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Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>
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Added wrapper around sw/hw bus API,
pins.py code will ensure that pins will not mix
between HW/SW buses.
Signed-off-by: Timofey Titovets <nefelim4ag@gmail.com>
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It's simpler and faster to enable the mpu9250 in the python code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Refactor the low-level "bulk sensor" management code in the mcu. This
updates the sensor_adxl345.c, sensor_mpu9250.c, sensor_lis2dw.c, and
sensor_angle.c code to use the same "bulk sensor" messages. All of
these sensors will now send "sensor_bulk_data" and
"sensor_bulk_status" messages.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Simplify the mcu code as any messages are ignored by the host anyway.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Move overflow detection from mp9250_stop() to
command_query_mpu9250_status(). Currently the host ignores any
contents returned from a stop request, so overflow reporting at that
point has limited utility.
In practice, this change will result in one additional i2c transaction
to the mpu9250 device every 100ms.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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The mpu9250 code always reads from the sensor in 48 byte chunks and
always sends an mpu9250_data message immediately after that. Make
that more clear in the querying code.
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Commit 80a7744b optimized the fifo tracking code. However, it
introduced an error in the time tracking in
command_query_mpu9250_status(). The purpose of that function is to
provide a precise timestamp of the total number of messages produced
at the time of that call. Thus, the returned fifo value needs to be
the fifo level in the chip at the time of the call (not the value read
during previous checks).
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Fixes common MPU-9250 accelerometer issues for RPi Linux MCU and
improves reliability on all other architectures by adjusting the MPU-*
reading algorithm to only read whole Klipper messages' worth of
data from MPU-* and eliminating many unnecessary checks of the MPU FIFO
fill-level that consumed bus bandwidth needed for data transfer. Fixes
intermittent "Lost communication with MCU 'rpi'" due to "Timer too
close" and transposed / corrupted data due to FIFO overrun/data loss
when using MPU-* accelerometers. In addition FIFO overrun checks are
performed by testing the MPU interrupt flag vs. inferring from the FIFO
fill level.
Stress tested for 13hrs with two MPU-6500 attached to one I2C bus on RPi
and one on a PR2040
Stress tested for 23hrs with two MPU-6500 attached to one I2C bus on RPi
and one on a ATmega328P (Seeduino Nano)
Signed-off-by: Matthew Swabey <matthew@swabey.org>
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Add support for mpu9250 accelerometer over I2C bus.
Signed-off-by: Harry Beyel <harry3b9@gmail.com>
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