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serialhdl: Load the mcu's 64bit clock at start of connection

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Store a full 64bit uptime in the mcu and query it at the start of each
connection.  This ensures the host's 64bit clock is always in synch
with the mcu's clock.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-03-03 22:02:27 -05:00
parent f53897758d
commit c19af4fb2b
2 changed files with 25 additions and 9 deletions
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14
klippy/serialhdl.py
View File

@@ -30,8 +30,7 @@ class SerialReader:
self.lock = threading.Lock()
self.background_thread = None
# Message handlers
self.status_timer = self.reactor.register_timer(
self._status_event, self.reactor.NOW)
self.status_timer = self.reactor.register_timer(self._status_event)
self.status_cmd = None
handlers = {
'#unknown': self.handle_unknown,
@@ -90,14 +89,21 @@ class SerialReader:
len(msgparser.messages_by_id), msgparser.version))
logging.info("MCU config: %s" % (" ".join(
["%s=%s" % (k, v) for k, v in msgparser.config.items()])))
# Setup for runtime
# Setup baud adjust
mcu_baud = float(msgparser.config.get('SERIAL_BAUD', 0.))
if mcu_baud:
baud_adjust = self.BITS_PER_BYTE / mcu_baud
self.ffi_lib.serialqueue_set_baud_adjust(
self.serialqueue, baud_adjust)
# Load initial last_ack_clock/last_ack_time
uptime_msg = msgparser.create_command('get_uptime')
params = self.send_with_response(uptime_msg, 'uptime')
self.last_ack_clock = (params['high'] << 32) | params['clock']
self.last_ack_time = params['#receive_time']
# Enable periodic get_status timer
get_status = msgparser.lookup_command('get_status')
self.status_cmd = get_status.encode()
self.reactor.update_timer(self.status_timer, self.reactor.NOW)
def connect_file(self, debugoutput, dictionary, pace=False):
self.ser = debugoutput
self.msgparser.process_identify(dictionary, decompress=False)
@@ -129,8 +135,6 @@ class SerialReader:
self.est_clock, self.last_ack_time, self.last_ack_clock)
return sqstats + tstats
def _status_event(self, eventtime):
if self.status_cmd is None:
return eventtime + 0.1
self.send(self.status_cmd)
return eventtime + 1.0
# Serial response callbacks

20
src/basecmd.c
View File

@@ -191,6 +191,17 @@ command_get_status(uint32_t *args)
}
DECL_COMMAND_FLAGS(command_get_status, HF_IN_SHUTDOWN, "get_status");
static uint32_t stats_send_time, stats_send_time_high;
void
command_get_uptime(uint32_t *args)
{
uint32_t cur = sched_read_time();
uint32_t high = stats_send_time_high + (cur < stats_send_time);
sendf("uptime high=%u clock=%u", high, cur);
}
DECL_COMMAND_FLAGS(command_get_uptime, HF_IN_SHUTDOWN, "get_uptime");
#define SUMSQ_BASE 256
DECL_CONSTANT(STATS_SUMSQ_BASE, SUMSQ_BASE);
@@ -215,11 +226,12 @@ stats_task(void)
nextsumsq = 0xffffffff;
sumsq = nextsumsq;
static uint32_t prev;
if (sched_is_before(cur, prev + sched_from_us(5000000)))
if (sched_is_before(cur, stats_send_time + sched_from_us(5000000)))
return;
sendf("stats count=%u sum=%u sumsq=%u", count, cur - prev, sumsq);
prev = cur;
sendf("stats count=%u sum=%u sumsq=%u", count, cur - stats_send_time, sumsq);
if (cur < stats_send_time)
stats_send_time_high++;
stats_send_time = cur;
count = sumsq = 0;
}
DECL_TASK(stats_task);