diff --git a/config/sample-macros.cfg b/config/sample-macros.cfg
index 5132e1c99..f5649d61a 100644
--- a/config/sample-macros.cfg
+++ b/config/sample-macros.cfg
@@ -61,12 +61,10 @@ gcode:
# P is the tone duration, S the tone frequency.
# The frequency won't be pitch perfect.
-[output_pin BEEPER_pin]
+[pwm_cycle_time BEEPER_pin]
pin: ar37
# Beeper pin. This parameter must be provided.
# ar37 is the default RAMPS/MKS pin.
-pwm: True
-# A piezo beeper needs a PWM signal, a DC buzzer doesn't.
value: 0
# Silent at power on, set to 1 if active low.
shutdown_value: 0
diff --git a/docs/Config_Changes.md b/docs/Config_Changes.md
index c660c42aa..ae2c5f0a8 100644
--- a/docs/Config_Changes.md
+++ b/docs/Config_Changes.md
@@ -8,6 +8,11 @@ All dates in this document are approximate.
## Changes
+20240123: The output_pin SET_PIN CYCLE_TIME parameter has been
+removed. Use the new
+[pwm_cycle_time](Config_Reference.md#pwm_cycle_time) module if it is
+necessary to dynamically change a pwm pin's cycle time.
+
20240123: The output_pin `maximum_mcu_duration` parameter is
deprecated. Use a [pwm_tool config section](Config_Reference.md#pwm_tool)
instead. The option will be removed in the near future.
diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
index 226b7a133..3b2f17709 100644
--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@@ -3153,6 +3153,24 @@ pin:
# See the "output_pin" section for the definition of these parameters.
```
+### [pwm_cycle_time]
+
+Run-time configurable output pins with dynamic pwm cycle timing (one
+may define any number of sections with an "pwm_cycle_time" prefix).
+Pins configured here will be setup as output pins and one may modify
+them at run-time using "SET_PIN PIN=my_pin VALUE=.1 CYCLE_TIME=0.100"
+type extended [g-code commands](G-Codes.md#pwm_cycle_time).
+
+```
+[pwm_cycle_time my_pin]
+pin:
+#value:
+#shutdown_value:
+#cycle_time: 0.100
+#scale:
+# See the "output_pin" section for information on these parameters.
+```
+
### [static_digital_output]
Statically configured digital output pins (one may define any number
diff --git a/docs/G-Codes.md b/docs/G-Codes.md
index 8c70609f1..92cb76606 100644
--- a/docs/G-Codes.md
+++ b/docs/G-Codes.md
@@ -839,17 +839,10 @@ The following command is available when an
enabled.
#### SET_PIN
-`SET_PIN PIN=config_name VALUE=<value> [CYCLE_TIME=<cycle_time>]`: Set
-the pin to the given output `VALUE`. VALUE should be 0 or 1 for
-"digital" output pins. For PWM pins, set to a value between 0.0 and
-1.0, or between 0.0 and `scale` if a scale is configured in the
-output_pin config section.
-
-Some pins (currently only "soft PWM" pins) support setting an explicit
-cycle time using the CYCLE_TIME parameter (specified in seconds). Note
-that the CYCLE_TIME parameter is not stored between SET_PIN commands
-(any SET_PIN command without an explicit CYCLE_TIME parameter will use
-the `cycle_time` specified in the output_pin config section).
+`SET_PIN PIN=config_name VALUE=<value>`: Set the pin to the given
+output `VALUE`. VALUE should be 0 or 1 for "digital" output pins. For
+PWM pins, set to a value between 0.0 and 1.0, or between 0.0 and
+`scale` if a scale is configured in the output_pin config section.
### [palette2]
@@ -978,6 +971,21 @@ babystepping), and subtract if from the probe's z_offset. This acts
to take a frequently used babystepping value, and "make it permanent".
Requires a `SAVE_CONFIG` to take effect.
+### [pwm_cycle_time]
+
+The following command is available when a
+[pwm_cycle_time config section](Config_Reference.md#pwm_cycle_time)
+is enabled.
+
+#### SET_PIN
+`SET_PIN PIN=config_name VALUE=<value> [CYCLE_TIME=<cycle_time>]`:
+This command works similarly to [output_pin](#output_pin) SET_PIN
+commands. The command here supports setting an explicit cycle time
+using the CYCLE_TIME parameter (specified in seconds). Note that the
+CYCLE_TIME parameter is not stored between SET_PIN commands (any
+SET_PIN command without an explicit CYCLE_TIME parameter will use the
+`cycle_time` specified in the pwm_cycle_time config section).
+
### [query_adc]
The query_adc module is automatically loaded.
diff --git a/docs/Status_Reference.md b/docs/Status_Reference.md
index b64108ae2..055d1dc0e 100644
--- a/docs/Status_Reference.md
+++ b/docs/Status_Reference.md
@@ -374,6 +374,13 @@ is defined):
template expansion, the PROBE (or similar) command must be run prior
to the macro containing this reference.
+## pwm_cycle_time
+
+The following information is available in
+[pwm_cycle_time some_name](Config_Reference.md#pwm_cycle_time)
+objects:
+- `value`: The "value" of the pin, as set by a `SET_PIN` command.
+
## quad_gantry_level
The following information is available in the `quad_gantry_level` object
diff --git a/klippy/extras/output_pin.py b/klippy/extras/output_pin.py
index 76789c37d..ef094674c 100644
--- a/klippy/extras/output_pin.py
+++ b/klippy/extras/output_pin.py
@@ -1,6 +1,6 @@
-# Code to configure miscellaneous chips
+# PWM and digital output pin handling
#
-# Copyright (C) 2017-2021 Kevin O'Connor <kevin@koconnor.net>
+# Copyright (C) 2017-2024 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
@@ -21,11 +21,9 @@ class PrinterOutputPin:
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_cycle_time = self.default_cycle_time = cycle_time
else:
self.mcu_pin = ppins.setup_pin('digital_out', config.get('pin'))
self.scale = 1.
- self.last_cycle_time = self.default_cycle_time = 0.
self.last_print_time = 0.
# Support mcu checking for maximum duration
self.reactor = self.printer.get_reactor()
@@ -58,32 +56,30 @@ class PrinterOutputPin:
desc=self.cmd_SET_PIN_help)
def get_status(self, eventtime):
return {'value': self.last_value}
- def _set_pin(self, print_time, value, cycle_time, is_resend=False):
- if value == self.last_value and cycle_time == self.last_cycle_time:
- if not is_resend:
- return
+ def _set_pin(self, print_time, value, is_resend=False):
+ if value == self.last_value and not is_resend:
+ return
print_time = max(print_time, self.last_print_time + PIN_MIN_TIME)
if self.is_pwm:
- self.mcu_pin.set_pwm(print_time, value, cycle_time)
+ self.mcu_pin.set_pwm(print_time, value)
else:
self.mcu_pin.set_digital(print_time, value)
self.last_value = value
- self.last_cycle_time = cycle_time
self.last_print_time = print_time
if self.resend_interval and self.resend_timer is None:
self.resend_timer = self.reactor.register_timer(
self._resend_current_val, self.reactor.NOW)
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
- cycle_time = gcmd.get_float('CYCLE_TIME', self.default_cycle_time,
- above=0., maxval=MAX_SCHEDULE_TIME)
if not self.is_pwm and value not in [0., 1.]:
raise gcmd.error("Invalid pin value")
+ # 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, cycle_time))
+ lambda print_time: self._set_pin(print_time, value))
def _resend_current_val(self, eventtime):
if self.last_value == self.shutdown_value:
@@ -97,8 +93,7 @@ class PrinterOutputPin:
if time_diff > 0.:
# Reschedule for resend time
return systime + time_diff
- self._set_pin(print_time + PIN_MIN_TIME,
- self.last_value, self.last_cycle_time, True)
+ self._set_pin(print_time + PIN_MIN_TIME, self.last_value, True)
return systime + self.resend_interval
def load_config_prefix(config):
diff --git a/klippy/extras/pwm_cycle_time.py b/klippy/extras/pwm_cycle_time.py
new file mode 100644
index 000000000..cebbec751
--- /dev/null
+++ b/klippy/extras/pwm_cycle_time.py
@@ -0,0 +1,123 @@
+# Handle pwm output pins with variable frequency
+#
+# Copyright (C) 2017-2023 Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+
+PIN_MIN_TIME = 0.100
+MAX_SCHEDULE_TIME = 5.0
+
+class MCU_pwm_cycle:
+ def __init__(self, pin_params, cycle_time, start_value, shutdown_value):
+ self._mcu = pin_params['chip']
+ self._cycle_time = cycle_time
+ self._oid = None
+ self._mcu.register_config_callback(self._build_config)
+ self._pin = pin_params['pin']
+ self._invert = pin_params['invert']
+ 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))
+ self._last_clock = self._cycle_ticks = 0
+ self._set_cmd = self._set_cycle_ticks = None
+ def _build_config(self):
+ 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)
+ if self._shutdown_value not in [0., 1.]:
+ raise self._mcu.get_printer().config_error(
+ "shutdown value must be 0.0 or 1.0 on soft pwm")
+ if cycle_ticks >= 1<<31:
+ raise self._mcu.get_printer().config_error(
+ "PWM pin cycle time too large")
+ self._mcu.request_move_queue_slot()
+ self._oid = self._mcu.create_oid()
+ 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, 0))
+ 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 = self._mcu.lookup_command(
+ "queue_digital_out oid=%c clock=%u on_ticks=%u", cq=cmd_queue)
+ self._set_cycle_ticks = self._mcu.lookup_command(
+ "set_digital_out_pwm_cycle oid=%c cycle_ticks=%u", cq=cmd_queue)
+ def set_pwm_cycle(self, print_time, value, cycle_time):
+ clock = self._mcu.print_time_to_clock(print_time)
+ minclock = self._last_clock
+ # Send updated cycle_time if necessary
+ cycle_ticks = self._mcu.seconds_to_clock(cycle_time)
+ if cycle_ticks != self._cycle_ticks:
+ if cycle_ticks >= 1<<31:
+ raise self._mcu.get_printer().command_error(
+ "PWM cycle time too large")
+ self._set_cycle_ticks.send([self._oid, cycle_ticks],
+ minclock=minclock, reqclock=clock)
+ self._cycle_ticks = cycle_ticks
+ # Send pwm update
+ if self._invert:
+ value = 1. - value
+ v = int(max(0., min(1., value)) * float(self._cycle_ticks) + 0.5)
+ self._set_cmd.send([self._oid, clock, v],
+ minclock=self._last_clock, reqclock=clock)
+ self._last_clock = clock
+
+class PrinterOutputPWMCycle:
+ def __init__(self, config):
+ self.printer = config.get_printer()
+ self.last_print_time = 0.
+ cycle_time = config.getfloat('cycle_time', 0.100, above=0.,
+ maxval=MAX_SCHEDULE_TIME)
+ self.last_cycle_time = self.default_cycle_time = cycle_time
+ # Determine start and shutdown values
+ self.scale = config.getfloat('scale', 1., above=0.)
+ 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
+ # Create pwm pin object
+ ppins = self.printer.lookup_object('pins')
+ pin_params = ppins.lookup_pin(config.get('pin'), can_invert=True)
+ self.mcu_pin = MCU_pwm_cycle(pin_params, cycle_time,
+ 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, cycle_time):
+ if value == self.last_value and cycle_time == self.last_cycle_time:
+ return
+ print_time = max(print_time, self.last_print_time + PIN_MIN_TIME)
+ self.mcu_pin.set_pwm_cycle(print_time, value, cycle_time)
+ self.last_value = value
+ self.last_cycle_time = cycle_time
+ 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
+ cycle_time = gcmd.get_float('CYCLE_TIME', self.default_cycle_time,
+ above=0., maxval=MAX_SCHEDULE_TIME)
+ # 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, cycle_time))
+
+def load_config_prefix(config):
+ return PrinterOutputPWMCycle(config)
diff --git a/test/klippy/pwm.cfg b/test/klippy/pwm.cfg
index fbda91269..af5b5b10e 100644
--- a/test/klippy/pwm.cfg
+++ b/test/klippy/pwm.cfg
@@ -5,6 +5,12 @@ value: 0
shutdown_value: 0
cycle_time: 0.01
+[pwm_cycle_time cycle_pwm_pin]
+pin: PH7
+value: 0
+shutdown_value: 0
+cycle_time: 0.01
+
[output_pin hard_pwm_pin]
pin: PH6
pwm: True
diff --git a/test/klippy/pwm.test b/test/klippy/pwm.test
index 5e74a3e05..fdbf42f2a 100644
--- a/test/klippy/pwm.test
+++ b/test/klippy/pwm.test
@@ -16,18 +16,24 @@ SET_PIN PIN=soft_pwm_pin VALUE=0
SET_PIN PIN=soft_pwm_pin VALUE=0.5
SET_PIN PIN=soft_pwm_pin VALUE=1
+# Soft PWM with dynamic cycle time
+# Test basic on off
+SET_PIN PIN=cycle_pwm_pin VALUE=0
+SET_PIN PIN=cycle_pwm_pin VALUE=0.5
+SET_PIN PIN=cycle_pwm_pin VALUE=1
+
# Test cycle time
-SET_PIN PIN=soft_pwm_pin VALUE=0 CYCLE_TIME=0.1
-SET_PIN PIN=soft_pwm_pin VALUE=1 CYCLE_TIME=0.5
-SET_PIN PIN=soft_pwm_pin VALUE=0.5 CYCLE_TIME=0.001
-SET_PIN PIN=soft_pwm_pin VALUE=0.75 CYCLE_TIME=0.01
-SET_PIN PIN=soft_pwm_pin VALUE=0.5 CYCLE_TIME=1
+SET_PIN PIN=cycle_pwm_pin VALUE=0 CYCLE_TIME=0.1
+SET_PIN PIN=cycle_pwm_pin VALUE=1 CYCLE_TIME=0.5
+SET_PIN PIN=cycle_pwm_pin VALUE=0.5 CYCLE_TIME=0.001
+SET_PIN PIN=cycle_pwm_pin VALUE=0.75 CYCLE_TIME=0.01
+SET_PIN PIN=cycle_pwm_pin VALUE=0.5 CYCLE_TIME=1
# Test duplicate values
-SET_PIN PIN=soft_pwm_pin VALUE=0.5 CYCLE_TIME=0.5
-SET_PIN PIN=soft_pwm_pin VALUE=0.5 CYCLE_TIME=0.5
-SET_PIN PIN=soft_pwm_pin VALUE=0.75 CYCLE_TIME=0.5
-SET_PIN PIN=soft_pwm_pin VALUE=0.75 CYCLE_TIME=0.75
+SET_PIN PIN=cycle_pwm_pin VALUE=0.5 CYCLE_TIME=0.5
+SET_PIN PIN=cycle_pwm_pin VALUE=0.5 CYCLE_TIME=0.5
+SET_PIN PIN=cycle_pwm_pin VALUE=0.75 CYCLE_TIME=0.5
+SET_PIN PIN=cycle_pwm_pin VALUE=0.75 CYCLE_TIME=0.75
# PWM tool
# Basic test