gpiocmds: Send soft pwm cycle_time separately from schedule_soft_pwm_out

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

3 files changed, 44 insertions, 27 deletions

diff --git a/docs/MCU_Commands.md b/docs/MCU_Commands.md
index 79425a2e..133476d8 100644
--- a/docs/MCU_Commands.md
+++ b/docs/MCU_Commands.md
@@ -201,12 +201,11 @@ only of interest to developers looking to gain insight into Klipper.
   a hardware PWM output pin. See the 'schedule_digital_out' and
   'config_pwm_out' commands for more info.
 
-* `schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u off_ticks=%u` : Schedules a
-  change to a software PWM output pin. The parameters 'on_ticks' and 'off_ticks'
-  define for how many ticks the pin will be on and off, respectively.
-  Because the output switching is implemented in the micro-controller software,
-  it is recommended that the sum of on_ticks and off_ticks parameters
-  corresponds to a time of 10ms or greater. See the 'schedule_digital_out' and
+* `schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u` : Schedules a
+  change to a software PWM output pin. Because the output switching is
+  implemented in the micro-controller software, it is recommended that
+  the sum of on_ticks and off_ticks parameters corresponds to a time
+  of 10ms or greater. See the 'schedule_digital_out' and
   'config_soft_pwm_out' commands for more info.
 
 * `query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c
diff --git a/klippy/mcu.py b/klippy/mcu.py
index 1d661050..d6d754c2 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -175,9 +175,9 @@ class MCU_pwm:
         self._invert = pin_params['invert']
         self._start_value = self._shutdown_value = float(self._invert)
         self._is_static = False
-        self._last_clock = 0
+        self._last_clock = self._last_cycle_ticks = 0
         self._pwm_max = 0.
-        self._set_cmd = None
+        self._set_cmd = self._set_cycle_ticks = None
     def get_mcu(self):
         return self._mcu
     def setup_max_duration(self, max_duration):
@@ -226,7 +226,6 @@ class MCU_pwm:
         # Software PWM
         if self._shutdown_value not in [0., 1.]:
             raise pins.error("shutdown value must be 0.0 or 1.0 on soft pwm")
-        self._pwm_max = float(cycle_ticks)
         if self._is_static:
             self._mcu.add_config_cmd("set_digital_out pin=%s value=%d"
                                      % (self._pin, self._start_value >= 0.5))
@@ -238,14 +237,18 @@ class MCU_pwm:
             % (self._oid, self._pin, self._start_value >= 1.0,
                self._shutdown_value >= 0.5,
                self._mcu.seconds_to_clock(self._max_duration)))
-        svalue = int(self._start_value * self._pwm_max + 0.5)
         self._mcu.add_config_cmd(
-            "schedule_soft_pwm_out oid=%d clock=%d on_ticks=%d off_ticks=%d"
-            % (self._oid, self._last_clock, svalue, cycle_ticks - svalue),
-            is_init=True)
+            "set_soft_pwm_cycle_ticks oid=%d cycle_ticks=%d"
+            % (self._oid, cycle_ticks))
+        self._last_cycle_ticks = cycle_ticks
+        svalue = int(self._start_value * cycle_ticks + 0.5)
+        self._mcu.add_config_cmd(
+            "schedule_soft_pwm_out oid=%d clock=%d on_ticks=%d"
+            % (self._oid, self._last_clock, svalue), is_init=True)
         self._set_cmd = self._mcu.lookup_command(
-            "schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u off_ticks=%u",
-            cq=cmd_queue)
+            "schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u", cq=cmd_queue)
+        self._set_cycle_ticks = self._mcu.lookup_command(
+            "set_soft_pwm_cycle_ticks oid=%c cycle_ticks=%u", cq=cmd_queue)
     def set_pwm(self, print_time, value, cycle_time=None):
         clock = self._mcu.print_time_to_clock(print_time)
         minclock = self._last_clock
@@ -261,8 +264,12 @@ class MCU_pwm:
         if cycle_time is None:
             cycle_time = self._cycle_time
         cycle_ticks = self._mcu.seconds_to_clock(cycle_time)
+        if cycle_ticks != self._last_cycle_ticks:
+            self._set_cycle_ticks.send([self._oid, cycle_ticks],
+                                       minclock=minclock, reqclock=clock)
+            self._last_cycle_ticks = cycle_ticks
         on_ticks = int(max(0., min(1., value)) * float(cycle_ticks) + 0.5)
-        self._set_cmd.send([self._oid, clock, on_ticks, cycle_ticks - on_ticks],
+        self._set_cmd.send([self._oid, clock, on_ticks],
                            minclock=minclock, reqclock=clock)
 
 class MCU_adc:
diff --git a/src/gpiocmds.c b/src/gpiocmds.c
index e6bf4671..a9eabdac 100644
--- a/src/gpiocmds.c
+++ b/src/gpiocmds.c
@@ -1,6 +1,6 @@
 // Commands for controlling GPIO pins
 //
-// Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+// Copyright (C) 2016-2020  Kevin O'Connor <kevin@koconnor.net>
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
@@ -109,8 +109,8 @@ DECL_COMMAND(command_set_digital_out, "set_digital_out pin=%u value=%c");
 struct soft_pwm_s {
     struct timer timer;
     uint32_t on_duration, off_duration, end_time;
-    uint32_t next_on_duration, next_off_duration;
-    uint32_t max_duration;
+    uint32_t next_on_duration;
+    uint32_t max_duration, cycle_time;
     struct gpio_out pin;
     uint8_t default_value, flags;
 };
@@ -154,7 +154,7 @@ soft_pwm_load_event(struct timer *timer)
     s->flags = flags;
     gpio_out_write(s->pin, flags & SPF_ON);
     if (!(flags & SPF_TOGGLING)) {
-        // Pin is in an always on (value=256) or always off (value=0) state
+        // Pin is in an always on or always off state
         if (!(flags & SPF_CHECK_END))
             return SF_DONE;
         s->timer.waketime = s->end_time = s->end_time + s->max_duration;
@@ -162,8 +162,8 @@ soft_pwm_load_event(struct timer *timer)
     }
     // Schedule normal pin toggle timer events
     s->timer.func = soft_pwm_toggle_event;
-    s->off_duration = s->next_off_duration;
     s->on_duration = s->next_on_duration;
+    s->off_duration = s->cycle_time - s->on_duration;
     s->timer.waketime = s->end_time + s->on_duration;
     s->end_time += s->max_duration;
     return SF_RESCHEDULE;
@@ -185,17 +185,29 @@ DECL_COMMAND(command_config_soft_pwm_out,
              " default_value=%c max_duration=%u");
 
 void
+command_set_soft_pwm_cycle_ticks(uint32_t *args)
+{
+    struct soft_pwm_s *s = oid_lookup(args[0], command_config_soft_pwm_out);
+    irq_disable();
+    if (s->flags & SPF_HAVE_NEXT)
+        shutdown("Can not set soft pwm cycle ticks while updates pending");
+    s->cycle_time = args[1];
+    irq_enable();
+}
+DECL_COMMAND(command_set_soft_pwm_cycle_ticks,
+             "set_soft_pwm_cycle_ticks oid=%c cycle_ticks=%u");
+
+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], next_on_duration = args[2],
-        next_off_duration = args[3];
+    uint32_t time = args[1], next_on_duration = args[2];
     uint8_t next_flags = SPF_CHECK_END | SPF_HAVE_NEXT;
-    if (next_on_duration == 0 || next_off_duration == 0) {
+    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;
+        next_on_duration = 0;
     } else {
         next_flags |= SPF_NEXT_ON | SPF_NEXT_TOGGLING;
         if (s->max_duration)
@@ -206,7 +218,6 @@ command_schedule_soft_pwm_out(uint32_t *args)
         shutdown("next soft pwm extends existing pwm");
     s->end_time = time;
     s->next_on_duration = next_on_duration;
-    s->next_off_duration = next_off_duration;
     s->flags = (s->flags & 0xf) | next_flags;
     if (s->flags & SPF_TOGGLING && timer_is_before(s->timer.waketime, time)) {
         // soft_pwm_toggle_event() will schedule a load event when ready
@@ -220,7 +231,7 @@ 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 on_ticks=%u off_ticks=%u");
+             "schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u");
 
 void
 soft_pwm_shutdown(void)