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>

8 files changed, 113 insertions, 120 deletions

diff --git a/src/Kconfig b/src/Kconfig
index aaf50653..91376910 100644
--- a/src/Kconfig
+++ b/src/Kconfig
@@ -112,6 +112,10 @@ config WANT_SOFTWARE_SPI
     bool
     depends on HAVE_GPIO && HAVE_GPIO_SPI
     default y
+config NEED_SENSOR_BULK
+    bool
+    depends on WANT_SENSORS || WANT_LIS2DW
+    default y
 menu "Optional features (to reduce code size)"
     depends on HAVE_LIMITED_CODE_SIZE
 config WANT_GPIO_BITBANGING
diff --git a/src/Makefile b/src/Makefile
index 8d771f9e..eddad978 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -16,6 +16,7 @@ src-$(CONFIG_WANT_SOFTWARE_SPI) += spi_software.c
 src-$(CONFIG_WANT_SOFTWARE_I2C) += i2c_software.c
 sensors-src-$(CONFIG_HAVE_GPIO_SPI) := thermocouple.c sensor_adxl345.c \
     sensor_angle.c
-src-$(CONFIG_WANT_LIS2DW) += sensor_lis2dw.c
 sensors-src-$(CONFIG_HAVE_GPIO_I2C) += sensor_mpu9250.c
 src-$(CONFIG_WANT_SENSORS) += $(sensors-src-y)
+src-$(CONFIG_WANT_LIS2DW) += sensor_lis2dw.c
+src-$(CONFIG_NEED_SENSOR_BULK) += sensor_bulk.c
diff --git a/src/sensor_adxl345.c b/src/sensor_adxl345.c
index 5ec3945e..8cd471ef 100644
--- a/src/sensor_adxl345.c
+++ b/src/sensor_adxl345.c
@@ -10,15 +10,15 @@
 #include "basecmd.h" // oid_alloc
 #include "command.h" // DECL_COMMAND
 #include "sched.h" // DECL_TASK
+#include "sensor_bulk.h" // sensor_bulk_report
 #include "spicmds.h" // spidev_transfer
 
 struct adxl345 {
     struct timer timer;
     uint32_t rest_ticks;
     struct spidev_s *spi;
-    uint16_t sequence, limit_count;
-    uint8_t flags, data_count;
-    uint8_t data[50];
+    uint8_t flags;
+    struct sensor_bulk sb;
 };
 
 enum {
@@ -47,27 +47,6 @@ command_config_adxl345(uint32_t *args)
 }
 DECL_COMMAND(command_config_adxl345, "config_adxl345 oid=%c spi_oid=%c");
 
-// Report local measurement buffer
-static void
-adxl_report(struct adxl345 *ax, uint8_t oid)
-{
-    sendf("adxl345_data oid=%c sequence=%hu data=%*s"
-          , oid, ax->sequence, ax->data_count, ax->data);
-    ax->data_count = 0;
-    ax->sequence++;
-}
-
-// Report buffer and fifo status
-static void
-adxl_status(struct adxl345 *ax, uint_fast8_t oid
-            , uint32_t time1, uint32_t time2, uint_fast8_t fifo)
-{
-    sendf("adxl345_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
-          " buffered=%c fifo=%c limit_count=%hu"
-          , oid, time1, time2-time1, ax->sequence
-          , ax->data_count, fifo, ax->limit_count);
-}
-
 // Helper code to reschedule the adxl345_event() timer
 static void
 adxl_reschedule_timer(struct adxl345 *ax)
@@ -87,6 +66,8 @@ adxl_reschedule_timer(struct adxl345 *ax)
 
 #define SET_FIFO_CTL 0x90
 
+#define BYTES_PER_SAMPLE 5
+
 // Query accelerometer data
 static void
 adxl_query(struct adxl345 *ax, uint8_t oid)
@@ -96,7 +77,7 @@ adxl_query(struct adxl345 *ax, uint8_t oid)
     spidev_transfer(ax->spi, 1, sizeof(msg), msg);
     // Extract x, y, z measurements
     uint_fast8_t fifo_status = msg[8] & ~0x80; // Ignore trigger bit
-    uint8_t *d = &ax->data[ax->data_count];
+    uint8_t *d = &ax->sb.data[ax->sb.data_count];
     if (((msg[2] & 0xf0) && (msg[2] & 0xf0) != 0xf0)
         || ((msg[4] & 0xf0) && (msg[4] & 0xf0) != 0xf0)
         || ((msg[6] & 0xf0) && (msg[6] & 0xf0) != 0xf0)
@@ -112,12 +93,12 @@ adxl_query(struct adxl345 *ax, uint8_t oid)
         d[3] = (msg[2] & 0x1f) | (msg[6] << 5); // x high bits and z high bits
         d[4] = (msg[4] & 0x1f) | ((msg[6] << 2) & 0x60); // y high and z high
     }
-    ax->data_count += 5;
-    if (ax->data_count + 5 > ARRAY_SIZE(ax->data))
-        adxl_report(ax, oid);
+    ax->sb.data_count += BYTES_PER_SAMPLE;
+    if (ax->sb.data_count + BYTES_PER_SAMPLE > ARRAY_SIZE(ax->sb.data))
+        sensor_bulk_report(&ax->sb, oid);
     // Check fifo status
     if (fifo_status >= 31)
-        ax->limit_count++;
+        ax->sb.possible_overflows++;
     if (fifo_status > 1 && fifo_status <= 32) {
         // More data in fifo - wake this task again
         sched_wake_task(&adxl345_wake);
@@ -166,8 +147,7 @@ command_query_adxl345(uint32_t *args)
     ax->timer.waketime = args[1];
     ax->rest_ticks = args[2];
     ax->flags = AX_HAVE_START;
-    ax->sequence = ax->limit_count = 0;
-    ax->data_count = 0;
+    sensor_bulk_reset(&ax->sb);
     sched_add_timer(&ax->timer);
 }
 DECL_COMMAND(command_query_adxl345,
@@ -178,10 +158,17 @@ command_query_adxl345_status(uint32_t *args)
 {
     struct adxl345 *ax = oid_lookup(args[0], command_config_adxl345);
     uint8_t msg[2] = { AR_FIFO_STATUS | AM_READ, 0x00 };
+
     uint32_t time1 = timer_read_time();
     spidev_transfer(ax->spi, 1, sizeof(msg), msg);
     uint32_t time2 = timer_read_time();
-    adxl_status(ax, args[0], time1, time2, msg[1]);
+
+    uint_fast8_t fifo_status = msg[1] & ~0x80; // Ignore trigger bit
+    if (fifo_status > 32)
+        // Query error - don't send response - host will retry
+        return;
+    sensor_bulk_status(&ax->sb, args[0], time1, time2-time1
+                       , fifo_status * BYTES_PER_SAMPLE);
 }
 DECL_COMMAND(command_query_adxl345_status, "query_adxl345_status oid=%c");
 
diff --git a/src/sensor_angle.c b/src/sensor_angle.c
index 865670b8..54caecc2 100644
--- a/src/sensor_angle.c
+++ b/src/sensor_angle.c
@@ -10,6 +10,7 @@
 #include "board/irq.h" // irq_disable
 #include "command.h" // DECL_COMMAND
 #include "sched.h" // DECL_TASK
+#include "sensor_bulk.h" // sensor_bulk_report
 #include "spicmds.h" // spidev_transfer
 
 enum { SA_CHIP_A1333, SA_CHIP_AS5047D, SA_CHIP_TLE5012B, SA_CHIP_MAX };
@@ -29,15 +30,16 @@ struct spi_angle {
     struct timer timer;
     uint32_t rest_ticks;
     struct spidev_s *spi;
-    uint16_t sequence;
-    uint8_t flags, chip_type, data_count, time_shift, overflow;
-    uint8_t data[48];
+    uint8_t flags, chip_type, time_shift, overflow;
+    struct sensor_bulk sb;
 };
 
 enum {
     SA_PENDING = 1<<2,
 };
 
+#define BYTES_PER_SAMPLE 3
+
 static struct task_wake angle_wake;
 
 // Event handler that wakes spi_angle_task() periodically
@@ -72,32 +74,22 @@ command_config_spi_angle(uint32_t *args)
 DECL_COMMAND(command_config_spi_angle,
              "config_spi_angle oid=%c spi_oid=%c spi_angle_type=%c");
 
-// Report local measurement buffer
-static void
-angle_report(struct spi_angle *sa, uint8_t oid)
-{
-    sendf("spi_angle_data oid=%c sequence=%hu data=%*s"
-          , oid, sa->sequence, sa->data_count, sa->data);
-    sa->data_count = 0;
-    sa->sequence++;
-}
-
 // Send spi_angle_data message if buffer is full
 static void
 angle_check_report(struct spi_angle *sa, uint8_t oid)
 {
-    if (sa->data_count + 3 > ARRAY_SIZE(sa->data))
-        angle_report(sa, oid);
+    if (sa->sb.data_count + BYTES_PER_SAMPLE > ARRAY_SIZE(sa->sb.data))
+        sensor_bulk_report(&sa->sb, oid);
 }
 
 // Add an entry to the measurement buffer
 static void
 angle_add(struct spi_angle *sa, uint_fast8_t tcode, uint_fast16_t data)
 {
-    sa->data[sa->data_count] = tcode;
-    sa->data[sa->data_count + 1] = data;
-    sa->data[sa->data_count + 2] = data >> 8;
-    sa->data_count += 3;
+    sa->sb.data[sa->sb.data_count] = tcode;
+    sa->sb.data[sa->sb.data_count + 1] = data;
+    sa->sb.data[sa->sb.data_count + 2] = data >> 8;
+    sa->sb.data_count += BYTES_PER_SAMPLE;
 }
 
 // Add an error indicator to the measurement buffer
@@ -237,8 +229,7 @@ command_query_spi_angle(uint32_t *args)
     // Start new measurements query
     sa->timer.waketime = args[1];
     sa->rest_ticks = args[2];
-    sa->sequence = 0;
-    sa->data_count = 0;
+    sensor_bulk_reset(&sa->sb);
     sa->time_shift = args[3];
     sched_add_timer(&sa->timer);
 }
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);
+}
diff --git a/src/sensor_bulk.h b/src/sensor_bulk.h
new file mode 100644
index 00000000..9c130bea
--- /dev/null
+++ b/src/sensor_bulk.h
@@ -0,0 +1,15 @@
+#ifndef __SENSOR_BULK_H
+#define __SENSOR_BULK_H
+
+struct sensor_bulk {
+    uint16_t sequence, possible_overflows;
+    uint8_t data_count;
+    uint8_t data[52];
+};
+
+void sensor_bulk_reset(struct sensor_bulk *sb);
+void sensor_bulk_report(struct sensor_bulk *sb, uint8_t oid);
+void sensor_bulk_status(struct sensor_bulk *sb, uint8_t oid
+                        , uint32_t time1, uint32_t query_ticks, uint32_t fifo);
+
+#endif // sensor_bulk.h
diff --git a/src/sensor_lis2dw.c b/src/sensor_lis2dw.c
index 06dd3206..579ee1f7 100644
--- a/src/sensor_lis2dw.c
+++ b/src/sensor_lis2dw.c
@@ -11,6 +11,7 @@
 #include "basecmd.h" // oid_alloc
 #include "command.h" // DECL_COMMAND
 #include "sched.h" // DECL_TASK
+#include "sensor_bulk.h" // sensor_bulk_report
 #include "spicmds.h" // spidev_transfer
 
 #define LIS_AR_DATAX0 0x28
@@ -18,13 +19,14 @@
 #define LIS_FIFO_CTRL    0x2E
 #define LIS_FIFO_SAMPLES 0x2F
 
+#define BYTES_PER_SAMPLE 6
+
 struct lis2dw {
     struct timer timer;
     uint32_t rest_ticks;
     struct spidev_s *spi;
-    uint16_t sequence, limit_count;
-    uint8_t flags, data_count;
-    uint8_t data[48];
+    uint8_t flags;
+    struct sensor_bulk sb;
 };
 
 enum {
@@ -53,27 +55,6 @@ command_config_lis2dw(uint32_t *args)
 }
 DECL_COMMAND(command_config_lis2dw, "config_lis2dw oid=%c spi_oid=%c");
 
-// Report local measurement buffer
-static void
-lis2dw_report(struct lis2dw *ax, uint8_t oid)
-{
-    sendf("lis2dw_data oid=%c sequence=%hu data=%*s"
-          , oid, ax->sequence, ax->data_count, ax->data);
-    ax->data_count = 0;
-    ax->sequence++;
-}
-
-// Report buffer and fifo status
-static void
-lis2dw_status(struct lis2dw *ax, uint_fast8_t oid
-            , uint32_t time1, uint32_t time2, uint_fast8_t fifo)
-{
-    sendf("lis2dw_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
-          " buffered=%c fifo=%c limit_count=%hu"
-          , oid, time1, time2-time1, ax->sequence
-          , ax->data_count, fifo, ax->limit_count);
-}
-
 // Helper code to reschedule the lis2dw_event() timer
 static void
 lis2dw_reschedule_timer(struct lis2dw *ax)
@@ -93,7 +74,7 @@ lis2dw_query(struct lis2dw *ax, uint8_t oid)
     uint8_t fifo_empty,fifo_ovrn = 0;
 
     msg[0] = LIS_AR_DATAX0 | LIS_AM_READ ;
-    uint8_t *d = &ax->data[ax->data_count];
+    uint8_t *d = &ax->sb.data[ax->sb.data_count];
 
     spidev_transfer(ax->spi, 1, sizeof(msg), msg);
 
@@ -108,13 +89,13 @@ lis2dw_query(struct lis2dw *ax, uint8_t oid)
     d[4] = msg[5]; // z low bits
     d[5] = msg[6]; // z high bits
 
-    ax->data_count += 6;
-    if (ax->data_count + 6 > ARRAY_SIZE(ax->data))
-        lis2dw_report(ax, oid);
+    ax->sb.data_count += BYTES_PER_SAMPLE;
+    if (ax->sb.data_count + BYTES_PER_SAMPLE > ARRAY_SIZE(ax->sb.data))
+        sensor_bulk_report(&ax->sb, oid);
 
     // Check fifo status
     if (fifo_ovrn)
-        ax->limit_count++;
+        ax->sb.possible_overflows++;
 
     // check if we need to run the task again (more packets in fifo?)
     if (!fifo_empty) {
@@ -165,8 +146,7 @@ command_query_lis2dw(uint32_t *args)
     ax->timer.waketime = args[1];
     ax->rest_ticks = args[2];
     ax->flags = LIS_HAVE_START;
-    ax->sequence = ax->limit_count = 0;
-    ax->data_count = 0;
+    sensor_bulk_reset(&ax->sb);
     sched_add_timer(&ax->timer);
 }
 DECL_COMMAND(command_query_lis2dw,
@@ -180,7 +160,8 @@ command_query_lis2dw_status(uint32_t *args)
     uint32_t time1 = timer_read_time();
     spidev_transfer(ax->spi, 1, sizeof(msg), msg);
     uint32_t time2 = timer_read_time();
-    lis2dw_status(ax, args[0], time1, time2, msg[1]&0x1f);
+    sensor_bulk_status(&ax->sb, args[0], time1, time2-time1
+                       , (msg[1] & 0x1f) * BYTES_PER_SAMPLE);
 }
 DECL_COMMAND(command_query_lis2dw_status, "query_lis2dw_status oid=%c");
 
diff --git a/src/sensor_mpu9250.c b/src/sensor_mpu9250.c
index 7792b4d8..d52de811 100644
--- a/src/sensor_mpu9250.c
+++ b/src/sensor_mpu9250.c
@@ -12,6 +12,7 @@
 #include "basecmd.h" // oid_alloc
 #include "command.h" // DECL_COMMAND
 #include "sched.h" // DECL_TASK
+#include "sensor_bulk.h" // sensor_bulk_report
 #include "board/gpio.h" // i2c_read
 #include "i2ccmds.h" // i2cdev_oid_lookup
 
@@ -46,11 +47,9 @@ struct mpu9250 {
     struct timer timer;
     uint32_t rest_ticks;
     struct i2cdev_s *i2c;
-    uint16_t sequence, limit_count, fifo_max, fifo_pkts_bytes;
-    uint8_t flags, data_count;
-    // msg size must be <= 255 due to Klipper api
-    // = SAMPLES_PER_BLOCK (from mpu9250.py) * BYTES_PER_FIFO_ENTRY + 1
-    uint8_t data[BYTES_PER_BLOCK];
+    uint16_t fifo_max, fifo_pkts_bytes;
+    uint8_t flags;
+    struct sensor_bulk sb;
 };
 
 enum {
@@ -92,27 +91,6 @@ command_config_mpu9250(uint32_t *args)
 }
 DECL_COMMAND(command_config_mpu9250, "config_mpu9250 oid=%c i2c_oid=%c");
 
-// Report local measurement buffer
-static void
-mp9250_report(struct mpu9250 *mp, uint8_t oid)
-{
-    sendf("mpu9250_data oid=%c sequence=%hu data=%*s"
-          , oid, mp->sequence, mp->data_count, mp->data);
-    mp->data_count = 0;
-    mp->sequence++;
-}
-
-// Report buffer and fifo status
-static void
-mp9250_status(struct mpu9250 *mp, uint_fast8_t oid
-            , uint32_t time1, uint32_t time2, uint16_t fifo)
-{
-    sendf("mpu9250_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
-          " buffered=%c fifo=%u limit_count=%hu"
-          , oid, time1, time2-time1, mp->sequence
-          , mp->data_count, fifo, mp->limit_count);
-}
-
 // Helper code to reschedule the mpu9250_event() timer
 static void
 mp9250_reschedule_timer(struct mpu9250 *mp)
@@ -135,10 +113,10 @@ mp9250_query(struct mpu9250 *mp, uint8_t oid)
     if (mp->fifo_pkts_bytes >= BYTES_PER_BLOCK) {
         uint8_t reg = AR_FIFO;
         i2c_read(mp->i2c->i2c_config, sizeof(reg), &reg
-                 , BYTES_PER_BLOCK, &mp->data[0]);
-        mp->data_count = BYTES_PER_BLOCK;
+                 , BYTES_PER_BLOCK, &mp->sb.data[0]);
+        mp->sb.data_count = BYTES_PER_BLOCK;
         mp->fifo_pkts_bytes -= BYTES_PER_BLOCK;
-        mp9250_report(mp, oid);
+        sensor_bulk_report(&mp->sb, oid);
     }
 
     // If we have enough bytes remaining to fill another report wake again
@@ -214,9 +192,7 @@ command_query_mpu9250(uint32_t *args)
     mp->timer.waketime = args[1];
     mp->rest_ticks = args[2];
     mp->flags = AX_HAVE_START;
-    mp->sequence = 0;
-    mp->limit_count = 0;
-    mp->data_count = 0;
+    sensor_bulk_reset(&mp->sb);
     mp->fifo_max = 0;
     mp->fifo_pkts_bytes = 0;
     sched_add_timer(&mp->timer);
@@ -235,7 +211,7 @@ command_query_mpu9250_status(uint32_t *args)
     i2c_read(mp->i2c->i2c_config, sizeof(int_reg), int_reg, sizeof(int_msg),
              &int_msg);
     if (int_msg & FIFO_OVERFLOW_INT)
-        mp->limit_count++;
+        mp->sb.possible_overflows++;
 
     // Read latest FIFO count (with precise timing)
     uint8_t reg[] = {AR_FIFO_COUNT_H};
@@ -246,7 +222,7 @@ command_query_mpu9250_status(uint32_t *args)
     uint16_t fifo_bytes = ((msg[0] & 0x1f) << 8) | msg[1];
 
     // Report status
-    mp9250_status(mp, args[0], time1, time2, fifo_bytes / BYTES_PER_FIFO_ENTRY);
+    sensor_bulk_status(&mp->sb, args[0], time1, time2-time1, fifo_bytes);
 }
 DECL_COMMAND(command_query_mpu9250_status, "query_mpu9250_status oid=%c");