diff options
Diffstat (limited to 'klippy/extras/lis2dw.py')
| -rw-r--r-- | klippy/extras/lis2dw.py | 21 |
1 files changed, 5 insertions, 16 deletions
diff --git a/klippy/extras/lis2dw.py b/klippy/extras/lis2dw.py index 174e071a..af9faba5 100644 --- a/klippy/extras/lis2dw.py +++ b/klippy/extras/lis2dw.py @@ -4,7 +4,7 @@ # Copyright (C) 2020-2021 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import logging, time, threading, multiprocessing, os +import logging from . import bus, motion_report, adxl345, bulk_sensor # LIS2DW registers @@ -50,9 +50,6 @@ class LIS2DW: raise config.error("Invalid lis2dw axes_map parameter") self.axes_map = [am[a.strip()] for a in axes_map] self.data_rate = 1600 - # Measurement storage (accessed from background thread) - self.lock = threading.Lock() - self.raw_samples = [] # Setup mcu sensor_lis2dw bulk query code self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=5000000) self.mcu = mcu = self.spi.get_mcu() @@ -64,7 +61,7 @@ class LIS2DW: mcu.add_config_cmd("query_lis2dw oid=%d clock=0 rest_ticks=0" % (oid,), on_restart=True) mcu.register_config_callback(self._build_config) - mcu.register_response(self._handle_lis2dw_data, "lis2dw_data", oid) + self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "lis2dw_data", oid) # Clock tracking self.last_sequence = self.max_query_duration = 0 self.last_limit_count = self.last_error_count = 0 @@ -106,9 +103,6 @@ class LIS2DW: # Measurement collection def is_measuring(self): return self.query_rate > 0 - def _handle_lis2dw_data(self, params): - with self.lock: - self.raw_samples.append(params) 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 @@ -198,10 +192,8 @@ class LIS2DW: # High-Performance Mode (14-bit resolution) self.set_reg(REG_LIS2DW_CTRL_REG1_ADDR, 0x94) - # Setup samples - with self.lock: - self.raw_samples = [] # Start bulk reading + self.bulk_queue.clear_samples() systime = self.printer.get_reactor().monotonic() print_time = self.mcu.estimated_print_time(systime) + MIN_MSG_TIME reqclock = self.mcu.print_time_to_clock(print_time) @@ -223,16 +215,13 @@ class LIS2DW: # Halt bulk reading params = self.query_lis2dw_end_cmd.send([self.oid, 0, 0]) self.query_rate = 0 - with self.lock: - self.raw_samples = [] + 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): self._update_clock() - with self.lock: - raw_samples = self.raw_samples - self.raw_samples = [] + raw_samples = self.bulk_queue.pull_samples() if not raw_samples: return {} samples = self._extract_samples(raw_samples) |