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clocksync: Be conservative when setting serialqueue.set_clock_est() 

Accuracy is not as important as ensuring a message is never sent
before it can be received in the serialqueue code.  So, use the
smallest frequency ever seen and add the minimum rtt time when setting
set_clock_est().

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-09-27 09:10:41 -04:00
parent ead99cf647
commit f37fc775e5
1 changed files with 5 additions and 1 deletions
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6
klippy/clocksync.py
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@ -19,6 +19,7 @@ class ClockSync:
self.min_half_rtt = 999999999.9
self.min_half_rtt_time = 0.
self.clock_est = self.prev_est = (0., 0, 0.)
self.min_freq = 0.
self.last_clock_fast = False
def connect(self, serial):
self.serial = serial
@ -30,6 +31,7 @@ class ClockSync:
self.last_clock = clock = (params['high'] << 32) | params['clock']
new_time = .5 * (params['#sent_time'] + params['#receive_time'])
self.clock_est = self.prev_est = (new_time, clock, self.mcu_freq)
self.min_freq = self.mcu_freq
# Enable periodic get_status timer
self.status_cmd = msgparser.create_command('get_status')
for i in range(8):
@ -85,7 +87,9 @@ class ClockSync:
self.prev_est = self.clock_est
self.last_clock_fast = clock_fast
new_freq = (self.prev_est[1] - clock) / (self.prev_est[0] - new_time)
self.serial.set_clock_est(new_freq, new_time + 0.001, clock)
self.min_freq = min(self.min_freq, new_freq)
self.serial.set_clock_est(
self.min_freq, new_time + self.min_half_rtt + 0.001, clock)
self.clock_est = (new_time, clock, new_freq)
# clock frequency conversions
def print_time_to_clock(self, print_time):