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irq: Support sleeping when mcu is idle

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2017-07-12 22:16:16 -04:00
parent 969485c754
commit 118fd21cb8
13 changed files with 101 additions and 10 deletions
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6
klippy/mcu.py
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@@ -420,6 +420,7 @@ class MCU:
self._stats_sumsq_base = 0.
self._mcu_tick_avg = 0.
self._mcu_tick_stddev = 0.
self._mcu_tick_awake = 0.
def handle_mcu_stats(self, params):
count = params['count']
tick_sum = params['sum']
@@ -427,6 +428,7 @@ class MCU:
self._mcu_tick_avg = tick_sum * c
tick_sumsq = params['sumsq'] * self._stats_sumsq_base
self._mcu_tick_stddev = c * math.sqrt(count*tick_sumsq - tick_sum**2)
self._mcu_tick_awake = tick_sum / self._mcu_freq
def handle_shutdown(self, params):
if self.is_shutdown:
return
@@ -493,9 +495,9 @@ class MCU:
self._ffi_lib.steppersync_free(self._steppersync)
self._steppersync = None
def stats(self, eventtime):
return "%s mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
return "%s mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % (
self.serial.stats(eventtime),
self._mcu_tick_avg, self._mcu_tick_stddev)
self._mcu_tick_awake, self._mcu_tick_avg, self._mcu_tick_stddev)
def force_shutdown(self):
self.send(self._emergency_stop_cmd.encode())
def microcontroller_restart(self):