diff options
| -rw-r--r-- | klippy/chelper/__init__.py | 5 | ||||
| -rw-r--r-- | klippy/chelper/serialqueue.c | 23 | ||||
| -rw-r--r-- | klippy/serialhdl.py | 4 | ||||
| -rw-r--r-- | src/generic/serial_irq.c | 5 |
4 files changed, 32 insertions, 5 deletions
diff --git a/klippy/chelper/__init__.py b/klippy/chelper/__init__.py index cbd0cb88..f7ba372c 100644 --- a/klippy/chelper/__init__.py +++ b/klippy/chelper/__init__.py @@ -59,8 +59,11 @@ defs_serialqueue = """ void serialqueue_encode_and_send(struct serialqueue *sq , struct command_queue *cq, uint32_t *data, int len , uint64_t min_clock, uint64_t req_clock); - void serialqueue_pull(struct serialqueue *sq, struct pull_queue_message *pqm); + void serialqueue_pull(struct serialqueue *sq + , struct pull_queue_message *pqm); void serialqueue_set_baud_adjust(struct serialqueue *sq, double baud_adjust); + void serialqueue_set_receive_window(struct serialqueue *sq + , int receive_window); void serialqueue_set_clock_est(struct serialqueue *sq, double est_freq , double last_clock_time, uint64_t last_clock); void serialqueue_get_stats(struct serialqueue *sq, char *buf, int len); diff --git a/klippy/chelper/serialqueue.c b/klippy/chelper/serialqueue.c index 06ee0ee0..4a18e845 100644 --- a/klippy/chelper/serialqueue.c +++ b/klippy/chelper/serialqueue.c @@ -357,6 +357,7 @@ struct serialqueue { pthread_cond_t cond; int receive_waiting; // Baud / clock tracking + int receive_window; double baud_adjust, idle_time; double est_freq, last_clock_time; uint64_t last_clock; @@ -368,7 +369,7 @@ struct serialqueue { double srtt, rttvar, rto; // Pending transmission message queues struct list_head pending_queues; - int ready_bytes, stalled_bytes, need_ack_bytes; + int ready_bytes, stalled_bytes, need_ack_bytes, last_ack_bytes; uint64_t need_kick_clock; // Received messages struct list_head receive_queue; @@ -458,6 +459,7 @@ update_receive_seq(struct serialqueue *sq, double eventtime, uint64_t rseq) if (rseq == sent_seq) { // Found sent message corresponding with the received sequence sq->last_receive_sent_time = sent->receive_time; + sq->last_ack_bytes = sent->len; break; } } @@ -694,11 +696,18 @@ build_and_send_command(struct serialqueue *sq, double eventtime) static double check_send_command(struct serialqueue *sq, double eventtime) { - if ((sq->send_seq - sq->receive_seq >= MESSAGE_SEQ_MASK - || (sq->need_ack_bytes - 2*MESSAGE_MAX) * sq->baud_adjust > sq->srtt) + if (sq->send_seq - sq->receive_seq >= MESSAGE_SEQ_MASK && sq->receive_seq != (uint64_t)-1) // Need an ack before more messages can be sent return PR_NEVER; + if (sq->send_seq > sq->receive_seq && sq->receive_window) { + int need_ack_bytes = sq->need_ack_bytes + MESSAGE_MAX; + if (sq->last_ack_seq < sq->receive_seq) + need_ack_bytes += sq->last_ack_bytes; + if (need_ack_bytes > sq->receive_window) + // Wait for ack from past messages before sending next message + return PR_NEVER; + } // Check for stalled messages now ready double idletime = eventtime > sq->idle_time ? eventtime : sq->idle_time; @@ -1021,6 +1030,14 @@ serialqueue_set_baud_adjust(struct serialqueue *sq, double baud_adjust) pthread_mutex_unlock(&sq->lock); } +void +serialqueue_set_receive_window(struct serialqueue *sq, int receive_window) +{ + pthread_mutex_lock(&sq->lock); + sq->receive_window = receive_window; + pthread_mutex_unlock(&sq->lock); +} + // Set the estimated clock rate of the mcu on the other end of the // serial port void diff --git a/klippy/serialhdl.py b/klippy/serialhdl.py index 0f9e87a2..0aa477c5 100644 --- a/klippy/serialhdl.py +++ b/klippy/serialhdl.py @@ -90,6 +90,10 @@ class SerialReader: baud_adjust = self.BITS_PER_BYTE / mcu_baud self.ffi_lib.serialqueue_set_baud_adjust( self.serialqueue, baud_adjust) + receive_window = msgparser.get_constant_int('RECEIVE_WINDOW', None) + if receive_window is not None: + self.ffi_lib.serialqueue_set_receive_window( + self.serialqueue, receive_window) def connect_file(self, debugoutput, dictionary, pace=False): self.ser = debugoutput self.msgparser.process_identify(dictionary, decompress=False) diff --git a/src/generic/serial_irq.c b/src/generic/serial_irq.c index a035364b..76304323 100644 --- a/src/generic/serial_irq.c +++ b/src/generic/serial_irq.c @@ -14,10 +14,13 @@ #include "sched.h" // sched_wake_tasks #include "serial_irq.h" // serial_enable_tx_irq -static uint8_t receive_buf[192], receive_pos; +#define RX_BUFFER_SIZE 192 + +static uint8_t receive_buf[RX_BUFFER_SIZE], receive_pos; static uint8_t transmit_buf[96], transmit_pos, transmit_max; DECL_CONSTANT(SERIAL_BAUD, CONFIG_SERIAL_BAUD); +DECL_CONSTANT(RECEIVE_WINDOW, RX_BUFFER_SIZE); // Rx interrupt - store read data void |