From 95fdb68587520e5a36449f58e2d9cf5459924d1c Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Sat, 13 Apr 2024 20:03:47 -0400 Subject: adxl345: Move sample timestamp calculation to reusable code Add a new extract_samples() method to the ChipClockUpdater class that calculates the sample timestamp for each sample in a list of bulk sensor reports. Update the adxl345 code to use that extract_samples() code. Signed-off-by: Kevin O'Connor --- klippy/extras/bulk_sensor.py | 27 ++++++++++++++++++++++++++- 1 file changed, 26 insertions(+), 1 deletion(-) (limited to 'klippy/extras/bulk_sensor.py') diff --git a/klippy/extras/bulk_sensor.py b/klippy/extras/bulk_sensor.py index ad486bc4..cb4c17ac 100644 --- a/klippy/extras/bulk_sensor.py +++ b/klippy/extras/bulk_sensor.py @@ -3,7 +3,7 @@ # Copyright (C) 2020-2023 Kevin O'Connor # # This file may be distributed under the terms of the GNU GPLv3 license. -import logging, threading +import logging, threading, struct # This "bulk sensor" module facilitates the processing of sensor chip # measurements that do not require the host to respond with low @@ -255,3 +255,28 @@ class ChipClockUpdater: self.clock_sync.reset(avg_mcu_clock, chip_clock) else: self.clock_sync.update(avg_mcu_clock, chip_clock) + # Convert a list of sensor_bulk_data responses into list of samples + def extract_samples(self, unpack_fmt, raw_samples): + unpack_from = struct.Struct(unpack_fmt).unpack_from + # Load variables to optimize inner loop below + last_sequence = self.get_last_sequence() + time_base, chip_base, inv_freq = self.clock_sync.get_time_translation() + bytes_per_sample = self.bytes_per_sample + samples_per_block = self.samples_per_block + # 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 + msg_cdiff = seq * samples_per_block - chip_base + data = params['data'] + for i in range(len(data) // bytes_per_sample): + ptime = time_base + (msg_cdiff + i) * inv_freq + udata = unpack_from(data, i * bytes_per_sample) + samples[count] = (ptime,) + udata + count += 1 + self.clock_sync.set_last_chip_clock(seq * samples_per_block + i) + del samples[count:] + return samples -- cgit v1.2.3-70-g09d2