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| author | Kevin O'Connor <kevin@koconnor.net> | 2019-01-07 12:05:37 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2019-01-21 09:56:08 -0500 |
| commit | 5a6a429bc0c8366512a39b5e87ebad62bd63c740 (patch) | |
| tree | 275f776836237e706a5d4a027a65797d3b31aae0 /klippy | |
| parent | 8a97bc592b646e7c5ec60985e44fbf867841b121 (diff) | |
| download | kutter-5a6a429bc0c8366512a39b5e87ebad62bd63c740.tar.gz kutter-5a6a429bc0c8366512a39b5e87ebad62bd63c740.tar.xz kutter-5a6a429bc0c8366512a39b5e87ebad62bd63c740.zip | |
bltouch: Take into account clock skew when calculating command duration
We want the duration of each command to be an exact multiple of
SIGNAL_PERIOD. The durations might not be exact if the bltouch is on
a secondary mcu. Account for this in send_cmd().
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/extras/bltouch.py | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py index 93256707..52f5d42d 100644 --- a/klippy/extras/bltouch.py +++ b/klippy/extras/bltouch.py @@ -83,7 +83,11 @@ class BLTouchEndstopWrapper: self.next_cmd_time = print_time def send_cmd(self, cmd, duration=MIN_CMD_TIME): self.mcu_pwm.set_pwm(self.next_cmd_time, Commands[cmd] / SIGNAL_PERIOD) - self.next_cmd_time += max(duration, MIN_CMD_TIME) + # Translate duration to ticks to avoid any secondary mcu clock skew + mcu = self.mcu_pwm.get_mcu() + cmd_clock = mcu.print_time_to_clock(self.next_cmd_time) + cmd_clock += mcu.seconds_to_clock(max(duration, MIN_CMD_TIME)) + self.next_cmd_time = mcu.clock_to_print_time(cmd_clock) return self.next_cmd_time def verify_state(self, check_start_time, check_end_time, triggered, msg): # Perform endstop check to verify bltouch reports desired state |