diff options
Diffstat (limited to 'klippy/extras/lis2dw.py')
| -rw-r--r-- | klippy/extras/lis2dw.py | 33 |
1 files changed, 14 insertions, 19 deletions
diff --git a/klippy/extras/lis2dw.py b/klippy/extras/lis2dw.py index 5590804e..739c3641 100644 --- a/klippy/extras/lis2dw.py +++ b/klippy/extras/lis2dw.py @@ -35,7 +35,7 @@ MIN_MSG_TIME = 0.100 BYTES_PER_SAMPLE = 6 SAMPLES_PER_BLOCK = 8 -API_UPDATES = 0.100 +BATCH_UPDATES = 0.100 # Printer class that controls LIS2DW chip class LIS2DW: @@ -57,18 +57,19 @@ class LIS2DW: mcu.register_config_callback(self._build_config) self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "lis2dw_data", oid) # Clock tracking - chip_smooth = self.data_rate * API_UPDATES * 2 + chip_smooth = self.data_rate * BATCH_UPDATES * 2 self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth) self.clock_updater = bulk_sensor.ChipClockUpdater(self.clock_sync, BYTES_PER_SAMPLE) self.last_error_count = 0 - # API server endpoints - self.api_dump = bulk_sensor.APIDumpHelper( - self.printer, self._api_update, self._api_startstop, API_UPDATES) + # Process messages in batches + self.batch_bulk = bulk_sensor.BatchBulkHelper( + self.printer, self._process_batch, + self._start_measurements, self._finish_measurements, BATCH_UPDATES) self.name = config.get_name().split()[-1] hdr = ('time', 'x_acceleration', 'y_acceleration', 'z_acceleration') - self.api_dump.add_mux_endpoint("lis2dw/dump_lis2dw", "sensor", - self.name, {'header': hdr}) + self.batch_bulk.add_mux_endpoint("lis2dw/dump_lis2dw", "sensor", + self.name, {'header': hdr}) def _build_config(self): cmdqueue = self.spi.get_command_queue() @@ -95,7 +96,10 @@ class LIS2DW: "This is generally indicative of connection problems " "(e.g. faulty wiring) or a faulty lis2dw chip." % ( reg, val, stored_val)) - # Measurement collection + def start_internal_client(self): + cconn = self.bulk_batch.add_internal_client() + return adxl345.AccelQueryHelper(self.printer, cconn) + # Measurement decoding def _extract_samples(self, raw_samples): # Load variables to optimize inner loop below (x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map @@ -136,6 +140,7 @@ class LIS2DW: 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 # noise or wrong signal as a correctly initialized device @@ -177,8 +182,7 @@ class LIS2DW: self.bulk_queue.clear_samples() logging.info("LIS2DW finished '%s' measurements", self.name) self.set_reg(REG_LIS2DW_FIFO_CTRL, 0x00) - # API interface - def _api_update(self, eventtime): + def _process_batch(self, eventtime): self._update_clock() raw_samples = self.bulk_queue.pull_samples() if not raw_samples: @@ -188,15 +192,6 @@ class LIS2DW: return {} return {'data': samples, 'errors': self.last_error_count, 'overflows': self.clock_updater.get_last_limit_count()} - def _api_startstop(self, is_start): - if is_start: - self._start_measurements() - else: - self._finish_measurements() - def start_internal_client(self): - cconn = self.api_dump.add_internal_client() - return adxl345.AccelQueryHelper(self.printer, cconn) - def load_config(config): return LIS2DW(config) |