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| author | Dr. Matthew Swabey <matthew@swabey.org> | 2023-04-19 12:34:22 -0400 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2023-04-19 12:34:22 -0400 |
| commit | 80a7744b42aabd38eab52f845fc94a724d6676c0 (patch) | |
| tree | f45c5c9969cbd9c1b223556739323343164f219f /klippy/extras | |
| parent | c2fe37292584455e71ca6e531b9d7286d4cb56a6 (diff) | |
| download | kutter-80a7744b42aabd38eab52f845fc94a724d6676c0.tar.gz kutter-80a7744b42aabd38eab52f845fc94a724d6676c0.tar.xz kutter-80a7744b42aabd38eab52f845fc94a724d6676c0.zip | |
sensor_mpu9250: Fix or improve reliability (#6170)
Fixes common MPU-9250 accelerometer issues for RPi Linux MCU and
improves reliability on all other architectures by adjusting the MPU-*
reading algorithm to only read whole Klipper messages' worth of
data from MPU-* and eliminating many unnecessary checks of the MPU FIFO
fill-level that consumed bus bandwidth needed for data transfer. Fixes
intermittent "Lost communication with MCU 'rpi'" due to "Timer too
close" and transposed / corrupted data due to FIFO overrun/data loss
when using MPU-* accelerometers. In addition FIFO overrun checks are
performed by testing the MPU interrupt flag vs. inferring from the FIFO
fill level.
Stress tested for 13hrs with two MPU-6500 attached to one I2C bus on RPi
and one on a PR2040
Stress tested for 23hrs with two MPU-6500 attached to one I2C bus on RPi
and one on a ATmega328P (Seeduino Nano)
Signed-off-by: Matthew Swabey <matthew@swabey.org>
Diffstat (limited to 'klippy/extras')
| -rw-r--r-- | klippy/extras/mpu9250.py | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/klippy/extras/mpu9250.py b/klippy/extras/mpu9250.py index 419207fc..dc25449b 100644 --- a/klippy/extras/mpu9250.py +++ b/klippy/extras/mpu9250.py @@ -221,7 +221,7 @@ class MPU9250: 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(1. / self.data_rate) + rest_ticks = self.mcu.seconds_to_clock(4. / self.data_rate) self.query_rate = self.data_rate self.query_mpu9250_cmd.send([self.oid, reqclock, rest_ticks], reqclock=reqclock) |