diff options
Diffstat (limited to 'klippy/extras/bulk_sensor.py')
| -rw-r--r-- | klippy/extras/bulk_sensor.py | 39 |
1 files changed, 26 insertions, 13 deletions
diff --git a/klippy/extras/bulk_sensor.py b/klippy/extras/bulk_sensor.py index d514bc91..6a63447b 100644 --- a/klippy/extras/bulk_sensor.py +++ b/klippy/extras/bulk_sensor.py @@ -200,8 +200,9 @@ class ClockSyncRegression: MAX_BULK_MSG_SIZE = 52 -# Handle common periodic chip status query responses -class ChipClockUpdater: +# Read sensor_bulk_data and calculate timestamps for devices that take +# samples at a fixed frequency (and produce fixed data size samples). +class FixedFreqReader: def __init__(self, mcu, chip_clock_smooth, unpack_fmt): self.mcu = mcu self.clock_sync = ClockSyncRegression(mcu, chip_clock_smooth) @@ -211,27 +212,33 @@ class ChipClockUpdater: self.samples_per_block = MAX_BULK_MSG_SIZE // self.bytes_per_sample self.last_sequence = self.max_query_duration = 0 self.last_overflows = 0 - self.oid = self.query_status_cmd = None + self.bulk_queue = self.oid = self.query_status_cmd = None def setup_query_command(self, msgformat, oid, cq): + # Lookup sensor query command (that responds with sensor_bulk_status) self.oid = oid self.query_status_cmd = self.mcu.lookup_query_command( msgformat, "sensor_bulk_status oid=%c clock=%u query_ticks=%u" " next_sequence=%hu buffered=%u possible_overflows=%hu", oid=oid, cq=cq) - def get_last_sequence(self): - return self.last_sequence + # Read sensor_bulk_data messages and store in a queue + self.bulk_queue = BulkDataQueue(self.mcu, oid=oid) def get_last_overflows(self): return self.last_overflows - def clear_duration_filter(self): + def _clear_duration_filter(self): self.max_query_duration = 1 << 31 def note_start(self): self.last_sequence = 0 self.last_overflows = 0 + # Clear local queue (clear any stale samples from previous session) + self.bulk_queue.clear_samples() # Set initial clock - self.clear_duration_filter() - self.update_clock(is_reset=True) - self.clear_duration_filter() - def update_clock(self, is_reset=False): + self._clear_duration_filter() + self._update_clock(is_reset=True) + self._clear_duration_filter() + def note_end(self): + # Clear local queue (free no longer needed memory) + self.bulk_queue.clear_samples() + def _update_clock(self, is_reset=False): params = self.query_status_cmd.send([self.oid]) mcu_clock = self.mcu.clock32_to_clock64(params['clock']) seq_diff = (params['next_sequence'] - self.last_sequence) & 0xffff @@ -257,10 +264,16 @@ class ChipClockUpdater: self.clock_sync.reset(avg_mcu_clock, chip_clock) else: self.clock_sync.update(avg_mcu_clock, chip_clock) - # Convert a list of sensor_bulk_data responses into list of samples - def extract_samples(self, raw_samples): + # Convert sensor_bulk_data responses into list of samples + def pull_samples(self): + # Query MCU for sample timing and update clock synchronization + self._update_clock() + # Pull sensor_bulk_data messages from local queue + raw_samples = self.bulk_queue.pull_samples() + if not raw_samples: + return [] # Load variables to optimize inner loop below - last_sequence = self.get_last_sequence() + last_sequence = self.last_sequence time_base, chip_base, inv_freq = self.clock_sync.get_time_translation() unpack_from = self.unpack_from bytes_per_sample = self.bytes_per_sample |