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, 38 insertions, 0 deletions

diff --git a/src/sensor_bulk.c b/src/sensor_bulk.c
new file mode 100644
index 00000000..9b5c782c
--- /dev/null
+++ b/src/sensor_bulk.c
@@ -0,0 +1,38 @@
+// Helper code for collecting and sending bulk sensor measurements
+//
+// Copyright (C) 2020-2023  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include "command.h" // sendf
+#include "sensor_bulk.h" // sensor_bulk_report
+
+// Reset counters
+void
+sensor_bulk_reset(struct sensor_bulk *sb)
+{
+    sb->sequence = 0;
+    sb->possible_overflows = 0;
+    sb->data_count = 0;
+}
+
+// Report local measurement buffer
+void
+sensor_bulk_report(struct sensor_bulk *sb, uint8_t oid)
+{
+    sendf("sensor_bulk_data oid=%c sequence=%hu data=%*s"
+          , oid, sb->sequence, sb->data_count, sb->data);
+    sb->data_count = 0;
+    sb->sequence++;
+}
+
+// Report buffer and fifo status
+void
+sensor_bulk_status(struct sensor_bulk *sb, uint8_t oid
+                   , uint32_t time1, uint32_t query_ticks, uint32_t fifo)
+{
+    sendf("sensor_bulk_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
+          " buffered=%u possible_overflows=%hu"
+          , oid, time1, query_ticks, sb->sequence
+          , sb->data_count + fifo, sb->possible_overflows);
+}