diff options
Diffstat (limited to 'klippy/extras/mpu9250.py')
| -rw-r--r-- | klippy/extras/mpu9250.py | 35 |
1 files changed, 14 insertions, 21 deletions
diff --git a/klippy/extras/mpu9250.py b/klippy/extras/mpu9250.py index 883f399e..82438ca0 100644 --- a/klippy/extras/mpu9250.py +++ b/klippy/extras/mpu9250.py @@ -52,7 +52,7 @@ 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 MPU9250 chip class MPU9250: @@ -74,18 +74,19 @@ class MPU9250: mcu.register_config_callback(self._build_config) self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "mpu9250_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("mpu9250/dump_mpu9250", "sensor", - self.name, {'header': hdr}) + self.batch_bulk.add_mux_endpoint("mpu9250/dump_mpu9250", "sensor", + self.name, {'header': hdr}) def _build_config(self): cmdqueue = self.i2c.get_command_queue() self.mcu.add_config_cmd("config_mpu9250 oid=%d i2c_oid=%d" @@ -105,11 +106,12 @@ class MPU9250: def read_reg(self, reg): params = self.i2c.i2c_read([reg], 1) return bytearray(params['response'])[0] - def set_reg(self, reg, val, minclock=0): self.i2c.i2c_write([reg, val & 0xFF], minclock=minclock) - - # Measurement collection + def start_internal_client(self): + cconn = self.batch_bulk.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 @@ -148,6 +150,7 @@ class MPU9250: params = self.query_mpu9250_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 MPU9250 device ID prevents treating # noise or wrong signal as a correctly initialized device @@ -190,9 +193,7 @@ class MPU9250: logging.info("MPU9250 finished '%s' measurements", self.name) self.set_reg(REG_PWR_MGMT_1, SET_PWR_MGMT_1_SLEEP) self.set_reg(REG_PWR_MGMT_2, SET_PWR_MGMT_2_OFF) - - # 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: @@ -202,14 +203,6 @@ class MPU9250: 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 MPU9250(config) |