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mpu9250: Use adxl345.ClockSyncRegression directly 

The mpu9250.ClockSyncRegression() class is a duplicate of
adxl345.ClockSyncRegression().  Remove the duplicate copy and use the
code from adxl345.py .

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2022-06-16 11:39:04 -04:00
parent f0ba3a8c52
commit 4a7b429115
1 changed files with 1 additions and 49 deletions
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50
klippy/extras/mpu9250.py
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@ -117,54 +117,6 @@ class MPU9250CommandHelper:
val = gcmd.get("VAL", minval=0, maxval=255, parser=lambda x: int(x, 0)) val = gcmd.get("VAL", minval=0, maxval=255, parser=lambda x: int(x, 0))
self.chip.set_reg(reg, val) self.chip.set_reg(reg, val)
# Helper class for chip clock synchronization via linear regression
class ClockSyncRegression:
def __init__(self, mcu, chip_clock_smooth, decay = 1. / 20.):
self.mcu = mcu
self.chip_clock_smooth = chip_clock_smooth
self.decay = decay
self.last_chip_clock = self.last_exp_mcu_clock = 0.
self.mcu_clock_avg = self.mcu_clock_variance = 0.
self.chip_clock_avg = self.chip_clock_covariance = 0.
def reset(self, mcu_clock, chip_clock):
self.mcu_clock_avg = self.last_mcu_clock = mcu_clock
self.chip_clock_avg = chip_clock
self.mcu_clock_variance = self.chip_clock_covariance = 0.
self.last_chip_clock = self.last_exp_mcu_clock = 0.
def update(self, mcu_clock, chip_clock):
# Update linear regression
decay = self.decay
diff_mcu_clock = mcu_clock - self.mcu_clock_avg
self.mcu_clock_avg += decay * diff_mcu_clock
self.mcu_clock_variance = (1. - decay) * (
self.mcu_clock_variance + diff_mcu_clock**2 * decay)
diff_chip_clock = chip_clock - self.chip_clock_avg
self.chip_clock_avg += decay * diff_chip_clock
self.chip_clock_covariance = (1. - decay) * (
self.chip_clock_covariance + diff_mcu_clock*diff_chip_clock*decay)
def set_last_chip_clock(self, chip_clock):
base_mcu, base_chip, inv_cfreq = self.get_clock_translation()
self.last_chip_clock = chip_clock
self.last_exp_mcu_clock = base_mcu + (chip_clock-base_chip) * inv_cfreq
def get_clock_translation(self):
inv_chip_freq = self.mcu_clock_variance / self.chip_clock_covariance
if not self.last_chip_clock:
return self.mcu_clock_avg, self.chip_clock_avg, inv_chip_freq
# Find mcu clock associated with future chip_clock
s_chip_clock = self.last_chip_clock + self.chip_clock_smooth
scdiff = s_chip_clock - self.chip_clock_avg
s_mcu_clock = self.mcu_clock_avg + scdiff * inv_chip_freq
# Calculate frequency to converge at future point
mdiff = s_mcu_clock - self.last_exp_mcu_clock
s_inv_chip_freq = mdiff / self.chip_clock_smooth
return self.last_exp_mcu_clock, self.last_chip_clock, s_inv_chip_freq
def get_time_translation(self):
base_mcu, base_chip, inv_cfreq = self.get_clock_translation()
clock_to_print_time = self.mcu.clock_to_print_time
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
MIN_MSG_TIME = 0.100 MIN_MSG_TIME = 0.100
BYTES_PER_SAMPLE = 6 BYTES_PER_SAMPLE = 6
@ -201,7 +153,7 @@ class MPU9250:
# Clock tracking # Clock tracking
self.last_sequence = self.max_query_duration = 0 self.last_sequence = self.max_query_duration = 0
self.last_limit_count = self.last_error_count = 0 self.last_limit_count = self.last_error_count = 0
self.clock_sync = ClockSyncRegression(self.mcu, 640) self.clock_sync = adxl345.ClockSyncRegression(self.mcu, 640)
# API server endpoints # API server endpoints
self.api_dump = motion_report.APIDumpHelper( self.api_dump = motion_report.APIDumpHelper(
self.printer, self._api_update, self._api_startstop, 0.100) self.printer, self._api_update, self._api_startstop, 0.100)