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sensor_mpu9250: No need to schedule start of bulk reading

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It's simpler and faster to enable the mpu9250 in the python code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2023-12-27 12:02:10 -05:00
parent 6f0e91f69f
commit d853c19811
2 changed files with 43 additions and 108 deletions
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26
klippy/extras/mpu9250.py
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@ -30,6 +30,7 @@ REG_ACCEL_CONFIG2 = 0x1D
REG_USER_CTRL = 0x6A
REG_PWR_MGMT_1 = 0x6B
REG_PWR_MGMT_2 = 0x6C
REG_INT_STATUS = 0x3A
SAMPLE_RATE_DIVS = { 4000:0x00 }
@ -40,6 +41,10 @@ SET_PWR_MGMT_1_WAKE = 0x00
SET_PWR_MGMT_1_SLEEP= 0x40
SET_PWR_MGMT_2_ACCEL_ON = 0x07
SET_PWR_MGMT_2_OFF = 0x3F
SET_USER_FIFO_RESET = 0x04
SET_USER_FIFO_EN = 0x40
SET_ENABLE_FIFO = 0x08
SET_DISABLE_FIFO = 0x00
FREEFALL_ACCEL = 9.80665 * 1000.
# SCALE = 1/4096 g/LSB @8g scale * Earth gravity in mm/s**2
@ -47,8 +52,6 @@ SCALE = 0.000244140625 * FREEFALL_ACCEL
FIFO_SIZE = 512
MIN_MSG_TIME = 0.100
BYTES_PER_SAMPLE = 6
SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
@ -90,10 +93,10 @@ class MPU9250:
cmdqueue = self.i2c.get_command_queue()
self.mcu.add_config_cmd("config_mpu9250 oid=%d i2c_oid=%d"
% (self.oid, self.i2c.get_oid()))
self.mcu.add_config_cmd("query_mpu9250 oid=%d clock=0 rest_ticks=0"
self.mcu.add_config_cmd("query_mpu9250 oid=%d rest_ticks=0"
% (self.oid,), on_restart=True)
self.query_mpu9250_cmd = self.mcu.lookup_command(
"query_mpu9250 oid=%c clock=%u rest_ticks=%u", cq=cmdqueue)
"query_mpu9250 oid=%c rest_ticks=%u", cq=cmdqueue)
self.clock_updater.setup_query_command(
self.mcu, "query_mpu9250_status oid=%c", oid=self.oid, cq=cmdqueue)
def read_reg(self, reg):
@ -164,22 +167,25 @@ class MPU9250:
self.set_reg(REG_CONFIG, SET_CONFIG)
self.set_reg(REG_ACCEL_CONFIG, SET_ACCEL_CONFIG)
self.set_reg(REG_ACCEL_CONFIG2, SET_ACCEL_CONFIG2)
# Reset fifo
self.set_reg(REG_FIFO_EN, SET_DISABLE_FIFO)
self.set_reg(REG_USER_CTRL, SET_USER_FIFO_RESET)
self.set_reg(REG_USER_CTRL, SET_USER_FIFO_EN)
self.read_reg(REG_INT_STATUS) # clear FIFO overflow flag
# 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_mpu9250_cmd.send([self.oid, reqclock, rest_ticks],
reqclock=reqclock)
self.query_mpu9250_cmd.send([self.oid, rest_ticks])
self.set_reg(REG_FIFO_EN, SET_ENABLE_FIFO)
logging.info("MPU9250 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_mpu9250_cmd.send_wait_ack([self.oid, 0, 0])
self.set_reg(REG_FIFO_EN, SET_DISABLE_FIFO)
self.query_mpu9250_cmd.send_wait_ack([self.oid, 0])
self.bulk_queue.clear_samples()
logging.info("MPU9250 finished '%s' measurements", self.name)
self.set_reg(REG_PWR_MGMT_1, SET_PWR_MGMT_1_SLEEP)