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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 /klippy/extras | |
| 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>
Diffstat (limited to 'klippy/extras')
| -rw-r--r-- | klippy/extras/mpu9250.py | 8 |
1 files changed, 2 insertions, 6 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) |