diff options
Diffstat (limited to 'klippy/extras/mpu9250.py')
| -rw-r--r-- | klippy/extras/mpu9250.py | 71 |
1 files changed, 1 insertions, 70 deletions
diff --git a/klippy/extras/mpu9250.py b/klippy/extras/mpu9250.py index 6fc0dcf0..bd882945 100644 --- a/klippy/extras/mpu9250.py +++ b/klippy/extras/mpu9250.py @@ -48,75 +48,6 @@ def twos_complement(val, nbits): val = val - (1 << nbits) return val -# Helper class for G-Code commands -class MPU9250CommandHelper: - def __init__(self, config, chip): - self.printer = config.get_printer() - self.chip = chip - self.bg_client = None - self.name = config.get_name().split()[-1] - self.register_commands(self.name) - if self.name == "mpu9250": - self.register_commands(None) - def register_commands(self, name): - # Register commands - gcode = self.printer.lookup_object('gcode') - gcode.register_mux_command("ACCELEROMETER_MEASURE", "CHIP", name, - self.cmd_ACCELEROMETER_MEASURE, - desc=self.cmd_ACCELEROMETER_MEASURE_help) - gcode.register_mux_command("ACCELEROMETER_QUERY", "CHIP", name, - self.cmd_ACCELEROMETER_QUERY, - desc=self.cmd_ACCELEROMETER_QUERY_help) - gcode.register_mux_command("ACCELEROMETER_DEBUG_READ", "CHIP", name, - self.cmd_ACCELEROMETER_DEBUG_READ, - desc=self.cmd_ACCELEROMETER_DEBUG_READ_help) - gcode.register_mux_command("ACCELEROMETER_DEBUG_WRITE", "CHIP", name, - self.cmd_ACCELEROMETER_DEBUG_WRITE, - desc=self.cmd_ACCELEROMETER_DEBUG_WRITE_help) - cmd_ACCELEROMETER_MEASURE_help = "Start/stop accelerometer" - def cmd_ACCELEROMETER_MEASURE(self, gcmd): - if self.bg_client is None: - # Start measurements - self.bg_client = self.chip.start_internal_client() - gcmd.respond_info("mpu9250 measurements started") - return - # End measurements - name = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S")) - if not name.replace('-', '').replace('_', '').isalnum(): - raise gcmd.error("Invalid mpu9250 NAME parameter") - bg_client = self.bg_client - self.bg_client = None - bg_client.finish_measurements() - # Write data to file - if self.name == "mpu9250": - filename = "/tmp/mpu9250-%s.csv" % (name,) - else: - filename = "/tmp/mpu9250-%s-%s.csv" % (self.name, name,) - bg_client.write_to_file(filename) - gcmd.respond_info("Writing raw accelerometer data to %s file" - % (filename,)) - cmd_ACCELEROMETER_QUERY_help = "Query accelerometer for the current values" - def cmd_ACCELEROMETER_QUERY(self, gcmd): - aclient = self.chip.start_internal_client() - self.printer.lookup_object('toolhead').dwell(1.) - aclient.finish_measurements() - values = aclient.get_samples() - if not values: - raise gcmd.error("No mpu9250 measurements found") - _, accel_x, accel_y, accel_z = values[-1] - gcmd.respond_info("mpu9250 values (x, y, z): %.6f, %.6f, %.6f" - % (accel_x, accel_y, accel_z)) - cmd_ACCELEROMETER_DEBUG_READ_help = "Query mpu9250 register (for debugging)" - def cmd_ACCELEROMETER_DEBUG_READ(self, gcmd): - reg = gcmd.get("REG", minval=0, maxval=126, parser=lambda x: int(x, 0)) - val = self.chip.read_reg(reg) - gcmd.respond_info("MPU9250 REG[0x%x] = 0x%x" % (reg, val)) - cmd_ACCELEROMETER_DEBUG_WRITE_help = "Set mpu9250 register (for debugging)" - def cmd_ACCELEROMETER_DEBUG_WRITE(self, gcmd): - reg = gcmd.get("REG", minval=0, maxval=126, parser=lambda x: int(x, 0)) - val = gcmd.get("VAL", minval=0, maxval=255, parser=lambda x: int(x, 0)) - self.chip.set_reg(reg, val) - MIN_MSG_TIME = 0.100 BYTES_PER_SAMPLE = 6 @@ -126,7 +57,7 @@ SAMPLES_PER_BLOCK = 8 class MPU9250: def __init__(self, config): self.printer = config.get_printer() - MPU9250CommandHelper(config, self) + 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)} |