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sensor_lis2dw: No need to schedule start of bulk reading 

It's simpler and faster to enable the lis2dw in the python code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2023-12-27 13:36:21 -05:00
parent d853c19811
commit d785b396a7
2 changed files with 20 additions and 55 deletions
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18
klippy/extras/lis2dw.py
View File

@ -1,7 +1,7 @@
# Support for reading acceleration data from an LIS2DW chip
#
# Copyright (C) 2023 Zhou.XianMing <zhouxm@biqu3d.com>
# Copyright (C) 2020-2021 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2020-2023 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
@ -30,8 +30,6 @@ LIS2DW_DEV_ID = 0x44
FREEFALL_ACCEL = 9.80665
SCALE = FREEFALL_ACCEL * 1.952 / 4
MIN_MSG_TIME = 0.100
BYTES_PER_SAMPLE = 6
SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
@ -51,7 +49,7 @@ class LIS2DW:
self.query_lis2dw_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"
mcu.add_config_cmd("query_lis2dw oid=%d rest_ticks=0"
% (oid,), on_restart=True)
mcu.register_config_callback(self._build_config)
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid)
@ -73,7 +71,7 @@ class LIS2DW:
def _build_config(self):
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)
"query_lis2dw oid=%c rest_ticks=%u", 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):
@ -154,19 +152,17 @@ class LIS2DW:
# Start bulk reading
self.bulk_queue.clear_samples()
systime = self.printer.get_reactor().monotonic()
print_time = self.mcu.estimated_print_time(systime) + MIN_MSG_TIME
reqclock = self.mcu.print_time_to_clock(print_time)
rest_ticks = self.mcu.seconds_to_clock(4. / self.data_rate)
self.query_lis2dw_cmd.send([self.oid, reqclock, rest_ticks],
reqclock=reqclock)
self.query_lis2dw_cmd.send([self.oid, rest_ticks])
self.set_reg(REG_LIS2DW_FIFO_CTRL, 0xC0)
logging.info("LIS2DW starting '%s' measurements", self.name)
# Initialize clock tracking
self.clock_updater.note_start()
self.last_error_count = 0
def _finish_measurements(self):
# Halt bulk reading
self.query_lis2dw_cmd.send_wait_ack([self.oid, 0, 0])
self.set_reg(REG_LIS2DW_FIFO_CTRL, 0x00)
self.query_lis2dw_cmd.send_wait_ack([self.oid, 0])
self.bulk_queue.clear_samples()
logging.info("LIS2DW finished '%s' measurements", self.name)
self.set_reg(REG_LIS2DW_FIFO_CTRL, 0x00)

57
src/sensor_lis2dw.c
View File

@ -1,7 +1,7 @@
// Support for gathering acceleration data from LIS2DW chip
//
// Copyright (C) 2023 Zhou.XianMing <zhouxm@biqu3d.com>
// Copyright (C) 2020 Kevin O'Connor <kevin@koconnor.net>
// Copyright (C) 2020-2023 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
@ -16,7 +16,6 @@
#define LIS_AR_DATAX0 0x28
#define LIS_AM_READ 0x80
#define LIS_FIFO_CTRL 0x2E
#define LIS_FIFO_SAMPLES 0x2F
#define BYTES_PER_SAMPLE 6
@ -30,7 +29,7 @@ struct lis2dw {
};
enum {
LIS_HAVE_START = 1<<0, LIS_RUNNING = 1<<1, LIS_PENDING = 1<<2,
LIS_PENDING = 1<<0,
};
static struct task_wake lis2dw_wake;
@ -101,56 +100,30 @@ lis2dw_query(struct lis2dw *ax, uint8_t oid)
if (!fifo_empty) {
// More data in fifo - wake this task again
sched_wake_task(&lis2dw_wake);
} else if (ax->flags & LIS_RUNNING) {
} else {
// Sleep until next check time
sched_del_timer(&ax->timer);
ax->flags &= ~LIS_PENDING;
lis2dw_reschedule_timer(ax);
}
}
// Startup measurements
static void
lis2dw_start(struct lis2dw *ax, uint8_t oid)
{
sched_del_timer(&ax->timer);
ax->flags = LIS_RUNNING;
uint8_t ctrl[2] = {LIS_FIFO_CTRL , 0xC0};
spidev_transfer(ax->spi, 0, sizeof(ctrl), ctrl);
lis2dw_reschedule_timer(ax);
}
// End measurements
static void
lis2dw_stop(struct lis2dw *ax, uint8_t oid)
{
// Disable measurements
sched_del_timer(&ax->timer);
ax->flags = 0;
uint8_t ctrl[2] = {LIS_FIFO_CTRL , 0};
spidev_transfer(ax->spi, 0, sizeof(ctrl), ctrl);
}
void
command_query_lis2dw(uint32_t *args)
{
struct lis2dw *ax = oid_lookup(args[0], command_config_lis2dw);
if (!args[2]) {
// End measurements
lis2dw_stop(ax, args[0]);
return;
}
// Start new measurements query
sched_del_timer(&ax->timer);
ax->timer.waketime = args[1];
ax->rest_ticks = args[2];
ax->flags = LIS_HAVE_START;
ax->flags = 0;
if (!args[1])
// End measurements
return;
// Start new measurements query
ax->rest_ticks = args[1];
sensor_bulk_reset(&ax->sb);
sched_add_timer(&ax->timer);
lis2dw_reschedule_timer(ax);
}
DECL_COMMAND(command_query_lis2dw,
"query_lis2dw oid=%c clock=%u rest_ticks=%u");
DECL_COMMAND(command_query_lis2dw, "query_lis2dw oid=%c rest_ticks=%u");
void
command_query_lis2dw_status(uint32_t *args)
@ -174,11 +147,7 @@ lis2dw_task(void)
struct lis2dw *ax;
foreach_oid(oid, ax, command_config_lis2dw) {
uint_fast8_t flags = ax->flags;
if (!(flags & LIS_PENDING))
continue;
if (flags & LIS_HAVE_START)
lis2dw_start(ax, oid);
else
if (flags & LIS_PENDING)
lis2dw_query(ax, oid);
}
}