diff options
| -rw-r--r-- | klippy/mcu.py | 9 | ||||
| -rw-r--r-- | src/basecmd.c | 15 |
2 files changed, 18 insertions, 6 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 33a70076..5d8fb31f 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -333,6 +333,7 @@ class MCU: self._print_start_time = 0. self._mcu_freq = 0. # Stats + self._stats_sumsq_base = 0. self._mcu_tick_avg = 0. self._mcu_tick_stddev = 0. def handle_mcu_stats(self, params): @@ -341,10 +342,8 @@ class MCU: tick_sum = params['sum'] c = 1.0 / (count * self._mcu_freq) self._mcu_tick_avg = tick_sum * c - tick_sumsq = params['sumsq'] - tick_sumavgsq = ((tick_sum // (256*count)) * count)**2 - self._mcu_tick_stddev = c * 256. * math.sqrt( - count * tick_sumsq - tick_sumavgsq) + tick_sumsq = params['sumsq'] * self._stats_sumsq_base + self._mcu_tick_stddev = c * math.sqrt(count*tick_sumsq - tick_sum**2) def handle_shutdown(self, params): if self.is_shutdown: return @@ -359,6 +358,8 @@ class MCU: self._printer.reactor.update_timer( self._timeout_timer, time.time() + self.COMM_TIMEOUT) self._mcu_freq = float(self.serial.msgparser.config['CLOCK_FREQ']) + self._stats_sumsq_base = float( + self.serial.msgparser.config['STATS_SUMSQ_BASE']) self._emergency_stop_cmd = self.lookup_command("emergency_stop") self._clear_shutdown_cmd = self.lookup_command("clear_shutdown") self.register_msg(self.handle_shutdown, 'shutdown') diff --git a/src/basecmd.c b/src/basecmd.c index 2c9562b6..4902bd9d 100644 --- a/src/basecmd.c +++ b/src/basecmd.c @@ -191,15 +191,26 @@ command_get_status(uint32_t *args) } DECL_COMMAND_FLAGS(command_get_status, HF_IN_SHUTDOWN, "get_status"); +#define SUMSQ_BASE 256 +DECL_CONSTANT(STATS_SUMSQ_BASE, SUMSQ_BASE); + static void stats_task(void) { static uint32_t last, count, sumsq; uint32_t cur = sched_read_time(); - uint32_t diff = (cur - last) >> 8; + uint32_t diff = cur - last; last = cur; count++; - uint32_t nextsumsq = sumsq + diff*diff; + // Calculate sum of diff^2 - be careful of integer overflow + uint32_t nextsumsq; + if (diff <= 0xffff) { + nextsumsq = sumsq + DIV_ROUND_UP(diff * diff, SUMSQ_BASE); + } else if (diff <= 0xfffff) { + nextsumsq = sumsq + DIV_ROUND_UP(diff, SUMSQ_BASE) * diff; + } else { + nextsumsq = 0xffffffff; + } if (nextsumsq < sumsq) nextsumsq = 0xffffffff; sumsq = nextsumsq; |