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mpu9250: Adding support for MPU-9250 (and MPU-6050) accelerometer

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Add support for mpu9250 accelerometer over I2C bus.

Signed-off-by: Harry Beyel <harry3b9@gmail.com>
This commit is contained in:
bluesforte
2022-05-04 16:02:37 -07:00
committed by Kevin O'Connor
parent fc7838855f
commit f55b9d3e57
6 changed files with 786 additions and 5 deletions
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28
docs/Measuring_Resonances.md
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@@ -31,6 +31,17 @@ and **will not work**. The recommended connection scheme:
| SDA | 19 | GPIO10 (SPI0_MOSI) |
| SCL | 23 | GPIO11 (SPI0_SCLK) |
An alternative to the ADXL345 is the MPU-9250 (or MPU-6050). This accelerometer has been tested to work over I2C on the RPi at 400kbaud.
Recommended connection scheme for I2C:
| MPU-9250 pin | RPi pin | RPi pin name |
|:--:|:--:|:--:|
| 3V3 (or VCC) | 01 | 3.3v DC power |
| GND | 09 | Ground |
| SDA | 03 | GPIO02 (SDA1) |
| SCL | 05 | GPIO03 (SCL1) |
Fritzing wiring diagrams for some of the ADXL345 boards:
![ADXL345-Rpi](img/adxl345-fritzing.png)
@@ -87,7 +98,7 @@ Afterwards, check and follow the instructions in the
Make sure the Linux SPI driver is enabled by running `sudo
raspi-config` and enabling SPI under the "Interfacing options" menu.
Add the following to the printer.cfg file:
For the ADXL345, add the following to the printer.cfg file:
```
[mcu rpi]
serial: /tmp/klipper_host_mcu
@@ -103,6 +114,21 @@ probe_points:
It is advised to start with 1 probe point, in the middle of the print bed,
slightly above it.
For the MPU-9250:
```
[mcu rpi]
serial: /tmp/klipper_host_mcu
[mpu9250]
i2c_mcu: rpi
i2c_bus: i2c.1
[resonance_tester]
accel_chip: mpu9250
probe_points:
100, 100, 20 # an example
```
Restart Klipper via the `RESTART` command.
## Measuring the resonances