diff options
Diffstat (limited to 'klippy/extras/lis2dw.py')
| -rw-r--r-- | klippy/extras/lis2dw.py | 14 |
1 files changed, 5 insertions, 9 deletions
diff --git a/klippy/extras/lis2dw.py b/klippy/extras/lis2dw.py index a40e7056..96b7db76 100644 --- a/klippy/extras/lis2dw.py +++ b/klippy/extras/lis2dw.py @@ -30,9 +30,6 @@ LIS2DW_DEV_ID = 0x44 FREEFALL_ACCEL = 9.80665 SCALE = FREEFALL_ACCEL * 1.952 / 4 -BYTES_PER_SAMPLE = 6 -SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE - BATCH_UPDATES = 0.100 # Printer class that controls LIS2DW chip @@ -55,9 +52,8 @@ class LIS2DW: 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) - self.clock_updater = bulk_sensor.ChipClockUpdater(self.clock_sync, - BYTES_PER_SAMPLE) + self.clock_updater = bulk_sensor.ChipClockUpdater(mcu, chip_smooth, + "<hhh") self.last_error_count = 0 # Process messages in batches self.batch_bulk = bulk_sensor.BatchBulkHelper( @@ -72,8 +68,8 @@ class LIS2DW: cmdqueue = self.spi.get_command_queue() self.query_lis2dw_cmd = self.mcu.lookup_command( "query_lis2dw oid=%c rest_ticks=%u", cq=cmdqueue) - self.clock_updater.setup_query_command( - self.mcu, "query_lis2dw_status oid=%c", oid=self.oid, cq=cmdqueue) + self.clock_updater.setup_query_command("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']) @@ -94,7 +90,7 @@ class LIS2DW: # Measurement decoding def _extract_samples(self, raw_samples): # Convert messages to samples - samples = self.clock_updater.extract_samples("<hhh", raw_samples) + samples = self.clock_updater.extract_samples(raw_samples) # Convert samples (x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map count = 0 |