diff options
Diffstat (limited to 'klippy/extras/mpu9250.py')
| -rw-r--r-- | klippy/extras/mpu9250.py | 75 |
1 files changed, 2 insertions, 73 deletions
diff --git a/klippy/extras/mpu9250.py b/klippy/extras/mpu9250.py index a8f35bc6..813a9397 100644 --- a/klippy/extras/mpu9250.py +++ b/klippy/extras/mpu9250.py @@ -5,7 +5,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import logging, time, collections, threading, multiprocessing, os -from . import bus, motion_report +from . import bus, motion_report, adxl345 MPU9250_ADDR = 0x68 @@ -48,77 +48,6 @@ def twos_complement(val, nbits): val = val - (1 << nbits) return val -# Helper class to obtain measurements -class MPU9250QueryHelper: - def __init__(self, printer, cconn): - self.printer = printer - self.cconn = cconn - print_time = printer.lookup_object('toolhead').get_last_move_time() - self.request_start_time = self.request_end_time = print_time - self.samples = self.raw_samples = [] - def finish_measurements(self): - toolhead = self.printer.lookup_object('toolhead') - self.request_end_time = toolhead.get_last_move_time() - toolhead.wait_moves() - self.cconn.finalize() - def _get_raw_samples(self): - raw_samples = self.cconn.get_messages() - if raw_samples: - self.raw_samples = raw_samples - return self.raw_samples - def has_valid_samples(self): - raw_samples = self._get_raw_samples() - for msg in raw_samples: - data = msg['params']['data'] - first_sample_time = data[0][0] - last_sample_time = data[-1][0] - if (first_sample_time > self.request_end_time - or last_sample_time < self.request_start_time): - continue - # The time intervals [first_sample_time, last_sample_time] - # and [request_start_time, request_end_time] have non-zero - # intersection. It is still theoretically possible that none - # of the samples from raw_samples fall into the time interval - # [request_start_time, request_end_time] if it is too narrow - # or on very heavy data losses. In practice, that interval - # is at least 1 second, so this possibility is negligible. - return True - return False - def get_samples(self): - raw_samples = self._get_raw_samples() - if not raw_samples: - return self.samples - total = sum([len(m['params']['data']) for m in raw_samples]) - count = 0 - self.samples = samples = [None] * total - for msg in raw_samples: - for samp_time, x, y, z in msg['params']['data']: - if samp_time < self.request_start_time: - continue - if samp_time > self.request_end_time: - break - samples[count] = Accel_Measurement(samp_time, x, y, z) - count += 1 - del samples[count:] - return self.samples - def write_to_file(self, filename): - def write_impl(): - try: - # Try to re-nice writing process - os.nice(20) - except: - pass - f = open(filename, "w") - f.write("#time,accel_x,accel_y,accel_z\n") - samples = self.samples or self.get_samples() - for t, accel_x, accel_y, accel_z in samples: - f.write("%.6f,%.6f,%.6f,%.6f\n" % ( - t, accel_x, accel_y, accel_z)) - f.close() - write_proc = multiprocessing.Process(target=write_impl) - write_proc.daemon = True - write_proc.start() - # Helper class for G-Code commands class MPU9250CommandHelper: def __init__(self, config, chip): @@ -452,7 +381,7 @@ class MPU9250: web_request.send({'header': hdr}) def start_internal_client(self): cconn = self.api_dump.add_internal_client() - return MPU9250QueryHelper(self.printer, cconn) + return adxl345.AccelQueryHelper(self.printer, cconn) def load_config(config): return MPU9250(config) |