diff options
Diffstat (limited to 'klippy/extras/mpu9250.py')
| -rw-r--r-- | klippy/extras/mpu9250.py | 9 |
1 files changed, 0 insertions, 9 deletions
diff --git a/klippy/extras/mpu9250.py b/klippy/extras/mpu9250.py index 6ca300cd..d1ef9954 100644 --- a/klippy/extras/mpu9250.py +++ b/klippy/extras/mpu9250.py @@ -59,7 +59,6 @@ class MPU9250: def __init__(self, config): self.printer = config.get_printer() adxl345.AccelCommandHelper(config, self) - self.query_rate = 0 am = {'x': (0, SCALE), 'y': (1, SCALE), 'z': (2, SCALE), '-x': (0, -SCALE), '-y': (1, -SCALE), '-z': (2, -SCALE)} axes_map = config.getlist('axes_map', ('x','y','z'), count=3) @@ -116,8 +115,6 @@ class MPU9250: self.i2c.i2c_write([reg, val & 0xFF], minclock=minclock) # Measurement collection - def is_measuring(self): - return self.query_rate > 0 def _extract_samples(self, raw_samples): # Load variables to optimize inner loop below (x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map @@ -157,8 +154,6 @@ class MPU9250: minclock=minclock) self.clock_updater.update_clock(params) def _start_measurements(self): - if self.is_measuring(): - return # In case of miswiring, testing MPU9250 device ID prevents treating # noise or wrong signal as a correctly initialized device dev_id = self.read_reg(REG_DEVID) @@ -185,7 +180,6 @@ class MPU9250: 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(4. / self.data_rate) - self.query_rate = self.data_rate self.query_mpu9250_cmd.send([self.oid, reqclock, rest_ticks], reqclock=reqclock) logging.info("MPU9250 starting '%s' measurements", self.name) @@ -195,11 +189,8 @@ class MPU9250: self.clock_updater.clear_duration_filter() self.last_error_count = 0 def _finish_measurements(self): - if not self.is_measuring(): - return # Halt bulk reading params = self.query_mpu9250_end_cmd.send([self.oid, 0, 0]) - self.query_rate = 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) |