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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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4
klippy/extras/angle.py
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@ -412,7 +412,7 @@ class HelperTLE5012B:
self._write_reg(reg, val)
BYTES_PER_SAMPLE = 3
SAMPLES_PER_BLOCK = 16
SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
SAMPLE_PERIOD = 0.000400
BATCH_UPDATES = 0.100
@ -445,7 +445,7 @@ class Angle:
"query_spi_angle oid=%d clock=0 rest_ticks=0 time_shift=0"
% (oid,), on_restart=True)
mcu.register_config_callback(self._build_config)
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "spi_angle_data", oid)
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid)
# Process messages in batches
self.batch_bulk = bulk_sensor.BatchBulkHelper(
self.printer, self._process_batch,