diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 27 |
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: |