diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/extras/lis2dw.py | 44 |
1 files changed, 11 insertions, 33 deletions
diff --git a/klippy/extras/lis2dw.py b/klippy/extras/lis2dw.py index e9631302..a40e7056 100644 --- a/klippy/extras/lis2dw.py +++ b/klippy/extras/lis2dw.py @@ -93,40 +93,18 @@ class LIS2DW: return aqh # Measurement decoding def _extract_samples(self, raw_samples): - # Load variables to optimize inner loop below + # Convert messages to samples + samples = self.clock_updater.extract_samples("<hhh", raw_samples) + # Convert samples (x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map - last_sequence = self.clock_updater.get_last_sequence() - time_base, chip_base, inv_freq = self.clock_sync.get_time_translation() - # Process every message in raw_samples - count = seq = 0 - samples = [None] * (len(raw_samples) * SAMPLES_PER_BLOCK) - for params in raw_samples: - seq_diff = (params['sequence'] - last_sequence) & 0xffff - seq_diff -= (seq_diff & 0x8000) << 1 - seq = last_sequence + seq_diff - d = bytearray(params['data']) - msg_cdiff = seq * SAMPLES_PER_BLOCK - chip_base - - for i in range(len(d) // BYTES_PER_SAMPLE): - d_xyz = d[i*BYTES_PER_SAMPLE:(i+1)*BYTES_PER_SAMPLE] - xlow, xhigh, ylow, yhigh, zlow, zhigh = d_xyz - # Merge and perform twos-complement - - rx = (((xhigh << 8) | xlow)) - ((xhigh & 0x80) << 9) - ry = (((yhigh << 8) | ylow)) - ((yhigh & 0x80) << 9) - rz = (((zhigh << 8) | zlow)) - ((zhigh & 0x80) << 9) - - raw_xyz = (rx, ry, rz) - - x = round(raw_xyz[x_pos] * x_scale, 6) - y = round(raw_xyz[y_pos] * y_scale, 6) - z = round(raw_xyz[z_pos] * z_scale, 6) - - ptime = round(time_base + (msg_cdiff + i) * inv_freq, 6) - samples[count] = (ptime, x, y, z) - count += 1 - self.clock_sync.set_last_chip_clock(seq * SAMPLES_PER_BLOCK + i) - del samples[count:] + count = 0 + for ptime, rx, ry, rz in samples: + raw_xyz = (rx, ry, rz) + x = round(raw_xyz[x_pos] * x_scale, 6) + y = round(raw_xyz[y_pos] * y_scale, 6) + z = round(raw_xyz[z_pos] * z_scale, 6) + samples[count] = (round(ptime, 6), x, y, z) + count += 1 return samples # Start, stop, and process message batches def _start_measurements(self): |