From 5ff555a705b8d3a586f240eb7456b591ee928ac2 Mon Sep 17 00:00:00 2001 From: Kevin O'Connor Date: Sun, 17 Dec 2023 11:31:58 -0500 Subject: sensor_mpu9250: No need to send messages when stopping queries Simplify the mcu code as any messages are ignored by the host anyway. Signed-off-by: Kevin O'Connor --- klippy/extras/mpu9250.py | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) (limited to 'klippy/extras/mpu9250.py') diff --git a/klippy/extras/mpu9250.py b/klippy/extras/mpu9250.py index 04a33eb2..41376dc3 100644 --- a/klippy/extras/mpu9250.py +++ b/klippy/extras/mpu9250.py @@ -69,7 +69,7 @@ class MPU9250: default_speed=400000) self.mcu = mcu = self.i2c.get_mcu() self.oid = oid = mcu.create_oid() - self.query_mpu9250_cmd = self.query_mpu9250_end_cmd = None + self.query_mpu9250_cmd = None self.query_mpu9250_status_cmd = None mcu.register_config_callback(self._build_config) self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "mpu9250_data", oid) @@ -95,10 +95,6 @@ class MPU9250: % (self.oid,), on_restart=True) self.query_mpu9250_cmd = self.mcu.lookup_command( "query_mpu9250 oid=%c clock=%u rest_ticks=%u", cq=cmdqueue) - self.query_mpu9250_end_cmd = self.mcu.lookup_query_command( - "query_mpu9250 oid=%c clock=%u rest_ticks=%u", - "mpu9250_status oid=%c clock=%u query_ticks=%u next_sequence=%hu" - " buffered=%c fifo=%u limit_count=%hu", oid=self.oid, cq=cmdqueue) self.query_mpu9250_status_cmd = self.mcu.lookup_query_command( "query_mpu9250_status oid=%c", "mpu9250_status oid=%c clock=%u query_ticks=%u next_sequence=%hu" @@ -193,7 +189,7 @@ class MPU9250: self.last_error_count = 0 def _finish_measurements(self): # Halt bulk reading - params = self.query_mpu9250_end_cmd.send([self.oid, 0, 0]) + self.query_mpu9250_cmd.send_wait_ack([self.oid, 0, 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) -- cgit v1.2.3-70-g09d2