diff options
Diffstat (limited to 'klippy/extras/mpu9250.py')
| -rw-r--r-- | klippy/extras/mpu9250.py | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/klippy/extras/mpu9250.py b/klippy/extras/mpu9250.py index 72c1f681..204ca870 100644 --- a/klippy/extras/mpu9250.py +++ b/klippy/extras/mpu9250.py @@ -4,8 +4,8 @@ # 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, collections, threading, multiprocessing, os -from . import bus, motion_report, adxl345 +import logging, time, threading, multiprocessing, os +from . import bus, motion_report, adxl345, bulk_sensor MPU9250_ADDR = 0x68 @@ -47,14 +47,13 @@ SCALE = 0.000244140625 * FREEFALL_ACCEL FIFO_SIZE = 512 -Accel_Measurement = collections.namedtuple( - 'Accel_Measurement', ('time', 'accel_x', 'accel_y', 'accel_z')) - MIN_MSG_TIME = 0.100 BYTES_PER_SAMPLE = 6 SAMPLES_PER_BLOCK = 8 +API_UPDATES = 0.100 + # Printer class that controls MPU9250 chip class MPU9250: def __init__(self, config): @@ -86,10 +85,11 @@ class MPU9250: # Clock tracking self.last_sequence = self.max_query_duration = 0 self.last_limit_count = self.last_error_count = 0 - self.clock_sync = adxl345.ClockSyncRegression(self.mcu, 640) + chip_smooth = self.data_rate * API_UPDATES * 2 + self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth) # API server endpoints self.api_dump = motion_report.APIDumpHelper( - self.printer, self._api_update, self._api_startstop, 0.100) + self.printer, self._api_update, self._api_startstop, API_UPDATES) self.name = config.get_name().split()[-1] wh = self.printer.lookup_object('webhooks') wh.register_mux_endpoint("mpu9250/dump_mpu9250", "sensor", self.name, |