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mpu9250: Use adxl345.AccelCommandHelper directly

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The MPU9250CommandHelper() class is nearly a duplicate of
ADXL345CommandHelper().  Rename ADXL345QueryHelper() to
AccelCommandHelper and remove user facing references to "adxl345". Use
it directly from mpu9250.py .

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2022-06-16 11:54:31 -04:00
parent 4a7b429115
commit f6734d83b3
2 changed files with 21 additions and 87 deletions
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37
klippy/extras/adxl345.py
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@ -101,15 +101,18 @@ class AccelQueryHelper:
write_proc.start()
# Helper class for G-Code commands
class ADXLCommandHelper:
class AccelCommandHelper:
def __init__(self, config, chip):
self.printer = config.get_printer()
self.chip = chip
self.bg_client = None
self.name = config.get_name().split()[-1]
name_parts = config.get_name().split()
self.base_name = name_parts[0]
self.name = name_parts[-1]
self.register_commands(self.name)
if self.name == "adxl345":
self.register_commands(None)
if len(name_parts) == 1:
if self.name == "adxl345" or not config.has_section("adxl345"):
self.register_commands(None)
def register_commands(self, name):
# Register commands
gcode = self.printer.lookup_object('gcode')
@ -130,20 +133,20 @@ class ADXLCommandHelper:
if self.bg_client is None:
# Start measurements
self.bg_client = self.chip.start_internal_client()
gcmd.respond_info("adxl345 measurements started")
gcmd.respond_info("accelerometer measurements started")
return
# End measurements
name = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S"))
if not name.replace('-', '').replace('_', '').isalnum():
raise gcmd.error("Invalid adxl345 NAME parameter")
raise gcmd.error("Invalid NAME parameter")
bg_client = self.bg_client
self.bg_client = None
bg_client.finish_measurements()
# Write data to file
if self.name == "adxl345":
filename = "/tmp/adxl345-%s.csv" % (name,)
if self.base_name == self.name:
filename = "/tmp/%s-%s.csv" % (self.base_name, name)
else:
filename = "/tmp/adxl345-%s-%s.csv" % (self.name, name,)
filename = "/tmp/%s-%s-%s.csv" % (self.base_name, self.name, name)
bg_client.write_to_file(filename)
gcmd.respond_info("Writing raw accelerometer data to %s file"
% (filename,))
@ -154,18 +157,18 @@ class ADXLCommandHelper:
aclient.finish_measurements()
values = aclient.get_samples()
if not values:
raise gcmd.error("No adxl345 measurements found")
raise gcmd.error("No accelerometer measurements found")
_, accel_x, accel_y, accel_z = values[-1]
gcmd.respond_info("adxl345 values (x, y, z): %.6f, %.6f, %.6f"
gcmd.respond_info("accelerometer values (x, y, z): %.6f, %.6f, %.6f"
% (accel_x, accel_y, accel_z))
cmd_ACCELEROMETER_DEBUG_READ_help = "Query adxl345 register (for debugging)"
cmd_ACCELEROMETER_DEBUG_READ_help = "Query register (for debugging)"
def cmd_ACCELEROMETER_DEBUG_READ(self, gcmd):
reg = gcmd.get("REG", minval=29, maxval=57, parser=lambda x: int(x, 0))
reg = gcmd.get("REG", minval=0, maxval=126, parser=lambda x: int(x, 0))
val = self.chip.read_reg(reg)
gcmd.respond_info("ADXL345 REG[0x%x] = 0x%x" % (reg, val))
cmd_ACCELEROMETER_DEBUG_WRITE_help = "Set adxl345 register (for debugging)"
gcmd.respond_info("Accelerometer REG[0x%x] = 0x%x" % (reg, val))
cmd_ACCELEROMETER_DEBUG_WRITE_help = "Set register (for debugging)"
def cmd_ACCELEROMETER_DEBUG_WRITE(self, gcmd):
reg = gcmd.get("REG", minval=29, maxval=57, parser=lambda x: int(x, 0))
reg = gcmd.get("REG", minval=0, maxval=126, 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)
@ -226,7 +229,7 @@ SAMPLES_PER_BLOCK = 10
class ADXL345:
def __init__(self, config):
self.printer = config.get_printer()
ADXLCommandHelper(config, self)
AccelCommandHelper(config, self)
self.query_rate = 0
am = {'x': (0, SCALE), 'y': (1, SCALE), 'z': (2, SCALE),
'-x': (0, -SCALE), '-y': (1, -SCALE), '-z': (2, -SCALE)}