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sensor_bulk: New C file with helper code for sending bulk sensor measurements

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Refactor the low-level "bulk sensor" management code in the mcu.  This
updates the sensor_adxl345.c, sensor_mpu9250.c, sensor_lis2dw.c, and
sensor_angle.c code to use the same "bulk sensor" messages.  All of
these sensors will now send "sensor_bulk_data" and
"sensor_bulk_status" messages.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2023-12-17 17:59:25 -05:00
parent dc6182f3b3
commit 266e96621c
13 changed files with 153 additions and 189 deletions
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21
klippy/extras/lis2dw.py
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@@ -33,7 +33,7 @@ SCALE = FREEFALL_ACCEL * 1.952 / 4
MIN_MSG_TIME = 0.100
BYTES_PER_SAMPLE = 6
SAMPLES_PER_BLOCK = 8
SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
BATCH_UPDATES = 0.100
@@ -49,13 +49,12 @@ class LIS2DW:
self.mcu = mcu = self.spi.get_mcu()
self.oid = oid = mcu.create_oid()
self.query_lis2dw_cmd = None
self.query_lis2dw_status_cmd = None
mcu.add_config_cmd("config_lis2dw oid=%d spi_oid=%d"
% (oid, self.spi.get_oid()))
mcu.add_config_cmd("query_lis2dw oid=%d clock=0 rest_ticks=0"
% (oid,), on_restart=True)
mcu.register_config_callback(self._build_config)
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "lis2dw_data", oid)
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid)
# Clock tracking
chip_smooth = self.data_rate * BATCH_UPDATES * 2
self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth)
@@ -75,10 +74,8 @@ class LIS2DW:
cmdqueue = self.spi.get_command_queue()
self.query_lis2dw_cmd = self.mcu.lookup_command(
"query_lis2dw oid=%c clock=%u rest_ticks=%u", cq=cmdqueue)
self.query_lis2dw_status_cmd = self.mcu.lookup_query_command(
"query_lis2dw_status oid=%c",
"lis2dw_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
" buffered=%c fifo=%c limit_count=%hu", oid=self.oid, cq=cmdqueue)
self.clock_updater.setup_query_command(
self.mcu, "query_lis2dw_status oid=%c", oid=self.oid, cq=cmdqueue)
def read_reg(self, reg):
params = self.spi.spi_transfer([reg | REG_MOD_READ, 0x00])
response = bytearray(params['response'])
@@ -133,10 +130,6 @@ class LIS2DW:
self.clock_sync.set_last_chip_clock(seq * SAMPLES_PER_BLOCK + i)
del samples[count:]
return samples
def _update_clock(self, minclock=0):
params = self.query_lis2dw_status_cmd.send([self.oid],
minclock=minclock)
self.clock_updater.update_clock(params)
# Start, stop, and process message batches
def _start_measurements(self):
# In case of miswiring, testing LIS2DW device ID prevents treating
@@ -170,8 +163,6 @@ class LIS2DW:
logging.info("LIS2DW starting '%s' measurements", self.name)
# Initialize clock tracking
self.clock_updater.note_start(reqclock)
self._update_clock(minclock=reqclock)
self.clock_updater.clear_duration_filter()
self.last_error_count = 0
def _finish_measurements(self):
# Halt bulk reading
@@ -180,7 +171,7 @@ class LIS2DW:
logging.info("LIS2DW finished '%s' measurements", self.name)
self.set_reg(REG_LIS2DW_FIFO_CTRL, 0x00)
def _process_batch(self, eventtime):
self._update_clock()
self.clock_updater.update_clock()
raw_samples = self.bulk_queue.pull_samples()
if not raw_samples:
return {}
@@ -188,7 +179,7 @@ class LIS2DW:
if not samples:
return {}
return {'data': samples, 'errors': self.last_error_count,
'overflows': self.clock_updater.get_last_limit_count()}
'overflows': self.clock_updater.get_last_overflows()}
def load_config(config):
return LIS2DW(config)