mpu9250: add MPU6500 (#5767)
Signed-off-by: Yifei Ding <yifeiding@protonmail.com>
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Yifei Ding
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@ -1640,13 +1640,14 @@ cs_pin:
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### [mpu9250]
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Support for mpu9250 and mpu6050 accelerometers (one may define any
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number of sections with an "mpu9250" prefix).
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Support for MPU-9250, MPU-9255, MPU-9255, MPU-6050, and MPU-6500
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accelerometers (one may define any number of sections with an
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"mpu9250" prefix).
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```
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[mpu9250 my_accelerometer]
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#i2c_address:
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# Default is 104 (0x68).
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# Default is 104 (0x68). If AD0 is high, it would be 0x69 instead.
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#i2c_mcu:
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#i2c_bus:
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#i2c_speed: 400000
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@ -18,6 +18,31 @@ that it has a voltage regulator and a level shifter.
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### Wiring
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An ethernet cable with shielded twisted pairs (cat5e or better) is recommended
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for signal integrety over a long distance. If you still experience signal integrity
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issues (SPI/I2C errors), shorten the cable.
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Connect ethernet cable shielding to the controller board/RPI ground.
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***Double-check your wiring before powering up to prevent
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damaging your MCU/Raspberry Pi or the accelerometer.***
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#### SPI Accelerometers
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Suggested twisted pair order:
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```
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GND+MISO
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3.3V+MOSI
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SCLK+CS
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```
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##### ADXL345
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**Note: Many MCUs will work with an ADXL345 in SPI mode(eg Pi Pico), wiring and
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configuration will vary according to your specific board and avaliable pins.**
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You need to connect ADXL345 to your Raspberry Pi via SPI. Note that the I2C
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connection, which is suggested by ADXL345 documentation, has too low throughput
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and **will not work**. The recommended connection scheme:
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@ -31,25 +56,46 @@ and **will not work**. The recommended connection scheme:
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| SDA | 19 | GPIO10 (SPI0_MOSI) |
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| SCL | 23 | GPIO11 (SPI0_SCLK) |
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An alternative to the ADXL345 is the MPU-9250 (or MPU-6050). This
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accelerometer has been tested to work over I2C on the RPi at 400kbaud.
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Recommended connection scheme for I2C:
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| MPU-9250 pin | RPi pin | RPi pin name |
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|:--:|:--:|:--:|
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| 3V3 (or VCC) | 01 | 3.3v DC power |
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| GND | 09 | Ground |
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| SDA | 03 | GPIO02 (SDA1) |
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| SCL | 05 | GPIO03 (SCL1) |
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Fritzing wiring diagrams for some of the ADXL345 boards:
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#### I2C Accelerometers
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Double-check your wiring before powering up the Raspberry Pi to prevent
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damaging it or the accelerometer.
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Suggested twisted pair order:
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```
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3.3V+SDA
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GND+SCL
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```
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##### MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500
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Alternatives to the ADXL345 are MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500.
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These accelerometers have been tested to work over I2C on the RPi or RP2040(pico)
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at 400kbaud.
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Recommended connection scheme for I2C on the Raspberry Pi:
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| MPU-9250 pin | RPi pin | RPi pin name |
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|:--:|:--:|:--:|
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| VCC | 01 | 3.3v DC power |
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| GND | 09 | Ground |
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| SDA | 03 | GPIO02 (SDA1) |
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| SCL | 05 | GPIO03 (SCL1) |
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Recommended connection scheme for I2C(i2c0a) on the RP2040:
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| MPU-9250 pin | RP2040 pin | RPi pin name |
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|:--:|:--:|:--:|
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| VCC | 39 | 3v3 |
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| GND | 38 | Ground |
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| SDA | 01 | GP0 (I2C0 SDA) |
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| SCL | 02 | GP1 (I2C0 SCL) |
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### Mounting the accelerometer
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@ -96,10 +142,13 @@ Afterwards, check and follow the instructions in the
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[RPi Microcontroller document](RPi_microcontroller.md) to setup the
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"linux mcu" on the Raspberry Pi.
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#### Configure ADXL345 With RPi
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Make sure the Linux SPI driver is enabled by running `sudo
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raspi-config` and enabling SPI under the "Interfacing options" menu.
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For the ADXL345, add the following to the printer.cfg file:
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Add the following to the printer.cfg file:
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```
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[mcu rpi]
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serial: /tmp/klipper_host_mcu
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@ -115,9 +164,12 @@ probe_points:
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It is advised to start with 1 probe point, in the middle of the print bed,
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slightly above it.
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For the MPU-9250, make sure the Linux I2C driver is enabled and the baud rate is
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#### Configure MPU-6000/9000 series With RPi
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Make sure the Linux I2C driver is enabled and the baud rate is
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set to 400000 (see [Enabling I2C](RPi_microcontroller.md#optional-enabling-i2c)
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section for more details). Then, add the following to the printer.cfg:
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```
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[mcu rpi]
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serial: /tmp/klipper_host_mcu
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@ -132,6 +184,28 @@ probe_points:
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100, 100, 20 # an example
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```
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#### Configure MPU-6000/9000 series With PICO
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PICO I2C is set to 400000 on default. Simply add the following to the
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printer.cfg:
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```
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[mcu pico]
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serial: /dev/serial/by-id/<your PICO's serial ID>
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[mpu9250]
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i2c_mcu: pico
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i2c_bus: i2c1a
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[resonance_tester]
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accel_chip: mpu9250
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probe_points:
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100, 100, 20 # an example
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[static_digital_output pico_3V3pwm] # Improve power stability
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pin: pico:gpio23
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```
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Restart Klipper via the `RESTART` command.
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## Measuring the resonances
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@ -158,6 +232,9 @@ is some other ID, it is indicative of the connection problem with ADXL345,
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or the faulty sensor. Double-check the power, the wiring (that it matches
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the schematics, no wire is broken or loose, etc.), and soldering quality.
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**If you are using MPU-6000/9000 series accelerometer and it show up as `mpu-unknown`, use with
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caution! They are probably refurbished chips!**
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Next, try running `MEASURE_AXES_NOISE` in Octoprint, you should get some
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baseline numbers for the noise of accelerometer on the axes (should be
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somewhere in the range of ~1-100). Too high axes noise (e.g. 1000 and more)
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@ -9,8 +9,16 @@ from . import bus, motion_report, adxl345
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MPU9250_ADDR = 0x68
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MPU9250_DEV_ID = 0x73
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MPU6050_DEV_ID = 0x68
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MPU_DEV_IDS = {
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0x74: "mpu-9515",
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0x73: "mpu-9255",
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0x71: "mpu-9250",
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0x70: "mpu-6500",
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0x68: "mpu-6050",
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#everything above are normal MPU IDs
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0x75: "mpu-unknown (DEFECTIVE! USE WITH CAUTION!)",
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0x69: "mpu-unknown (DEFECTIVE! USE WITH CAUTION!)",
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}
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# MPU9250 registers
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REG_DEVID = 0x75
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@ -189,12 +197,14 @@ class MPU9250:
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# In case of miswiring, testing MPU9250 device ID prevents treating
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# noise or wrong signal as a correctly initialized device
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dev_id = self.read_reg(REG_DEVID)
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if dev_id != MPU9250_DEV_ID and dev_id != MPU6050_DEV_ID:
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if dev_id not in MPU_DEV_IDS.keys():
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raise self.printer.command_error(
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"Invalid mpu9250/mpu6050 id (got %x).\n"
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"Invalid mpu id (got %x).\n"
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"This is generally indicative of connection problems\n"
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"(e.g. faulty wiring) or a faulty chip."
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% (dev_id))
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else:
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logging.info("Found %s with id %x"% (MPU_DEV_IDS[dev_id], dev_id))
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# Setup chip in requested query rate
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self.set_reg(REG_PWR_MGMT_1, SET_PWR_MGMT_1_WAKE)
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self.set_reg(REG_PWR_MGMT_2, SET_PWR_MGMT_2_ACCEL_ON)
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