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clocksync: Move clock synchronization code into new file

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Move the low-level clock synchronization code from serialhdl.py to a
new file clocksync.py.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-09-18 21:41:00 -04:00
parent 2089f19670
commit 13812aa1c9
4 changed files with 139 additions and 113 deletions
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31
klippy/mcu.py
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@ -4,7 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import sys, os, zlib, logging, math
import serialhdl, pins, chelper
import serialhdl, pins, chelper, clocksync
class error(Exception):
pass
@ -205,8 +205,8 @@ class MCU_endstop:
s.note_homing_triggered()
self._homing = False
return False
if (self._mcu.serial.get_clock(last_sent_time)
> self._home_timeout_clock):
last_clock, last_clock_time = self._mcu.get_last_clock()
if last_clock > self._home_timeout_clock:
# Timeout - disable endstop checking
msg = self._home_cmd.encode(self._oid, 0, 0, 0)
self._mcu.send(msg, reqclock=0, cq=self._cmd_queue)
@ -397,7 +397,7 @@ class MCU_adc:
, self._oid)
def _handle_analog_in_state(self, params):
last_value = params['value'] * self._inv_max_adc
next_clock = self._mcu.serial.translate_clock(params['next_clock'])
next_clock = self._mcu.translate_clock(params['next_clock'])
last_read_clock = next_clock - self._report_clock
last_read_time = self._mcu.clock_to_print_time(last_read_clock)
if self._callback is not None:
@ -406,8 +406,9 @@ class MCU_adc:
class MCU:
error = error
COMM_TIMEOUT = 3.5
def __init__(self, printer, config):
def __init__(self, printer, config, clocksync):
self._printer = printer
self._clocksync = clocksync
# Serial port
self._serialport = config.get('serial', '/dev/ttyS0')
if self._serialport.startswith("/dev/rpmsg_"):
@ -488,6 +489,7 @@ class MCU:
# Try toggling usb power
self._check_restart("enable power")
self.serial.connect()
self._clocksync.connect(self.serial)
self._printer.reactor.update_timer(
self._timeout_timer, self.monotonic() + self.COMM_TIMEOUT)
self._mcu_freq = self.serial.msgparser.get_constant_float('CLOCK_FREQ')
@ -510,13 +512,14 @@ class MCU:
dict_data = dfile.read()
dfile.close()
self.serial.connect_file(outfile, dict_data)
self._clocksync.connect_file(self.serial, pace)
# Handle pacing
if not pace:
def dummy_estimated_print_time(eventtime):
return 0.
self.estimated_print_time = dummy_estimated_print_time
def timeout_handler(self, eventtime):
last_clock, last_clock_time = self.serial.get_last_clock()
last_clock, last_clock_time = self.get_last_clock()
timeout = last_clock_time + self.COMM_TIMEOUT
if eventtime < timeout:
return timeout
@ -530,9 +533,10 @@ class MCU:
self._ffi_lib.steppersync_free(self._steppersync)
self._steppersync = None
def stats(self, eventtime):
return "%s mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
self.serial.stats(eventtime),
msg = "mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
self._mcu_tick_awake, self._mcu_tick_avg, self._mcu_tick_stddev)
return ' '.join([self.serial.stats(eventtime),
self._clocksync.stats(eventtime), msg])
def force_shutdown(self):
self.send(self._emergency_stop_cmd.encode())
def microcontroller_restart(self):
@ -545,7 +549,7 @@ class MCU:
chelper.run_hub_ctrl(1)
return
if self._restart_method == 'command':
last_clock, last_clock_time = self.serial.get_last_clock()
last_clock, last_clock_time = self.get_last_clock()
eventtime = reactor.monotonic()
if ((self._reset_cmd is None and self._config_reset_cmd is None)
or eventtime > last_clock_time + self.COMM_TIMEOUT):
@ -691,13 +695,15 @@ class MCU:
def clock_to_print_time(self, clock):
return clock / self._mcu_freq
def estimated_print_time(self, eventtime):
return self.clock_to_print_time(self.serial.get_clock(eventtime))
return self.clock_to_print_time(self._clocksync.get_clock(eventtime))
def get_mcu_freq(self):
return self._mcu_freq
def seconds_to_clock(self, time):
return int(time * self._mcu_freq)
def get_last_clock(self):
return self.serial.get_last_clock()
return self._clocksync.get_last_clock()
def translate_clock(self, clock):
return self._clocksync.translate_clock(clock)
def get_max_stepper_error(self):
return self._max_stepper_error
# Move command queuing
@ -741,4 +747,5 @@ def error_help(msg):
return ""
def add_printer_objects(printer, config):
printer.add_object('mcu', MCU(printer, config.getsection('mcu')))
mainsync = clocksync.ClockSync(printer.reactor)
printer.add_object('mcu', MCU(printer, config.getsection('mcu'), mainsync))