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gpiocmds: Specify soft pwm duration in clock ticks

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Improve the precision of soft pwm pulses by allowing the host to
directly specify the clock duration of the pulse.  This improvement in
precision may be noticeable when controller servos (and bltouch).

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2019-05-20 17:41:42 -04:00
parent 8cd8cb492e
commit 8532e2123e
2 changed files with 9 additions and 14 deletions
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18
src/gpiocmds.c
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@@ -106,9 +106,6 @@ DECL_COMMAND(command_set_digital_out, "set_digital_out pin=%u value=%c");
* Soft PWM output pins
****************************************************************/
#define MAX_SOFT_PWM 256
DECL_CONSTANT("SOFT_PWM_MAX", MAX_SOFT_PWM);
struct soft_pwm_s {
struct timer timer;
uint32_t on_duration, off_duration, end_time;
@@ -192,17 +189,14 @@ void
command_schedule_soft_pwm_out(uint32_t *args)
{
struct soft_pwm_s *s = oid_lookup(args[0], command_config_soft_pwm_out);
uint32_t time = args[1];
uint16_t value = args[2];
uint32_t time = args[1], next_on_duration = args[2], next_off_duration;
uint8_t next_flags = SPF_CHECK_END | SPF_HAVE_NEXT;
uint32_t next_on_duration, next_off_duration;
if (value == 0 || value >= MAX_SOFT_PWM) {
next_on_duration = next_off_duration = 0;
next_flags |= value ? SPF_NEXT_ON : 0;
if (!!value != s->default_value && s->max_duration)
if (next_on_duration == 0 || next_on_duration >= s->cycle_time) {
next_flags |= next_on_duration ? SPF_NEXT_ON : 0;
if (!!next_on_duration != s->default_value && s->max_duration)
next_flags |= SPF_NEXT_CHECK_END;
next_on_duration = next_off_duration = 0;
} else {
next_on_duration = (s->cycle_time / MAX_SOFT_PWM) * value;
next_off_duration = s->cycle_time - next_on_duration;
next_flags |= SPF_NEXT_ON | SPF_NEXT_TOGGLING;
if (s->max_duration)
@@ -227,7 +221,7 @@ command_schedule_soft_pwm_out(uint32_t *args)
irq_enable();
}
DECL_COMMAND(command_schedule_soft_pwm_out,
"schedule_soft_pwm_out oid=%c clock=%u value=%hu");
"schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u");
void
soft_pwm_shutdown(void)