diff options
| -rw-r--r-- | klippy/mcu.py | 15 |
1 files changed, 10 insertions, 5 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index ab219cae..1c824588 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -185,21 +185,24 @@ class MCU_trsync: self._home_end_clock = None self._trsync_trigger_cmd.send([self._oid, self.REASON_PAST_END_TIME]) - def start(self, print_time, trigger_completion, expire_timeout): + def start(self, print_time, report_offset, + trigger_completion, expire_timeout): self._trigger_completion = trigger_completion self._home_end_clock = None clock = self._mcu.print_time_to_clock(print_time) expire_ticks = self._mcu.seconds_to_clock(expire_timeout) expire_clock = clock + expire_ticks report_ticks = self._mcu.seconds_to_clock(expire_timeout * .4) + report_clock = clock + int(report_ticks * report_offset + .5) min_extend_ticks = self._mcu.seconds_to_clock(expire_timeout * .4 * .8) ffi_main, ffi_lib = chelper.get_ffi() ffi_lib.trdispatch_mcu_setup(self._trdispatch_mcu, clock, expire_clock, expire_ticks, min_extend_ticks) self._mcu.register_response(self._handle_trsync_state, "trsync_state", self._oid) - self._trsync_start_cmd.send([self._oid, clock, report_ticks, - self.REASON_COMMS_TIMEOUT], reqclock=clock) + self._trsync_start_cmd.send([self._oid, report_clock, report_ticks, + self.REASON_COMMS_TIMEOUT], + reqclock=report_clock) for s in self._steppers: self._stepper_stop_cmd.send([s.get_oid(), self._oid]) self._trsync_set_timeout_cmd.send([self._oid, expire_clock], @@ -283,8 +286,10 @@ class MCU_endstop: expire_timeout = TRSYNC_TIMEOUT if len(self._trsyncs) == 1: expire_timeout = TRSYNC_SINGLE_MCU_TIMEOUT - for trsync in self._trsyncs: - trsync.start(print_time, self._trigger_completion, expire_timeout) + for i, trsync in enumerate(self._trsyncs): + report_offset = float(i) / len(self._trsyncs) + trsync.start(print_time, report_offset, + self._trigger_completion, expire_timeout) etrsync = self._trsyncs[0] ffi_main, ffi_lib = chelper.get_ffi() ffi_lib.trdispatch_start(self._trdispatch, etrsync.REASON_HOST_REQUEST) |