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sensor_bulk: New C file with helper code for sending bulk sensor measurements
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>
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parent
dc6182f3b3
commit
266e96621c
13 changed files with 153 additions and 189 deletions
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@ -187,7 +187,7 @@ def read_axes_map(config):
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MIN_MSG_TIME = 0.100
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BYTES_PER_SAMPLE = 5
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SAMPLES_PER_BLOCK = 10
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SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
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BATCH_UPDATES = 0.100
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@ -205,13 +205,12 @@ class ADXL345:
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self.mcu = mcu = self.spi.get_mcu()
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self.oid = oid = mcu.create_oid()
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self.query_adxl345_cmd = None
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self.query_adxl345_status_cmd = None
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mcu.add_config_cmd("config_adxl345 oid=%d spi_oid=%d"
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% (oid, self.spi.get_oid()))
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mcu.add_config_cmd("query_adxl345 oid=%d clock=0 rest_ticks=0"
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% (oid,), on_restart=True)
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mcu.register_config_callback(self._build_config)
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self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "adxl345_data", oid)
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self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid)
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# Clock tracking
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chip_smooth = self.data_rate * BATCH_UPDATES * 2
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self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth)
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@ -230,10 +229,8 @@ class ADXL345:
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cmdqueue = self.spi.get_command_queue()
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self.query_adxl345_cmd = self.mcu.lookup_command(
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"query_adxl345 oid=%c clock=%u rest_ticks=%u", cq=cmdqueue)
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self.query_adxl345_status_cmd = self.mcu.lookup_query_command(
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"query_adxl345_status oid=%c",
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"adxl345_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
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" buffered=%c fifo=%c limit_count=%hu", oid=self.oid, cq=cmdqueue)
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self.clock_updater.setup_query_command(
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self.mcu, "query_adxl345_status oid=%c", oid=self.oid, cq=cmdqueue)
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def read_reg(self, reg):
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params = self.spi.spi_transfer([reg | REG_MOD_READ, 0x00])
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response = bytearray(params['response'])
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@ -286,17 +283,6 @@ class ADXL345:
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self.clock_sync.set_last_chip_clock(seq * SAMPLES_PER_BLOCK + i)
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del samples[count:]
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return samples
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def _update_clock(self, minclock=0):
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# Query current state
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for retry in range(5):
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params = self.query_adxl345_status_cmd.send([self.oid],
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minclock=minclock)
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fifo = params['fifo'] & 0x7f
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if fifo <= 32:
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break
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else:
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raise self.printer.command_error("Unable to query adxl345 fifo")
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self.clock_updater.update_clock(params)
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# Start, stop, and process message batches
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def _start_measurements(self):
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# In case of miswiring, testing ADXL345 device ID prevents treating
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@ -325,8 +311,6 @@ class ADXL345:
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logging.info("ADXL345 starting '%s' measurements", self.name)
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# Initialize clock tracking
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self.clock_updater.note_start(reqclock)
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self._update_clock(minclock=reqclock)
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self.clock_updater.clear_duration_filter()
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self.last_error_count = 0
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def _finish_measurements(self):
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# Halt bulk reading
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@ -334,7 +318,7 @@ class ADXL345:
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self.bulk_queue.clear_samples()
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logging.info("ADXL345 finished '%s' measurements", self.name)
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def _process_batch(self, eventtime):
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self._update_clock()
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self.clock_updater.update_clock()
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raw_samples = self.bulk_queue.pull_samples()
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if not raw_samples:
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return {}
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@ -342,7 +326,7 @@ class ADXL345:
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if not samples:
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return {}
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return {'data': samples, 'errors': self.last_error_count,
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'overflows': self.clock_updater.get_last_limit_count()}
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'overflows': self.clock_updater.get_last_overflows()}
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def load_config(config):
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return ADXL345(config)
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