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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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5
klippy/mcu.py
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@@ -341,7 +341,7 @@ class MCU_pwm:
or self._shutdown_value not in [0., 1.]):
raise pins.error(
"start and shutdown values must be 0.0 or 1.0 on soft pwm")
self._pwm_max = self._mcu.get_constant_float("SOFT_PWM_MAX")
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))
@@ -354,7 +354,8 @@ class MCU_pwm:
self._start_value >= 0.5, self._shutdown_value >= 0.5,
self._mcu.seconds_to_clock(self._max_duration)))
self._set_cmd = self._mcu.lookup_command(
"schedule_soft_pwm_out oid=%c clock=%u value=%hu", cq=cmd_queue)
"schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u",
cq=cmd_queue)
def set_pwm(self, print_time, value):
clock = self._mcu.print_time_to_clock(print_time)
if self._invert: