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adxl345: Move g-code commands to new helper class 

Separate out the G-Code command handlers to a new ADXLCommandHelper()
class.  This helps separate the sensing code from the user interface
code.

Deprecate the RATE parameter of the ACCELEROMETER_MEASURE command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-08-11 21:54:19 -04:00
parent 6999ff6256
commit e03e0e9dac
3 changed files with 95 additions and 105 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
docs/Config_Changes.md
View File

@ -8,6 +8,10 @@ All dates in this document are approximate.
## Changes
20210830: The adxl345 ACCELEROMETER_MEASURE command no longer supports
a RATE parameter. To alter the query rate, update the printer.cfg
file and issue a RESTART command.
20210821: Several config settings in `printer.configfile.settings`
will now be reported as lists instead of raw strings. If the actual
raw string is desired, use `printer.configfile.config` instead.

26
docs/G-Codes.md
View File

@ -725,21 +725,19 @@ is enabled:
The following commands are available when an
[adxl345 config section](Config_Reference.md#adxl345) is enabled:
- `ACCELEROMETER_MEASURE [CHIP=<config_name>] [RATE=<value>]
[NAME=<value>]`: Starts accelerometer measurements at the requested
number of samples per second. If CHIP is not specified it defaults
to "default". Valid rates are 25, 50, 100, 200, 400, 800, 1600,
and 3200. The command works in a start-stop mode: when executed for
the first time, it starts the measurements, next execution stops
them. If RATE is not specified, then the default value is used
(either from `printer.cfg` or `3200` default value). The results of
measurements are written to a file named
- `ACCELEROMETER_MEASURE [CHIP=<config_name>] [NAME=<value>]`: Starts
accelerometer measurements at the requested number of samples per
second. If CHIP is not specified it defaults to "default". The
command works in a start-stop mode: when executed for the first
time, it starts the measurements, next execution stops them. The
results of measurements are written to a file named
`/tmp/adxl345-<chip>-<name>.csv` where `<chip>` is the name of the
accelerometer chip (`my_chip_name` from `[adxl345 my_chip_name]`) and
`<name>` is the optional NAME parameter. If NAME is not specified it
defaults to the current time in "YYYYMMDD_HHMMSS" format. If the
accelerometer does not have a name in its config section (simply
`[adxl345]`) <chip> part of the name is not generated.
accelerometer chip (`my_chip_name` from `[adxl345 my_chip_name]`)
and `<name>` is the optional NAME parameter. If NAME is not
specified it defaults to the current time in "YYYYMMDD_HHMMSS"
format. If the accelerometer does not have a name in its config
section (simply `[adxl345]`) then `<chip>` part of the name is not
generated.
- `ACCELEROMETER_QUERY [CHIP=<config_name>] [RATE=<value>]`: queries
accelerometer for the current value. If CHIP is not specified it
defaults to "default". If RATE is not specified, the default value

170
klippy/extras/adxl345.py
View File

@ -96,10 +96,85 @@ class ADXL345Results:
write_proc.daemon = True
write_proc.start()
# Helper class for G-Code commands
class ADXLCommandHelper:
def __init__(self, config, chip):
self.printer = config.get_printer()
self.chip = chip
self.name = "default"
if len(config.get_name().split()) > 1:
self.name = config.get_name().split()[1]
self.register_commands(self.name)
if self.name == "default":
self.register_commands(None)
def register_commands(self, name):
# Register commands
gcode = self.printer.lookup_object('gcode')
gcode.register_mux_command("ACCELEROMETER_MEASURE", "CHIP", name,
self.cmd_ACCELEROMETER_MEASURE,
desc=self.cmd_ACCELEROMETER_MEASURE_help)
gcode.register_mux_command("ACCELEROMETER_QUERY", "CHIP", name,
self.cmd_ACCELEROMETER_QUERY,
desc=self.cmd_ACCELEROMETER_QUERY_help)
gcode.register_mux_command("ADXL345_DEBUG_READ", "CHIP", name,
self.cmd_ADXL345_DEBUG_READ,
desc=self.cmd_ADXL345_DEBUG_READ_help)
gcode.register_mux_command("ADXL345_DEBUG_WRITE", "CHIP", name,
self.cmd_ADXL345_DEBUG_WRITE,
desc=self.cmd_ADXL345_DEBUG_WRITE_help)
cmd_ACCELEROMETER_MEASURE_help = "Start/stop accelerometer"
def cmd_ACCELEROMETER_MEASURE(self, gcmd):
if not self.chip.is_measuring():
# Start measurements
self.chip.start_measurements()
gcmd.respond_info("adxl345 measurements started")
return
# End measurements
name = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S"))
if not name.replace('-', '').replace('_', '').isalnum():
raise gcmd.error("Invalid adxl345 NAME parameter")
res = self.chip.finish_measurements()
# Write data to file
if self.name == "default":
filename = "/tmp/adxl345-%s.csv" % (name,)
else:
filename = "/tmp/adxl345-%s-%s.csv" % (self.name, name,)
res.write_to_file(filename)
gcmd.respond_info("Writing raw accelerometer data to %s file"
% (filename,))
cmd_ACCELEROMETER_QUERY_help = "Query accelerometer for the current values"
def cmd_ACCELEROMETER_QUERY(self, gcmd):
if self.chip.is_measuring():
raise gcmd.error("adxl345 measurements in progress")
self.chip.start_measurements()
self.printer.lookup_object('toolhead').dwell(1.)
result = self.chip.finish_measurements()
values = result.decode_samples()
if not values:
raise gcmd.error("No adxl345 measurements found")
_, accel_x, accel_y, accel_z = values[-1]
gcmd.respond_info("adxl345 values (x, y, z): %.6f, %.6f, %.6f"
% (accel_x, accel_y, accel_z))
cmd_ADXL345_DEBUG_READ_help = "Query accelerometer register (for debugging)"
def cmd_ADXL345_DEBUG_READ(self, gcmd):
if self.chip.is_measuring():
raise gcmd.error("adxl345 measurements in progress")
reg = gcmd.get("REG", minval=29, maxval=57, parser=lambda x: int(x, 0))
val = self.chip.read_reg(reg)
gcmd.respond_info("ADXL345 REG[0x%x] = 0x%x" % (reg, val))
cmd_ADXL345_DEBUG_WRITE_help = "Set accelerometer register (for debugging)"
def cmd_ADXL345_DEBUG_WRITE(self, gcmd):
if self.chip.is_measuring():
raise gcmd.error("adxl345 measurements in progress")
reg = gcmd.get("REG", minval=29, maxval=57, parser=lambda x: int(x, 0))
val = gcmd.get("VAL", minval=0, maxval=255, parser=lambda x: int(x, 0))
self.chip.set_reg(reg, val)
# Printer class that controls ADXL345 chip
class ADXL345:
def __init__(self, config):
self.printer = config.get_printer()
ADXLCommandHelper(config, self)
self.query_rate = 0
self.last_tx_time = 0.
am = {'x': (0, SCALE), 'y': (1, SCALE), 'z': (2, SCALE),
@ -127,34 +202,6 @@ class ADXL345:
mcu.register_config_callback(self._build_config)
mcu.register_response(self._handle_adxl345_start, "adxl345_start", oid)
mcu.register_response(self._handle_adxl345_data, "adxl345_data", oid)
# Register commands
self.name = "default"
if len(config.get_name().split()) > 1:
self.name = config.get_name().split()[1]
gcode = self.printer.lookup_object('gcode')
gcode.register_mux_command("ACCELEROMETER_MEASURE", "CHIP", self.name,
self.cmd_ACCELEROMETER_MEASURE,
desc=self.cmd_ACCELEROMETER_MEASURE_help)
gcode.register_mux_command("ACCELEROMETER_QUERY", "CHIP", self.name,
self.cmd_ACCELEROMETER_QUERY,
desc=self.cmd_ACCELEROMETER_QUERY_help)
gcode.register_mux_command("ADXL345_DEBUG_READ", "CHIP", self.name,
self.cmd_ADXL345_DEBUG_READ,
desc=self.cmd_ADXL345_DEBUG_READ_help)
gcode.register_mux_command("ADXL345_DEBUG_WRITE", "CHIP", self.name,
self.cmd_ADXL345_DEBUG_WRITE,
desc=self.cmd_ADXL345_DEBUG_WRITE_help)
if self.name == "default":
gcode.register_mux_command("ACCELEROMETER_MEASURE", "CHIP", None,
self.cmd_ACCELEROMETER_MEASURE)
gcode.register_mux_command("ACCELEROMETER_QUERY", "CHIP", None,
self.cmd_ACCELEROMETER_QUERY)
gcode.register_mux_command("ADXL345_DEBUG_READ", "CHIP", None,
self.cmd_ADXL345_DEBUG_READ,
desc=self.cmd_ADXL345_DEBUG_READ_help)
gcode.register_mux_command("ADXL345_DEBUG_WRITE", "CHIP", None,
self.cmd_ADXL345_DEBUG_WRITE,
desc=self.cmd_ADXL345_DEBUG_WRITE_help)
def is_initialized(self):
# In case of miswiring, testing ADXL345 device ID prevents treating
# noise or wrong signal as a correctly initialized device
@ -213,10 +260,9 @@ class ADXL345:
reg, val, stored_val))
def is_measuring(self):
return self.query_rate > 0
def start_measurements(self, rate=None):
def start_measurements(self):
if self.is_measuring():
return
rate = rate or self.data_rate
if not self.is_initialized():
self.initialize()
# Setup chip in requested query rate
@ -225,7 +271,7 @@ class ADXL345:
clock = self.mcu.print_time_to_clock(self.last_tx_time)
self.set_reg(REG_POWER_CTL, 0x00, minclock=clock)
self.set_reg(REG_FIFO_CTL, 0x00)
self.set_reg(REG_BW_RATE, QUERY_RATES[rate])
self.set_reg(REG_BW_RATE, QUERY_RATES[self.data_rate])
self.set_reg(REG_FIFO_CTL, 0x80)
# Setup samples
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
@ -234,9 +280,9 @@ class ADXL345:
self.samples_start1 = self.samples_start2 = print_time
# Start bulk reading
reqclock = self.mcu.print_time_to_clock(print_time)
rest_ticks = self.mcu.seconds_to_clock(4. / rate)
rest_ticks = self.mcu.seconds_to_clock(4. / self.data_rate)
self.last_tx_time = print_time
self.query_rate = rate
self.query_rate = self.data_rate
self.query_adxl345_cmd.send([self.oid, reqclock, rest_ticks],
reqclock=reqclock)
def finish_measurements(self):
@ -263,64 +309,6 @@ class ADXL345:
logging.info("ADXL345 finished %d measurements: %s",
res.total_count, res.get_stats())
return res
def end_query(self, name, gcmd):
if not self.is_measuring():
return
res = self.finish_measurements()
# Write data to file
if self.name == "default":
filename = "/tmp/adxl345-%s.csv" % (name,)
else:
filename = "/tmp/adxl345-%s-%s.csv" % (self.name, name,)
res.write_to_file(filename)
gcmd.respond_info(
"Writing raw accelerometer data to %s file" % (filename,))
cmd_ACCELEROMETER_MEASURE_help = "Start/stop accelerometer"
def cmd_ACCELEROMETER_MEASURE(self, gcmd):
if self.is_measuring():
name = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S"))
if not name.replace('-', '').replace('_', '').isalnum():
raise gcmd.error("Invalid adxl345 NAME parameter")
self.end_query(name, gcmd)
gcmd.respond_info("adxl345 measurements stopped")
else:
rate = gcmd.get_int("RATE", self.data_rate)
if rate not in QUERY_RATES:
raise gcmd.error("Not a valid adxl345 query rate: %d" % (rate,))
self.start_measurements(rate)
gcmd.respond_info("adxl345 measurements started")
cmd_ACCELEROMETER_QUERY_help = "Query accelerometer for the current values"
def cmd_ACCELEROMETER_QUERY(self, gcmd):
if self.is_measuring():
raise gcmd.error("adxl345 measurements in progress")
self.start_measurements()
reactor = self.printer.get_reactor()
eventtime = starttime = reactor.monotonic()
while not self.raw_samples:
eventtime = reactor.pause(eventtime + .1)
if eventtime > starttime + 3.:
# Try to shutdown the measurements
self.finish_measurements()
raise gcmd.error("Timeout reading adxl345 data")
result = self.finish_measurements()
values = result.decode_samples()
_, accel_x, accel_y, accel_z = values[-1]
gcmd.respond_info("adxl345 values (x, y, z): %.6f, %.6f, %.6f" % (
accel_x, accel_y, accel_z))
cmd_ADXL345_DEBUG_READ_help = "Query accelerometer register (for debugging)"
def cmd_ADXL345_DEBUG_READ(self, gcmd):
if self.is_measuring():
raise gcmd.error("adxl345 measurements in progress")
reg = gcmd.get("REG", minval=29, maxval=57, parser=lambda x: int(x, 0))
val = self.read_reg(reg)
gcmd.respond_info("ADXL345 REG[0x%x] = 0x%x" % (reg, val))
cmd_ADXL345_DEBUG_WRITE_help = "Set accelerometer register (for debugging)"
def cmd_ADXL345_DEBUG_WRITE(self, gcmd):
if self.is_measuring():
raise gcmd.error("adxl345 measurements in progress")
reg = gcmd.get("REG", minval=29, maxval=57, parser=lambda x: int(x, 0))
val = gcmd.get("VAL", minval=0, maxval=255, parser=lambda x: int(x, 0))
self.set_reg(reg, val)
def load_config(config):
return ADXL345(config)