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serialqueue: Improve canbus timing

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Adjust timing based on the minimum transmission time of canbus
messages.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2022-07-25 20:50:19 -04:00
parent 2293e1506f
commit db6346e7e5
5 changed files with 58 additions and 28 deletions
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13
klippy/serialhdl.py
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@ -12,7 +12,6 @@ class error(Exception):
pass
class SerialReader:
BITS_PER_BYTE = 10.
def __init__(self, reactor, warn_prefix=""):
self.reactor = reactor
self.warn_prefix = warn_prefix
@ -97,11 +96,13 @@ class SerialReader:
self.msgparser = msgparser
self.register_response(self.handle_unknown, '#unknown')
# Setup baud adjust
mcu_baud = msgparser.get_constant_float('SERIAL_BAUD', None)
if mcu_baud is not None:
baud_adjust = self.BITS_PER_BYTE / mcu_baud
self.ffi_lib.serialqueue_set_baud_adjust(
self.serialqueue, baud_adjust)
if serial_fd_type == b'c':
wire_freq = msgparser.get_constant_float('CANBUS_FREQUENCY', None)
else:
wire_freq = msgparser.get_constant_float('SERIAL_BAUD', None)
if wire_freq is not None:
self.ffi_lib.serialqueue_set_wire_frequency(self.serialqueue,
wire_freq)
receive_window = msgparser.get_constant_int('RECEIVE_WINDOW', None)
if receive_window is not None:
self.ffi_lib.serialqueue_set_receive_window(