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mpu9250: Fix incorrect use of time.sleep()

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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>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, time
import logging
from . import bus, adxl345, bulk_sensor
MPU9250_ADDR = 0x68
@@ -167,8 +167,12 @@ class MPU9250:
# Setup chip in requested query rate
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)
time.sleep(20. / 1000) # wait for accelerometer chip wake up
self.set_reg(REG_SMPLRT_DIV, SAMPLE_RATE_DIVS[self.data_rate])
# Add 20ms pause for accelerometer chip wake up
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_ACCEL_CONFIG, SET_ACCEL_CONFIG)
self.set_reg(REG_ACCEL_CONFIG2, SET_ACCEL_CONFIG2)