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toolhead: Synchronize print_time to main mcu's time

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Instead of starting the print_time at zero, start it at the estimated
time of the main mcu's clock.  This simplifies the code and it ensures
that print_time never goes backwards.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-09-12 12:24:44 -04:00
parent b9586bad18
commit 5dfe4e1eb9
3 changed files with 62 additions and 98 deletions
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41
klippy/mcu.py
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@ -443,15 +443,13 @@ class MCU:
self._config_crc = None
self._pin_map = config.get('pin_map', None)
self._custom = config.get('custom', '')
self._mcu_freq = 0.
# Move command queuing
ffi_main, self._ffi_lib = chelper.get_ffi()
self._max_stepper_error = config.getfloat(
'max_stepper_error', 0.000025, minval=0.)
self._stepqueues = []
self._steppersync = None
# Print time to clock epoch calculations
self._print_start_time = 0.
self._mcu_freq = 0.
# Stats
self._stats_sumsq_base = 0.
self._mcu_tick_avg = 0.
@ -471,9 +469,6 @@ class MCU:
self.is_shutdown = True
self._shutdown_msg = msg = params['#msg']
logging.info("%s: %s" % (params['#name'], self._shutdown_msg))
pst = self._print_start_time
logging.info("Clock last synchronized at %.6f (%d)" % (
pst, int(pst * self._mcu_freq)))
self.serial.dump_debug()
prefix = "MCU shutdown: "
if params['#name'] == 'is_shutdown':
@ -521,12 +516,9 @@ class MCU:
self.serial.connect_file(outfile, dict_data)
# Handle pacing
if not pace:
def dummy_set_print_start_time(eventtime):
pass
def dummy_get_print_buffer_time(eventtime, last_move_end):
return 1.250
self.set_print_start_time = dummy_set_print_start_time
self.get_print_buffer_time = dummy_get_print_buffer_time
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()
timeout = last_clock_time + self.COMM_TIMEOUT
@ -698,22 +690,14 @@ class MCU:
def create_command(self, msg):
return self.serial.msgparser.create_command(msg)
# Clock syncing
def set_print_start_time(self, eventtime):
clock = self.serial.get_clock(eventtime)
logging.debug("Synchronizing mcu clock at %.6f to %d" % (
eventtime, clock))
est_mcu_time = clock / self._mcu_freq
self._print_start_time = est_mcu_time
def get_print_buffer_time(self, eventtime, print_time):
if self.is_shutdown:
return 0.
mcu_time = print_time + self._print_start_time
est_mcu_time = self.serial.get_clock(eventtime) / self._mcu_freq
return mcu_time - est_mcu_time
def print_to_mcu_time(self, print_time):
return print_time + self._print_start_time
def system_to_mcu_time(self, eventtime):
return self.serial.get_clock(eventtime) / self._mcu_freq
return print_time
def print_time_to_clock(self, print_time):
return int(print_time * self._mcu_freq)
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))
def get_mcu_freq(self):
return self._mcu_freq
def get_last_clock(self):
@ -726,8 +710,7 @@ class MCU:
def flush_moves(self, print_time):
if self._steppersync is None:
return
mcu_time = print_time + self._print_start_time
clock = int(mcu_time * self._mcu_freq)
clock = self.print_time_to_clock(print_time)
ret = self._ffi_lib.steppersync_flush(self._steppersync, clock)
if ret:
raise error("Internal error in stepcompress")