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| author | Kevin O'Connor <kevin@koconnor.net> | 2017-02-06 13:31:34 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2017-02-06 13:31:34 -0500 |
| commit | 20d0936fa256e0caa41a18a79556c8ade3f8347f (patch) | |
| tree | 230424417d2f1b0c148d677ecf3d1003dfd943ac /klippy/mcu.py | |
| parent | c24b7a7ef96b6c9770fdf4c821f5719892732033 (diff) | |
| download | kutter-20d0936fa256e0caa41a18a79556c8ade3f8347f.tar.gz kutter-20d0936fa256e0caa41a18a79556c8ade3f8347f.tar.xz kutter-20d0936fa256e0caa41a18a79556c8ade3f8347f.zip | |
reactor: Use the system monotonic clock instead of the normal system clock
The normal system clock can have sudden jumps if the system clock is
changed. Use the system monotonic clock to avoid these sudden changes
in time.
It appears the Raspbian OS (which is used by OctoPi) is setup to
update the system clock upon network connectivity. This could cause
sudden system clock changes which could lead to Klippy processing
errors. Using the monotonic clock eliminates these issues.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 4fadc13d..f6a21746 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -3,7 +3,7 @@ # Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import sys, zlib, logging, time, math +import sys, zlib, logging, math import serialhdl, pins, chelper class error(Exception): @@ -163,7 +163,7 @@ class MCU_endstop: clock = int(mcu_time * self._mcu_freq) rest_ticks = int(rest_time * self._mcu_freq) self._homing = True - self._min_query_time = time.time() + self._min_query_time = self._mcu.monotonic() self._next_query_clock = clock + self._retry_query_ticks msg = self._home_cmd.encode( self._oid, clock, rest_ticks, 1 ^ self._invert) @@ -173,7 +173,7 @@ class MCU_endstop: self._stepper.note_homing_finalized() self._home_timeout_clock = int(mcu_time * self._mcu_freq) def home_wait(self): - eventtime = time.time() + eventtime = self._mcu.monotonic() while self._check_busy(eventtime): eventtime = self._mcu.pause(eventtime + 0.1) def _handle_end_stop_state(self, params): @@ -211,10 +211,10 @@ class MCU_endstop: def query_endstop(self, mcu_time): clock = int(mcu_time * self._mcu_freq) self._homing = False - self._min_query_time = time.time() + self._min_query_time = self._mcu.monotonic() self._next_query_clock = clock def query_endstop_wait(self): - eventtime = time.time() + eventtime = self._mcu.monotonic() while self._check_busy(eventtime): eventtime = self._mcu.pause(eventtime + 0.1) return self._last_state.get('pin', self._invert) ^ self._invert @@ -377,7 +377,7 @@ class MCU: if not self._is_fileoutput: self.serial.connect() self._printer.reactor.update_timer( - self._timeout_timer, time.time() + self.COMM_TIMEOUT) + self._timeout_timer, self.monotonic() + self.COMM_TIMEOUT) self._mcu_freq = self.serial.msgparser.get_constant_float('CLOCK_FREQ') self._stats_sumsq_base = self.serial.msgparser.get_constant_float( 'STATS_SUMSQ_BASE') @@ -547,5 +547,7 @@ class MCU: raise error("Internal error in stepcompress") def pause(self, waketime): return self._printer.reactor.pause(waketime) + def monotonic(self): + return self._printer.reactor.monotonic() def __del__(self): self.disconnect() |