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f4429a54a9
Add a 50ms delay from the initial clock measurement to the first get_clock query. Disable the prediction_variance filter on each get_clock query so that none of those measurements are ignored. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
221 lines
10 KiB
Python
221 lines
10 KiB
Python
# Micro-controller clock synchronization
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#
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# Copyright (C) 2016-2018 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging, math
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RTT_AGE = .000010 / (60. * 60.)
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DECAY = 1. / 30.
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TRANSMIT_EXTRA = .001
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class ClockSync:
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def __init__(self, reactor):
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self.reactor = reactor
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self.serial = None
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self.get_clock_timer = reactor.register_timer(self._get_clock_event)
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self.get_clock_cmd = self.cmd_queue = None
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self.queries_pending = 0
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self.mcu_freq = 1.
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self.last_clock = 0
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self.clock_est = (0., 0., 0.)
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# Minimum round-trip-time tracking
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self.min_half_rtt = 999999999.9
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self.min_rtt_time = 0.
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# Linear regression of mcu clock and system sent_time
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self.time_avg = self.time_variance = 0.
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self.clock_avg = self.clock_covariance = 0.
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self.prediction_variance = 0.
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self.last_prediction_time = 0.
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def connect(self, serial):
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self.serial = serial
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self.mcu_freq = serial.msgparser.get_constant_float('CLOCK_FREQ')
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# Load initial clock and frequency
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params = serial.send_with_response('get_uptime', 'uptime')
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self.last_clock = (params['high'] << 32) | params['clock']
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self.clock_avg = self.last_clock
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self.time_avg = params['#sent_time']
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self.clock_est = (self.time_avg, self.clock_avg, self.mcu_freq)
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self.prediction_variance = (.001 * self.mcu_freq)**2
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# Enable periodic get_clock timer
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for i in range(8):
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self.reactor.pause(self.reactor.monotonic() + 0.050)
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self.last_prediction_time = -9999.
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params = serial.send_with_response('get_clock', 'clock')
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self._handle_clock(params)
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self.get_clock_cmd = serial.get_msgparser().create_command('get_clock')
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self.cmd_queue = serial.alloc_command_queue()
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serial.register_response(self._handle_clock, 'clock')
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self.reactor.update_timer(self.get_clock_timer, self.reactor.NOW)
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def connect_file(self, serial, pace=False):
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self.serial = serial
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self.mcu_freq = serial.msgparser.get_constant_float('CLOCK_FREQ')
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self.clock_est = (0., 0., self.mcu_freq)
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freq = 1000000000000.
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if pace:
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freq = self.mcu_freq
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serial.set_clock_est(freq, self.reactor.monotonic(), 0)
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# MCU clock querying (_handle_clock is invoked from background thread)
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def _get_clock_event(self, eventtime):
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self.serial.raw_send(self.get_clock_cmd, 0, 0, self.cmd_queue)
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self.queries_pending += 1
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# Use an unusual time for the next event so clock messages
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# don't resonate with other periodic events.
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return eventtime + .9839
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def _handle_clock(self, params):
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self.queries_pending = 0
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# Extend clock to 64bit
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last_clock = self.last_clock
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clock = (last_clock & ~0xffffffff) | params['clock']
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if clock < last_clock:
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clock += 0x100000000
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self.last_clock = clock
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# Check if this is the best round-trip-time seen so far
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sent_time = params['#sent_time']
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if not sent_time:
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return
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receive_time = params['#receive_time']
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half_rtt = .5 * (receive_time - sent_time)
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aged_rtt = (sent_time - self.min_rtt_time) * RTT_AGE
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if half_rtt < self.min_half_rtt + aged_rtt:
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self.min_half_rtt = half_rtt
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self.min_rtt_time = sent_time
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logging.debug("new minimum rtt %.3f: hrtt=%.6f freq=%d",
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sent_time, half_rtt, self.clock_est[2])
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# Filter out samples that are extreme outliers
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exp_clock = ((sent_time - self.time_avg) * self.clock_est[2]
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+ self.clock_avg)
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clock_diff2 = (clock - exp_clock)**2
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if (clock_diff2 > 25. * self.prediction_variance
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and clock_diff2 > (.000500 * self.mcu_freq)**2):
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if clock > exp_clock and sent_time < self.last_prediction_time+10.:
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logging.debug("Ignoring clock sample %.3f:"
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" freq=%d diff=%d stddev=%.3f",
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sent_time, self.clock_est[2], clock - exp_clock,
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math.sqrt(self.prediction_variance))
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return
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logging.info("Resetting prediction variance %.3f:"
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" freq=%d diff=%d stddev=%.3f",
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sent_time, self.clock_est[2], clock - exp_clock,
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math.sqrt(self.prediction_variance))
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self.prediction_variance = (.001 * self.mcu_freq)**2
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else:
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self.last_prediction_time = sent_time
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self.prediction_variance = (
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(1. - DECAY) * (self.prediction_variance + clock_diff2 * DECAY))
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# Add clock and sent_time to linear regression
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diff_sent_time = sent_time - self.time_avg
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self.time_avg += DECAY * diff_sent_time
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self.time_variance = (1. - DECAY) * (
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self.time_variance + diff_sent_time**2 * DECAY)
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diff_clock = clock - self.clock_avg
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self.clock_avg += DECAY * diff_clock
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self.clock_covariance = (1. - DECAY) * (
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self.clock_covariance + diff_sent_time * diff_clock * DECAY)
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# Update prediction from linear regression
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new_freq = self.clock_covariance / self.time_variance
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pred_stddev = math.sqrt(self.prediction_variance)
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self.serial.set_clock_est(new_freq, self.time_avg + TRANSMIT_EXTRA,
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int(self.clock_avg - 3. * pred_stddev))
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self.clock_est = (self.time_avg + self.min_half_rtt,
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self.clock_avg, new_freq)
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#logging.debug("regr %.3f: freq=%.3f d=%d(%.3f)",
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# sent_time, new_freq, clock - exp_clock, pred_stddev)
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# clock frequency conversions
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def print_time_to_clock(self, print_time):
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return int(print_time * self.mcu_freq)
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def clock_to_print_time(self, clock):
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return clock / self.mcu_freq
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# system time conversions
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def get_clock(self, eventtime):
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sample_time, clock, freq = self.clock_est
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return int(clock + (eventtime - sample_time) * freq)
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def estimate_clock_systime(self, reqclock):
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sample_time, clock, freq = self.clock_est
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return float(reqclock - clock)/freq + sample_time
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def estimated_print_time(self, eventtime):
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return self.clock_to_print_time(self.get_clock(eventtime))
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# misc commands
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def clock32_to_clock64(self, clock32):
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last_clock = self.last_clock
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clock_diff = (last_clock - clock32) & 0xffffffff
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if clock_diff & 0x80000000:
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return last_clock + 0x100000000 - clock_diff
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return last_clock - clock_diff
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def is_active(self):
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return self.queries_pending <= 4
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def dump_debug(self):
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sample_time, clock, freq = self.clock_est
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return ("clocksync state: mcu_freq=%d last_clock=%d"
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" clock_est=(%.3f %d %.3f) min_half_rtt=%.6f min_rtt_time=%.3f"
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" time_avg=%.3f(%.3f) clock_avg=%.3f(%.3f)"
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" pred_variance=%.3f" % (
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self.mcu_freq, self.last_clock, sample_time, clock, freq,
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self.min_half_rtt, self.min_rtt_time,
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self.time_avg, self.time_variance,
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self.clock_avg, self.clock_covariance,
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self.prediction_variance))
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def stats(self, eventtime):
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sample_time, clock, freq = self.clock_est
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return "freq=%d" % (freq,)
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def calibrate_clock(self, print_time, eventtime):
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return (0., self.mcu_freq)
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# Clock syncing code for secondary MCUs (whose clocks are sync'ed to a
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# primary MCU)
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class SecondarySync(ClockSync):
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def __init__(self, reactor, main_sync):
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ClockSync.__init__(self, reactor)
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self.main_sync = main_sync
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self.clock_adj = (0., 1.)
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self.last_sync_time = 0.
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def connect(self, serial):
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ClockSync.connect(self, serial)
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self.clock_adj = (0., self.mcu_freq)
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curtime = self.reactor.monotonic()
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main_print_time = self.main_sync.estimated_print_time(curtime)
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local_print_time = self.estimated_print_time(curtime)
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self.clock_adj = (main_print_time - local_print_time, self.mcu_freq)
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self.calibrate_clock(0., curtime)
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def connect_file(self, serial, pace=False):
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ClockSync.connect_file(self, serial, pace)
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self.clock_adj = (0., self.mcu_freq)
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# clock frequency conversions
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def print_time_to_clock(self, print_time):
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adjusted_offset, adjusted_freq = self.clock_adj
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return int((print_time - adjusted_offset) * adjusted_freq)
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def clock_to_print_time(self, clock):
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adjusted_offset, adjusted_freq = self.clock_adj
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return clock / adjusted_freq + adjusted_offset
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# misc commands
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def dump_debug(self):
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adjusted_offset, adjusted_freq = self.clock_adj
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return "%s clock_adj=(%.3f %.3f)" % (
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ClockSync.dump_debug(self), adjusted_offset, adjusted_freq)
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def stats(self, eventtime):
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adjusted_offset, adjusted_freq = self.clock_adj
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return "%s adj=%d" % (ClockSync.stats(self, eventtime), adjusted_freq)
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def calibrate_clock(self, print_time, eventtime):
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# Calculate: est_print_time = main_sync.estimatated_print_time()
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ser_time, ser_clock, ser_freq = self.main_sync.clock_est
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main_mcu_freq = self.main_sync.mcu_freq
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est_main_clock = (eventtime - ser_time) * ser_freq + ser_clock
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est_print_time = est_main_clock / main_mcu_freq
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# Determine sync1_print_time and sync2_print_time
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sync1_print_time = max(print_time, est_print_time)
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sync2_print_time = max(sync1_print_time + 4., self.last_sync_time,
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print_time + 2.5 * (print_time - est_print_time))
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# Calc sync2_sys_time (inverse of main_sync.estimatated_print_time)
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sync2_main_clock = sync2_print_time * main_mcu_freq
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sync2_sys_time = ser_time + (sync2_main_clock - ser_clock) / ser_freq
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# Adjust freq so estimated print_time will match at sync2_print_time
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sync1_clock = self.print_time_to_clock(sync1_print_time)
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sync2_clock = self.get_clock(sync2_sys_time)
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adjusted_freq = ((sync2_clock - sync1_clock)
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/ (sync2_print_time - sync1_print_time))
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adjusted_offset = sync1_print_time - sync1_clock / adjusted_freq
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# Apply new values
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self.clock_adj = (adjusted_offset, adjusted_freq)
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self.last_sync_time = sync2_print_time
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return self.clock_adj
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