From d6a4669ce092496bb675a28732aa5f6a11360caf Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Sat, 16 Dec 2023 13:01:34 -0500 Subject: bulk_sensor: Add new ChipClockUpdater helper class All the accelerometers use a standard response for their query_status messages. Create a common helper class to process those responses. Signed-off-by: Kevin O'Connor --- klippy/extras/bulk_sensor.py | 48 ++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 48 insertions(+) (limited to 'klippy/extras/bulk_sensor.py') diff --git a/klippy/extras/bulk_sensor.py b/klippy/extras/bulk_sensor.py index 15749051..28aed48a 100644 --- a/klippy/extras/bulk_sensor.py +++ b/klippy/extras/bulk_sensor.py @@ -71,3 +71,51 @@ class ClockSyncRegression: base_time = clock_to_print_time(base_mcu) inv_freq = clock_to_print_time(base_mcu + inv_cfreq) - base_time return base_time, base_chip, inv_freq + +MAX_BULK_MSG_SIZE = 52 + +# Handle common periodic chip status query responses +class ChipClockUpdater: + def __init__(self, clock_sync, bytes_per_sample): + self.clock_sync = clock_sync + self.bytes_per_sample = bytes_per_sample + self.samples_per_block = MAX_BULK_MSG_SIZE // bytes_per_sample + self.mcu = clock_sync.mcu + self.last_sequence = self.max_query_duration = 0 + self.last_limit_count = 0 + def get_last_sequence(self): + return self.last_sequence + def get_last_limit_count(self): + return self.last_limit_count + def clear_duration_filter(self): + self.max_query_duration = 1 << 31 + def note_start(self, reqclock): + self.last_sequence = 0 + self.last_limit_count = 0 + self.clock_sync.reset(reqclock, 0) + self.clear_duration_filter() + def update_clock(self, params): + # Handle a status response message of the form: + # adxl345_status oid=x clock=x query_ticks=x next_sequence=x + # buffered=x fifo=x limit_count=x + fifo = params['fifo'] + mcu_clock = self.mcu.clock32_to_clock64(params['clock']) + seq_diff = (params['next_sequence'] - self.last_sequence) & 0xffff + self.last_sequence += seq_diff + buffered = params['buffered'] + lc_diff = (params['limit_count'] - self.last_limit_count) & 0xffff + self.last_limit_count += lc_diff + duration = params['query_ticks'] + if duration > self.max_query_duration: + # Skip measurement as a high query time could skew clock tracking + self.max_query_duration = max(2 * self.max_query_duration, + self.mcu.seconds_to_clock(.000005)) + return + self.max_query_duration = 2 * duration + msg_count = (self.last_sequence * self.samples_per_block + + buffered // self.bytes_per_sample + fifo) + # The "chip clock" is the message counter plus .5 for average + # inaccuracy of query responses and plus .5 for assumed offset + # of hardware processing time. + chip_clock = msg_count + 1 + self.clock_sync.update(mcu_clock + duration // 2, chip_clock) -- cgit v1.2.3-70-g09d2