diff options
| -rw-r--r-- | klippy/clocksync.py | 8 |
1 files changed, 3 insertions, 5 deletions
diff --git a/klippy/clocksync.py b/klippy/clocksync.py index dc63761b..2680e049 100644 --- a/klippy/clocksync.py +++ b/klippy/clocksync.py @@ -7,6 +7,7 @@ import logging, threading COMM_TIMEOUT = 3.5 RTT_AGE = .000010 / (60. * 60.) +TRANSMIT_EXTRA = .005 class ClockSync: def __init__(self, reactor): @@ -19,7 +20,6 @@ class ClockSync: self.min_half_rtt = 999999999.9 self.min_half_rtt_time = 0. self.clock_est = self.prev_est = (0., 0, 0.) - self.min_freq = 0. self.last_clock_fast = False def connect(self, serial): self.serial = serial @@ -31,7 +31,6 @@ class ClockSync: self.last_clock = clock = (params['high'] << 32) | params['clock'] new_time = .5 * (params['#sent_time'] + params['#receive_time']) self.clock_est = self.prev_est = (new_time, clock, self.mcu_freq) - self.min_freq = self.mcu_freq # Enable periodic get_status timer self.status_cmd = msgparser.create_command('get_status') for i in range(8): @@ -86,10 +85,9 @@ class ClockSync: if clock_fast != self.last_clock_fast: self.prev_est = self.clock_est self.last_clock_fast = clock_fast - new_freq = (self.prev_est[1] - clock) / (self.prev_est[0] - new_time) - self.min_freq = min(self.min_freq, new_freq) + new_freq = (clock - self.prev_est[1]) / (new_time - self.prev_est[0]) self.serial.set_clock_est( - self.min_freq, new_time + self.min_half_rtt + 0.001, clock) + new_freq, new_time + self.min_half_rtt + TRANSMIT_EXTRA, clock) self.clock_est = (new_time, clock, new_freq) # clock frequency conversions def print_time_to_clock(self, print_time): |