diff options
| -rw-r--r-- | klippy/extras/mpu9250.py | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/klippy/extras/mpu9250.py b/klippy/extras/mpu9250.py index c975f989..04a33eb2 100644 --- a/klippy/extras/mpu9250.py +++ b/klippy/extras/mpu9250.py @@ -4,7 +4,7 @@ # Copyright (C) 2020-2021 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import logging, time +import logging from . import bus, adxl345, bulk_sensor MPU9250_ADDR = 0x68 @@ -167,8 +167,12 @@ class MPU9250: # 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) - time.sleep(20. / 1000) # wait for accelerometer chip wake up - self.set_reg(REG_SMPLRT_DIV, SAMPLE_RATE_DIVS[self.data_rate]) + # Add 20ms pause for accelerometer chip wake up + self.read_reg(REG_DEVID) # Dummy read to ensure queues flushed + systime = self.printer.get_reactor().monotonic() + next_time = self.mcu.estimated_print_time(systime) + 0.020 + self.set_reg(REG_SMPLRT_DIV, SAMPLE_RATE_DIVS[self.data_rate], + minclock=self.mcu.print_time_to_clock(next_time)) self.set_reg(REG_CONFIG, SET_CONFIG) self.set_reg(REG_ACCEL_CONFIG, SET_ACCEL_CONFIG) self.set_reg(REG_ACCEL_CONFIG2, SET_ACCEL_CONFIG2) |