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bulk_sensor: Add new BulkDataQueue class

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Move the bulk sample queue collection to a new helper class in
bulk_sensor.py.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2023-12-16 11:30:51 -05:00
parent 978c294741
commit e67cbbe5c1
5 changed files with 41 additions and 65 deletions
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21
klippy/extras/mpu9250.py
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@ -4,7 +4,7 @@
# Copyright (C) 2020-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, time, threading, multiprocessing, os
import logging, time
from . import bus, motion_report, adxl345, bulk_sensor
MPU9250_ADDR = 0x68
@ -69,9 +69,6 @@ class MPU9250:
self.data_rate = config.getint('rate', 4000)
if self.data_rate not in SAMPLE_RATE_DIVS:
raise config.error("Invalid rate parameter: %d" % (self.data_rate,))
# Measurement storage (accessed from background thread)
self.lock = threading.Lock()
self.raw_samples = []
# Setup mcu sensor_mpu9250 bulk query code
self.i2c = bus.MCU_I2C_from_config(config,
default_addr=MPU9250_ADDR,
@ -81,7 +78,7 @@ class MPU9250:
self.query_mpu9250_cmd = self.query_mpu9250_end_cmd = None
self.query_mpu9250_status_cmd = None
mcu.register_config_callback(self._build_config)
mcu.register_response(self._handle_mpu9250_data, "mpu9250_data", oid)
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "mpu9250_data", oid)
# Clock tracking
self.last_sequence = self.max_query_duration = 0
self.last_limit_count = self.last_error_count = 0
@ -120,9 +117,6 @@ class MPU9250:
# Measurement collection
def is_measuring(self):
return self.query_rate > 0
def _handle_mpu9250_data(self, params):
with self.lock:
self.raw_samples.append(params)
def _extract_samples(self, raw_samples):
# Load variables to optimize inner loop below
(x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
@ -210,10 +204,8 @@ class MPU9250:
self.set_reg(REG_ACCEL_CONFIG, SET_ACCEL_CONFIG)
self.set_reg(REG_ACCEL_CONFIG2, SET_ACCEL_CONFIG2)
# Setup samples
with self.lock:
self.raw_samples = []
# Start bulk reading
self.bulk_queue.clear_samples()
systime = self.printer.get_reactor().monotonic()
print_time = self.mcu.estimated_print_time(systime) + MIN_MSG_TIME
reqclock = self.mcu.print_time_to_clock(print_time)
@ -235,8 +227,7 @@ class MPU9250:
# Halt bulk reading
params = self.query_mpu9250_end_cmd.send([self.oid, 0, 0])
self.query_rate = 0
with self.lock:
self.raw_samples = []
self.bulk_queue.clear_samples()
logging.info("MPU9250 finished '%s' measurements", self.name)
self.set_reg(REG_PWR_MGMT_1, SET_PWR_MGMT_1_SLEEP)
self.set_reg(REG_PWR_MGMT_2, SET_PWR_MGMT_2_OFF)
@ -244,9 +235,7 @@ class MPU9250:
# API interface
def _api_update(self, eventtime):
self._update_clock()
with self.lock:
raw_samples = self.raw_samples
self.raw_samples = []
raw_samples = self.bulk_queue.pull_samples()
if not raw_samples:
return {}
samples = self._extract_samples(raw_samples)