diff options
Diffstat (limited to 'klippy/extras/lis2dw.py')
| -rw-r--r-- | klippy/extras/lis2dw.py | 21 |
1 files changed, 6 insertions, 15 deletions
diff --git a/klippy/extras/lis2dw.py b/klippy/extras/lis2dw.py index a7fe54d7..74911e6f 100644 --- a/klippy/extras/lis2dw.py +++ b/klippy/extras/lis2dw.py @@ -33,7 +33,7 @@ SCALE = FREEFALL_ACCEL * 1.952 / 4 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 @@ -49,13 +49,12 @@ class LIS2DW: self.mcu = mcu = self.spi.get_mcu() self.oid = oid = mcu.create_oid() 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())) mcu.add_config_cmd("query_lis2dw oid=%d clock=0 rest_ticks=0" % (oid,), on_restart=True) mcu.register_config_callback(self._build_config) - self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "lis2dw_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) @@ -75,10 +74,8 @@ 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_status_cmd = self.mcu.lookup_query_command( - "query_lis2dw_status oid=%c", - "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.clock_updater.setup_query_command( + self.mcu, "query_lis2dw_status oid=%c", oid=self.oid, cq=cmdqueue) def read_reg(self, reg): params = self.spi.spi_transfer([reg | REG_MOD_READ, 0x00]) response = bytearray(params['response']) @@ -133,10 +130,6 @@ class LIS2DW: 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_lis2dw_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 LIS2DW device ID prevents treating @@ -170,8 +163,6 @@ class LIS2DW: logging.info("LIS2DW 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 @@ -180,7 +171,7 @@ class LIS2DW: logging.info("LIS2DW finished '%s' measurements", self.name) self.set_reg(REG_LIS2DW_FIFO_CTRL, 0x00) 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 {} @@ -188,7 +179,7 @@ class LIS2DW: 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 LIS2DW(config) |