diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 4fadc13d..f6a21746 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -3,7 +3,7 @@ # Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import sys, zlib, logging, time, math +import sys, zlib, logging, math import serialhdl, pins, chelper class error(Exception): @@ -163,7 +163,7 @@ class MCU_endstop: clock = int(mcu_time * self._mcu_freq) rest_ticks = int(rest_time * self._mcu_freq) self._homing = True - self._min_query_time = time.time() + self._min_query_time = self._mcu.monotonic() self._next_query_clock = clock + self._retry_query_ticks msg = self._home_cmd.encode( self._oid, clock, rest_ticks, 1 ^ self._invert) @@ -173,7 +173,7 @@ class MCU_endstop: self._stepper.note_homing_finalized() self._home_timeout_clock = int(mcu_time * self._mcu_freq) def home_wait(self): - eventtime = time.time() + eventtime = self._mcu.monotonic() while self._check_busy(eventtime): eventtime = self._mcu.pause(eventtime + 0.1) def _handle_end_stop_state(self, params): @@ -211,10 +211,10 @@ class MCU_endstop: def query_endstop(self, mcu_time): clock = int(mcu_time * self._mcu_freq) self._homing = False - self._min_query_time = time.time() + self._min_query_time = self._mcu.monotonic() self._next_query_clock = clock def query_endstop_wait(self): - eventtime = time.time() + eventtime = self._mcu.monotonic() while self._check_busy(eventtime): eventtime = self._mcu.pause(eventtime + 0.1) return self._last_state.get('pin', self._invert) ^ self._invert @@ -377,7 +377,7 @@ class MCU: if not self._is_fileoutput: self.serial.connect() self._printer.reactor.update_timer( - self._timeout_timer, time.time() + self.COMM_TIMEOUT) + self._timeout_timer, self.monotonic() + self.COMM_TIMEOUT) self._mcu_freq = self.serial.msgparser.get_constant_float('CLOCK_FREQ') self._stats_sumsq_base = self.serial.msgparser.get_constant_float( 'STATS_SUMSQ_BASE') @@ -547,5 +547,7 @@ class MCU: raise error("Internal error in stepcompress") def pause(self, waketime): return self._printer.reactor.pause(waketime) + def monotonic(self): + return self._printer.reactor.monotonic() def __del__(self): self.disconnect() |