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mcu: Initial support for multiple micro-controllers

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Add initial support for controlling multiple independent
micro-controllers from a single Klippy host instance.  Add basic
support for synchronizing the clocks of the additional mcus to the
main mcu's clock.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-08-14 11:46:35 -04:00
parent cee200e509
commit 3ccecc568d
5 changed files with 172 additions and 53 deletions
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58
klippy/clocksync.py
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@ -51,6 +51,8 @@ class ClockSync:
self.last_clock, self.last_clock_time)
def is_active(self, eventtime):
return self.queries_pending <= 4
def calibrate_clock(self, print_time, eventtime):
return (0., self.mcu_freq)
def get_clock(self, eventtime):
with self.lock:
last_clock = self.last_clock
@ -106,9 +108,8 @@ class ClockSync:
new_min_freq = (
clock_delta / (sent_time - self.last_clock_time))
logging.warning(
"High clock drift! Now %.0f:%.0f was %.0f:%.0f" % (
new_min_freq, new_max_freq,
self.min_freq, self.max_freq))
"High clock drift! Now %.0f:%.0f was %.0f:%.0f",
new_min_freq, new_max_freq, self.min_freq, self.max_freq)
self.min_freq, self.max_freq = new_min_freq, new_max_freq
min_time, max_time = sent_time, receive_time
# Update variables
@ -116,3 +117,54 @@ class ClockSync:
self.last_clock_time = max_time
self.last_clock_time_min = min_time
self.serial.set_clock_est(self.min_freq, max_time + 0.001, clock)
# Clock synching code for secondary MCUs (whose clocks are sync'ed to
# a primary MCU)
class SecondarySync(ClockSync):
def __init__(self, reactor, main_sync):
ClockSync.__init__(self, reactor)
self.main_sync = main_sync
self.clock_adj = (0., 0.)
def connect(self, serial):
ClockSync.connect(self, serial)
self.clock_adj = (0., self.mcu_freq)
curtime = self.reactor.monotonic()
main_print_time = self.main_sync.estimated_print_time(curtime)
local_print_time = self.estimated_print_time(curtime)
self.clock_adj = (main_print_time - local_print_time, self.mcu_freq)
self.calibrate_clock(0., curtime)
def connect_file(self, serial, pace=False):
ClockSync.connect_file(self, serial, pace)
self.clock_adj = (0., self.mcu_freq)
def print_time_to_clock(self, print_time):
adjusted_offset, adjusted_freq = self.clock_adj
return int((print_time - adjusted_offset) * adjusted_freq)
def clock_to_print_time(self, clock):
adjusted_offset, adjusted_freq = self.clock_adj
return clock / adjusted_freq + adjusted_offset
def get_adjusted_freq(self):
adjusted_offset, adjusted_freq = self.clock_adj
return adjusted_freq
def calibrate_clock(self, print_time, eventtime):
#logging.debug("calibrate: %.3f: %.6f vs %.6f",
# eventtime,
# self.estimated_print_time(eventtime),
# self.main_sync.estimated_print_time(eventtime))
with self.main_sync.lock:
ser_clock = self.main_sync.last_clock
ser_clock_time = self.main_sync.last_clock_time
ser_freq = self.main_sync.min_freq
main_mcu_freq = self.main_sync.mcu_freq
main_clock = (eventtime - ser_clock_time) * ser_freq + ser_clock
print_time = max(print_time, main_clock / main_mcu_freq)
main_sync_clock = (print_time + 2.) * main_mcu_freq
sync_time = ser_clock_time + (main_sync_clock - ser_clock) / ser_freq
print_clock = self.print_time_to_clock(print_time)
sync_clock = self.get_clock(sync_time)
adjusted_freq = .5 * (sync_clock - print_clock)
adjusted_offset = print_time - print_clock / adjusted_freq
self.clock_adj = (adjusted_offset, adjusted_freq)
return self.clock_adj