gpiocmds: Send soft pwm cycle_time separately from schedule_soft_pwm_out

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

1 files changed, 17 insertions, 10 deletions

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: