mirror of https://github.com/Desuuuu/klipper.git
adxl345: Add support for adxl345 accelerometer
Add support for taking measurements from an adxl345 accelerometer via SPI interface. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
2b2b610cff
commit
3405095f0a
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@ -556,6 +556,32 @@
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# measurements, e.g. with an accelerometer.
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# Default value is 0.1 which is a good all-round value for most printers.
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# Support for ADXL345 accelerometers. This support allows one to query
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# accelerometer measurements from the sensor. This enables an
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# ACCELEROMETER_MEASURE command (see docs/G-Codes.md for more
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# information). The default chip name is "default", but one may
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# specify an explicit name (eg, [adxl345 my_chip_name]).
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#[adxl345]
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#axes_map: x,y,z
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# The accelerometer axis for each of the printer's x, y, and z axes.
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# This may be useful if the accelerometer is mounted in an
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# orientation that does not match the printer orientation. For
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# example, one could set this to "y,x,z" to swap the x and y axes.
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# It is also possible to negate an axis if the accelerometer
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# direction is reversed (eg, "x,z,-y"). The default is "x,y,z".
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#cs_pin:
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# The SPI enable pin for the sensor. This parameter must be
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# provided.
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#spi_speed: 5000000
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# The SPI speed (in hz) to use when communicating with the chip.
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# The default is 5000000.
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#spi_bus:
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#spi_software_sclk_pin:
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#spi_software_mosi_pin:
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#spi_software_miso_pin:
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# These optional parameters allow one to customize the SPI settings
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# used to communicate with the chip.
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######################################################################
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# Config file helpers
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@ -633,3 +633,17 @@ section is enabled:
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[target=<target_temperature>]`: Sets the target temperature for a
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temperature_fan. If a target is not supplied, it is set to the
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specified temperature in the config file.
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## Adxl345 Accelerometer Commands
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The following command is available when an "adxl345" config section is
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enabled:
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- `ACCELEROMETER_MEASURE [CHIP=<config_name>] [RATE=<value>]
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[NAME=<value>]`: Starts accelerometer measurements at the requested
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number of samples per second. If CHIP is not specified it defaults
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to "default". Valid rates are 25, 50, 100, 200, 400, 800, 1600,
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and 3200. If RATE is zero (or not specified) then the current series
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of measurements are stopped and the results are written to a file
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named `/tmp/adxl345-<name>.csv` where "<name>" is the optional NAME
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parameter. If NAME is not specified it defaults to the current time
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in "YYYYMMDD_HHMMSS" format.
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@ -0,0 +1,225 @@
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# Support for reading acceleration data from an adxl345 chip
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#
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# Copyright (C) 2020 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging, time, collections
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from . import bus
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# ADXL345 registers
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REG_DEVID = 0x00
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REG_BW_RATE = 0x2C
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REG_POWER_CTL = 0x2D
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REG_DATA_FORMAT = 0x31
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REG_FIFO_CTL = 0x38
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REG_MOD_READ = 0x80
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REG_MOD_MULTI = 0x40
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QUERY_RATES = {
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25: 0x8, 50: 0x9, 100: 0xa, 200: 0xb, 400: 0xc,
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800: 0xd, 1600: 0xe, 3200: 0xf,
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}
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SCALE = 0.004 * 9.80665 * 1000. # 4mg/LSB * Earth gravity in mm/s**2
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Accel_Measurement = collections.namedtuple(
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'Accel_Measurement', ('time', 'accel_x', 'accel_y', 'accel_z'))
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# Sample results
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class ADXL345Results:
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def __init__(self):
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self.samples = []
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self.drops = self.overflows = 0
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self.time_per_sample = self.start_range = self.end_range = 0.
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def get_samples(self):
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return self.samples
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def get_stats(self):
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return ("drops=%d,overflows=%d"
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",time_per_sample=%.9f,start_range=%.6f,end_range=%.6f"
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% (self.drops, self.overflows,
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self.time_per_sample, self.start_range, self.end_range))
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def setup_data(self, axes_map, raw_samples, end_sequence, overflows,
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start1_time, start2_time, end1_time, end2_time):
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if not raw_samples or not end_sequence:
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return
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(x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = axes_map
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self.overflows = overflows
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self.start_range = start2_time - start1_time
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self.end_range = end2_time - end1_time
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total_count = (end_sequence - 1) * 8 + len(raw_samples[-1][1]) // 6
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total_time = end2_time - start2_time
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self.time_per_sample = time_per_sample = total_time / total_count
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seq_to_time = time_per_sample * 8.
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self.samples = samples = [None] * total_count
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actual_count = 0
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for seq, data in raw_samples:
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d = bytearray(data)
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count = len(data)
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sdata = [(d[i] | (d[i+1] << 8)) - ((d[i+1] & 0x80) << 9)
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for i in range(0, count-1, 2)]
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seq_time = start2_time + seq * seq_to_time
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for i in range(count//6):
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samp_time = seq_time + i * time_per_sample
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x = sdata[i*3 + x_pos] * x_scale
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y = sdata[i*3 + y_pos] * y_scale
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z = sdata[i*3 + z_pos] * z_scale
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samples[actual_count] = Accel_Measurement(samp_time, x, y, z)
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actual_count += 1
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del samples[actual_count:]
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self.drops = total_count - actual_count
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# Printer class that controls measurments
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class ADXL345:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.query_rate = 0
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self.last_tx_time = 0.
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am = {'x': (0, SCALE), 'y': (1, SCALE), 'z': (2, SCALE),
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'-x': (0, -SCALE), '-y': (1, -SCALE), '-z': (2, -SCALE)}
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axes_map = config.get('axes_map', 'x,y,z').split(',')
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if len(axes_map) != 3 or any([a.strip() not in am for a in axes_map]):
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raise config.error("Invalid adxl345 axes_map parameter")
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self.axes_map = [am[a.strip()] for a in axes_map]
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# Measurement storage (accessed from background thread)
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self.raw_samples = []
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self.last_sequence = 0
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self.samples_start1 = self.samples_start2 = 0.
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# Setup mcu sensor_adxl345 bulk query code
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self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=5000000)
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self.mcu = mcu = self.spi.get_mcu()
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self.oid = oid = mcu.create_oid()
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self.query_adxl345_cmd = self.query_adxl345_end_cmd =None
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mcu.add_config_cmd("config_adxl345 oid=%d spi_oid=%d"
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% (oid, self.spi.get_oid()))
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mcu.add_config_cmd("query_adxl345 oid=%d clock=0 rest_ticks=0"
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% (oid,), on_restart=True)
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mcu.register_config_callback(self._build_config)
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mcu.register_response(self._handle_adxl345_start, "adxl345_start", oid)
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mcu.register_response(self._handle_adxl345_data, "adxl345_data", oid)
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# Register commands
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name = "default"
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if len(config.get_name().split()) > 1:
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name = config.get_name().split()[1]
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gcode = self.printer.lookup_object('gcode')
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gcode.register_mux_command("ACCELEROMETER_MEASURE", "CHIP", name,
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self.cmd_ACCELEROMETER_MEASURE,
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desc=self.cmd_ACCELEROMETER_MEASURE_help)
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if name == "default":
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gcode.register_mux_command("ACCELEROMETER_MEASURE", "CHIP", None,
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self.cmd_ACCELEROMETER_MEASURE)
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def _build_config(self):
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self.query_adxl345_cmd = self.mcu.lookup_command(
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"query_adxl345 oid=%c clock=%u rest_ticks=%u",
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cq=self.spi.get_command_queue())
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self.query_adxl345_end_cmd = self.mcu.lookup_query_command(
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"query_adxl345 oid=%c clock=%u rest_ticks=%u",
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"adxl345_end oid=%c end1_time=%u end2_time=%u"
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" limit_count=%hu sequence=%hu",
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oid=self.oid, cq=self.spi.get_command_queue())
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def _clock_to_print_time(self, clock):
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return self.mcu.clock_to_print_time(self.mcu.clock32_to_clock64(clock))
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def _handle_adxl345_start(self, params):
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self.samples_start1 = self._clock_to_print_time(params['start1_time'])
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self.samples_start2 = self._clock_to_print_time(params['start2_time'])
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def _handle_adxl345_data(self, params):
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last_sequence = self.last_sequence
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sequence = (last_sequence & ~0xffff) | params['sequence']
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if sequence < last_sequence:
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sequence += 0x10000
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self.last_sequence = sequence
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raw_samples = self.raw_samples
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if len(raw_samples) >= 200000:
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# Avoid filling up memory with too many samples
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return
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raw_samples.append((sequence, params['data']))
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def _convert_sequence(self, sequence):
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sequence = (self.last_sequence & ~0xffff) | sequence
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if sequence < self.last_sequence:
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sequence += 0x10000
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return sequence
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def start_measurements(self, rate=None):
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if rate is None:
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rate = 3200
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# Verify chip connectivity
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params = self.spi.spi_transfer([REG_DEVID | REG_MOD_READ, 0x00])
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response = bytearray(params['response'])
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if response[1] != 0xe5:
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raise self.printer.command_error("Invalid adxl345 id (got %x vs %x)"
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% (response[1], 0xe5))
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# Setup chip in requested query rate
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clock = 0
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if self.last_tx_time:
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clock = self.mcu.print_time_to_clock(self.last_tx_time)
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self.spi.spi_send([REG_POWER_CTL, 0x00], minclock=clock)
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self.spi.spi_send([REG_FIFO_CTL, 0x00])
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self.spi.spi_send([REG_DATA_FORMAT, 0x0B])
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self.spi.spi_send([REG_BW_RATE, QUERY_RATES[rate]])
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self.spi.spi_send([REG_FIFO_CTL, 0x80])
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# Setup samples
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self.raw_samples = []
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self.last_sequence = 0
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self.samples_start1 = self.samples_start2 = print_time
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# Start bulk reading
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reqclock = self.mcu.print_time_to_clock(print_time)
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rest_ticks = self.mcu.seconds_to_clock(4. / rate)
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self.last_tx_time = print_time
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self.query_rate = rate
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self.query_adxl345_cmd.send([self.oid, reqclock, rest_ticks],
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reqclock=reqclock)
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def finish_measurements(self):
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query_rate = self.query_rate
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if not query_rate:
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return ADXL345Results()
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# Halt bulk reading
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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clock = self.mcu.print_time_to_clock(print_time)
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params = self.query_adxl345_end_cmd.send([self.oid, 0, 0],
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minclock=clock)
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self.last_tx_time = print_time
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self.query_rate = 0
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raw_samples = self.raw_samples
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self.raw_samples = []
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# Generate results
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end1_time = self._clock_to_print_time(params['end1_time'])
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end2_time = self._clock_to_print_time(params['end2_time'])
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end_sequence = self._convert_sequence(params['sequence'])
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overflows = params['limit_count']
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res = ADXL345Results()
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res.setup_data(self.axes_map, raw_samples, end_sequence, overflows,
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self.samples_start1, self.samples_start2,
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end1_time, end2_time)
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logging.info("ADXL345 finished %d measurements: %s",
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len(res.get_samples()), res.get_stats())
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return res
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def end_query(self, name):
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if not self.query_rate:
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return
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res = self.finish_measurements()
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# Write data to file
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f = open("/tmp/adxl345-%s.csv" % (name,), "w")
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f.write("##%s\n#time,accel_x,accel_y,accel_z\n" % (res.get_stats(),))
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for t, accel_x, accel_y, accel_z in res.get_samples():
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f.write("%.6f,%.6f,%.6f,%.6f\n" % (t, accel_x, accel_y, accel_z))
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f.close()
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cmd_ACCELEROMETER_MEASURE_help = "Start/stop accelerometer"
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def cmd_ACCELEROMETER_MEASURE(self, gcmd):
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rate = gcmd.get_int("RATE", 0)
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if not rate:
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name = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S"))
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if not name.replace('-', '').replace('_', '').isalnum():
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raise gcmd.error("Invalid adxl345 NAME parameter")
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self.end_query(name)
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gcmd.respond_info("adxl345 measurements stopped")
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elif self.query_rate:
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raise gcmd.error("adxl345 already running")
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elif rate not in QUERY_RATES:
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raise gcmd.error("Not a valid adxl345 query rate")
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else:
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self.start_measurements(rate)
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def load_config(config):
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return ADXL345(config)
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def load_config_prefix(config):
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return ADXL345(config)
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@ -7,4 +7,4 @@ src-$(CONFIG_HAVE_GPIO_SPI) += spicmds.c thermocouple.c
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src-$(CONFIG_HAVE_GPIO_I2C) += i2ccmds.c
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src-$(CONFIG_HAVE_GPIO_HARD_PWM) += pwmcmds.c
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src-$(CONFIG_HAVE_GPIO_BITBANGING) += lcd_st7920.c lcd_hd44780.c buttons.c \
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tmcuart.c spi_software.c neopixel.c
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tmcuart.c spi_software.c neopixel.c sensor_adxl345.c
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@ -0,0 +1,179 @@
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// Support for gathering acceleration data from ADXL345 chip
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//
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// Copyright (C) 2020 Kevin O'Connor <kevin@koconnor.net>
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//
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// This file may be distributed under the terms of the GNU GPLv3 license.
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#include <string.h> // memcpy
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#include "board/irq.h" // irq_disable
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#include "board/misc.h" // timer_read_time
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#include "basecmd.h" // oid_alloc
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#include "command.h" // DECL_COMMAND
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#include "sched.h" // DECL_TASK
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#include "spicmds.h" // spidev_transfer
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struct adxl345 {
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struct timer timer;
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uint32_t rest_ticks, stop_time;
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struct spidev_s *spi;
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uint16_t sequence, limit_count;
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uint8_t flags, data_count;
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uint8_t data[48];
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};
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enum {
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AX_HAVE_START = 1<<0, AX_RUNNING = 1<<1, AX_PENDING = 1<<2,
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};
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static struct task_wake adxl345_wake;
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static uint_fast8_t
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adxl345_event(struct timer *timer)
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{
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struct adxl345 *ax = container_of(timer, struct adxl345, timer);
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ax->flags |= AX_PENDING;
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sched_wake_task(&adxl345_wake);
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return SF_DONE;
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}
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void
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command_config_adxl345(uint32_t *args)
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{
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struct adxl345 *ax = oid_alloc(args[0], command_config_adxl345
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, sizeof(*ax));
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ax->timer.func = adxl345_event;
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ax->spi = spidev_oid_lookup(args[1]);
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}
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DECL_COMMAND(command_config_adxl345, "config_adxl345 oid=%c spi_oid=%c");
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// Report local measurement buffer
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static void
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adxl_report(struct adxl345 *ax, uint8_t oid)
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{
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sendf("adxl345_data oid=%c sequence=%hu data=%*s"
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, oid, ax->sequence, ax->data_count, ax->data);
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ax->data_count = 0;
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ax->sequence++;
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}
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// Chip registers
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#define AR_POWER_CTL 0x2D
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#define AR_DATAX0 0x32
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#define AR_FIFO_STATUS 0x39
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#define AM_READ 0x80
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#define AM_MULTI 0x40
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// Query accelerometer data
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static void
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adxl_query(struct adxl345 *ax, uint8_t oid)
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{
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uint8_t msg[9] = { AR_DATAX0 | AM_READ | AM_MULTI, 0, 0, 0, 0, 0, 0, 0, 0 };
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spidev_transfer(ax->spi, 1, sizeof(msg), msg);
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memcpy(&ax->data[ax->data_count], &msg[1], 6);
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ax->data_count += 6;
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if (ax->data_count + 6 > ARRAY_SIZE(ax->data))
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adxl_report(ax, oid);
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uint_fast8_t fifo_status = msg[8] & ~0x80; // Ignore trigger bit
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if (fifo_status >= 31 && ax->limit_count != 0xffff)
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ax->limit_count++;
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if (fifo_status > 1 && fifo_status <= 32) {
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// More data in fifo - wake this task again
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sched_wake_task(&adxl345_wake);
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} else if (ax->flags & AX_RUNNING) {
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// Sleep until next check time
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sched_del_timer(&ax->timer);
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ax->flags &= ~AX_PENDING;
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irq_disable();
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ax->timer.waketime = timer_read_time() + ax->rest_ticks;
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sched_add_timer(&ax->timer);
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irq_enable();
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}
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}
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// Startup measurements
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static void
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adxl_start(struct adxl345 *ax, uint8_t oid)
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{
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sched_del_timer(&ax->timer);
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ax->flags = AX_RUNNING;
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uint8_t msg[2] = { AR_POWER_CTL, 0x08 };
|
||||
uint32_t start1_time = timer_read_time();
|
||||
spidev_transfer(ax->spi, 0, sizeof(msg), msg);
|
||||
irq_disable();
|
||||
uint32_t start2_time = timer_read_time();
|
||||
ax->timer.waketime = start2_time + ax->rest_ticks;
|
||||
sched_add_timer(&ax->timer);
|
||||
irq_enable();
|
||||
sendf("adxl345_start oid=%c start1_time=%u start2_time=%u"
|
||||
, oid, start1_time, start2_time);
|
||||
}
|
||||
|
||||
// End measurements
|
||||
static void
|
||||
adxl_stop(struct adxl345 *ax, uint8_t oid)
|
||||
{
|
||||
// Disable measurements
|
||||
sched_del_timer(&ax->timer);
|
||||
ax->flags = 0;
|
||||
uint8_t msg[2] = { AR_POWER_CTL, 0x00 };
|
||||
uint32_t end1_time = timer_read_time();
|
||||
spidev_transfer(ax->spi, 0, sizeof(msg), msg);
|
||||
uint32_t end2_time = timer_read_time();
|
||||
// Drain any measurements still in fifo
|
||||
uint_fast8_t i;
|
||||
for (i=0; i<33; i++) {
|
||||
msg[0] = AR_FIFO_STATUS | AM_READ;
|
||||
msg[1] = 0;
|
||||
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
|
||||
if (!(msg[1] & 0x3f))
|
||||
break;
|
||||
adxl_query(ax, oid);
|
||||
}
|
||||
// Report final data
|
||||
if (ax->data_count)
|
||||
adxl_report(ax, oid);
|
||||
sendf("adxl345_end oid=%c end1_time=%u end2_time=%u"
|
||||
" limit_count=%hu sequence=%hu"
|
||||
, oid, end1_time, end2_time, ax->limit_count, ax->sequence);
|
||||
}
|
||||
|
||||
void
|
||||
command_query_adxl345(uint32_t *args)
|
||||
{
|
||||
struct adxl345 *ax = oid_lookup(args[0], command_config_adxl345);
|
||||
|
||||
if (!args[2]) {
|
||||
// End measurements
|
||||
adxl_stop(ax, args[0]);
|
||||
return;
|
||||
}
|
||||
// Start new measurements query
|
||||
sched_del_timer(&ax->timer);
|
||||
ax->timer.waketime = args[1];
|
||||
ax->rest_ticks = args[2];
|
||||
ax->flags = AX_HAVE_START;
|
||||
ax->sequence = ax->limit_count = 0;
|
||||
ax->data_count = 0;
|
||||
sched_add_timer(&ax->timer);
|
||||
}
|
||||
DECL_COMMAND(command_query_adxl345,
|
||||
"query_adxl345 oid=%c clock=%u rest_ticks=%u");
|
||||
|
||||
void
|
||||
adxl345_task(void)
|
||||
{
|
||||
if (!sched_check_wake(&adxl345_wake))
|
||||
return;
|
||||
uint8_t oid;
|
||||
struct adxl345 *ax;
|
||||
foreach_oid(oid, ax, command_config_adxl345) {
|
||||
uint_fast8_t flags = ax->flags;
|
||||
if (!(flags & AX_PENDING))
|
||||
continue;
|
||||
if (flags & AX_HAVE_START)
|
||||
adxl_start(ax, oid);
|
||||
else
|
||||
adxl_query(ax, oid);
|
||||
}
|
||||
}
|
||||
DECL_TASK(adxl345_task);
|
||||
Loading…
Reference in New Issue