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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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71
klippy/extras/mpu9250.py
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@ -48,75 +48,6 @@ def twos_complement(val, nbits):
val = val - (1 << nbits)
return val
# Helper class for G-Code commands
class MPU9250CommandHelper:
def __init__(self, config, chip):
self.printer = config.get_printer()
self.chip = chip
self.bg_client = None
self.name = config.get_name().split()[-1]
self.register_commands(self.name)
if self.name == "mpu9250":
self.register_commands(None)
def register_commands(self, name):
# Register commands
gcode = self.printer.lookup_object('gcode')
gcode.register_mux_command("ACCELEROMETER_MEASURE", "CHIP", name,
self.cmd_ACCELEROMETER_MEASURE,
desc=self.cmd_ACCELEROMETER_MEASURE_help)
gcode.register_mux_command("ACCELEROMETER_QUERY", "CHIP", name,
self.cmd_ACCELEROMETER_QUERY,
desc=self.cmd_ACCELEROMETER_QUERY_help)
gcode.register_mux_command("ACCELEROMETER_DEBUG_READ", "CHIP", name,
self.cmd_ACCELEROMETER_DEBUG_READ,
desc=self.cmd_ACCELEROMETER_DEBUG_READ_help)
gcode.register_mux_command("ACCELEROMETER_DEBUG_WRITE", "CHIP", name,
self.cmd_ACCELEROMETER_DEBUG_WRITE,
desc=self.cmd_ACCELEROMETER_DEBUG_WRITE_help)
cmd_ACCELEROMETER_MEASURE_help = "Start/stop accelerometer"
def cmd_ACCELEROMETER_MEASURE(self, gcmd):
if self.bg_client is None:
# Start measurements
self.bg_client = self.chip.start_internal_client()
gcmd.respond_info("mpu9250 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 mpu9250 NAME parameter")
bg_client = self.bg_client
self.bg_client = None
bg_client.finish_measurements()
# Write data to file
if self.name == "mpu9250":
filename = "/tmp/mpu9250-%s.csv" % (name,)
else:
filename = "/tmp/mpu9250-%s-%s.csv" % (self.name, name,)
bg_client.write_to_file(filename)
gcmd.respond_info("Writing raw accelerometer data to %s file"
% (filename,))
cmd_ACCELEROMETER_QUERY_help = "Query accelerometer for the current values"
def cmd_ACCELEROMETER_QUERY(self, gcmd):
aclient = self.chip.start_internal_client()
self.printer.lookup_object('toolhead').dwell(1.)
aclient.finish_measurements()
values = aclient.get_samples()
if not values:
raise gcmd.error("No mpu9250 measurements found")
_, accel_x, accel_y, accel_z = values[-1]
gcmd.respond_info("mpu9250 values (x, y, z): %.6f, %.6f, %.6f"
% (accel_x, accel_y, accel_z))
cmd_ACCELEROMETER_DEBUG_READ_help = "Query mpu9250 register (for debugging)"
def cmd_ACCELEROMETER_DEBUG_READ(self, gcmd):
reg = gcmd.get("REG", minval=0, maxval=126, parser=lambda x: int(x, 0))
val = self.chip.read_reg(reg)
gcmd.respond_info("MPU9250 REG[0x%x] = 0x%x" % (reg, val))
cmd_ACCELEROMETER_DEBUG_WRITE_help = "Set mpu9250 register (for debugging)"
def cmd_ACCELEROMETER_DEBUG_WRITE(self, gcmd):
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)
MIN_MSG_TIME = 0.100
BYTES_PER_SAMPLE = 6
@ -126,7 +57,7 @@ SAMPLES_PER_BLOCK = 8
class MPU9250:
def __init__(self, config):
self.printer = config.get_printer()
MPU9250CommandHelper(config, self)
adxl345.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)}