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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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22
klippy/extras/mpu9250.py
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@@ -50,7 +50,7 @@ FIFO_SIZE = 512
MIN_MSG_TIME = 0.100
BYTES_PER_SAMPLE = 6
SAMPLES_PER_BLOCK = 8
SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
BATCH_UPDATES = 0.100
@@ -70,9 +70,8 @@ class MPU9250:
self.mcu = mcu = self.i2c.get_mcu()
self.oid = oid = mcu.create_oid()
self.query_mpu9250_cmd = None
self.query_mpu9250_status_cmd = None
mcu.register_config_callback(self._build_config)
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "mpu9250_data", oid)
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)
@@ -95,10 +94,8 @@ class MPU9250:
% (self.oid,), on_restart=True)
self.query_mpu9250_cmd = self.mcu.lookup_command(
"query_mpu9250 oid=%c clock=%u rest_ticks=%u", cq=cmdqueue)
self.query_mpu9250_status_cmd = self.mcu.lookup_query_command(
"query_mpu9250_status oid=%c",
"mpu9250_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
" buffered=%c fifo=%u limit_count=%hu", oid=self.oid, cq=cmdqueue)
self.clock_updater.setup_query_command(
self.mcu, "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]
@@ -142,11 +139,6 @@ class MPU9250:
self.clock_sync.set_last_chip_clock(seq * SAMPLES_PER_BLOCK + i)
del samples[count:]
return samples
def _update_clock(self, minclock=0):
params = self.query_mpu9250_status_cmd.send([self.oid],
minclock=minclock)
self.clock_updater.update_clock(params)
# Start, stop, and process message batches
def _start_measurements(self):
# In case of miswiring, testing MPU9250 device ID prevents treating
@@ -184,8 +176,6 @@ class MPU9250:
logging.info("MPU9250 starting '%s' measurements", self.name)
# Initialize clock tracking
self.clock_updater.note_start(reqclock)
self._update_clock(minclock=reqclock)
self.clock_updater.clear_duration_filter()
self.last_error_count = 0
def _finish_measurements(self):
# Halt bulk reading
@@ -195,7 +185,7 @@ class MPU9250:
self.set_reg(REG_PWR_MGMT_1, SET_PWR_MGMT_1_SLEEP)
self.set_reg(REG_PWR_MGMT_2, SET_PWR_MGMT_2_OFF)
def _process_batch(self, eventtime):
self._update_clock()
self.clock_updater.update_clock()
raw_samples = self.bulk_queue.pull_samples()
if not raw_samples:
return {}
@@ -203,7 +193,7 @@ class MPU9250:
if not samples:
return {}
return {'data': samples, 'errors': self.last_error_count,
'overflows': self.clock_updater.get_last_limit_count()}
'overflows': self.clock_updater.get_last_overflows()}
def load_config(config):
return MPU9250(config)