diff options
Diffstat (limited to 'klippy/clocksync.py')
| -rw-r--r-- | klippy/clocksync.py | 58 |
1 files changed, 55 insertions, 3 deletions
diff --git a/klippy/clocksync.py b/klippy/clocksync.py index 2007841b..a2c217a0 100644 --- a/klippy/clocksync.py +++ b/klippy/clocksync.py @@ -51,6 +51,8 @@ class ClockSync: self.last_clock, self.last_clock_time) def is_active(self, eventtime): return self.queries_pending <= 4 + def calibrate_clock(self, print_time, eventtime): + return (0., self.mcu_freq) def get_clock(self, eventtime): with self.lock: last_clock = self.last_clock @@ -106,9 +108,8 @@ class ClockSync: new_min_freq = ( clock_delta / (sent_time - self.last_clock_time)) logging.warning( - "High clock drift! Now %.0f:%.0f was %.0f:%.0f" % ( - new_min_freq, new_max_freq, - self.min_freq, self.max_freq)) + "High clock drift! Now %.0f:%.0f was %.0f:%.0f", + new_min_freq, new_max_freq, self.min_freq, self.max_freq) self.min_freq, self.max_freq = new_min_freq, new_max_freq min_time, max_time = sent_time, receive_time # Update variables @@ -116,3 +117,54 @@ class ClockSync: self.last_clock_time = max_time self.last_clock_time_min = min_time self.serial.set_clock_est(self.min_freq, max_time + 0.001, clock) + +# Clock synching code for secondary MCUs (whose clocks are sync'ed to +# a primary MCU) +class SecondarySync(ClockSync): + def __init__(self, reactor, main_sync): + ClockSync.__init__(self, reactor) + self.main_sync = main_sync + self.clock_adj = (0., 0.) + def connect(self, serial): + ClockSync.connect(self, serial) + self.clock_adj = (0., self.mcu_freq) + curtime = self.reactor.monotonic() + main_print_time = self.main_sync.estimated_print_time(curtime) + local_print_time = self.estimated_print_time(curtime) + self.clock_adj = (main_print_time - local_print_time, self.mcu_freq) + self.calibrate_clock(0., curtime) + def connect_file(self, serial, pace=False): + ClockSync.connect_file(self, serial, pace) + self.clock_adj = (0., self.mcu_freq) + def print_time_to_clock(self, print_time): + adjusted_offset, adjusted_freq = self.clock_adj + return int((print_time - adjusted_offset) * adjusted_freq) + def clock_to_print_time(self, clock): + adjusted_offset, adjusted_freq = self.clock_adj + return clock / adjusted_freq + adjusted_offset + def get_adjusted_freq(self): + adjusted_offset, adjusted_freq = self.clock_adj + return adjusted_freq + def calibrate_clock(self, print_time, eventtime): + #logging.debug("calibrate: %.3f: %.6f vs %.6f", + # eventtime, + # self.estimated_print_time(eventtime), + # self.main_sync.estimated_print_time(eventtime)) + with self.main_sync.lock: + ser_clock = self.main_sync.last_clock + ser_clock_time = self.main_sync.last_clock_time + ser_freq = self.main_sync.min_freq + main_mcu_freq = self.main_sync.mcu_freq + + main_clock = (eventtime - ser_clock_time) * ser_freq + ser_clock + print_time = max(print_time, main_clock / main_mcu_freq) + main_sync_clock = (print_time + 2.) * main_mcu_freq + sync_time = ser_clock_time + (main_sync_clock - ser_clock) / ser_freq + + print_clock = self.print_time_to_clock(print_time) + sync_clock = self.get_clock(sync_time) + adjusted_freq = .5 * (sync_clock - print_clock) + adjusted_offset = print_time - print_clock / adjusted_freq + + self.clock_adj = (adjusted_offset, adjusted_freq) + return self.clock_adj |