diff options
Diffstat (limited to 'klippy/chelper/serialqueue.c')
| -rw-r--r-- | klippy/chelper/serialqueue.c | 23 |
1 files changed, 20 insertions, 3 deletions
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 |