h3n3/klipper
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

sensor_mpu9250: No need to schedule start of bulk reading

Browse Source 
It's simpler and faster to enable the mpu9250 in the python code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2023-12-27 12:02:10 -05:00
parent 6f0e91f69f
commit d853c19811
2 changed files with 43 additions and 108 deletions
Download Patch File Download Diff File Expand all files Collapse all files

125
src/sensor_mpu9250.c
View File

@@ -2,7 +2,7 @@
//
// Copyright (C) 2023 Matthew Swabey <matthew@swabey.org>
// Copyright (C) 2022 Harry Beyel <harry3b9@gmail.com>
// Copyright (C) 2020-2021 Kevin O'Connor <kevin@koconnor.net>
// Copyright (C) 2020-2023 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
@@ -17,27 +17,10 @@
#include "i2ccmds.h" // i2cdev_oid_lookup
// Chip registers
#define AR_FIFO_SIZE 512
#define AR_PWR_MGMT_1 0x6B
#define AR_PWR_MGMT_2 0x6C
#define AR_FIFO_EN 0x23
#define AR_ACCEL_OUT_XH 0x3B
#define AR_USER_CTRL 0x6A
#define AR_FIFO_COUNT_H 0x72
#define AR_FIFO 0x74
#define AR_INT_STATUS 0x3A
#define SET_ENABLE_FIFO 0x08
#define SET_DISABLE_FIFO 0x00
#define SET_USER_FIFO_RESET 0x04
#define SET_USER_FIFO_EN 0x40
#define SET_PWR_SLEEP 0x40
#define SET_PWR_WAKE 0x00
#define SET_PWR_2_ACCEL 0x07 // only enable accelerometers
#define SET_PWR_2_NONE 0x3F // disable all sensors
#define FIFO_OVERFLOW_INT 0x10
#define BYTES_PER_FIFO_ENTRY 6
@@ -53,24 +36,11 @@ struct mpu9250 {
};
enum {
AX_HAVE_START = 1<<0, AX_RUNNING = 1<<1, AX_PENDING = 1<<2,
AX_PENDING = 1<<0,
};
static struct task_wake mpu9250_wake;
// Reads the fifo byte count from the device.
static uint16_t
get_fifo_status (struct mpu9250 *mp)
{
uint8_t reg[] = {AR_FIFO_COUNT_H};
uint8_t msg[2];
i2c_read(mp->i2c->i2c_config, sizeof(reg), reg, sizeof(msg), msg);
uint16_t fifo_bytes = ((msg[0] & 0x1f) << 8) | msg[1];
if (fifo_bytes > mp->fifo_max)
mp->fifo_max = fifo_bytes;
return fifo_bytes;
}
// Event handler that wakes mpu9250_task() periodically
static uint_fast8_t
mpu9250_event(struct timer *timer)
@@ -101,6 +71,19 @@ mp9250_reschedule_timer(struct mpu9250 *mp)
irq_enable();
}
// Reads the fifo byte count from the device.
static uint16_t
get_fifo_status(struct mpu9250 *mp)
{
uint8_t reg[] = {AR_FIFO_COUNT_H};
uint8_t msg[2];
i2c_read(mp->i2c->i2c_config, sizeof(reg), reg, sizeof(msg), msg);
uint16_t fifo_bytes = ((msg[0] & 0x1f) << 8) | msg[1];
if (fifo_bytes > mp->fifo_max)
mp->fifo_max = fifo_bytes;
return fifo_bytes;
}
// Query accelerometer data
static void
mp9250_query(struct mpu9250 *mp, uint8_t oid)
@@ -123,82 +106,35 @@ mp9250_query(struct mpu9250 *mp, uint8_t oid)
// otherwise schedule timed wakeup
if (mp->fifo_pkts_bytes >= BYTES_PER_BLOCK) {
sched_wake_task(&mpu9250_wake);
} else if (mp->flags & AX_RUNNING) {
sched_del_timer(&mp->timer);
} else {
mp->flags &= ~AX_PENDING;
mp9250_reschedule_timer(mp);
}
}
// Startup measurements
static void
mp9250_start(struct mpu9250 *mp, uint8_t oid)
{
sched_del_timer(&mp->timer);
mp->flags = AX_RUNNING;
uint8_t msg[2];
msg[0] = AR_FIFO_EN;
msg[1] = SET_DISABLE_FIFO; // disable FIFO
i2c_write(mp->i2c->i2c_config, sizeof(msg), msg);
msg[0] = AR_USER_CTRL;
msg[1] = SET_USER_FIFO_RESET; // reset FIFO buffer
i2c_write(mp->i2c->i2c_config, sizeof(msg), msg);
msg[0] = AR_USER_CTRL;
msg[1] = SET_USER_FIFO_EN; // enable FIFO buffer access
i2c_write(mp->i2c->i2c_config, sizeof(msg), msg);
uint8_t int_reg[] = {AR_INT_STATUS}; // clear FIFO overflow flag
i2c_read(mp->i2c->i2c_config, sizeof(int_reg), int_reg, 1, msg);
msg[0] = AR_FIFO_EN;
msg[1] = SET_ENABLE_FIFO; // enable accel output to FIFO
i2c_write(mp->i2c->i2c_config, sizeof(msg), msg);
mp9250_reschedule_timer(mp);
}
// End measurements
static void
mp9250_stop(struct mpu9250 *mp, uint8_t oid)
{
// Disable measurements
sched_del_timer(&mp->timer);
mp->flags = 0;
// disable accel FIFO
uint8_t msg[2] = { AR_FIFO_EN, SET_DISABLE_FIFO };
i2c_write(mp->i2c->i2c_config, sizeof(msg), msg);
// Uncomment and rebuilt to check for FIFO overruns when tuning
//output("mpu9240 limit_count=%u fifo_max=%u",
// mp->limit_count, mp->fifo_max);
}
void
command_query_mpu9250(uint32_t *args)
{
struct mpu9250 *mp = oid_lookup(args[0], command_config_mpu9250);
if (!args[2]) {
sched_del_timer(&mp->timer);
mp->flags = 0;
if (!args[1]) {
// End measurements
mp9250_stop(mp, args[0]);
// Uncomment and rebuilt to check for FIFO overruns when tuning
//output("mpu9240 fifo_max=%u", mp->fifo_max);
return;
}
// Start new measurements query
sched_del_timer(&mp->timer);
mp->timer.waketime = args[1];
mp->rest_ticks = args[2];
mp->flags = AX_HAVE_START;
mp->rest_ticks = args[1];
sensor_bulk_reset(&mp->sb);
mp->fifo_max = 0;
mp->fifo_pkts_bytes = 0;
sched_add_timer(&mp->timer);
mp9250_reschedule_timer(mp);
}
DECL_COMMAND(command_query_mpu9250,
"query_mpu9250 oid=%c clock=%u rest_ticks=%u");
DECL_COMMAND(command_query_mpu9250, "query_mpu9250 oid=%c rest_ticks=%u");
void
command_query_mpu9250_status(uint32_t *args)
@@ -235,15 +171,8 @@ mpu9250_task(void)
struct mpu9250 *mp;
foreach_oid(oid, mp, command_config_mpu9250) {
uint_fast8_t flags = mp->flags;
if (!(flags & AX_PENDING)) {
continue;
}
if (flags & AX_HAVE_START) {
mp9250_start(mp, oid);
}
else {
if (flags & AX_PENDING)
mp9250_query(mp, oid);
}
}
}
DECL_TASK(mpu9250_task);