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bulk_sensor: Add some module level documentation 

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2023-12-17 01:12:28 -05:00
parent c716edafe2
commit 6f686ddee3
1 changed files with 31 additions and 0 deletions
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klippy/extras/bulk_sensor.py
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@ -5,6 +5,18 @@
# This file may be distributed under the terms of the GNU GPLv3 license.
import threading
# This "bulk sensor" module facilitates the processing of sensor chip
# measurements that do not require the host to respond with low
# latency. This module helps collect these measurements into batches
# that are then processed periodically by the host code (as specified
# by BatchBulkHelper.batch_interval). It supports the collection of
# thousands of sensor measurements per second.
#
# Processing measurements in batches reduces load on the mcu, reduces
# bandwidth to/from the mcu, and reduces load on the host. It also
# makes it easier to export the raw measurements via the webhooks
# system (aka API Server).
BATCH_INTERVAL = 0.500
# Helper to process accumulated messages in periodic batches
@ -119,6 +131,25 @@ class BulkDataQueue:
def clear_samples(self):
self.pull_samples()
######################################################################
# Clock synchronization
######################################################################
# It is common for sensors to produce measurements at a fixed
# frequency. If the mcu can reliably obtain all of these
# measurements, then the code here can calculate a precision timestamp
# for them. That is, it can determine the actual sensor measurement
# frequency, the time of the first measurement, and thus a precise
# time for all measurements.
#
# This system works by having the mcu periodically report a precision
# timestamp along with the total number of measurements the sensor has
# taken as of that time. In brief, knowing the total number of
# measurements taken over an extended period provides an accurate
# estimate of measurement frequency, which can then also be utilized
# to determine the time of the first measurement.
# Helper class for chip clock synchronization via linear regression
class ClockSyncRegression:
def __init__(self, mcu, chip_clock_smooth, decay = 1. / 20.):