sensor_lis2dw: No need to send messages when stopping queries

Simplify the mcu code as any messages are ignored by the host anyway.

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

2 files changed, 4 insertions, 25 deletions

diff --git a/klippy/extras/lis2dw.py b/klippy/extras/lis2dw.py
index 28591c21..a7fe54d7 100644
--- a/klippy/extras/lis2dw.py
+++ b/klippy/extras/lis2dw.py
@@ -48,7 +48,7 @@ class LIS2DW:
         self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=5000000)
         self.mcu = mcu = self.spi.get_mcu()
         self.oid = oid = mcu.create_oid()
-        self.query_lis2dw_cmd = self.query_lis2dw_end_cmd = None
+        self.query_lis2dw_cmd = None
         self.query_lis2dw_status_cmd = None
         mcu.add_config_cmd("config_lis2dw oid=%d spi_oid=%d"
                            % (oid, self.spi.get_oid()))
@@ -75,10 +75,6 @@ class LIS2DW:
         cmdqueue = self.spi.get_command_queue()
         self.query_lis2dw_cmd = self.mcu.lookup_command(
             "query_lis2dw oid=%c clock=%u rest_ticks=%u", cq=cmdqueue)
-        self.query_lis2dw_end_cmd = self.mcu.lookup_query_command(
-            "query_lis2dw oid=%c clock=%u rest_ticks=%u",
-            "lis2dw_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
-            " buffered=%c fifo=%c limit_count=%hu", oid=self.oid, cq=cmdqueue)
         self.query_lis2dw_status_cmd = self.mcu.lookup_query_command(
             "query_lis2dw_status oid=%c",
             "lis2dw_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
@@ -179,7 +175,7 @@ class LIS2DW:
         self.last_error_count = 0
     def _finish_measurements(self):
         # Halt bulk reading
-        params = self.query_lis2dw_end_cmd.send([self.oid, 0, 0])
+        self.query_lis2dw_cmd.send_wait_ack([self.oid, 0, 0])
         self.bulk_queue.clear_samples()
         logging.info("LIS2DW finished '%s' measurements", self.name)
         self.set_reg(REG_LIS2DW_FIFO_CTRL, 0x00)
diff --git a/src/sensor_lis2dw.c b/src/sensor_lis2dw.c
index 52612623..06dd3206 100644
--- a/src/sensor_lis2dw.c
+++ b/src/sensor_lis2dw.c
@@ -23,7 +23,7 @@ struct lis2dw {
     uint32_t rest_ticks;
     struct spidev_s *spi;
     uint16_t sequence, limit_count;
-    uint8_t flags, data_count, fifo_disable;
+    uint8_t flags, data_count;
     uint8_t data[48];
 };
 
@@ -117,7 +117,7 @@ lis2dw_query(struct lis2dw *ax, uint8_t oid)
         ax->limit_count++;
 
     // check if we need to run the task again (more packets in fifo?)
-    if (!fifo_empty&&!(ax->fifo_disable)) {
+    if (!fifo_empty) {
         // More data in fifo - wake this task again
         sched_wake_task(&lis2dw_wake);
     } else if (ax->flags & LIS_RUNNING) {
@@ -134,7 +134,6 @@ lis2dw_start(struct lis2dw *ax, uint8_t oid)
 {
     sched_del_timer(&ax->timer);
     ax->flags = LIS_RUNNING;
-    ax->fifo_disable = 0;
     uint8_t ctrl[2] = {LIS_FIFO_CTRL , 0xC0};
     spidev_transfer(ax->spi, 0, sizeof(ctrl), ctrl);
     lis2dw_reschedule_timer(ax);
@@ -147,23 +146,8 @@ lis2dw_stop(struct lis2dw *ax, uint8_t oid)
     // Disable measurements
     sched_del_timer(&ax->timer);
     ax->flags = 0;
-    // Drain any measurements still in fifo
-    ax->fifo_disable = 1;
-    lis2dw_query(ax, oid);
-
     uint8_t ctrl[2] = {LIS_FIFO_CTRL , 0};
-    uint32_t end1_time = timer_read_time();
     spidev_transfer(ax->spi, 0, sizeof(ctrl), ctrl);
-    uint32_t end2_time = timer_read_time();
-
-    uint8_t msg[2] = { LIS_FIFO_SAMPLES | LIS_AM_READ , 0};
-    spidev_transfer(ax->spi, 1, sizeof(msg), msg);
-    uint8_t fifo_status = msg[1]&0x1f;
-
-    //Report final data
-    if (ax->data_count)
-        lis2dw_report(ax, oid);
-    lis2dw_status(ax, oid, end1_time, end2_time, fifo_status);
 }
 
 void
@@ -183,7 +167,6 @@ command_query_lis2dw(uint32_t *args)
     ax->flags = LIS_HAVE_START;
     ax->sequence = ax->limit_count = 0;
     ax->data_count = 0;
-    ax->fifo_disable = 0;
     sched_add_timer(&ax->timer);
 }
 DECL_COMMAND(command_query_lis2dw,