sensor_adxl345: No need to schedule start of bulk reading

It's simpler and faster to enable the adxl345 in the python code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

2 files changed, 18 insertions, 53 deletions

diff --git a/klippy/extras/adxl345.py b/klippy/extras/adxl345.py
index 45d8369f..738903f3 100644
--- a/klippy/extras/adxl345.py
+++ b/klippy/extras/adxl345.py
@@ -184,8 +184,6 @@ def read_axes_map(config):
         raise config.error("Invalid axes_map parameter")
     return [am[a.strip()] for a in axes_map]
 
-MIN_MSG_TIME = 0.100
-
 BYTES_PER_SAMPLE = 5
 SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
 
@@ -207,7 +205,7 @@ class ADXL345:
         self.query_adxl345_cmd = None
         mcu.add_config_cmd("config_adxl345 oid=%d spi_oid=%d"
                            % (oid, self.spi.get_oid()))
-        mcu.add_config_cmd("query_adxl345 oid=%d clock=0 rest_ticks=0"
+        mcu.add_config_cmd("query_adxl345 oid=%d rest_ticks=0"
                            % (oid,), on_restart=True)
         mcu.register_config_callback(self._build_config)
         self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid)
@@ -228,7 +226,7 @@ class ADXL345:
     def _build_config(self):
         cmdqueue = self.spi.get_command_queue()
         self.query_adxl345_cmd = self.mcu.lookup_command(
-            "query_adxl345 oid=%c clock=%u rest_ticks=%u", cq=cmdqueue)
+            "query_adxl345 oid=%c rest_ticks=%u", cq=cmdqueue)
         self.clock_updater.setup_query_command(
             self.mcu, "query_adxl345_status oid=%c", oid=self.oid, cq=cmdqueue)
     def read_reg(self, reg):
@@ -302,19 +300,17 @@ class ADXL345:
         self.set_reg(REG_FIFO_CTL, SET_FIFO_CTL)
         # 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)
         rest_ticks = self.mcu.seconds_to_clock(4. / self.data_rate)
-        self.query_adxl345_cmd.send([self.oid, reqclock, rest_ticks],
-                                    reqclock=reqclock)
+        self.query_adxl345_cmd.send([self.oid, rest_ticks])
+        self.set_reg(REG_POWER_CTL, 0x08)
         logging.info("ADXL345 starting '%s' measurements", self.name)
         # Initialize clock tracking
         self.clock_updater.note_start()
         self.last_error_count = 0
     def _finish_measurements(self):
         # Halt bulk reading
-        self.query_adxl345_cmd.send_wait_ack([self.oid, 0, 0])
+        self.set_reg(REG_POWER_CTL, 0x00)
+        self.query_adxl345_cmd.send_wait_ack([self.oid, 0])
         self.bulk_queue.clear_samples()
         logging.info("ADXL345 finished '%s' measurements", self.name)
     def _process_batch(self, eventtime):
diff --git a/src/sensor_adxl345.c b/src/sensor_adxl345.c
index 8cd471ef..32ce4c65 100644
--- a/src/sensor_adxl345.c
+++ b/src/sensor_adxl345.c
@@ -1,6 +1,6 @@
 // Support for gathering acceleration data from ADXL345 chip
 //
-// Copyright (C) 2020  Kevin O'Connor <kevin@koconnor.net>
+// Copyright (C) 2020-2023  Kevin O'Connor <kevin@koconnor.net>
 //
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
@@ -22,7 +22,7 @@ struct adxl345 {
 };
 
 enum {
-    AX_HAVE_START = 1<<0, AX_RUNNING = 1<<1, AX_PENDING = 1<<2,
+    AX_PENDING = 1<<0,
 };
 
 static struct task_wake adxl345_wake;
@@ -58,7 +58,6 @@ adxl_reschedule_timer(struct adxl345 *ax)
 }
 
 // Chip registers
-#define AR_POWER_CTL   0x2D
 #define AR_DATAX0      0x32
 #define AR_FIFO_STATUS 0x39
 #define AM_READ  0x80
@@ -99,59 +98,33 @@ adxl_query(struct adxl345 *ax, uint8_t oid)
     // Check fifo status
     if (fifo_status >= 31)
         ax->sb.possible_overflows++;
-    if (fifo_status > 1 && fifo_status <= 32) {
+    if (fifo_status > 1) {
         // More data in fifo - wake this task again
         sched_wake_task(&adxl345_wake);
-    } else if (ax->flags & AX_RUNNING) {
+    } else {
         // Sleep until next check time
-        sched_del_timer(&ax->timer);
         ax->flags &= ~AX_PENDING;
         adxl_reschedule_timer(ax);
     }
 }
 
-// Startup measurements
-static void
-adxl_start(struct adxl345 *ax, uint8_t oid)
-{
-    sched_del_timer(&ax->timer);
-    ax->flags = AX_RUNNING;
-    uint8_t msg[2] = { AR_POWER_CTL, 0x08 };
-    spidev_transfer(ax->spi, 0, sizeof(msg), msg);
-    adxl_reschedule_timer(ax);
-}
-
-// End measurements
-static void
-adxl_stop(struct adxl345 *ax, uint8_t oid)
-{
-    // Disable measurements
-    sched_del_timer(&ax->timer);
-    ax->flags = 0;
-    uint8_t msg[2] = { AR_POWER_CTL, 0x00 };
-    spidev_transfer(ax->spi, 0, sizeof(msg), msg);
-}
-
 void
 command_query_adxl345(uint32_t *args)
 {
     struct adxl345 *ax = oid_lookup(args[0], command_config_adxl345);
 
-    if (!args[2]) {
+    sched_del_timer(&ax->timer);
+    ax->flags = 0;
+    if (!args[1])
         // End measurements
-        adxl_stop(ax, args[0]);
         return;
-    }
+
     // Start new measurements query
-    sched_del_timer(&ax->timer);
-    ax->timer.waketime = args[1];
-    ax->rest_ticks = args[2];
-    ax->flags = AX_HAVE_START;
+    ax->rest_ticks = args[1];
     sensor_bulk_reset(&ax->sb);
-    sched_add_timer(&ax->timer);
+    adxl_reschedule_timer(ax);
 }
-DECL_COMMAND(command_query_adxl345,
-             "query_adxl345 oid=%c clock=%u rest_ticks=%u");
+DECL_COMMAND(command_query_adxl345, "query_adxl345 oid=%c rest_ticks=%u");
 
 void
 command_query_adxl345_status(uint32_t *args)
@@ -181,11 +154,7 @@ adxl345_task(void)
     struct adxl345 *ax;
     foreach_oid(oid, ax, command_config_adxl345) {
         uint_fast8_t flags = ax->flags;
-        if (!(flags & AX_PENDING))
-            continue;
-        if (flags & AX_HAVE_START)
-            adxl_start(ax, oid);
-        else
+        if (flags & AX_PENDING)
             adxl_query(ax, oid);
     }
 }