
commit 11ecac626d
3 changed files with 85 additions and 96 deletions
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53
klippy/mcu.py
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@ -134,6 +134,7 @@ class MCU_digital_out:
pin, pullup, self._invert = parse_pin_extras(pin)
self._last_clock = 0
self._last_value = None
self._mcu_freq = mcu.get_mcu_freq()
self._cmd_queue = mcu.alloc_command_queue()
mcu.add_config_cmd(
"config_digital_out oid=%d pin=%s default_value=%d"
@ -148,7 +149,8 @@ class MCU_digital_out:
self._last_value = value
def get_last_setting(self):
return self._last_value
def set_pwm(self, clock, value):
def set_pwm(self, mcu_time, value):
clock = int(mcu_time * self._mcu_freq)
dval = 0
if value > 127:
dval = 1
@ -161,6 +163,7 @@ class MCU_pwm:
self._mcu = mcu
self._oid = mcu.create_oid()
self._last_clock = 0
self._mcu_freq = mcu.get_mcu_freq()
self._cmd_queue = mcu.alloc_command_queue()
if hard_pwm:
mcu.add_config_cmd(
@ -175,13 +178,13 @@ class MCU_pwm:
self._oid, pin, cycle_ticks, max_duration))
self._set_cmd = mcu.lookup_command(
"schedule_soft_pwm_out oid=%c clock=%u value=%c")
def set_pwm(self, clock, value):
self.print_to_mcu_time = mcu.print_to_mcu_time
def set_pwm(self, mcu_time, value):
clock = int(mcu_time * self._mcu_freq)
msg = self._set_cmd.encode(self._oid, clock, value)
self._mcu.send(msg, minclock=self._last_clock, reqclock=clock
, cq=self._cmd_queue)
self._last_clock = clock
def get_print_clock(self, print_time):
return self._mcu.get_print_clock(print_time)
class MCU_adc:
ADC_MAX = 1024 # 10bit adc
@ -193,10 +196,9 @@ class MCU_adc:
self._sample_ticks = 0
self._sample_count = 1
self._report_clock = 0
self._last_value = 0
self._last_read_clock = 0
self._callback = None
self._max_adc_inv = 0.
self._inv_max_adc = 0.
self._mcu_freq = mcu.get_mcu_freq()
self._cmd_queue = mcu.alloc_command_queue()
mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % (self._oid, pin))
mcu.register_msg(self._handle_analog_in_state, "analog_in_state"
@ -204,36 +206,33 @@ class MCU_adc:
self._query_cmd = mcu.lookup_command(
"query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c"
" rest_ticks=%u min_value=%hu max_value=%hu")
def set_minmax(self, sample_ticks, sample_count, minval=None, maxval=None):
def set_minmax(self, sample_time, sample_count, minval=None, maxval=None):
self._sample_ticks = int(sample_time * self._mcu_freq)
self._sample_count = sample_count
if minval is None:
minval = 0
if maxval is None:
maxval = 0xffff
self._sample_ticks = sample_ticks
self._sample_count = sample_count
max_adc = sample_count * self.ADC_MAX
self._min_sample = int(minval * max_adc)
self._max_sample = min(0xffff, int(math.ceil(maxval * max_adc)))
self._max_adc_inv = 1.0 / max_adc
def query_analog_in(self, report_clock):
self._report_clock = report_clock
mcu_freq = self._mcu.get_mcu_freq()
self._inv_max_adc = 1.0 / max_adc
def query_analog_in(self, report_time):
self._report_clock = int(report_time * self._mcu_freq)
cur_clock = self._mcu.get_last_clock()
clock = cur_clock + int(mcu_freq * (1.0 + self._oid * 0.01)) # XXX
clock = cur_clock + int(self._mcu_freq * (1.0 + self._oid * 0.01)) # XXX
msg = self._query_cmd.encode(
self._oid, clock, self._sample_ticks, self._sample_count
, report_clock, self._min_sample, self._max_sample)
, self._report_clock, self._min_sample, self._max_sample)
self._mcu.send(msg, reqclock=clock, cq=self._cmd_queue)
def _handle_analog_in_state(self, params):
self._last_value = params['value'] * self._max_adc_inv
last_value = params['value'] * self._inv_max_adc
next_clock = self._mcu.serial.translate_clock(params['next_clock'])
self._last_read_clock = next_clock - self._report_clock
last_read_time = (next_clock - self._report_clock) / self._mcu_freq
if self._callback is not None:
self._callback(self._last_read_clock, self._last_value)
self._callback(last_read_time, last_value)
def set_adc_callback(self, cb):
self._callback = cb
def get_print_clock(self, print_time):
return self._mcu.get_print_clock(print_time)
class MCU:
def __init__(self, printer, config):
@ -419,6 +418,8 @@ class MCU:
def get_print_buffer_time(self, eventtime, last_move_end):
clock_diff = self.serial.get_clock(eventtime) - self._print_start_clock
return last_move_end - (float(clock_diff) / self._clock_freq)
def print_to_mcu_time(self, print_time):
return print_time + self._print_start_clock / self._clock_freq
def get_print_clock(self, print_time):
return print_time * self._clock_freq + self._print_start_clock
def get_mcu_freq(self):
@ -469,14 +470,16 @@ class Dummy_MCU_obj:
return False
def home_finalize(self):
pass
def set_pwm(self, print_time, value):
def set_pwm(self, mcu_time, value):
pass
def set_minmax(self, sample_ticks, sample_count, minval=None, maxval=None):
def set_minmax(self, sample_time, sample_count, minval=None, maxval=None):
pass
def query_analog_in(self, report_clock):
def query_analog_in(self, report_time):
pass
def set_adc_callback(self, cb):
pass
def print_to_mcu_time(self, print_time):
return self._mcu.print_to_mcu_time(print_time)
def get_print_clock(self, print_time):
return self._mcu.get_print_clock(print_time)
@ -510,6 +513,8 @@ class DummyMCU:
pass
def get_print_buffer_time(self, eventtime, last_move_end):
return 0.250
def print_to_mcu_time(self, print_time):
return print_time + self._print_start_clock / self._clock_freq
def get_print_clock(self, print_time):
return print_time * self._clock_freq + self._print_start_clock
def get_mcu_freq(self):