diff options
Diffstat (limited to 'klippy/extras/mpu9250.py')
| -rw-r--r-- | klippy/extras/mpu9250.py | 14 |
1 files changed, 5 insertions, 9 deletions
diff --git a/klippy/extras/mpu9250.py b/klippy/extras/mpu9250.py index 492131ae..abc7911a 100644 --- a/klippy/extras/mpu9250.py +++ b/klippy/extras/mpu9250.py @@ -52,9 +52,6 @@ SCALE = 0.000244140625 * FREEFALL_ACCEL FIFO_SIZE = 512 -BYTES_PER_SAMPLE = 6 -SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE - BATCH_UPDATES = 0.100 # Printer class that controls MPU9250 chip @@ -77,9 +74,8 @@ class MPU9250: self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid) # Clock tracking chip_smooth = self.data_rate * BATCH_UPDATES * 2 - self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth) - self.clock_updater = bulk_sensor.ChipClockUpdater(self.clock_sync, - BYTES_PER_SAMPLE) + self.clock_updater = bulk_sensor.ChipClockUpdater(mcu, chip_smooth, + ">hhh") self.last_error_count = 0 # Process messages in batches self.batch_bulk = bulk_sensor.BatchBulkHelper( @@ -97,8 +93,8 @@ class MPU9250: % (self.oid,), on_restart=True) self.query_mpu9250_cmd = self.mcu.lookup_command( "query_mpu9250 oid=%c rest_ticks=%u", cq=cmdqueue) - self.clock_updater.setup_query_command( - self.mcu, "query_mpu9250_status oid=%c", oid=self.oid, cq=cmdqueue) + self.clock_updater.setup_query_command("query_mpu9250_status oid=%c", + oid=self.oid, cq=cmdqueue) def read_reg(self, reg): params = self.i2c.i2c_read([reg], 1) return bytearray(params['response'])[0] @@ -111,7 +107,7 @@ class MPU9250: # Measurement decoding def _extract_samples(self, raw_samples): # Convert messages to samples - samples = self.clock_updater.extract_samples(">hhh", raw_samples) + samples = self.clock_updater.extract_samples(raw_samples) # Convert samples (x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map count = 0 |