mcu: Move print_time to clock conversion code to clocksync.py

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/clocksync.py

@@ -14,6 +14,7 @@ class ClockSync:
         self.queries_pending = 0
         self.status_timer = self.reactor.register_timer(self._status_event)
         self.status_cmd = None
+        self.mcu_freq = 0.
         self.lock = threading.Lock()
         self.last_clock = 0
         self.last_clock_time = self.last_clock_time_min = 0.
@@ -27,18 +28,19 @@ class ClockSync:
         self.last_clock = (params['high'] << 32) | params['clock']
         self.last_clock_time = params['#receive_time']
         self.last_clock_time_min = params['#sent_time']
-        clock_freq = msgparser.get_constant_float('CLOCK_FREQ')
+        self.mcu_freq = msgparser.get_constant_float('CLOCK_FREQ')
-        self.min_freq = clock_freq * (1. - MAX_CLOCK_DRIFT)
+        self.min_freq = self.mcu_freq * (1. - MAX_CLOCK_DRIFT)
-        self.max_freq = clock_freq * (1. + MAX_CLOCK_DRIFT)
+        self.max_freq = self.mcu_freq * (1. + MAX_CLOCK_DRIFT)
         # Enable periodic get_status timer
         serial.register_callback(self._handle_status, 'status')
         self.status_cmd = msgparser.create_command('get_status')
         self.reactor.update_timer(self.status_timer, self.reactor.NOW)
     def connect_file(self, serial, pace=False):
         self.serial = serial
+        self.mcu_freq = serial.msgparser.get_constant_float('CLOCK_FREQ')
         est_freq = 1000000000000.
         if pace:
-            est_freq = float(self.msgparser.config['CLOCK_FREQ'])
+            est_freq = self.mcu_freq
         self.min_freq = self.max_freq = est_freq
         self.last_clock = 0
         self.last_clock_time = self.reactor.monotonic()
@@ -55,13 +57,21 @@ class ClockSync:
             last_clock_time = self.last_clock_time
             min_freq = self.min_freq
         return int(last_clock + (eventtime - last_clock_time) * min_freq)
-    def translate_clock(self, raw_clock):
+    def clock32_to_clock64(self, clock32):
         with self.lock:
             last_clock = self.last_clock
-        clock_diff = (last_clock - raw_clock) & 0xffffffff
+        clock_diff = (last_clock - clock32) & 0xffffffff
         if clock_diff & 0x80000000:
             return last_clock + 0x100000000 - clock_diff
         return last_clock - clock_diff
+    def print_time_to_clock(self, print_time):
+        return int(print_time * self.mcu_freq)
+    def clock_to_print_time(self, clock):
+        return clock / self.mcu_freq
+    def estimated_print_time(self, eventtime):
+        return self.clock_to_print_time(self.get_clock(eventtime))
+    def get_adjusted_freq(self):
+        return self.mcu_freq
     def _status_event(self, eventtime):
         self.queries_pending += 1
         self.serial.send(self.status_cmd)

klippy/mcu.py

@@ -162,7 +162,7 @@ class MCU_endstop:
                                , self._oid)
     def home_start(self, print_time, rest_time):
         clock = self._mcu.print_time_to_clock(print_time)
-        rest_ticks = self._mcu.seconds_to_clock(rest_time)
+        rest_ticks = int(rest_time * self._mcu.get_adjusted_freq())
         self._homing = True
         self._min_query_time = self._mcu.monotonic()
         self._next_query_time = print_time + self.RETRY_QUERY
@@ -382,7 +382,7 @@ class MCU_adc:
                                , self._oid)
     def _handle_analog_in_state(self, params):
         last_value = params['value'] * self._inv_max_adc
-        next_clock = self._mcu.translate_clock(params['next_clock'])
+        next_clock = self._mcu.clock32_to_clock64(params['next_clock'])
         last_read_clock = next_clock - self._report_clock
         last_read_time = self._mcu.clock_to_print_time(last_read_clock)
         if self._callback is not None:
@@ -674,17 +674,17 @@ class MCU:
         return self._serial.msgparser.get_constant_float(name)
     # Clock syncing
     def print_time_to_clock(self, print_time):
-        return int(print_time * self._mcu_freq)
+        return self._clocksync.print_time_to_clock(print_time)
     def clock_to_print_time(self, clock):
-        return clock / self._mcu_freq
+        return self._clocksync.clock_to_print_time(clock)
     def estimated_print_time(self, eventtime):
-        return self.clock_to_print_time(self._clocksync.get_clock(eventtime))
+        return self._clocksync.estimated_print_time(eventtime)
-    def get_mcu_freq(self):
+    def get_adjusted_freq(self):
-        return self._mcu_freq
+        return self._clocksync.get_adjusted_freq()
+    def clock32_to_clock64(self, clock32):
+        return self._clocksync.clock32_to_clock64(clock32)
     def seconds_to_clock(self, time):
         return int(time * self._mcu_freq)
-    def translate_clock(self, clock):
-        return self._clocksync.translate_clock(clock)
     def get_max_stepper_error(self):
         return self._max_stepper_error
     # Move command queuing

klippy/stepper.py

@@ -98,7 +98,8 @@ class PrinterHomingStepper(PrinterStepper):
     def get_homing_speed(self):
         # Round the configured homing speed so that it is an even
         # number of ticks per step.
-        dist_ticks = self.mcu_stepper.get_mcu().get_mcu_freq() * self.step_dist
+        adjusted_freq = self.mcu_stepper.get_mcu().get_adjusted_freq()
+        dist_ticks = adjusted_freq * self.step_dist
         ticks_per_step = round(dist_ticks / self.homing_speed)
         return dist_ticks / ticks_per_step
     def get_homed_offset(self):