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| author | Kevin O'Connor <kevin@koconnor.net> | 2023-12-17 11:31:58 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2024-01-19 11:55:15 -0500 |
| commit | 5ff555a705b8d3a586f240eb7456b591ee928ac2 (patch) | |
| tree | 8c52fd7df2946f6d411ba25ddbc220d9fae01972 | |
| parent | 3275614b895c409f30cc9520c02990b18abad3c6 (diff) | |
| download | kutter-5ff555a705b8d3a586f240eb7456b591ee928ac2.tar.gz kutter-5ff555a705b8d3a586f240eb7456b591ee928ac2.tar.xz kutter-5ff555a705b8d3a586f240eb7456b591ee928ac2.zip | |
sensor_mpu9250: No need to send messages when stopping queries
Simplify the mcu code as any messages are ignored by the host anyway.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | klippy/extras/mpu9250.py | 8 | ||||
| -rw-r--r-- | src/sensor_mpu9250.c | 9 |
2 files changed, 2 insertions, 15 deletions
diff --git a/klippy/extras/mpu9250.py b/klippy/extras/mpu9250.py index 04a33eb2..41376dc3 100644 --- a/klippy/extras/mpu9250.py +++ b/klippy/extras/mpu9250.py @@ -69,7 +69,7 @@ class MPU9250: default_speed=400000) self.mcu = mcu = self.i2c.get_mcu() self.oid = oid = mcu.create_oid() - self.query_mpu9250_cmd = self.query_mpu9250_end_cmd = None + self.query_mpu9250_cmd = None self.query_mpu9250_status_cmd = None mcu.register_config_callback(self._build_config) self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "mpu9250_data", oid) @@ -95,10 +95,6 @@ class MPU9250: % (self.oid,), on_restart=True) self.query_mpu9250_cmd = self.mcu.lookup_command( "query_mpu9250 oid=%c clock=%u rest_ticks=%u", cq=cmdqueue) - self.query_mpu9250_end_cmd = self.mcu.lookup_query_command( - "query_mpu9250 oid=%c clock=%u rest_ticks=%u", - "mpu9250_status oid=%c clock=%u query_ticks=%u next_sequence=%hu" - " buffered=%c fifo=%u limit_count=%hu", oid=self.oid, cq=cmdqueue) self.query_mpu9250_status_cmd = self.mcu.lookup_query_command( "query_mpu9250_status oid=%c", "mpu9250_status oid=%c clock=%u query_ticks=%u next_sequence=%hu" @@ -193,7 +189,7 @@ class MPU9250: self.last_error_count = 0 def _finish_measurements(self): # Halt bulk reading - params = self.query_mpu9250_end_cmd.send([self.oid, 0, 0]) + self.query_mpu9250_cmd.send_wait_ack([self.oid, 0, 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) diff --git a/src/sensor_mpu9250.c b/src/sensor_mpu9250.c index c535d097..7792b4d8 100644 --- a/src/sensor_mpu9250.c +++ b/src/sensor_mpu9250.c @@ -192,16 +192,7 @@ mp9250_stop(struct mpu9250 *mp, uint8_t oid) // disable accel FIFO uint8_t msg[2] = { AR_FIFO_EN, SET_DISABLE_FIFO }; - uint32_t end1_time = timer_read_time(); i2c_write(mp->i2c->i2c_config, sizeof(msg), msg); - uint32_t end2_time = timer_read_time(); - - // Report final data - if (mp->data_count > 0) - mp9250_report(mp, oid); - uint16_t bytes_to_read = get_fifo_status(mp); - mp9250_status(mp, oid, end1_time, end2_time, - bytes_to_read / BYTES_PER_FIFO_ENTRY); // Uncomment and rebuilt to check for FIFO overruns when tuning //output("mpu9240 limit_count=%u fifo_max=%u", |