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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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44
src/sensor_mpu9250.c
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@@ -12,6 +12,7 @@
#include "basecmd.h" // oid_alloc
#include "command.h" // DECL_COMMAND
#include "sched.h" // DECL_TASK
#include "sensor_bulk.h" // sensor_bulk_report
#include "board/gpio.h" // i2c_read
#include "i2ccmds.h" // i2cdev_oid_lookup
@@ -46,11 +47,9 @@ struct mpu9250 {
struct timer timer;
uint32_t rest_ticks;
struct i2cdev_s *i2c;
uint16_t sequence, limit_count, fifo_max, fifo_pkts_bytes;
uint8_t flags, data_count;
// msg size must be <= 255 due to Klipper api
// = SAMPLES_PER_BLOCK (from mpu9250.py) * BYTES_PER_FIFO_ENTRY + 1
uint8_t data[BYTES_PER_BLOCK];
uint16_t fifo_max, fifo_pkts_bytes;
uint8_t flags;
struct sensor_bulk sb;
};
enum {
@@ -92,27 +91,6 @@ command_config_mpu9250(uint32_t *args)
}
DECL_COMMAND(command_config_mpu9250, "config_mpu9250 oid=%c i2c_oid=%c");
// Report local measurement buffer
static void
mp9250_report(struct mpu9250 *mp, uint8_t oid)
{
sendf("mpu9250_data oid=%c sequence=%hu data=%*s"
, oid, mp->sequence, mp->data_count, mp->data);
mp->data_count = 0;
mp->sequence++;
}
// Report buffer and fifo status
static void
mp9250_status(struct mpu9250 *mp, uint_fast8_t oid
, uint32_t time1, uint32_t time2, uint16_t fifo)
{
sendf("mpu9250_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
" buffered=%c fifo=%u limit_count=%hu"
, oid, time1, time2-time1, mp->sequence
, mp->data_count, fifo, mp->limit_count);
}
// Helper code to reschedule the mpu9250_event() timer
static void
mp9250_reschedule_timer(struct mpu9250 *mp)
@@ -135,10 +113,10 @@ mp9250_query(struct mpu9250 *mp, uint8_t oid)
if (mp->fifo_pkts_bytes >= BYTES_PER_BLOCK) {
uint8_t reg = AR_FIFO;
i2c_read(mp->i2c->i2c_config, sizeof(reg), &reg
, BYTES_PER_BLOCK, &mp->data[0]);
mp->data_count = BYTES_PER_BLOCK;
, BYTES_PER_BLOCK, &mp->sb.data[0]);
mp->sb.data_count = BYTES_PER_BLOCK;
mp->fifo_pkts_bytes -= BYTES_PER_BLOCK;
mp9250_report(mp, oid);
sensor_bulk_report(&mp->sb, oid);
}
// If we have enough bytes remaining to fill another report wake again
@@ -214,9 +192,7 @@ command_query_mpu9250(uint32_t *args)
mp->timer.waketime = args[1];
mp->rest_ticks = args[2];
mp->flags = AX_HAVE_START;
mp->sequence = 0;
mp->limit_count = 0;
mp->data_count = 0;
sensor_bulk_reset(&mp->sb);
mp->fifo_max = 0;
mp->fifo_pkts_bytes = 0;
sched_add_timer(&mp->timer);
@@ -235,7 +211,7 @@ command_query_mpu9250_status(uint32_t *args)
i2c_read(mp->i2c->i2c_config, sizeof(int_reg), int_reg, sizeof(int_msg),
&int_msg);
if (int_msg & FIFO_OVERFLOW_INT)
mp->limit_count++;
mp->sb.possible_overflows++;
// Read latest FIFO count (with precise timing)
uint8_t reg[] = {AR_FIFO_COUNT_H};
@@ -246,7 +222,7 @@ command_query_mpu9250_status(uint32_t *args)
uint16_t fifo_bytes = ((msg[0] & 0x1f) << 8) | msg[1];
// Report status
mp9250_status(mp, args[0], time1, time2, fifo_bytes / BYTES_PER_FIFO_ENTRY);
sensor_bulk_status(&mp->sb, args[0], time1, time2-time1, fifo_bytes);
}
DECL_COMMAND(command_query_mpu9250_status, "query_mpu9250_status oid=%c");