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bltouch: Take into account clock skew when calculating command duration 

We want the duration of each command to be an exact multiple of
SIGNAL_PERIOD.  The durations might not be exact if the bltouch is on
a secondary mcu.  Account for this in send_cmd().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-01-07 12:05:37 -05:00
parent 8a97bc592b
commit 5a6a429bc0
1 changed files with 5 additions and 1 deletions
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6
klippy/extras/bltouch.py
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@ -83,7 +83,11 @@ class BLTouchEndstopWrapper:
self.next_cmd_time = print_time self.next_cmd_time = print_time
def send_cmd(self, cmd, duration=MIN_CMD_TIME): def send_cmd(self, cmd, duration=MIN_CMD_TIME):
self.mcu_pwm.set_pwm(self.next_cmd_time, Commands[cmd] / SIGNAL_PERIOD) self.mcu_pwm.set_pwm(self.next_cmd_time, Commands[cmd] / SIGNAL_PERIOD)
self.next_cmd_time += max(duration, MIN_CMD_TIME) # Translate duration to ticks to avoid any secondary mcu clock skew
mcu = self.mcu_pwm.get_mcu()
cmd_clock = mcu.print_time_to_clock(self.next_cmd_time)
cmd_clock += mcu.seconds_to_clock(max(duration, MIN_CMD_TIME))
self.next_cmd_time = mcu.clock_to_print_time(cmd_clock)
return self.next_cmd_time return self.next_cmd_time
def verify_state(self, check_start_time, check_end_time, triggered, msg): def verify_state(self, check_start_time, check_end_time, triggered, msg):
# Perform endstop check to verify bltouch reports desired state # Perform endstop check to verify bltouch reports desired state