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msgblock: Add clock estimation helper functions

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-02-15 19:18:51 -05:00
parent f938caa0d2
commit 620f77ddb7
7 changed files with 65 additions and 22 deletions
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4
klippy/clocksync.py
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@ -54,7 +54,7 @@ class ClockSync:
freq = 1000000000000.
if pace:
freq = self.mcu_freq
serial.set_clock_est(freq, self.reactor.monotonic(), 0)
serial.set_clock_est(freq, self.reactor.monotonic(), 0, 0)
# MCU clock querying (_handle_clock is invoked from background thread)
def _get_clock_event(self, eventtime):
self.serial.raw_send(self.get_clock_cmd, 0, 0, self.cmd_queue)
@ -116,7 +116,7 @@ class ClockSync:
new_freq = self.clock_covariance / self.time_variance
pred_stddev = math.sqrt(self.prediction_variance)
self.serial.set_clock_est(new_freq, self.time_avg + TRANSMIT_EXTRA,
int(self.clock_avg - 3. * pred_stddev))
int(self.clock_avg - 3. * pred_stddev), clock)
self.clock_est = (self.time_avg + self.min_half_rtt,
self.clock_avg, new_freq)
#logging.debug("regr %.3f: freq=%.3f d=%d(%.3f)",