sensor_bulk: New C file with helper code for sending bulk sensor measurements

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>

1 files changed, 6 insertions, 16 deletions

diff --git a/klippy/extras/mpu9250.py b/klippy/extras/mpu9250.py
index 41376dc3..4626e1c0 100644
--- a/klippy/extras/mpu9250.py
+++ b/klippy/extras/mpu9250.py
@@ -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)