diff --git a/klippy/mcu.py b/klippy/mcu.py
index 53d1ff74..8e819191 100644
--- a/klippy/mcu.py
+++ b/klippy/mcu.py
@@ -250,21 +250,23 @@ class MCU_pwm:
             "schedule_soft_pwm_out oid=%c clock=%u on_ticks=%u off_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
+        self._last_clock = clock
+        if self._invert:
+            value = 1. - value
+        if self._hardware_pwm:
+            v = int(max(0., min(1., value)) * self._pwm_max + 0.5)
+            self._set_cmd.send([self._oid, clock, v],
+                               minclock=minclock, reqclock=clock)
+            return
+        # Soft pwm update
         if cycle_time is None:
             cycle_time = self._cycle_time
         cycle_ticks = self._mcu.seconds_to_clock(cycle_time)
-        clock = self._mcu.print_time_to_clock(print_time)
-        if self._invert:
-            value = 1. - value
         on_ticks = int(max(0., min(1., value)) * float(cycle_ticks) + 0.5)
-        if self._hardware_pwm:
-            self._set_cmd.send([self._oid, clock, on_ticks],
-                               minclock=self._last_clock, reqclock=clock)
-        else:
-            off_ticks = cycle_ticks - on_ticks
-            self._set_cmd.send([self._oid, clock, on_ticks, off_ticks],
-                               minclock=self._last_clock, reqclock=clock)
-        self._last_clock = clock
+        self._set_cmd.send([self._oid, clock, on_ticks, cycle_ticks - on_ticks],
+                           minclock=minclock, reqclock=clock)
 
 class MCU_adc:
     def __init__(self, mcu, pin_params):