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sensor_mpu9250: Fix or improve reliability (#6170)

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Fixes common MPU-9250 accelerometer issues for RPi Linux MCU and
improves reliability on all other architectures by adjusting the MPU-*
reading algorithm to only read whole Klipper messages' worth of
data from MPU-* and eliminating many unnecessary checks of the MPU FIFO
fill-level that consumed bus bandwidth needed for data transfer. Fixes
intermittent "Lost communication with MCU 'rpi'" due to "Timer too
close" and transposed / corrupted data due to FIFO overrun/data loss
when using MPU-* accelerometers. In addition FIFO overrun checks are
performed by testing the MPU interrupt flag vs. inferring from the FIFO
fill level.

Stress tested for 13hrs with two MPU-6500 attached to one I2C bus on RPi
    and one on a PR2040
Stress tested for 23hrs with two MPU-6500 attached to one I2C bus on RPi
    and one on a ATmega328P (Seeduino Nano)

Signed-off-by: Matthew Swabey <matthew@swabey.org>
This commit is contained in:
Dr. Matthew Swabey 2023-04-19 12:34:22 -04:00 • committed by GitHub
parent c2fe372925
commit 80a7744b42
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2 changed files with 55 additions and 49 deletions
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klippy/extras/mpu9250.py
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@ -221,7 +221,7 @@ class MPU9250:
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(1. / self.data_rate)
rest_ticks = self.mcu.seconds_to_clock(4. / self.data_rate)
self.query_rate = self.data_rate
self.query_mpu9250_cmd.send([self.oid, reqclock, rest_ticks],
reqclock=reqclock)