diff options
Diffstat (limited to 'klippy/extras/mpu9250.py')
| -rw-r--r-- | klippy/extras/mpu9250.py | 21 |
1 files changed, 5 insertions, 16 deletions
diff --git a/klippy/extras/mpu9250.py b/klippy/extras/mpu9250.py index 204ca870..cb5e7b28 100644 --- a/klippy/extras/mpu9250.py +++ b/klippy/extras/mpu9250.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, time from . import bus, motion_report, adxl345, bulk_sensor MPU9250_ADDR = 0x68 @@ -69,9 +69,6 @@ class MPU9250: self.data_rate = config.getint('rate', 4000) if self.data_rate not in SAMPLE_RATE_DIVS: raise config.error("Invalid rate parameter: %d" % (self.data_rate,)) - # Measurement storage (accessed from background thread) - self.lock = threading.Lock() - self.raw_samples = [] # Setup mcu sensor_mpu9250 bulk query code self.i2c = bus.MCU_I2C_from_config(config, default_addr=MPU9250_ADDR, @@ -81,7 +78,7 @@ class MPU9250: self.query_mpu9250_cmd = self.query_mpu9250_end_cmd = None self.query_mpu9250_status_cmd = None mcu.register_config_callback(self._build_config) - mcu.register_response(self._handle_mpu9250_data, "mpu9250_data", oid) + self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "mpu9250_data", oid) # Clock tracking self.last_sequence = self.max_query_duration = 0 self.last_limit_count = self.last_error_count = 0 @@ -120,9 +117,6 @@ class MPU9250: # Measurement collection def is_measuring(self): return self.query_rate > 0 - def _handle_mpu9250_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 @@ -210,10 +204,8 @@ class MPU9250: self.set_reg(REG_ACCEL_CONFIG, SET_ACCEL_CONFIG) self.set_reg(REG_ACCEL_CONFIG2, SET_ACCEL_CONFIG2) - # 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) @@ -235,8 +227,7 @@ class MPU9250: # Halt bulk reading params = self.query_mpu9250_end_cmd.send([self.oid, 0, 0]) self.query_rate = 0 - with self.lock: - self.raw_samples = [] + self.bulk_queue.clear_samples() 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) @@ -244,9 +235,7 @@ class MPU9250: # 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) |