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sensor_mpu9250: No need to send messages when stopping queries

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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>
This commit is contained in:
Kevin O'Connor
2023-12-17 11:31:58 -05:00
parent 3275614b89
commit 5ff555a705
2 changed files with 2 additions and 15 deletions
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8
klippy/extras/mpu9250.py
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@@ -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)