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| author | Kevin O'Connor <kevin@koconnor.net> | 2018-05-31 18:18:23 -0400 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2018-05-31 18:20:30 -0400 |
| commit | ff9543eee2c41befe5945ec7a60d102d03026472 (patch) | |
| tree | 2757b897a494aa92c6fa7799fe177e09477e9c73 /klippy/clocksync.py | |
| parent | 1b1d2adb31122648d8ba28fdbef9f4d2044cc5f5 (diff) | |
| download | kutter-ff9543eee2c41befe5945ec7a60d102d03026472.tar.gz kutter-ff9543eee2c41befe5945ec7a60d102d03026472.tar.xz kutter-ff9543eee2c41befe5945ec7a60d102d03026472.zip | |
clocksync: Simplify is_active() check
In some rare circumstances it was possible for the host software to
become so busy that it does not transmit a get_clock request for
several seconds. (In particular, this could occur with some complex
calls to coordinate_descent.) If that happened, it was possible for
the code to incorrectly report a "Timeout with MCU" error. Rework the
is_active() check to prevent that.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/clocksync.py')
| -rw-r--r-- | klippy/clocksync.py | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/klippy/clocksync.py b/klippy/clocksync.py index 9c58e6fa..07e78513 100644 --- a/klippy/clocksync.py +++ b/klippy/clocksync.py @@ -1,11 +1,10 @@ # Micro-controller clock synchronization # -# Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net> +# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import logging, threading, math +import logging, math -COMM_TIMEOUT = 3.5 RTT_AGE = .000010 / (60. * 60.) DECAY = 1. / 30. TRANSMIT_EXTRA = .001 @@ -16,6 +15,7 @@ class ClockSync: self.serial = None self.get_clock_timer = self.reactor.register_timer(self._get_clock_event) self.get_clock_cmd = None + self.queries_pending = 0 self.mcu_freq = 1. self.last_clock = 0 self.clock_est = (0., 0., 0.) @@ -57,10 +57,12 @@ class ClockSync: # MCU clock querying (_handle_clock is invoked from background thread) def _get_clock_event(self, eventtime): self.get_clock_cmd.send() + self.queries_pending += 1 # Use an unusual time for the next event so clock messages # don't resonate with other periodic events. return eventtime + .9839 def _handle_clock(self, params): + self.queries_pending = 0 # Extend clock to 64bit last_clock = self.last_clock clock = (last_clock & ~0xffffffff) | params['clock'] @@ -138,10 +140,8 @@ class ClockSync: if clock_diff & 0x80000000: return last_clock + 0x100000000 - clock_diff return last_clock - clock_diff - def is_active(self, eventtime): - print_time = self.estimated_print_time(eventtime) - last_clock_print_time = self.clock_to_print_time(self.last_clock) - return print_time < last_clock_print_time + COMM_TIMEOUT + def is_active(self): + return self.queries_pending <= 4 def dump_debug(self): sample_time, clock, freq = self.clock_est return ("clocksync state: mcu_freq=%d last_clock=%d" |