h3n3/klipper
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

msgblock: Add clock estimation helper functions

Browse Source 
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2021-02-15 19:18:51 -05:00
parent f938caa0d2
commit 620f77ddb7
7 changed files with 65 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files

38
klippy/chelper/serialqueue.c
View File

@@ -50,8 +50,7 @@ struct serialqueue {
// Baud / clock tracking
int receive_window;
double baud_adjust, idle_time;
double est_freq, last_clock_time;
uint64_t last_clock;
struct clock_estimate ce;
double last_receive_sent_time;
// Retransmit support
uint64_t send_seq, receive_seq;
@@ -483,9 +482,7 @@ check_send_command(struct serialqueue *sq, double eventtime)
// Check for stalled messages now ready
double idletime = eventtime > sq->idle_time ? eventtime : sq->idle_time;
idletime += MESSAGE_MIN * sq->baud_adjust;
double timedelta = idletime - sq->last_clock_time;
uint64_t ack_clock = ((uint64_t)(timedelta * sq->est_freq)
+ sq->last_clock);
uint64_t ack_clock = clock_from_time(&sq->ce, idletime);
uint64_t min_stalled_clock = MAX_CLOCK, min_ready_clock = MAX_CLOCK;
struct command_queue *cq;
list_for_each_entry(cq, &sq->pending_queues, node) {
@@ -508,11 +505,9 @@ check_send_command(struct serialqueue *sq, double eventtime)
struct queue_message *qm = list_first_entry(
&cq->ready_queue, struct queue_message, node);
uint64_t req_clock = qm->req_clock;
double bgoffset = MIN_REQTIME_DELTA + MIN_BACKGROUND_DELTA;
if (req_clock == BACKGROUND_PRIORITY_CLOCK)
req_clock = (uint64_t)(
(sq->idle_time - sq->last_clock_time
+ MIN_REQTIME_DELTA + MIN_BACKGROUND_DELTA)
* sq->est_freq) + sq->last_clock;
req_clock = clock_from_time(&sq->ce, sq->idle_time + bgoffset);
if (req_clock < min_ready_clock)
min_ready_clock = req_clock;
}
@@ -521,20 +516,20 @@ check_send_command(struct serialqueue *sq, double eventtime)
// Check for messages to send
if (sq->ready_bytes >= MESSAGE_PAYLOAD_MAX)
return PR_NOW;
if (! sq->est_freq) {
if (! sq->ce.est_freq) {
if (sq->ready_bytes)
return PR_NOW;
sq->need_kick_clock = MAX_CLOCK;
return PR_NEVER;
}
uint64_t reqclock_delta = MIN_REQTIME_DELTA * sq->est_freq;
uint64_t reqclock_delta = MIN_REQTIME_DELTA * sq->ce.est_freq;
if (min_ready_clock <= ack_clock + reqclock_delta)
return PR_NOW;
uint64_t wantclock = min_ready_clock - reqclock_delta;
if (min_stalled_clock < wantclock)
wantclock = min_stalled_clock;
sq->need_kick_clock = wantclock;
return idletime + (wantclock - ack_clock) / sq->est_freq;
return idletime + (wantclock - ack_clock) / sq->ce.est_freq;
}
// Callback timer to send data to the serial port
@@ -819,12 +814,23 @@ serialqueue_set_receive_window(struct serialqueue *sq, int receive_window)
// serial port
void __visible
serialqueue_set_clock_est(struct serialqueue *sq, double est_freq
, double last_clock_time, uint64_t last_clock)
, double conv_time, uint64_t conv_clock
, uint64_t last_clock)
{
pthread_mutex_lock(&sq->lock);
sq->est_freq = est_freq;
sq->last_clock_time = last_clock_time;
sq->last_clock = last_clock;
sq->ce.est_freq = est_freq;
sq->ce.conv_time = conv_time;
sq->ce.conv_clock = conv_clock;
sq->ce.last_clock = last_clock;
pthread_mutex_unlock(&sq->lock);
}
// Return the latest clock estimate
void
serialqueue_get_clock_est(struct serialqueue *sq, struct clock_estimate *ce)
{
pthread_mutex_lock(&sq->lock);
memcpy(ce, &sq->ce, sizeof(sq->ce));
pthread_mutex_unlock(&sq->lock);
}