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>

klippy/extras/lis2dw.py

@@ -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],
+        self.query_lis2dw_cmd.send([self.oid, rest_ticks])
-                                    reqclock=reqclock)
+        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)

src/sensor_lis2dw.c

@@ -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->flags = 0;
-    ax->rest_ticks = args[2];
+    if (!args[1])
-    ax->flags = LIS_HAVE_START;
+        // 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,
+DECL_COMMAND(command_query_lis2dw, "query_lis2dw oid=%c rest_ticks=%u");
-             "query_lis2dw oid=%c clock=%u 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))
+        if (flags & LIS_PENDING)
-            continue;
-        if (flags & LIS_HAVE_START)
-            lis2dw_start(ax, oid);
-        else
             lis2dw_query(ax, oid);
     }
 }