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adxl345: Move sample timestamp calculation to reusable code

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Add a new extract_samples() method to the ChipClockUpdater class that
calculates the sample timestamp for each sample in a list of bulk
sensor reports.

Update the adxl345 code to use that extract_samples() code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2024-04-13 20:03:47 -04:00
parent c106955850
commit 95fdb68587
2 changed files with 44 additions and 31 deletions
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27
klippy/extras/bulk_sensor.py
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@ -3,7 +3,7 @@
# Copyright (C) 2020-2023 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, threading
import logging, threading, struct
# This "bulk sensor" module facilitates the processing of sensor chip
# measurements that do not require the host to respond with low
@ -255,3 +255,28 @@ class ChipClockUpdater:
self.clock_sync.reset(avg_mcu_clock, chip_clock)
else:
self.clock_sync.update(avg_mcu_clock, chip_clock)
# Convert a list of sensor_bulk_data responses into list of samples
def extract_samples(self, unpack_fmt, raw_samples):
unpack_from = struct.Struct(unpack_fmt).unpack_from
# Load variables to optimize inner loop below
last_sequence = self.get_last_sequence()
time_base, chip_base, inv_freq = self.clock_sync.get_time_translation()
bytes_per_sample = self.bytes_per_sample
samples_per_block = self.samples_per_block
# Process every message in raw_samples
count = seq = 0
samples = [None] * (len(raw_samples) * samples_per_block)
for params in raw_samples:
seq_diff = (params['sequence'] - last_sequence) & 0xffff
seq_diff -= (seq_diff & 0x8000) << 1
seq = last_sequence + seq_diff
msg_cdiff = seq * samples_per_block - chip_base
data = params['data']
for i in range(len(data) // bytes_per_sample):
ptime = time_base + (msg_cdiff + i) * inv_freq
udata = unpack_from(data, i * bytes_per_sample)
samples[count] = (ptime,) + udata
count += 1
self.clock_sync.set_last_chip_clock(seq * samples_per_block + i)
del samples[count:]
return samples