mirror of https://github.com/Desuuuu/klipper.git
sensor_angle: Add support for bulk querying of spi angle sensors
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
91ba9c00e3
commit
74937326d3
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@ -341,6 +341,24 @@ and might later produce asynchronous messages such as:
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The "header" field in the initial query response is used to describe
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the fields found in later "data" responses.
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### angle/dump_angle
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This endpoint is used to subscribe to
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[angle sensor data](Config_Reference.md#angle). Obtaining these
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low-level motion updates may be useful for diagnostic and debugging
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purposes. Using this endpoint may increase Klipper's system load.
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A request may look like:
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`{"id": 123, "method":"angle/dump_angle",
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"params": {"sensor": "my_angle_sensor", "response_template": {}}}`
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and might return:
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`{"id": 123,"result":{"header":["time","angle"]}}`
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and might later produce asynchronous messages such as:
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`{"params":{"errors":0,"data":[[1290.951905,-5063],[1290.952321,-5065]]}}`
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The "header" field in the initial query response is used to describe
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the fields found in later "data" responses.
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### pause_resume/cancel
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This endpoint is similar to running the "PRINT_CANCEL" G-Code command.
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@ -4001,6 +4001,33 @@ serial:
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# Auto cancel print when ping varation is above this threshold
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```
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### [angle]
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Magnetic hall angle sensor support for reading stepper motor angle
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shaft measurements using a1333, as5047d, or tle5012b SPI chips. The
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measurements are available via the [API Server](API_Server.md) and
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[motion analysis tool](Debugging.md#motion-analysis-and-data-logging).
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```
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[angle my_angle_sensor]
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sensor_type:
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# The type of the magnetic hall sensor chip. Available choices are
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# "a1333", "as5047d", and "tle5012b". This parameter must be
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# specified.
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#sample_period: 0.000400
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# The query period (in seconds) to use during measurements. The
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# default is 0.000400 (which is 2500 samples per second).
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cs_pin:
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# The SPI enable pin for the sensor. This parameter must be provided.
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#spi_speed:
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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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# See the "common SPI settings" section for a description of the
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# above parameters.
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```
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## Common bus parameters
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### Common SPI settings
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@ -0,0 +1,188 @@
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# Support for reading SPI magnetic angle sensors
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#
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# Copyright (C) 2021,2022 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, threading
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from . import bus, motion_report
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MIN_MSG_TIME = 0.100
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TCODE_ERROR = 0xff
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class HelperA1333:
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SPI_MODE = 3
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SPI_SPEED = 10000000
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def __init__(self, config, spi, oid):
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self.spi = spi
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def get_static_delay(self):
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return .000001
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def start(self):
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# Setup for angle query
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self.spi.spi_transfer([0x32, 0x00])
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class HelperAS5047D:
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SPI_MODE = 1
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SPI_SPEED = int(1. / .000000350)
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def __init__(self, config, spi, oid):
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self.spi = spi
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def get_static_delay(self):
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return .000100
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def start(self):
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# Clear any errors from device
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self.spi.spi_transfer([0xff, 0xfc]) # Read DIAAGC
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self.spi.spi_transfer([0x40, 0x01]) # Read ERRFL
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self.spi.spi_transfer([0xc0, 0x00]) # Read NOP
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class HelperTLE5012B:
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SPI_MODE = 1
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SPI_SPEED = 4000000
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def __init__(self, config, spi, oid):
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self.spi = spi
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def get_static_delay(self):
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return .000042700 * 2.5
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def start(self):
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# Clear any errors from device
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self.spi.spi_transfer([0x80, 0x01, 0x00, 0x00, 0x00, 0x00]) # Read STAT
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SAMPLE_PERIOD = 0.000400
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class Angle:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.sample_period = config.getfloat('sample_period', SAMPLE_PERIOD,
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above=0.)
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# Measurement conversion
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self.start_clock = self.time_shift = self.sample_ticks = 0
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self.last_sequence = self.last_angle = 0
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# Measurement storage (accessed from background thread)
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self.lock = threading.Lock()
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self.raw_samples = []
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# Sensor type
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sensors = { "a1333": HelperA1333, "as5047d": HelperAS5047D,
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"tle5012b": HelperTLE5012B }
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sensor_type = config.getchoice('sensor_type', {s: s for s in sensors})
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sensor_class = sensors[sensor_type]
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self.spi = bus.MCU_SPI_from_config(config, sensor_class.SPI_MODE,
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default_speed=sensor_class.SPI_SPEED)
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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.sensor_helper = sensor_class(config, self.spi, oid)
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# Setup mcu sensor_spi_angle bulk query code
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self.query_spi_angle_cmd = self.query_spi_angle_end_cmd = None
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mcu.add_config_cmd(
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"config_spi_angle oid=%d spi_oid=%d spi_angle_type=%s"
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% (oid, self.spi.get_oid(), sensor_type))
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mcu.add_config_cmd(
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"query_spi_angle oid=%d clock=0 rest_ticks=0 time_shift=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_spi_angle_data,
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"spi_angle_data", oid)
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# API server endpoints
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self.api_dump = motion_report.APIDumpHelper(
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self.printer, self._api_update, self._api_startstop, 0.100)
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self.name = config.get_name().split()[1]
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wh = self.printer.lookup_object('webhooks')
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wh.register_mux_endpoint("angle/dump_angle", "sensor", self.name,
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self._handle_dump_angle)
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def _build_config(self):
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freq = self.mcu.seconds_to_clock(1.)
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while float(TCODE_ERROR << self.time_shift) / freq < 0.002:
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self.time_shift += 1
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cmdqueue = self.spi.get_command_queue()
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self.query_spi_angle_cmd = self.mcu.lookup_command(
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"query_spi_angle oid=%c clock=%u rest_ticks=%u time_shift=%c",
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cq=cmdqueue)
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self.query_spi_angle_end_cmd = self.mcu.lookup_query_command(
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"query_spi_angle oid=%c clock=%u rest_ticks=%u time_shift=%c",
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"spi_angle_end oid=%c sequence=%hu", oid=self.oid, cq=cmdqueue)
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# Measurement collection
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def is_measuring(self):
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return self.start_clock != 0
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def _handle_spi_angle_data(self, params):
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with self.lock:
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self.raw_samples.append(params)
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def _extract_samples(self, raw_samples):
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# Load variables to optimize inner loop below
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sample_ticks = self.sample_ticks
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start_clock = self.start_clock
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clock_to_print_time = self.mcu.clock_to_print_time
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last_sequence = self.last_sequence
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last_angle = self.last_angle
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time_shift = self.time_shift
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static_delay = self.sensor_helper.get_static_delay()
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# Process every message in raw_samples
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count = error_count = 0
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samples = [None] * (len(raw_samples) * 16)
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for params in raw_samples:
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seq = (last_sequence & ~0xffff) | params['sequence']
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if seq < last_sequence:
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seq += 0x10000
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last_sequence = seq
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d = bytearray(params['data'])
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msg_mclock = start_clock + seq*16*sample_ticks
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for i in range(len(d) // 3):
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tcode = d[i*3]
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if tcode == TCODE_ERROR:
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error_count += 1
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continue
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raw_angle = d[i*3 + 1] | (d[i*3 + 2] << 8)
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angle_diff = (last_angle - raw_angle) & 0xffff
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angle_diff -= (angle_diff & 0x8000) << 1
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last_angle -= angle_diff
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mclock = msg_mclock + i*sample_ticks + (tcode<<time_shift)
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ptime = round(clock_to_print_time(mclock) - static_delay, 6)
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samples[count] = (ptime, last_angle)
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count += 1
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self.last_sequence = last_sequence
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self.last_angle = last_angle
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del samples[count:]
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return samples, error_count
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# API interface
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def _api_update(self, eventtime):
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with self.lock:
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raw_samples = self.raw_samples
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self.raw_samples = []
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if not raw_samples:
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return {}
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samples, error_count = self._extract_samples(raw_samples)
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if not samples:
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return {}
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return {'data': samples, 'errors': error_count}
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def _start_measurements(self):
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if self.is_measuring():
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return
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logging.info("Starting angle '%s' measurements", self.name)
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self.sensor_helper.start()
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# Start bulk reading
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with self.lock:
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self.raw_samples = []
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self.last_sequence = 0
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systime = self.printer.get_reactor().monotonic()
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print_time = self.mcu.estimated_print_time(systime) + MIN_MSG_TIME
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self.start_clock = reqclock = self.mcu.print_time_to_clock(print_time)
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rest_ticks = self.mcu.seconds_to_clock(self.sample_period)
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self.sample_ticks = rest_ticks
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self.query_spi_angle_cmd.send([self.oid, reqclock, rest_ticks,
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self.time_shift], reqclock=reqclock)
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def _finish_measurements(self):
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if not self.is_measuring():
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return
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# Halt bulk reading
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params = self.query_spi_angle_end_cmd.send([self.oid, 0, 0, 0])
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self.start_clock = 0
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with self.lock:
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self.raw_samples = []
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logging.info("Stopped angle '%s' measurements", self.name)
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def _api_startstop(self, is_start):
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if is_start:
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self._start_measurements()
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else:
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self._finish_measurements()
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def _handle_dump_angle(self, web_request):
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self.api_dump.add_client(web_request)
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hdr = ('time', 'angle')
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web_request.send({'header': hdr})
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def load_config_prefix(config):
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return Angle(config)
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@ -7,6 +7,6 @@ src-$(CONFIG_HAVE_GPIO_ADC) += adccmds.c
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src-$(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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bb-src-$(CONFIG_HAVE_GPIO_SPI) := spi_software.c sensor_adxl345.c
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bb-src-$(CONFIG_HAVE_GPIO_SPI) := spi_software.c sensor_adxl345.c sensor_angle.c
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src-$(CONFIG_HAVE_GPIO_BITBANGING) += $(bb-src-y) lcd_st7920.c lcd_hd44780.c \
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buttons.c tmcuart.c neopixel.c pulse_counter.c
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@ -0,0 +1,276 @@
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// Support for querying magnetic angle sensors via SPI
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//
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// Copyright (C) 2021 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 "basecmd.h" // oid_alloc
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#include "board/misc.h" // timer_read_time
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#include "board/gpio.h" // gpio_out_write
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#include "board/irq.h" // irq_disable
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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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enum { SA_CHIP_A1333, SA_CHIP_AS5047D, SA_CHIP_TLE5012B, SA_CHIP_MAX };
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DECL_ENUMERATION("spi_angle_type", "a1333", SA_CHIP_A1333);
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DECL_ENUMERATION("spi_angle_type", "as5047d", SA_CHIP_AS5047D);
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DECL_ENUMERATION("spi_angle_type", "tle5012b", SA_CHIP_TLE5012B);
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enum { TCODE_ERROR = 0xff };
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enum {
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SE_OVERFLOW, SE_SCHEDULE, SE_SPI_TIME, SE_CRC, SE_DUP, SE_NO_ANGLE
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};
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#define MAX_SPI_READ_TIME timer_from_us(50)
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struct spi_angle {
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struct timer timer;
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uint32_t rest_ticks;
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struct spidev_s *spi;
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uint16_t sequence;
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uint8_t flags, chip_type, data_count, time_shift, overflow;
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uint8_t data[48];
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};
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enum {
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SA_PENDING = 1<<2,
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};
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static struct task_wake angle_wake;
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// Event handler that wakes spi_angle_task() periodically
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static uint_fast8_t
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angle_event(struct timer *timer)
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{
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struct spi_angle *sa = container_of(timer, struct spi_angle, timer);
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uint8_t flags = sa->flags;
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if (sa->flags & SA_PENDING)
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sa->overflow++;
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else
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sa->flags = flags | SA_PENDING;
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sched_wake_task(&angle_wake);
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sa->timer.waketime += sa->rest_ticks;
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return SF_RESCHEDULE;
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}
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void
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command_config_spi_angle(uint32_t *args)
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{
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uint8_t chip_type = args[2];
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if (chip_type > SA_CHIP_MAX)
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shutdown("Invalid spi_angle chip type");
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struct spi_angle *sa = oid_alloc(args[0], command_config_spi_angle
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, sizeof(*sa));
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sa->timer.func = angle_event;
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sa->spi = spidev_oid_lookup(args[1]);
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if (!spidev_have_cs_pin(sa->spi))
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shutdown("angle sensor requires cs pin");
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sa->chip_type = chip_type;
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}
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DECL_COMMAND(command_config_spi_angle,
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"config_spi_angle oid=%c spi_oid=%c spi_angle_type=%c");
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// Report local measurement buffer
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static void
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angle_report(struct spi_angle *sa, uint8_t oid)
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{
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sendf("spi_angle_data oid=%c sequence=%hu data=%*s"
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, oid, sa->sequence, sa->data_count, sa->data);
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sa->data_count = 0;
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sa->sequence++;
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}
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// Send spi_angle_data message if buffer is full
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static void
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angle_check_report(struct spi_angle *sa, uint8_t oid)
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{
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if (sa->data_count + 3 > ARRAY_SIZE(sa->data))
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angle_report(sa, oid);
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}
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// Add an error indicator to the measurement buffer
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static void
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angle_add_error(struct spi_angle *sa, uint_fast8_t error_code)
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{
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sa->data[sa->data_count] = TCODE_ERROR;
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sa->data[sa->data_count + 1] = error_code;
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sa->data[sa->data_count + 2] = 0;
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sa->data_count += 3;
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}
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// Add a measurement to the buffer
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static void
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angle_add_data(struct spi_angle *sa, uint32_t stime, uint32_t mtime
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, uint_fast16_t angle)
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{
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uint32_t tdiff = mtime - stime;
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if (sa->time_shift)
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tdiff = (tdiff + (1<<(sa->time_shift - 1))) >> sa->time_shift;
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if (tdiff >= TCODE_ERROR) {
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angle_add_error(sa, SE_SCHEDULE);
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return;
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}
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sa->data[sa->data_count] = tdiff;
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sa->data[sa->data_count + 1] = angle;
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sa->data[sa->data_count + 2] = angle >> 8;
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sa->data_count += 3;
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}
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// a1333 sensor query
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static void
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a1333_query(struct spi_angle *sa, uint32_t stime)
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{
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uint8_t msg[2] = { 0x32, 0x00 };
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uint32_t mtime1 = timer_read_time();
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spidev_transfer(sa->spi, 1, sizeof(msg), msg);
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uint32_t mtime2 = timer_read_time();
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// Data is latched on first sclk edge of response
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if (mtime2 - mtime1 > MAX_SPI_READ_TIME)
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angle_add_error(sa, SE_SPI_TIME);
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else if (msg[0] & 0x80)
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angle_add_error(sa, SE_CRC);
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else
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angle_add_data(sa, stime, mtime1, (msg[0] << 9) | (msg[1] << 1));
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}
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// as5047d sensor query
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static void
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as5047d_query(struct spi_angle *sa, uint32_t stime)
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{
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uint8_t msg[2] = { 0x7F, 0xFE };
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uint32_t mtime1 = timer_read_time();
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spidev_transfer(sa->spi, 0, sizeof(msg), msg);
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uint32_t mtime2 = timer_read_time();
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// Data is latched on CS pin rising after query request
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if (mtime2 - mtime1 > MAX_SPI_READ_TIME) {
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angle_add_error(sa, SE_SPI_TIME);
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return;
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}
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msg[0] = 0xC0;
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msg[1] = 0x00;
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spidev_transfer(sa->spi, 1, sizeof(msg), msg);
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uint_fast8_t parity = msg[0] ^ msg[1];
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parity ^= parity >> 4;
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parity ^= parity >> 2;
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parity ^= parity >> 1;
|
||||
if (parity & 1)
|
||||
angle_add_error(sa, SE_CRC);
|
||||
else if (msg[0] & 0x40)
|
||||
angle_add_error(sa, SE_NO_ANGLE);
|
||||
else
|
||||
angle_add_data(sa, stime, mtime2, (msg[0] << 10) | (msg[1] << 2));
|
||||
}
|
||||
|
||||
#define TLE_READ 0x80
|
||||
#define TLE_READ_LATCH (TLE_READ | 0x04)
|
||||
#define TLE_REG_AVAL 0x02
|
||||
|
||||
// crc8 "J1850" calculation for tle5012b messages
|
||||
static uint8_t
|
||||
crc8(uint8_t crc, uint8_t data)
|
||||
{
|
||||
crc ^= data;
|
||||
int i;
|
||||
for (i=0; i<8; i++)
|
||||
crc = crc & 0x80 ? (crc << 1) ^ 0x1d : crc << 1;
|
||||
return crc;
|
||||
}
|
||||
|
||||
// microsecond delay helper
|
||||
static inline void
|
||||
udelay(uint32_t usecs)
|
||||
{
|
||||
uint32_t end = timer_read_time() + timer_from_us(usecs);
|
||||
while (!timer_is_before(end, timer_read_time()))
|
||||
irq_poll();
|
||||
}
|
||||
|
||||
// tle5012b sensor query
|
||||
static void
|
||||
tle5012b_query(struct spi_angle *sa, uint32_t stime)
|
||||
{
|
||||
struct gpio_out cs_pin = spidev_get_cs_pin(sa->spi);
|
||||
// Latch data (data is latched on rising CS of a NULL message)
|
||||
gpio_out_write(cs_pin, 0);
|
||||
udelay(1);
|
||||
irq_disable();
|
||||
gpio_out_write(cs_pin, 1);
|
||||
uint32_t mtime = timer_read_time();
|
||||
irq_enable();
|
||||
|
||||
uint8_t msg[6] = { TLE_READ_LATCH, (TLE_REG_AVAL << 4) | 0x01, 0, 0, 0, 0 };
|
||||
uint8_t start_crc = 0x3f; // 0x3f == crc8(crc8(0xff, msg[0]), msg[1])
|
||||
spidev_transfer(sa->spi, 1, sizeof(msg), msg);
|
||||
uint8_t crc = ~crc8(crc8(start_crc, msg[2]), msg[3]);
|
||||
if (crc != msg[5])
|
||||
angle_add_error(sa, SE_CRC);
|
||||
else if (!(msg[4] & (1<<4)))
|
||||
angle_add_error(sa, SE_NO_ANGLE);
|
||||
else if (!(msg[2] & 0x80))
|
||||
angle_add_error(sa, SE_DUP);
|
||||
else
|
||||
angle_add_data(sa, stime, mtime, (msg[2] << 9) | (msg[3] << 1));
|
||||
}
|
||||
|
||||
void
|
||||
command_query_spi_angle(uint32_t *args)
|
||||
{
|
||||
uint8_t oid = args[0];
|
||||
struct spi_angle *sa = oid_lookup(oid, command_config_spi_angle);
|
||||
|
||||
sched_del_timer(&sa->timer);
|
||||
sa->flags = 0;
|
||||
if (!args[2]) {
|
||||
// End measurements
|
||||
if (sa->data_count)
|
||||
angle_report(sa, oid);
|
||||
sendf("spi_angle_end oid=%c sequence=%hu", oid, sa->sequence);
|
||||
return;
|
||||
}
|
||||
// Start new measurements query
|
||||
sa->timer.waketime = args[1];
|
||||
sa->rest_ticks = args[2];
|
||||
sa->sequence = 0;
|
||||
sa->data_count = 0;
|
||||
sa->time_shift = args[3];
|
||||
sched_add_timer(&sa->timer);
|
||||
}
|
||||
DECL_COMMAND(command_query_spi_angle,
|
||||
"query_spi_angle oid=%c clock=%u rest_ticks=%u time_shift=%c");
|
||||
|
||||
// Background task that performs measurements
|
||||
void
|
||||
spi_angle_task(void)
|
||||
{
|
||||
if (!sched_check_wake(&angle_wake))
|
||||
return;
|
||||
uint8_t oid;
|
||||
struct spi_angle *sa;
|
||||
foreach_oid(oid, sa, command_config_spi_angle) {
|
||||
uint_fast8_t flags = sa->flags;
|
||||
if (!(flags & SA_PENDING))
|
||||
continue;
|
||||
irq_disable();
|
||||
uint32_t stime = sa->timer.waketime;
|
||||
uint_fast8_t overflow = sa->overflow;
|
||||
sa->flags = 0;
|
||||
sa->overflow = 0;
|
||||
irq_enable();
|
||||
stime -= sa->rest_ticks;
|
||||
while (overflow--) {
|
||||
angle_add_error(sa, SE_OVERFLOW);
|
||||
angle_check_report(sa, oid);
|
||||
}
|
||||
uint_fast8_t chip = sa->chip_type;
|
||||
if (chip == SA_CHIP_A1333)
|
||||
a1333_query(sa, stime);
|
||||
else if (chip == SA_CHIP_AS5047D)
|
||||
as5047d_query(sa, stime);
|
||||
else if (chip == SA_CHIP_TLE5012B)
|
||||
tle5012b_query(sa, stime);
|
||||
angle_check_report(sa, oid);
|
||||
}
|
||||
}
|
||||
DECL_TASK(spi_angle_task);
|
||||
|
|
@ -70,6 +70,18 @@ spidev_set_software_bus(struct spidev_s *spi, struct spi_software *ss)
|
|||
spi->flags |= SF_SOFTWARE;
|
||||
}
|
||||
|
||||
int
|
||||
spidev_have_cs_pin(struct spidev_s *spi)
|
||||
{
|
||||
return spi->flags & SF_HAVE_PIN;
|
||||
}
|
||||
|
||||
struct gpio_out
|
||||
spidev_get_cs_pin(struct spidev_s *spi)
|
||||
{
|
||||
return spi->pin;
|
||||
}
|
||||
|
||||
void
|
||||
spidev_transfer(struct spidev_s *spi, uint8_t receive_data
|
||||
, uint8_t data_len, uint8_t *data)
|
||||
|
|
|
|||
|
|
@ -6,6 +6,8 @@
|
|||
struct spidev_s *spidev_oid_lookup(uint8_t oid);
|
||||
struct spi_software;
|
||||
void spidev_set_software_bus(struct spidev_s *spi, struct spi_software *ss);
|
||||
int spidev_have_cs_pin(struct spidev_s *spi);
|
||||
struct gpio_out spidev_get_cs_pin(struct spidev_s *spi);
|
||||
void spidev_transfer(struct spidev_s *spi, uint8_t receive_data
|
||||
, uint8_t data_len, uint8_t *data);
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue