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chipmisc: Add support for statically configured output pins

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Allow digital and PWM output pins to be setup via new config
sections.  This makes it easier to setup pin configurations.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-08-24 09:34:31 -04:00
parent 6ab8567d51
commit 9d75c3b0ca
7 changed files with 193 additions and 74 deletions
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52
klippy/mcu.py
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@ -14,7 +14,6 @@ STEPCOMPRESS_ERROR_RET = -989898989
class MCU_stepper:
def __init__(self, mcu, pin_params):
self._mcu = mcu
self._oid = mcu.create_oid()
self._step_pin = pin_params['pin']
self._invert_step = pin_params['invert']
self._dir_pin = self._invert_dir = None
@ -23,7 +22,7 @@ class MCU_stepper:
self._velocity_factor = self._accel_factor = 0.
self._mcu_position_offset = 0
self._mcu_freq = self._min_stop_interval = 0.
self._reset_cmd = self._get_position_cmd = None
self._oid = self._reset_cmd = self._get_position_cmd = None
self._ffi_lib = self._stepqueue = None
self.print_to_mcu_time = mcu.print_to_mcu_time
self.system_to_mcu_time = mcu.system_to_mcu_time
@ -39,6 +38,7 @@ class MCU_stepper:
self._inv_step_dist = 1. / step_dist
def build_config(self):
self._mcu_freq = self._mcu.get_mcu_freq()
self._oid = self._mcu.create_oid()
self._velocity_factor = 1. / (self._mcu_freq * self._step_dist)
self._accel_factor = 1. / (self._mcu_freq**2 * self._step_dist)
max_error = self._mcu.get_max_stepper_error()
@ -142,13 +142,12 @@ class MCU_endstop:
RETRY_QUERY = 1.000
def __init__(self, mcu, pin_params):
self._mcu = mcu
self._oid = mcu.create_oid()
self._steppers = []
self._pin = pin_params['pin']
self._pullup = pin_params['pullup']
self._invert = pin_params['invert']
self._cmd_queue = mcu.alloc_command_queue()
self._home_cmd = self._query_cmd = None
self._oid = self._home_cmd = self._query_cmd = None
self._homing = False
self._min_query_time = self._mcu_freq = 0.
self._next_query_clock = self._home_timeout_clock = 0
@ -160,6 +159,7 @@ class MCU_endstop:
self._steppers.append(stepper)
def build_config(self):
self._mcu_freq = self._mcu.get_mcu_freq()
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_end_stop oid=%d pin=%s pull_up=%d stepper_count=%d" % (
self._oid, self._pin, self._pullup, len(self._steppers)))
@ -236,7 +236,8 @@ class MCU_endstop:
class MCU_digital_out:
def __init__(self, mcu, pin_params):
self._mcu = mcu
self._oid = mcu.create_oid()
self._oid = None
self._static_value = None
self._pin = pin_params['pin']
self._invert = pin_params['invert']
self._max_duration = 2.
@ -249,8 +250,15 @@ class MCU_digital_out:
self.system_to_mcu_time = mcu.system_to_mcu_time
def setup_max_duration(self, max_duration):
self._max_duration = max_duration
def setup_static(self):
self._static_value = not self._invert
def build_config(self):
self._mcu_freq = self._mcu.get_mcu_freq()
if self._static_value is not None:
self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % (
self._pin, self._static_value))
return
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_digital_out oid=%d pin=%s default_value=%d"
" max_duration=TICKS(%f)" % (
@ -278,7 +286,8 @@ class MCU_pwm:
self._hard_pwm = False
self._cycle_time = 0.100
self._max_duration = 2.
self._oid = mcu.create_oid()
self._oid = None
self._static_value = None
self._pin = pin_params['pin']
self._invert = pin_params['invert']
self._last_clock = 0
@ -298,26 +307,45 @@ class MCU_pwm:
return
self._cycle_time = hard_cycle_ticks
self._hard_pwm = True
def setup_static_pwm(self, value):
if self._invert:
self._static_value = 1. - value
else:
self._static_value = value
def build_config(self):
self._mcu_freq = self._mcu.get_mcu_freq()
if self._hard_pwm:
self._pwm_max = self._mcu.serial.msgparser.get_constant_float(
"PWM_MAX")
if self._static_value is not None:
value = int(self._static_value * self._pwm_max + 0.5)
self._mcu.add_config_cmd(
"set_pwm_out pin=%s cycle_ticks=%d value=%d" % (
self._pin, self._cycle_time, value))
return
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_pwm_out oid=%d pin=%s cycle_ticks=%d default_value=%d"
" max_duration=TICKS(%f)" % (
self._oid, self._pin, self._cycle_time, self._invert,
self._max_duration))
self._pwm_max = self._mcu.serial.msgparser.get_constant_float(
"PWM_MAX")
self._set_cmd = self._mcu.lookup_command(
"schedule_pwm_out oid=%c clock=%u value=%hu")
else:
self._pwm_max = self._mcu.serial.msgparser.get_constant_float(
"SOFT_PWM_MAX")
if self._static_value is not None:
if self._static_value != 0. and self._static_value != 1.:
raise pins.error("static value on soft pwm not supported")
self._mcu.add_config_cmd("set_digital_out pin=%s value=%d" % (
self._pin, int(self._static_value)))
return
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd(
"config_soft_pwm_out oid=%d pin=%s cycle_ticks=TICKS(%f)"
" default_value=%d max_duration=TICKS(%f)" % (
self._oid, self._pin, self._cycle_time, self._invert,
self._max_duration))
self._pwm_max = self._mcu.serial.msgparser.get_constant_float(
"SOFT_PWM_MAX")
self._set_cmd = self._mcu.lookup_command(
"schedule_soft_pwm_out oid=%c clock=%u value=%hu")
def set_pwm(self, mcu_time, value):
@ -334,12 +362,11 @@ class MCU_adc:
def __init__(self, mcu, pin_params):
self._mcu = mcu
self._pin = pin_params['pin']
self._oid = mcu.create_oid()
self._min_sample = self._max_sample = 0.
self._sample_time = self._report_time = 0.
self._sample_count = 0
self._report_clock = 0
self._callback = None
self._oid = self._callback = None
self._inv_max_adc = 0.
self._mcu_freq = 0.
self._cmd_queue = mcu.alloc_command_queue()
@ -355,6 +382,7 @@ class MCU_adc:
if not self._sample_count:
return
self._mcu_freq = self._mcu.get_mcu_freq()
self._oid = self._mcu.create_oid()
self._mcu.add_config_cmd("config_analog_in oid=%d pin=%s" % (
self._oid, self._pin))
last_clock, last_clock_time = self._mcu.get_last_clock()