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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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34
klippy/extras/bulk_sensor.py
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@ -114,7 +114,7 @@ class BatchWebhooksClient:
# Helper class to store incoming messages in a queue
class BulkDataQueue:
def __init__(self, mcu, msg_name, oid):
def __init__(self, mcu, msg_name="sensor_bulk_data", oid=None):
# Measurement storage (accessed from background thread)
self.lock = threading.Lock()
self.raw_samples = []
@ -206,31 +206,37 @@ class ChipClockUpdater:
self.clock_sync = clock_sync
self.bytes_per_sample = bytes_per_sample
self.samples_per_block = MAX_BULK_MSG_SIZE // bytes_per_sample
self.mcu = clock_sync.mcu
self.last_sequence = self.max_query_duration = 0
self.last_limit_count = 0
self.last_overflows = 0
self.mcu = self.oid = self.query_status_cmd = None
def setup_query_command(self, mcu, msgformat, oid, cq):
self.mcu = mcu
self.oid = oid
self.query_status_cmd = self.mcu.lookup_query_command(
msgformat, "sensor_bulk_status oid=%c clock=%u query_ticks=%u"
" next_sequence=%hu buffered=%u possible_overflows=%hu",
oid=oid, cq=cq)
def get_last_sequence(self):
return self.last_sequence
def get_last_limit_count(self):
return self.last_limit_count
def get_last_overflows(self):
return self.last_overflows
def clear_duration_filter(self):
self.max_query_duration = 1 << 31
def note_start(self, reqclock):
self.last_sequence = 0
self.last_limit_count = 0
self.last_overflows = 0
self.clock_sync.reset(reqclock, 0)
self.clear_duration_filter()
def update_clock(self, params):
# Handle a status response message of the form:
# adxl345_status oid=x clock=x query_ticks=x next_sequence=x
# buffered=x fifo=x limit_count=x
fifo = params['fifo']
self.update_clock(minclock=reqclock)
self.clear_duration_filter()
def update_clock(self, minclock=0):
params = self.query_status_cmd.send([self.oid], minclock=minclock)
mcu_clock = self.mcu.clock32_to_clock64(params['clock'])
seq_diff = (params['next_sequence'] - self.last_sequence) & 0xffff
self.last_sequence += seq_diff
buffered = params['buffered']
lc_diff = (params['limit_count'] - self.last_limit_count) & 0xffff
self.last_limit_count += lc_diff
po_diff = (params['possible_overflows'] - self.last_overflows) & 0xffff
self.last_overflows += po_diff
duration = params['query_ticks']
if duration > self.max_query_duration:
# Skip measurement as a high query time could skew clock tracking
@ -239,7 +245,7 @@ class ChipClockUpdater:
return
self.max_query_duration = 2 * duration
msg_count = (self.last_sequence * self.samples_per_block
+ buffered // self.bytes_per_sample + fifo)
+ buffered // self.bytes_per_sample)
# The "chip clock" is the message counter plus .5 for average
# inaccuracy of query responses and plus .5 for assumed offset
# of hardware processing time.