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| author | MRX8024 <57844100+MRX8024@users.noreply.github.com> | 2025-03-24 12:46:41 +0200 |
|---|---|---|
| committer | KevinOConnor <kevin@koconnor.net> | 2025-04-03 14:08:23 -0400 |
| commit | 81a1a03ed07de873b2c43d20fbcaa1e8804f81ad (patch) | |
| tree | 851f64d36e4faf66b079100e4cdf9b60d0ffdf0b /klippy/extras | |
| parent | 869440a7edb6d999c292e27550e79458116c9781 (diff) | |
| download | kutter-81a1a03ed07de873b2c43d20fbcaa1e8804f81ad.tar.gz kutter-81a1a03ed07de873b2c43d20fbcaa1e8804f81ad.tar.xz kutter-81a1a03ed07de873b2c43d20fbcaa1e8804f81ad.zip | |
icm20948: Formatting refactor
Signed-off-by: Maksim Bolgov maksim8024@gmail.com
Diffstat (limited to 'klippy/extras')
| -rw-r--r-- | klippy/extras/icm20948.py | 53 |
1 files changed, 24 insertions, 29 deletions
diff --git a/klippy/extras/icm20948.py b/klippy/extras/icm20948.py index 29eece7b..92b89cc0 100644 --- a/klippy/extras/icm20948.py +++ b/klippy/extras/icm20948.py @@ -12,42 +12,40 @@ import logging from . import bus, adxl345, bulk_sensor -ICM20948_ADDR = 0x68 +ICM20948_ADDR = 0x68 ICM_DEV_IDS = { 0xEA: "icm-20948", #everything above are normal ICM IDs - } - +} # ICM20948 registers -REG_DEVID = 0x00 # 0xEA -REG_FIFO_EN = 0x67 # FIFO_EN_2 -REG_ACCEL_SMPLRT_DIV1 = 0x10 # MSB -REG_ACCEL_SMPLRT_DIV2 = 0x11 # LSB -REG_ACCEL_CONFIG = 0x14 -REG_USER_CTRL = 0x03 -REG_PWR_MGMT_1 = 0x06 -REG_PWR_MGMT_2 = 0x07 -REG_INT_STATUS = 0x19 -REG_BANK_SEL = 0x7F +REG_DEVID = 0x00 # 0xEA +REG_FIFO_EN = 0x67 # FIFO_EN_2 +REG_ACCEL_SMPLRT_DIV1 = 0x10 # MSB +REG_ACCEL_SMPLRT_DIV2 = 0x11 # LSB +REG_ACCEL_CONFIG = 0x14 +REG_USER_CTRL = 0x03 +REG_PWR_MGMT_1 = 0x06 +REG_PWR_MGMT_2 = 0x07 +REG_INT_STATUS = 0x19 +REG_BANK_SEL = 0x7F SAMPLE_RATE_DIVS = { 4500: 0x00 } -#SET_CONFIG = 0x01 # FIFO mode 'stream' style -SET_BANK_0 = 0x00 -SET_BANK_1 = 0x10 -SET_BANK_2 = 0x20 -SET_BANK_3 = 0x30 -SET_ACCEL_CONFIG = 0x06 # 16g full scale, 1209Hz BW, ??? delay 4.5kHz samp rate -SET_PWR_MGMT_1_WAKE = 0x01 -SET_PWR_MGMT_1_SLEEP= 0x41 +SET_BANK_0 = 0x00 +SET_BANK_1 = 0x10 +SET_BANK_2 = 0x20 +SET_BANK_3 = 0x30 +SET_ACCEL_CONFIG = 0x06 # 16g full scale, 1209Hz BW, 4.5kHz samp rate +SET_PWR_MGMT_1_WAKE = 0x01 +SET_PWR_MGMT_1_SLEEP = 0x41 SET_PWR_MGMT_2_ACCEL_ON = 0x07 -SET_PWR_MGMT_2_OFF = 0x3F -SET_USER_FIFO_RESET = 0x0E -SET_USER_FIFO_EN = 0x40 -SET_ENABLE_FIFO = 0x10 -SET_DISABLE_FIFO = 0x00 +SET_PWR_MGMT_2_OFF = 0x3F +SET_USER_FIFO_RESET = 0x0E +SET_USER_FIFO_EN = 0x40 +SET_ENABLE_FIFO = 0x10 +SET_DISABLE_FIFO = 0x00 FREEFALL_ACCEL = 9.80665 * 1000. # SCALE = 1/2048 g/LSB @16g scale * Earth gravity in mm/s**2 @@ -129,7 +127,6 @@ class ICM20948: % (dev_id)) else: logging.info("Found %s with id %x"% (ICM_DEV_IDS[dev_id], dev_id)) - # Setup chip in requested query rate self.set_reg(REG_PWR_MGMT_1, SET_PWR_MGMT_1_WAKE) self.set_reg(REG_PWR_MGMT_2, SET_PWR_MGMT_2_ACCEL_ON) @@ -137,7 +134,6 @@ class ICM20948: self.read_reg(REG_DEVID) # Dummy read to ensure queues flushed self.set_reg(REG_ACCEL_SMPLRT_DIV1, SAMPLE_RATE_DIVS[self.data_rate]) self.set_reg(REG_ACCEL_SMPLRT_DIV2, SAMPLE_RATE_DIVS[self.data_rate]) - # self.set_reg(REG_CONFIG, SET_CONFIG) # No config register self.set_reg(REG_BANK_SEL, SET_BANK_2) self.set_reg(REG_ACCEL_CONFIG, SET_ACCEL_CONFIG) self.set_reg(REG_BANK_SEL, SET_BANK_0) @@ -146,7 +142,6 @@ class ICM20948: self.set_reg(REG_USER_CTRL, SET_USER_FIFO_RESET) self.set_reg(REG_USER_CTRL, SET_USER_FIFO_EN) self.read_reg(REG_INT_STATUS) # clear FIFO overflow flag - # Start bulk reading rest_ticks = self.mcu.seconds_to_clock(4. / self.data_rate) self.query_icm20948_cmd.send([self.oid, rest_ticks]) |