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mpu9250: Fix incorrect use of time.sleep() 

It is not valid to call time.sleep() in the host python code (it could
causes glitches in other processing, and it does not ensure there is a
pause between operations on the mcu).

Use minclock instead of time.sleep() to ensure there is a sufficient
pause during chip startup.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2023-12-17 16:30:11 -05:00
parent b50d6669a8
commit 1a1568c38b
1 changed files with 7 additions and 3 deletions
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10
klippy/extras/mpu9250.py
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@ -4,7 +4,7 @@
# Copyright (C) 2020-2021 Kevin O'Connor <kevin@koconnor.net> # Copyright (C) 2020-2021 Kevin O'Connor <kevin@koconnor.net>
# #
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU GPLv3 license.
import logging, time import logging
from . import bus, adxl345, bulk_sensor from . import bus, adxl345, bulk_sensor
MPU9250_ADDR = 0x68 MPU9250_ADDR = 0x68
@ -167,8 +167,12 @@ class MPU9250:
# Setup chip in requested query rate # Setup chip in requested query rate
self.set_reg(REG_PWR_MGMT_1, SET_PWR_MGMT_1_WAKE) self.set_reg(REG_PWR_MGMT_1, SET_PWR_MGMT_1_WAKE)
self.set_reg(REG_PWR_MGMT_2, SET_PWR_MGMT_2_ACCEL_ON) self.set_reg(REG_PWR_MGMT_2, SET_PWR_MGMT_2_ACCEL_ON)
time.sleep(20. / 1000) # wait for accelerometer chip wake up # Add 20ms pause for accelerometer chip wake up
self.set_reg(REG_SMPLRT_DIV, SAMPLE_RATE_DIVS[self.data_rate]) self.read_reg(REG_DEVID) # Dummy read to ensure queues flushed
systime = self.printer.get_reactor().monotonic()
next_time = self.mcu.estimated_print_time(systime) + 0.020
self.set_reg(REG_SMPLRT_DIV, SAMPLE_RATE_DIVS[self.data_rate],
minclock=self.mcu.print_time_to_clock(next_time))
self.set_reg(REG_CONFIG, SET_CONFIG) self.set_reg(REG_CONFIG, SET_CONFIG)
self.set_reg(REG_ACCEL_CONFIG, SET_ACCEL_CONFIG) self.set_reg(REG_ACCEL_CONFIG, SET_ACCEL_CONFIG)
self.set_reg(REG_ACCEL_CONFIG2, SET_ACCEL_CONFIG2) self.set_reg(REG_ACCEL_CONFIG2, SET_ACCEL_CONFIG2)