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sensor_bulk: New C file with helper code for sending bulk sensor measurements 

Refactor the low-level "bulk sensor" management code in the mcu.  This
updates the sensor_adxl345.c, sensor_mpu9250.c, sensor_lis2dw.c, and
sensor_angle.c code to use the same "bulk sensor" messages.  All of
these sensors will now send "sensor_bulk_data" and
"sensor_bulk_status" messages.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2023-12-17 17:59:25 -05:00
parent dc6182f3b3
commit 266e96621c
13 changed files with 153 additions and 189 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
klippy/extras/adxl345.py
View File

@ -187,7 +187,7 @@ def read_axes_map(config):
MIN_MSG_TIME = 0.100
BYTES_PER_SAMPLE = 5
SAMPLES_PER_BLOCK = 10
SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
BATCH_UPDATES = 0.100
@ -205,13 +205,12 @@ class ADXL345:
self.mcu = mcu = self.spi.get_mcu()
self.oid = oid = mcu.create_oid()
self.query_adxl345_cmd = None
self.query_adxl345_status_cmd = None
mcu.add_config_cmd("config_adxl345 oid=%d spi_oid=%d"
% (oid, self.spi.get_oid()))
mcu.add_config_cmd("query_adxl345 oid=%d clock=0 rest_ticks=0"
% (oid,), on_restart=True)
mcu.register_config_callback(self._build_config)
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "adxl345_data", oid)
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid)
# Clock tracking
chip_smooth = self.data_rate * BATCH_UPDATES * 2
self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth)
@ -230,10 +229,8 @@ class ADXL345:
cmdqueue = self.spi.get_command_queue()
self.query_adxl345_cmd = self.mcu.lookup_command(
"query_adxl345 oid=%c clock=%u rest_ticks=%u", cq=cmdqueue)
self.query_adxl345_status_cmd = self.mcu.lookup_query_command(
"query_adxl345_status oid=%c",
"adxl345_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
" buffered=%c fifo=%c limit_count=%hu", oid=self.oid, cq=cmdqueue)
self.clock_updater.setup_query_command(
self.mcu, "query_adxl345_status oid=%c", oid=self.oid, cq=cmdqueue)
def read_reg(self, reg):
params = self.spi.spi_transfer([reg | REG_MOD_READ, 0x00])
response = bytearray(params['response'])
@ -286,17 +283,6 @@ class ADXL345:
self.clock_sync.set_last_chip_clock(seq * SAMPLES_PER_BLOCK + i)
del samples[count:]
return samples
def _update_clock(self, minclock=0):
# Query current state
for retry in range(5):
params = self.query_adxl345_status_cmd.send([self.oid],
minclock=minclock)
fifo = params['fifo'] & 0x7f
if fifo <= 32:
break
else:
raise self.printer.command_error("Unable to query adxl345 fifo")
self.clock_updater.update_clock(params)
# Start, stop, and process message batches
def _start_measurements(self):
# In case of miswiring, testing ADXL345 device ID prevents treating
@ -325,8 +311,6 @@ class ADXL345:
logging.info("ADXL345 starting '%s' measurements", self.name)
# Initialize clock tracking
self.clock_updater.note_start(reqclock)
self._update_clock(minclock=reqclock)
self.clock_updater.clear_duration_filter()
self.last_error_count = 0
def _finish_measurements(self):
# Halt bulk reading
@ -334,7 +318,7 @@ class ADXL345:
self.bulk_queue.clear_samples()
logging.info("ADXL345 finished '%s' measurements", self.name)
def _process_batch(self, eventtime):
self._update_clock()
self.clock_updater.update_clock()
raw_samples = self.bulk_queue.pull_samples()
if not raw_samples:
return {}
@ -342,7 +326,7 @@ class ADXL345:
if not samples:
return {}
return {'data': samples, 'errors': self.last_error_count,
'overflows': self.clock_updater.get_last_limit_count()}
'overflows': self.clock_updater.get_last_overflows()}
def load_config(config):
return ADXL345(config)

4
klippy/extras/angle.py
View File

@ -412,7 +412,7 @@ class HelperTLE5012B:
self._write_reg(reg, val)
BYTES_PER_SAMPLE = 3
SAMPLES_PER_BLOCK = 16
SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
SAMPLE_PERIOD = 0.000400
BATCH_UPDATES = 0.100
@ -445,7 +445,7 @@ class Angle:
"query_spi_angle oid=%d clock=0 rest_ticks=0 time_shift=0"
% (oid,), on_restart=True)
mcu.register_config_callback(self._build_config)
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "spi_angle_data", oid)
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid)
# Process messages in batches
self.batch_bulk = bulk_sensor.BatchBulkHelper(
self.printer, self._process_batch,

34
klippy/extras/bulk_sensor.py
View File

@ -114,7 +114,7 @@ class BatchWebhooksClient:
# Helper class to store incoming messages in a queue
class BulkDataQueue:
def __init__(self, mcu, msg_name, oid):
def __init__(self, mcu, msg_name="sensor_bulk_data", oid=None):
# Measurement storage (accessed from background thread)
self.lock = threading.Lock()
self.raw_samples = []
@ -206,31 +206,37 @@ class ChipClockUpdater:
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
self.last_overflows = 0
self.mcu = self.oid = self.query_status_cmd = None
def setup_query_command(self, mcu, msgformat, oid, cq):
self.mcu = mcu
self.oid = oid
self.query_status_cmd = self.mcu.lookup_query_command(
msgformat, "sensor_bulk_status oid=%c clock=%u query_ticks=%u"
" next_sequence=%hu buffered=%u possible_overflows=%hu",
oid=oid, cq=cq)
def get_last_sequence(self):
return self.last_sequence
def get_last_limit_count(self):
return self.last_limit_count
def get_last_overflows(self):
return self.last_overflows
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.last_overflows = 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']
self.update_clock(minclock=reqclock)
self.clear_duration_filter()
def update_clock(self, minclock=0):
params = self.query_status_cmd.send([self.oid], minclock=minclock)
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
po_diff = (params['possible_overflows'] - self.last_overflows) & 0xffff
self.last_overflows += po_diff
duration = params['query_ticks']
if duration > self.max_query_duration:
# Skip measurement as a high query time could skew clock tracking
@ -239,7 +245,7 @@ class ChipClockUpdater:
return
self.max_query_duration = 2 * duration
msg_count = (self.last_sequence * self.samples_per_block
+ buffered // self.bytes_per_sample + fifo)
+ buffered // self.bytes_per_sample)
# 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.

21
klippy/extras/lis2dw.py
View File

@ -33,7 +33,7 @@ SCALE = FREEFALL_ACCEL * 1.952 / 4
MIN_MSG_TIME = 0.100
BYTES_PER_SAMPLE = 6
SAMPLES_PER_BLOCK = 8
SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
BATCH_UPDATES = 0.100
@ -49,13 +49,12 @@ class LIS2DW:
self.mcu = mcu = self.spi.get_mcu()
self.oid = oid = mcu.create_oid()
self.query_lis2dw_cmd = None
self.query_lis2dw_status_cmd = None
mcu.add_config_cmd("config_lis2dw oid=%d spi_oid=%d"
% (oid, self.spi.get_oid()))
mcu.add_config_cmd("query_lis2dw oid=%d clock=0 rest_ticks=0"
% (oid,), on_restart=True)
mcu.register_config_callback(self._build_config)
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "lis2dw_data", oid)
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid)
# Clock tracking
chip_smooth = self.data_rate * BATCH_UPDATES * 2
self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth)
@ -75,10 +74,8 @@ class LIS2DW:
cmdqueue = self.spi.get_command_queue()
self.query_lis2dw_cmd = self.mcu.lookup_command(
"query_lis2dw oid=%c clock=%u rest_ticks=%u", cq=cmdqueue)
self.query_lis2dw_status_cmd = self.mcu.lookup_query_command(
"query_lis2dw_status oid=%c",
"lis2dw_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
" buffered=%c fifo=%c limit_count=%hu", oid=self.oid, cq=cmdqueue)
self.clock_updater.setup_query_command(
self.mcu, "query_lis2dw_status oid=%c", oid=self.oid, cq=cmdqueue)
def read_reg(self, reg):
params = self.spi.spi_transfer([reg | REG_MOD_READ, 0x00])
response = bytearray(params['response'])
@ -133,10 +130,6 @@ class LIS2DW:
self.clock_sync.set_last_chip_clock(seq * SAMPLES_PER_BLOCK + i)
del samples[count:]
return samples
def _update_clock(self, minclock=0):
params = self.query_lis2dw_status_cmd.send([self.oid],
minclock=minclock)
self.clock_updater.update_clock(params)
# Start, stop, and process message batches
def _start_measurements(self):
# In case of miswiring, testing LIS2DW device ID prevents treating
@ -170,8 +163,6 @@ class LIS2DW:
logging.info("LIS2DW starting '%s' measurements", self.name)
# Initialize clock tracking
self.clock_updater.note_start(reqclock)
self._update_clock(minclock=reqclock)
self.clock_updater.clear_duration_filter()
self.last_error_count = 0
def _finish_measurements(self):
# Halt bulk reading
@ -180,7 +171,7 @@ class LIS2DW:
logging.info("LIS2DW finished '%s' measurements", self.name)
self.set_reg(REG_LIS2DW_FIFO_CTRL, 0x00)
def _process_batch(self, eventtime):
self._update_clock()
self.clock_updater.update_clock()
raw_samples = self.bulk_queue.pull_samples()
if not raw_samples:
return {}
@ -188,7 +179,7 @@ class LIS2DW:
if not samples:
return {}
return {'data': samples, 'errors': self.last_error_count,
'overflows': self.clock_updater.get_last_limit_count()}
'overflows': self.clock_updater.get_last_overflows()}
def load_config(config):
return LIS2DW(config)

22
klippy/extras/mpu9250.py
View File

@ -50,7 +50,7 @@ FIFO_SIZE = 512
MIN_MSG_TIME = 0.100
BYTES_PER_SAMPLE = 6
SAMPLES_PER_BLOCK = 8
SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
BATCH_UPDATES = 0.100
@ -70,9 +70,8 @@ class MPU9250:
self.mcu = mcu = self.i2c.get_mcu()
self.oid = oid = mcu.create_oid()
self.query_mpu9250_cmd = None
self.query_mpu9250_status_cmd = None
mcu.register_config_callback(self._build_config)
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "mpu9250_data", oid)
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid)
# Clock tracking
chip_smooth = self.data_rate * BATCH_UPDATES * 2
self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth)
@ -95,10 +94,8 @@ class MPU9250:
% (self.oid,), on_restart=True)
self.query_mpu9250_cmd = self.mcu.lookup_command(
"query_mpu9250 oid=%c clock=%u rest_ticks=%u", cq=cmdqueue)
self.query_mpu9250_status_cmd = self.mcu.lookup_query_command(
"query_mpu9250_status oid=%c",
"mpu9250_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
" buffered=%c fifo=%u limit_count=%hu", oid=self.oid, cq=cmdqueue)
self.clock_updater.setup_query_command(
self.mcu, "query_mpu9250_status oid=%c", oid=self.oid, cq=cmdqueue)
def read_reg(self, reg):
params = self.i2c.i2c_read([reg], 1)
return bytearray(params['response'])[0]
@ -142,11 +139,6 @@ class MPU9250:
self.clock_sync.set_last_chip_clock(seq * SAMPLES_PER_BLOCK + i)
del samples[count:]
return samples
def _update_clock(self, minclock=0):
params = self.query_mpu9250_status_cmd.send([self.oid],
minclock=minclock)
self.clock_updater.update_clock(params)
# Start, stop, and process message batches
def _start_measurements(self):
# In case of miswiring, testing MPU9250 device ID prevents treating
@ -184,8 +176,6 @@ class MPU9250:
logging.info("MPU9250 starting '%s' measurements", self.name)
# Initialize clock tracking
self.clock_updater.note_start(reqclock)
self._update_clock(minclock=reqclock)
self.clock_updater.clear_duration_filter()
self.last_error_count = 0
def _finish_measurements(self):
# Halt bulk reading
@ -195,7 +185,7 @@ class MPU9250:
self.set_reg(REG_PWR_MGMT_1, SET_PWR_MGMT_1_SLEEP)
self.set_reg(REG_PWR_MGMT_2, SET_PWR_MGMT_2_OFF)
def _process_batch(self, eventtime):
self._update_clock()
self.clock_updater.update_clock()
raw_samples = self.bulk_queue.pull_samples()
if not raw_samples:
return {}
@ -203,7 +193,7 @@ class MPU9250:
if not samples:
return {}
return {'data': samples, 'errors': self.last_error_count,
'overflows': self.clock_updater.get_last_limit_count()}
'overflows': self.clock_updater.get_last_overflows()}
def load_config(config):
return MPU9250(config)

4
src/Kconfig
View File

@ -112,6 +112,10 @@ config WANT_SOFTWARE_SPI
bool
depends on HAVE_GPIO && HAVE_GPIO_SPI
default y
config NEED_SENSOR_BULK
bool
depends on WANT_SENSORS || WANT_LIS2DW
default y
menu "Optional features (to reduce code size)"
depends on HAVE_LIMITED_CODE_SIZE
config WANT_GPIO_BITBANGING

3
src/Makefile
View File

@ -16,6 +16,7 @@ src-$(CONFIG_WANT_SOFTWARE_SPI) += spi_software.c
src-$(CONFIG_WANT_SOFTWARE_I2C) += i2c_software.c
sensors-src-$(CONFIG_HAVE_GPIO_SPI) := thermocouple.c sensor_adxl345.c \
sensor_angle.c
src-$(CONFIG_WANT_LIS2DW) += sensor_lis2dw.c
sensors-src-$(CONFIG_HAVE_GPIO_I2C) += sensor_mpu9250.c
src-$(CONFIG_WANT_SENSORS) += $(sensors-src-y)
src-$(CONFIG_WANT_LIS2DW) += sensor_lis2dw.c
src-$(CONFIG_NEED_SENSOR_BULK) += sensor_bulk.c

51
src/sensor_adxl345.c
View File

@ -10,15 +10,15 @@
#include "basecmd.h" // oid_alloc
#include "command.h" // DECL_COMMAND
#include "sched.h" // DECL_TASK
#include "sensor_bulk.h" // sensor_bulk_report
#include "spicmds.h" // spidev_transfer
struct adxl345 {
struct timer timer;
uint32_t rest_ticks;
struct spidev_s *spi;
uint16_t sequence, limit_count;
uint8_t flags, data_count;
uint8_t data[50];
uint8_t flags;
struct sensor_bulk sb;
};
enum {
@ -47,27 +47,6 @@ command_config_adxl345(uint32_t *args)
}
DECL_COMMAND(command_config_adxl345, "config_adxl345 oid=%c spi_oid=%c");
// Report local measurement buffer
static void
adxl_report(struct adxl345 *ax, uint8_t oid)
{
sendf("adxl345_data oid=%c sequence=%hu data=%*s"
, oid, ax->sequence, ax->data_count, ax->data);
ax->data_count = 0;
ax->sequence++;
}
// Report buffer and fifo status
static void
adxl_status(struct adxl345 *ax, uint_fast8_t oid
, uint32_t time1, uint32_t time2, uint_fast8_t fifo)
{
sendf("adxl345_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
" buffered=%c fifo=%c limit_count=%hu"
, oid, time1, time2-time1, ax->sequence
, ax->data_count, fifo, ax->limit_count);
}
// Helper code to reschedule the adxl345_event() timer
static void
adxl_reschedule_timer(struct adxl345 *ax)
@ -87,6 +66,8 @@ adxl_reschedule_timer(struct adxl345 *ax)
#define SET_FIFO_CTL 0x90
#define BYTES_PER_SAMPLE 5
// Query accelerometer data
static void
adxl_query(struct adxl345 *ax, uint8_t oid)
@ -96,7 +77,7 @@ adxl_query(struct adxl345 *ax, uint8_t oid)
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
// Extract x, y, z measurements
uint_fast8_t fifo_status = msg[8] & ~0x80; // Ignore trigger bit
uint8_t *d = &ax->data[ax->data_count];
uint8_t *d = &ax->sb.data[ax->sb.data_count];
if (((msg[2] & 0xf0) && (msg[2] & 0xf0) != 0xf0)
|| ((msg[4] & 0xf0) && (msg[4] & 0xf0) != 0xf0)
|| ((msg[6] & 0xf0) && (msg[6] & 0xf0) != 0xf0)
@ -112,12 +93,12 @@ adxl_query(struct adxl345 *ax, uint8_t oid)
d[3] = (msg[2] & 0x1f) | (msg[6] << 5); // x high bits and z high bits
d[4] = (msg[4] & 0x1f) | ((msg[6] << 2) & 0x60); // y high and z high
}
ax->data_count += 5;
if (ax->data_count + 5 > ARRAY_SIZE(ax->data))
adxl_report(ax, oid);
ax->sb.data_count += BYTES_PER_SAMPLE;
if (ax->sb.data_count + BYTES_PER_SAMPLE > ARRAY_SIZE(ax->sb.data))
sensor_bulk_report(&ax->sb, oid);
// Check fifo status
if (fifo_status >= 31)
ax->limit_count++;
ax->sb.possible_overflows++;
if (fifo_status > 1 && fifo_status <= 32) {
// More data in fifo - wake this task again
sched_wake_task(&adxl345_wake);
@ -166,8 +147,7 @@ command_query_adxl345(uint32_t *args)
ax->timer.waketime = args[1];
ax->rest_ticks = args[2];
ax->flags = AX_HAVE_START;
ax->sequence = ax->limit_count = 0;
ax->data_count = 0;
sensor_bulk_reset(&ax->sb);
sched_add_timer(&ax->timer);
}
DECL_COMMAND(command_query_adxl345,
@ -178,10 +158,17 @@ command_query_adxl345_status(uint32_t *args)
{
struct adxl345 *ax = oid_lookup(args[0], command_config_adxl345);
uint8_t msg[2] = { AR_FIFO_STATUS | AM_READ, 0x00 };
uint32_t time1 = timer_read_time();
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
uint32_t time2 = timer_read_time();
adxl_status(ax, args[0], time1, time2, msg[1]);
uint_fast8_t fifo_status = msg[1] & ~0x80; // Ignore trigger bit
if (fifo_status > 32)
// Query error - don't send response - host will retry
return;
sensor_bulk_status(&ax->sb, args[0], time1, time2-time1
, fifo_status * BYTES_PER_SAMPLE);
}
DECL_COMMAND(command_query_adxl345_status, "query_adxl345_status oid=%c");

33
src/sensor_angle.c
View File

@ -10,6 +10,7 @@
#include "board/irq.h" // irq_disable
#include "command.h" // DECL_COMMAND
#include "sched.h" // DECL_TASK
#include "sensor_bulk.h" // sensor_bulk_report
#include "spicmds.h" // spidev_transfer
enum { SA_CHIP_A1333, SA_CHIP_AS5047D, SA_CHIP_TLE5012B, SA_CHIP_MAX };
@ -29,15 +30,16 @@ struct spi_angle {
struct timer timer;
uint32_t rest_ticks;
struct spidev_s *spi;
uint16_t sequence;
uint8_t flags, chip_type, data_count, time_shift, overflow;
uint8_t data[48];
uint8_t flags, chip_type, time_shift, overflow;
struct sensor_bulk sb;
};
enum {
SA_PENDING = 1<<2,
};
#define BYTES_PER_SAMPLE 3
static struct task_wake angle_wake;
// Event handler that wakes spi_angle_task() periodically
@ -72,32 +74,22 @@ command_config_spi_angle(uint32_t *args)
DECL_COMMAND(command_config_spi_angle,
"config_spi_angle oid=%c spi_oid=%c spi_angle_type=%c");
// Report local measurement buffer
static void
angle_report(struct spi_angle *sa, uint8_t oid)
{
sendf("spi_angle_data oid=%c sequence=%hu data=%*s"
, oid, sa->sequence, sa->data_count, sa->data);
sa->data_count = 0;
sa->sequence++;
}
// Send spi_angle_data message if buffer is full
static void
angle_check_report(struct spi_angle *sa, uint8_t oid)
{
if (sa->data_count + 3 > ARRAY_SIZE(sa->data))
angle_report(sa, oid);
if (sa->sb.data_count + BYTES_PER_SAMPLE > ARRAY_SIZE(sa->sb.data))
sensor_bulk_report(&sa->sb, oid);
}
// Add an entry to the measurement buffer
static void
angle_add(struct spi_angle *sa, uint_fast8_t tcode, uint_fast16_t data)
{
sa->data[sa->data_count] = tcode;
sa->data[sa->data_count + 1] = data;
sa->data[sa->data_count + 2] = data >> 8;
sa->data_count += 3;
sa->sb.data[sa->sb.data_count] = tcode;
sa->sb.data[sa->sb.data_count + 1] = data;
sa->sb.data[sa->sb.data_count + 2] = data >> 8;
sa->sb.data_count += BYTES_PER_SAMPLE;
}
// Add an error indicator to the measurement buffer
@ -237,8 +229,7 @@ command_query_spi_angle(uint32_t *args)
// Start new measurements query
sa->timer.waketime = args[1];
sa->rest_ticks = args[2];
sa->sequence = 0;
sa->data_count = 0;
sensor_bulk_reset(&sa->sb);
sa->time_shift = args[3];
sched_add_timer(&sa->timer);
}

38
src/sensor_bulk.c Normal file
View File

@ -0,0 +1,38 @@
// Helper code for collecting and sending bulk sensor measurements
//
// Copyright (C) 2020-2023 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include "command.h" // sendf
#include "sensor_bulk.h" // sensor_bulk_report
// Reset counters
void
sensor_bulk_reset(struct sensor_bulk *sb)
{
sb->sequence = 0;
sb->possible_overflows = 0;
sb->data_count = 0;
}
// Report local measurement buffer
void
sensor_bulk_report(struct sensor_bulk *sb, uint8_t oid)
{
sendf("sensor_bulk_data oid=%c sequence=%hu data=%*s"
, oid, sb->sequence, sb->data_count, sb->data);
sb->data_count = 0;
sb->sequence++;
}
// Report buffer and fifo status
void
sensor_bulk_status(struct sensor_bulk *sb, uint8_t oid
, uint32_t time1, uint32_t query_ticks, uint32_t fifo)
{
sendf("sensor_bulk_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
" buffered=%u possible_overflows=%hu"
, oid, time1, query_ticks, sb->sequence
, sb->data_count + fifo, sb->possible_overflows);
}

15
src/sensor_bulk.h Normal file
View File

@ -0,0 +1,15 @@
#ifndef __SENSOR_BULK_H
#define __SENSOR_BULK_H
struct sensor_bulk {
uint16_t sequence, possible_overflows;
uint8_t data_count;
uint8_t data[52];
};
void sensor_bulk_reset(struct sensor_bulk *sb);
void sensor_bulk_report(struct sensor_bulk *sb, uint8_t oid);
void sensor_bulk_status(struct sensor_bulk *sb, uint8_t oid
, uint32_t time1, uint32_t query_ticks, uint32_t fifo);
#endif // sensor_bulk.h

45
src/sensor_lis2dw.c
View File

@ -11,6 +11,7 @@
#include "basecmd.h" // oid_alloc
#include "command.h" // DECL_COMMAND
#include "sched.h" // DECL_TASK
#include "sensor_bulk.h" // sensor_bulk_report
#include "spicmds.h" // spidev_transfer
#define LIS_AR_DATAX0 0x28
@ -18,13 +19,14 @@
#define LIS_FIFO_CTRL 0x2E
#define LIS_FIFO_SAMPLES 0x2F
#define BYTES_PER_SAMPLE 6
struct lis2dw {
struct timer timer;
uint32_t rest_ticks;
struct spidev_s *spi;
uint16_t sequence, limit_count;
uint8_t flags, data_count;
uint8_t data[48];
uint8_t flags;
struct sensor_bulk sb;
};
enum {
@ -53,27 +55,6 @@ command_config_lis2dw(uint32_t *args)
}
DECL_COMMAND(command_config_lis2dw, "config_lis2dw oid=%c spi_oid=%c");
// Report local measurement buffer
static void
lis2dw_report(struct lis2dw *ax, uint8_t oid)
{
sendf("lis2dw_data oid=%c sequence=%hu data=%*s"
, oid, ax->sequence, ax->data_count, ax->data);
ax->data_count = 0;
ax->sequence++;
}
// Report buffer and fifo status
static void
lis2dw_status(struct lis2dw *ax, uint_fast8_t oid
, uint32_t time1, uint32_t time2, uint_fast8_t fifo)
{
sendf("lis2dw_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
" buffered=%c fifo=%c limit_count=%hu"
, oid, time1, time2-time1, ax->sequence
, ax->data_count, fifo, ax->limit_count);
}
// Helper code to reschedule the lis2dw_event() timer
static void
lis2dw_reschedule_timer(struct lis2dw *ax)
@ -93,7 +74,7 @@ lis2dw_query(struct lis2dw *ax, uint8_t oid)
uint8_t fifo_empty,fifo_ovrn = 0;
msg[0] = LIS_AR_DATAX0 | LIS_AM_READ ;
uint8_t *d = &ax->data[ax->data_count];
uint8_t *d = &ax->sb.data[ax->sb.data_count];
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
@ -108,13 +89,13 @@ lis2dw_query(struct lis2dw *ax, uint8_t oid)
d[4] = msg[5]; // z low bits
d[5] = msg[6]; // z high bits
ax->data_count += 6;
if (ax->data_count + 6 > ARRAY_SIZE(ax->data))
lis2dw_report(ax, oid);
ax->sb.data_count += BYTES_PER_SAMPLE;
if (ax->sb.data_count + BYTES_PER_SAMPLE > ARRAY_SIZE(ax->sb.data))
sensor_bulk_report(&ax->sb, oid);
// Check fifo status
if (fifo_ovrn)
ax->limit_count++;
ax->sb.possible_overflows++;
// check if we need to run the task again (more packets in fifo?)
if (!fifo_empty) {
@ -165,8 +146,7 @@ command_query_lis2dw(uint32_t *args)
ax->timer.waketime = args[1];
ax->rest_ticks = args[2];
ax->flags = LIS_HAVE_START;
ax->sequence = ax->limit_count = 0;
ax->data_count = 0;
sensor_bulk_reset(&ax->sb);
sched_add_timer(&ax->timer);
}
DECL_COMMAND(command_query_lis2dw,
@ -180,7 +160,8 @@ command_query_lis2dw_status(uint32_t *args)
uint32_t time1 = timer_read_time();
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
uint32_t time2 = timer_read_time();
lis2dw_status(ax, args[0], time1, time2, msg[1]&0x1f);
sensor_bulk_status(&ax->sb, args[0], time1, time2-time1
, (msg[1] & 0x1f) * BYTES_PER_SAMPLE);
}
DECL_COMMAND(command_query_lis2dw_status, "query_lis2dw_status oid=%c");

44
src/sensor_mpu9250.c
View File

@ -12,6 +12,7 @@
#include "basecmd.h" // oid_alloc
#include "command.h" // DECL_COMMAND
#include "sched.h" // DECL_TASK
#include "sensor_bulk.h" // sensor_bulk_report
#include "board/gpio.h" // i2c_read
#include "i2ccmds.h" // i2cdev_oid_lookup
@ -46,11 +47,9 @@ struct mpu9250 {
struct timer timer;
uint32_t rest_ticks;
struct i2cdev_s *i2c;
uint16_t sequence, limit_count, fifo_max, fifo_pkts_bytes;
uint8_t flags, data_count;
// msg size must be <= 255 due to Klipper api
// = SAMPLES_PER_BLOCK (from mpu9250.py) * BYTES_PER_FIFO_ENTRY + 1
uint8_t data[BYTES_PER_BLOCK];
uint16_t fifo_max, fifo_pkts_bytes;
uint8_t flags;
struct sensor_bulk sb;
};
enum {
@ -92,27 +91,6 @@ command_config_mpu9250(uint32_t *args)
}
DECL_COMMAND(command_config_mpu9250, "config_mpu9250 oid=%c i2c_oid=%c");
// Report local measurement buffer
static void
mp9250_report(struct mpu9250 *mp, uint8_t oid)
{
sendf("mpu9250_data oid=%c sequence=%hu data=%*s"
, oid, mp->sequence, mp->data_count, mp->data);
mp->data_count = 0;
mp->sequence++;
}
// Report buffer and fifo status
static void
mp9250_status(struct mpu9250 *mp, uint_fast8_t oid
, uint32_t time1, uint32_t time2, uint16_t fifo)
{
sendf("mpu9250_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
" buffered=%c fifo=%u limit_count=%hu"
, oid, time1, time2-time1, mp->sequence
, mp->data_count, fifo, mp->limit_count);
}
// Helper code to reschedule the mpu9250_event() timer
static void
mp9250_reschedule_timer(struct mpu9250 *mp)
@ -135,10 +113,10 @@ mp9250_query(struct mpu9250 *mp, uint8_t oid)
if (mp->fifo_pkts_bytes >= BYTES_PER_BLOCK) {
uint8_t reg = AR_FIFO;
i2c_read(mp->i2c->i2c_config, sizeof(reg), &reg
, BYTES_PER_BLOCK, &mp->data[0]);
mp->data_count = BYTES_PER_BLOCK;
, BYTES_PER_BLOCK, &mp->sb.data[0]);
mp->sb.data_count = BYTES_PER_BLOCK;
mp->fifo_pkts_bytes -= BYTES_PER_BLOCK;
mp9250_report(mp, oid);
sensor_bulk_report(&mp->sb, oid);
}
// If we have enough bytes remaining to fill another report wake again
@ -214,9 +192,7 @@ command_query_mpu9250(uint32_t *args)
mp->timer.waketime = args[1];
mp->rest_ticks = args[2];
mp->flags = AX_HAVE_START;
mp->sequence = 0;
mp->limit_count = 0;
mp->data_count = 0;
sensor_bulk_reset(&mp->sb);
mp->fifo_max = 0;
mp->fifo_pkts_bytes = 0;
sched_add_timer(&mp->timer);
@ -235,7 +211,7 @@ command_query_mpu9250_status(uint32_t *args)
i2c_read(mp->i2c->i2c_config, sizeof(int_reg), int_reg, sizeof(int_msg),
&int_msg);
if (int_msg & FIFO_OVERFLOW_INT)
mp->limit_count++;
mp->sb.possible_overflows++;
// Read latest FIFO count (with precise timing)
uint8_t reg[] = {AR_FIFO_COUNT_H};
@ -246,7 +222,7 @@ command_query_mpu9250_status(uint32_t *args)
uint16_t fifo_bytes = ((msg[0] & 0x1f) << 8) | msg[1];
// Report status
mp9250_status(mp, args[0], time1, time2, fifo_bytes / BYTES_PER_FIFO_ENTRY);
sensor_bulk_status(&mp->sb, args[0], time1, time2-time1, fifo_bytes);
}
DECL_COMMAND(command_query_mpu9250_status, "query_mpu9250_status oid=%c");