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mcu: Support config mechanism for translating seconds to clock ticks

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Introduce a TICKS() macro during config parsing that will translate
time in seconds to time in clock ticks.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-03-12 19:55:56 -04:00
parent 8e6d5efdac
commit 1d796a4e24
4 changed files with 32 additions and 27 deletions
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31
klippy/mcu.py
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@@ -28,13 +28,12 @@ class MCU_stepper:
step_pin, pullup, invert_step = parse_pin_extras(step_pin)
dir_pin, pullup, self._invert_dir = parse_pin_extras(dir_pin)
self._mcu_freq = mcu.get_mcu_freq()
min_stop_interval = int(min_stop_interval * self._mcu_freq)
max_error = int(max_error * self._mcu_freq)
self.commanded_position = 0
self._mcu_position_offset = 0
mcu.add_config_cmd(
"config_stepper oid=%d step_pin=%s dir_pin=%s"
" min_stop_interval=%d invert_step=%d" % (
" min_stop_interval=TICKS(%.9f) invert_step=%d" % (
self._oid, step_pin, dir_pin, min_stop_interval, invert_step))
mcu.register_stepper(self)
self._step_cmd = mcu.lookup_command(
@@ -233,7 +232,8 @@ class MCU_digital_out:
self._cmd_queue = mcu.alloc_command_queue()
mcu.add_config_cmd(
"config_digital_out oid=%d pin=%s default_value=%d"
" max_duration=%d" % (self._oid, pin, self._invert, max_duration))
" max_duration=TICKS(%f)" % (
self._oid, pin, self._invert, max_duration))
self._set_cmd = mcu.lookup_command(
"schedule_digital_out oid=%c clock=%u value=%c")
self.print_to_mcu_time = mcu.print_to_mcu_time
@@ -254,25 +254,26 @@ class MCU_digital_out:
class MCU_pwm:
PWM_MAX = 255.
def __init__(self, mcu, pin, cycle_ticks, max_duration, hard_pwm=False):
def __init__(self, mcu, pin, cycle_time, hard_cycle_ticks, max_duration):
self._mcu = mcu
self._oid = mcu.create_oid()
pin, pullup, self._invert = parse_pin_extras(pin)
self._last_clock = 0
self._mcu_freq = mcu.get_mcu_freq()
self._cmd_queue = mcu.alloc_command_queue()
if hard_pwm:
if hard_cycle_ticks:
mcu.add_config_cmd(
"config_pwm_out oid=%d pin=%s cycle_ticks=%d default_value=%d"
" max_duration=%d" % (
self._oid, pin, cycle_ticks, self._invert, max_duration))
" max_duration=TICKS(%f)" % (
self._oid, pin, hard_cycle_ticks, self._invert,
max_duration))
self._set_cmd = mcu.lookup_command(
"schedule_pwm_out oid=%c clock=%u value=%c")
else:
mcu.add_config_cmd(
"config_soft_pwm_out oid=%d pin=%s cycle_ticks=%d"
" default_value=%d max_duration=%d" % (
self._oid, pin, cycle_ticks, self._invert, max_duration))
"config_soft_pwm_out oid=%d pin=%s cycle_ticks=TICKS(%f)"
" default_value=%d max_duration=TICKS(%f)" % (
self._oid, pin, cycle_time, self._invert, max_duration))
self._set_cmd = mcu.lookup_command(
"schedule_soft_pwm_out oid=%c clock=%u value=%c")
self.print_to_mcu_time = mcu.print_to_mcu_time
@@ -461,7 +462,8 @@ class MCU:
updated_cmds = []
for cmd in self._config_cmds:
try:
updated_cmds.append(pins.update_command(cmd, pnames))
updated_cmds.append(pins.update_command(
cmd, self._mcu_freq, pnames))
except:
raise self._config.error("Unable to translate pin name: %s" % (
cmd,))
@@ -531,16 +533,11 @@ class MCU:
def create_endstop(self, pin, stepper):
return MCU_endstop(self, pin, stepper)
def create_digital_out(self, pin, max_duration=2.):
max_duration = int(max_duration * self._mcu_freq)
return MCU_digital_out(self, pin, max_duration)
def create_pwm(self, pin, cycle_time, hard_cycle_ticks=0, max_duration=2.):
max_duration = int(max_duration * self._mcu_freq)
if hard_cycle_ticks:
return MCU_pwm(self, pin, hard_cycle_ticks, max_duration, True)
if hard_cycle_ticks < 0:
return MCU_digital_out(self, pin, max_duration)
cycle_ticks = int(cycle_time * self._mcu_freq)
return MCU_pwm(self, pin, cycle_ticks, max_duration, False)
return MCU_pwm(self, pin, cycle_time, hard_cycle_ticks, max_duration)
def create_adc(self, pin):
return MCU_adc(self, pin)
# Clock syncing