adxl345: Support recording data from multiple ADXL345's in one run, and more. (#5224)

Add PROBE and CHIP to TEST_RESONANCES

Since it's possible to specify more than one chip
in TEST_RESONANCES the CHIP parameter has been
renamed to CHIPS

Signed-off-by: Mikkel Schmidt <mikkel.schmidt@gmail.com>

docs/G-Codes.md

@@ -896,23 +896,28 @@ all enabled accelerometer chips.
 #### TEST_RESONANCES
 `TEST_RESONANCES AXIS=<axis> OUTPUT=<resonances,raw_data>
 [NAME=<name>] [FREQ_START=<min_freq>] [FREQ_END=<max_freq>]
-[HZ_PER_SEC=<hz_per_sec>] [INPUT_SHAPING=[<0:1>]]`: Runs the resonance
+[HZ_PER_SEC=<hz_per_sec>] [CHIPS=<adxl345_chip_name>]
+[POINT=x,y,z] [INPUT_SHAPING=[<0:1>]]`: Runs the resonance
 test in all configured probe points for the requested "axis" and
 measures the acceleration using the accelerometer chips configured for
 the respective axis. "axis" can either be X or Y, or specify an
 arbitrary direction as `AXIS=dx,dy`, where dx and dy are floating
 point numbers defining a direction vector (e.g. `AXIS=X`, `AXIS=Y`, or
 `AXIS=1,-1` to define a diagonal direction). Note that `AXIS=dx,dy`
-and `AXIS=-dx,-dy` is equivalent. If `INPUT_SHAPING=0` or not set
+and `AXIS=-dx,-dy` is equivalent. `adxl345_chip_name` can be one or
-(default), disables input shaping for the resonance testing, because
+more configured adxl345 chip,delimited with comma, for example
+`CHIPS="adxl345, adxl345 rpi"`. Note that `adxl345` can be omitted from
+named adxl345 chips. If POINT is specified it will override the point(s)
+configured in `[resonance_tester]`. If `INPUT_SHAPING=0` or not set(default),
+disables input shaping for the resonance testing, because
 it is not valid to run the resonance testing with the input shaper
 enabled. `OUTPUT` parameter is a comma-separated list of which outputs
 will be written. If `raw_data` is requested, then the raw
 accelerometer data is written into a file or a series of files
-`/tmp/raw_data_<axis>_[<point>_]<name>.csv` with (`<point>_` part of
+`/tmp/raw_data_<axis>_[<chip_name>_][<point>_]<name>.csv` with
-the name generated only if more than 1 probe point is configured).  If
+(`<point>_` part of the name generated only if more than 1 probe point
-`resonances` is specified, the frequency response is calculated
+is configured or POINT is specified). If `resonances` is specified, the
-(across all probe points) and written into
+frequency response is calculated (across all probe points) and written into
 `/tmp/resonances_<axis>_<name>.csv` file. If unset, OUTPUT defaults to
 `resonances`, and NAME defaults to the current time in
 "YYYYMMDD_HHMMSS" format.

klippy/extras/resonance_tester.py

@@ -147,15 +147,21 @@ class ResonanceTester:
                 (chip_axis, self.printer.lookup_object(chip_name))
                 for chip_axis, chip_name in self.accel_chip_names]
 
-    def _run_test(self, gcmd, axes, helper, raw_name_suffix=None):
+    def _run_test(self, gcmd, axes, helper, raw_name_suffix=None,
+                  accel_chips=None, test_point=None):
         toolhead = self.printer.lookup_object('toolhead')
         calibration_data = {axis: None for axis in axes}
 
         self.test.prepare_test(gcmd)
+
+        if test_point is not None:
+            test_points = [test_point]
+        else:
             test_points = self.test.get_start_test_points()
+
         for point in test_points:
             toolhead.manual_move(point, self.move_speed)
-            if len(test_points) > 1:
+            if len(test_points) > 1 or test_point is not None:
                 gcmd.respond_info(
                         "Probing point (%.3f, %.3f, %.3f)" % tuple(point))
             for axis in axes:
@@ -165,29 +171,36 @@ class ResonanceTester:
                     gcmd.respond_info("Testing axis %s" % axis.get_name())
 
                 raw_values = []
+                if accel_chips is None:
                     for chip_axis, chip in self.accel_chips:
                         if axis.matches(chip_axis):
                             aclient = chip.start_internal_client()
-                        raw_values.append((chip_axis, aclient))
+                            raw_values.append((chip_axis, aclient, chip.name))
+                else:
+                    for chip in accel_chips:
+                        aclient = chip.start_internal_client()
+                        raw_values.append((axis, aclient, chip.name))
+
                 # Generate moves
                 self.test.run_test(axis, gcmd)
-                for chip_axis, aclient in raw_values:
+                for chip_axis, aclient, chip_name in raw_values:
                     aclient.finish_measurements()
                     if raw_name_suffix is not None:
                         raw_name = self.get_filename(
                                 'raw_data', raw_name_suffix, axis,
-                                point if len(test_points) > 1 else None)
+                                point if len(test_points) > 1 else None,
+                                chip_name if accel_chips is not None else None,)
                         aclient.write_to_file(raw_name)
                         gcmd.respond_info(
                                 "Writing raw accelerometer data to "
                                 "%s file" % (raw_name,))
                 if helper is None:
                     continue
-                for chip_axis, aclient in raw_values:
+                for chip_axis, aclient, chip_name in raw_values:
                     if not aclient.has_valid_samples():
                         raise gcmd.error(
-                                "%s-axis accelerometer measured no data" % (
+                            "accelerometer '%s' measured no data" % (
-                                    chip_axis,))
+                                chip_name,))
                     new_data = helper.process_accelerometer_data(aclient)
                     if calibration_data[axis] is None:
                         calibration_data[axis] = new_data
@@ -198,6 +211,28 @@ class ResonanceTester:
     def cmd_TEST_RESONANCES(self, gcmd):
         # Parse parameters
         axis = _parse_axis(gcmd, gcmd.get("AXIS").lower())
+        accel_chips = gcmd.get("CHIPS", None)
+        test_point = gcmd.get("POINT", None)
+
+        if test_point:
+            test_coords = test_point.split(',')
+            if len(test_coords) != 3:
+                raise gcmd.error("Invalid POINT parameter, must be 'x,y,z'")
+            try:
+                test_point = [float(p.strip()) for p in test_coords]
+            except ValueError:
+                raise gcmd.error("Invalid POINT parameter, must be 'x,y,z'"
+                " where x, y and z are valid floating point numbers")
+
+        if accel_chips:
+            parsed_chips = []
+            for chip_name in accel_chips.split(','):
+                if "adxl345" in chip_name:
+                    chip_lookup_name = chip_name.strip()
+                else:
+                    chip_lookup_name = "adxl345 " + chip_name.strip();
+                chip = self.printer.lookup_object(chip_lookup_name)
+                parsed_chips.append(chip)
 
         outputs = gcmd.get("OUTPUT", "resonances").lower().split(',')
         for output in outputs:
@@ -221,10 +256,13 @@ class ResonanceTester:
 
         data = self._run_test(
                 gcmd, [axis], helper,
-                raw_name_suffix=name_suffix if raw_output else None)[axis]
+                raw_name_suffix=name_suffix if raw_output else None,
+                accel_chips=parsed_chips if accel_chips else None,
+                test_point=test_point)[axis]
         if csv_output:
             csv_name = self.save_calibration_data('resonances', name_suffix,
-                                                  helper, axis, data)
+                                                  helper, axis, data,
+                                                  point=test_point)
             gcmd.respond_info(
                     "Resonances data written to %s file" % (csv_name,))
     cmd_SHAPER_CALIBRATE_help = (
@@ -287,7 +325,8 @@ class ResonanceTester:
         for chip_axis, aclient in raw_values:
             if not aclient.has_valid_samples():
                 raise gcmd.error(
-                        "%s-axis accelerometer measured no data" % (chip_axis,))
+                        "%s-axis accelerometer measured no data" % (
+                            chip_axis,))
             data = helper.process_accelerometer_data(aclient)
             vx = data.psd_x.mean()
             vy = data.psd_y.mean()
@@ -299,18 +338,22 @@ class ResonanceTester:
     def is_valid_name_suffix(self, name_suffix):
         return name_suffix.replace('-', '').replace('_', '').isalnum()
 
-    def get_filename(self, base, name_suffix, axis=None, point=None):
+    def get_filename(self, base, name_suffix, axis=None,
+                     point=None, chip_name=None):
         name = base
         if axis:
             name += '_' + axis.get_name()
+        if chip_name:
+            name += '_' + chip_name.replace(" ", "_")
         if point:
             name += "_%.3f_%.3f_%.3f" % (point[0], point[1], point[2])
         name += '_' + name_suffix
         return os.path.join("/tmp", name + ".csv")
 
     def save_calibration_data(self, base_name, name_suffix, shaper_calibrate,
-                              axis, calibration_data, all_shapers=None):
+                              axis, calibration_data,
-        output = self.get_filename(base_name, name_suffix, axis)
+                              all_shapers=None, point=None):
+        output = self.get_filename(base_name, name_suffix, axis, point)
         shaper_calibrate.save_calibration_data(output, calibration_data,
                                                all_shapers)
         return output