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mcu: Stagger trsync reporting time during multi-mcu homing 

When multiple MCUs are involved in homing, stagger the scheduling of
the trsync_state report messages from each mcu.  Staggering helps
spread the bandwidth, helps reduce locking contention in the host, and
reduces the chance that intermittent latency could result in a
communication timeout.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2024-01-02 19:00:57 -05:00
parent 96ab906946
commit dab39c02cd
1 changed files with 10 additions and 5 deletions
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15
klippy/mcu.py
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@ -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)