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bulk_sensor: Refactor ChipClockUpdater constructor

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Build the clock_sync and struct.Struct() in the ChipClockUpdater
constructor.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2024-04-13 21:02:04 -04:00
parent 56829b07d2
commit 9ceaae3847
5 changed files with 31 additions and 45 deletions
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14
klippy/extras/mpu9250.py
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@ -52,9 +52,6 @@ SCALE = 0.000244140625 * FREEFALL_ACCEL
FIFO_SIZE = 512
BYTES_PER_SAMPLE = 6
SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
BATCH_UPDATES = 0.100
# Printer class that controls MPU9250 chip
@ -77,9 +74,8 @@ class MPU9250:
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid)
# Clock tracking
chip_smooth = self.data_rate * BATCH_UPDATES * 2
self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth)
self.clock_updater = bulk_sensor.ChipClockUpdater(self.clock_sync,
BYTES_PER_SAMPLE)
self.clock_updater = bulk_sensor.ChipClockUpdater(mcu, chip_smooth,
">hhh")
self.last_error_count = 0
# Process messages in batches
self.batch_bulk = bulk_sensor.BatchBulkHelper(
@ -97,8 +93,8 @@ class MPU9250:
% (self.oid,), on_restart=True)
self.query_mpu9250_cmd = self.mcu.lookup_command(
"query_mpu9250 oid=%c rest_ticks=%u", cq=cmdqueue)
self.clock_updater.setup_query_command(
self.mcu, "query_mpu9250_status oid=%c", oid=self.oid, cq=cmdqueue)
self.clock_updater.setup_query_command("query_mpu9250_status oid=%c",
oid=self.oid, cq=cmdqueue)
def read_reg(self, reg):
params = self.i2c.i2c_read([reg], 1)
return bytearray(params['response'])[0]
@ -111,7 +107,7 @@ class MPU9250:
# Measurement decoding
def _extract_samples(self, raw_samples):
# Convert messages to samples
samples = self.clock_updater.extract_samples(">hhh", raw_samples)
samples = self.clock_updater.extract_samples(raw_samples)
# Convert samples
(x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
count = 0