mirror of https://github.com/Desuuuu/klipper.git
317 lines
14 KiB
Python
317 lines
14 KiB
Python
# A utility class to test resonances of the printer
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#
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# Copyright (C) 2020 Dmitry Butyugin <dmbutyugin@google.com>
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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, math, os, time
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from . import shaper_calibrate
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class TestAxis:
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def __init__(self, axis=None, vib_dir=None):
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if axis is None:
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self._name = "axis=%.3f,%.3f" % (vib_dir[0], vib_dir[1])
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else:
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self._name = axis
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if vib_dir is None:
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self._vib_dir = (1., 0.) if axis == 'x' else (0., 1.)
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else:
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s = math.sqrt(sum([d*d for d in vib_dir]))
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self._vib_dir = [d / s for d in vib_dir]
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def matches(self, chip_axis):
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if self._vib_dir[0] and 'x' in chip_axis:
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return True
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if self._vib_dir[1] and 'y' in chip_axis:
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return True
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return False
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def get_name(self):
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return self._name
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def get_point(self, l):
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return (self._vib_dir[0] * l, self._vib_dir[1] * l)
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def _parse_axis(gcmd, raw_axis):
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if raw_axis is None:
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return None
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raw_axis = raw_axis.lower()
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if raw_axis in ['x', 'y']:
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return TestAxis(axis=raw_axis)
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dirs = raw_axis.split(',')
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if len(dirs) != 2:
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raise gcmd.error("Invalid format of axis '%s'" % (raw_axis,))
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try:
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dir_x = float(dirs[0].strip())
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dir_y = float(dirs[1].strip())
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except:
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raise gcmd.error(
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"Unable to parse axis direction '%s'" % (raw_axis,))
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return TestAxis(vib_dir=(dir_x, dir_y))
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class VibrationPulseTest:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.gcode = self.printer.lookup_object('gcode')
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self.min_freq = config.getfloat('min_freq', 5., minval=1.)
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# Defaults are such that max_freq * accel_per_hz == 10000 (max_accel)
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self.max_freq = config.getfloat('max_freq', 10000. / 75.,
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minval=self.min_freq, maxval=200.)
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self.accel_per_hz = config.getfloat('accel_per_hz', 75., above=0.)
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self.hz_per_sec = config.getfloat('hz_per_sec', 1.,
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minval=0.1, maxval=2.)
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self.probe_points = config.getlists('probe_points', seps=(',', '\n'),
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parser=float, count=3)
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def get_start_test_points(self):
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return self.probe_points
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def prepare_test(self, gcmd):
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self.freq_start = gcmd.get_float("FREQ_START", self.min_freq, minval=1.)
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self.freq_end = gcmd.get_float("FREQ_END", self.max_freq,
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minval=self.freq_start, maxval=200.)
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self.hz_per_sec = gcmd.get_float("HZ_PER_SEC", self.hz_per_sec,
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above=0., maxval=2.)
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def run_test(self, axis, gcmd):
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toolhead = self.printer.lookup_object('toolhead')
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X, Y, Z, E = toolhead.get_position()
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sign = 1.
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freq = self.freq_start
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# Override maximum acceleration and acceleration to
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# deceleration based on the maximum test frequency
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systime = self.printer.get_reactor().monotonic()
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toolhead_info = toolhead.get_status(systime)
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old_max_accel = toolhead_info['max_accel']
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old_max_accel_to_decel = toolhead_info['max_accel_to_decel']
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max_accel = self.freq_end * self.accel_per_hz
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self.gcode.run_script_from_command(
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"SET_VELOCITY_LIMIT ACCEL=%.3f ACCEL_TO_DECEL=%.3f" % (
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max_accel, max_accel))
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input_shaper = self.printer.lookup_object('input_shaper', None)
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if input_shaper is not None and not gcmd.get_int('INPUT_SHAPING', 0):
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input_shaper.disable_shaping()
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gcmd.respond_info("Disabled [input_shaper] for resonance testing")
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else:
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input_shaper = None
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gcmd.respond_info("Testing frequency %.0f Hz" % (freq,))
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while freq <= self.freq_end + 0.000001:
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t_seg = .25 / freq
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accel = self.accel_per_hz * freq
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max_v = accel * t_seg
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toolhead.cmd_M204(self.gcode.create_gcode_command(
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"M204", "M204", {"S": accel}))
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L = .5 * accel * t_seg**2
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dX, dY = axis.get_point(L)
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nX = X + sign * dX
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nY = Y + sign * dY
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toolhead.move([nX, nY, Z, E], max_v)
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toolhead.move([X, Y, Z, E], max_v)
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sign = -sign
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old_freq = freq
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freq += 2. * t_seg * self.hz_per_sec
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if math.floor(freq) > math.floor(old_freq):
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gcmd.respond_info("Testing frequency %.0f Hz" % (freq,))
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# Restore the original acceleration values
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self.gcode.run_script_from_command(
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"SET_VELOCITY_LIMIT ACCEL=%.3f ACCEL_TO_DECEL=%.3f" % (
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old_max_accel, old_max_accel_to_decel))
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# Restore input shaper if it was disabled for resonance testing
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if input_shaper is not None:
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input_shaper.enable_shaping()
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gcmd.respond_info("Re-enabled [input_shaper]")
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class ResonanceTester:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.move_speed = config.getfloat('move_speed', 50., above=0.)
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self.test = VibrationPulseTest(config)
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if not config.get('accel_chip_x', None):
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self.accel_chip_names = [('xy', config.get('accel_chip').strip())]
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else:
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self.accel_chip_names = [
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('x', config.get('accel_chip_x').strip()),
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('y', config.get('accel_chip_y').strip())]
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if self.accel_chip_names[0][1] == self.accel_chip_names[1][1]:
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self.accel_chip_names = [('xy', self.accel_chip_names[0][1])]
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self.max_smoothing = config.getfloat('max_smoothing', None, minval=0.05)
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command("MEASURE_AXES_NOISE",
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self.cmd_MEASURE_AXES_NOISE,
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desc=self.cmd_MEASURE_AXES_NOISE_help)
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self.gcode.register_command("TEST_RESONANCES",
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self.cmd_TEST_RESONANCES,
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desc=self.cmd_TEST_RESONANCES_help)
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self.gcode.register_command("SHAPER_CALIBRATE",
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self.cmd_SHAPER_CALIBRATE,
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desc=self.cmd_SHAPER_CALIBRATE_help)
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self.printer.register_event_handler("klippy:connect", self.connect)
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def connect(self):
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self.accel_chips = [
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(chip_axis, self.printer.lookup_object(chip_name))
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for chip_axis, chip_name in self.accel_chip_names]
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def _run_test(self, gcmd, axes, helper, raw_name_suffix=None):
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toolhead = self.printer.lookup_object('toolhead')
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calibration_data = {axis: None for axis in axes}
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self.test.prepare_test(gcmd)
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test_points = self.test.get_start_test_points()
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for point in test_points:
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toolhead.manual_move(point, self.move_speed)
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if len(test_points) > 1:
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gcmd.respond_info(
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"Probing point (%.3f, %.3f, %.3f)" % tuple(point))
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for axis in axes:
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toolhead.wait_moves()
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toolhead.dwell(0.500)
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if len(axes) > 1:
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gcmd.respond_info("Testing axis %s" % axis.get_name())
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raw_values = []
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for chip_axis, chip in self.accel_chips:
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if axis.matches(chip_axis):
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aclient = chip.start_internal_client()
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raw_values.append((chip_axis, aclient))
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# Generate moves
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self.test.run_test(axis, gcmd)
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for chip_axis, aclient in raw_values:
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aclient.finish_measurements()
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if raw_name_suffix is not None:
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raw_name = self.get_filename(
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'raw_data', raw_name_suffix, axis,
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point if len(test_points) > 1 else None)
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aclient.write_to_file(raw_name)
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gcmd.respond_info(
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"Writing raw accelerometer data to "
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"%s file" % (raw_name,))
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if helper is None:
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continue
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for chip_axis, chip_values in raw_values:
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if not chip_values:
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raise gcmd.error(
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"%s-axis accelerometer measured no data" % (
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chip_axis,))
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new_data = helper.process_accelerometer_data(chip_values)
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if calibration_data[axis] is None:
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calibration_data[axis] = new_data
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else:
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calibration_data[axis].add_data(new_data)
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return calibration_data
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cmd_TEST_RESONANCES_help = ("Runs the resonance test for a specifed axis")
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def cmd_TEST_RESONANCES(self, gcmd):
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# Parse parameters
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axis = _parse_axis(gcmd, gcmd.get("AXIS").lower())
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outputs = gcmd.get("OUTPUT", "resonances").lower().split(',')
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for output in outputs:
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if output not in ['resonances', 'raw_data']:
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raise gcmd.error("Unsupported output '%s', only 'resonances'"
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" and 'raw_data' are supported" % (output,))
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if not outputs:
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raise gcmd.error("No output specified, at least one of 'resonances'"
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" or 'raw_data' must be set in OUTPUT parameter")
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name_suffix = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S"))
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if not self.is_valid_name_suffix(name_suffix):
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raise gcmd.error("Invalid NAME parameter")
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csv_output = 'resonances' in outputs
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raw_output = 'raw_data' in outputs
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# Setup calculation of resonances
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if csv_output:
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helper = shaper_calibrate.ShaperCalibrate(self.printer)
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else:
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helper = None
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data = self._run_test(
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gcmd, [axis], helper,
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raw_name_suffix=name_suffix if raw_output else None)[axis]
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if csv_output:
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csv_name = self.save_calibration_data('resonances', name_suffix,
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helper, axis, data)
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gcmd.respond_info(
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"Resonances data written to %s file" % (csv_name,))
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cmd_SHAPER_CALIBRATE_help = (
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"Simular to TEST_RESONANCES but suggest input shaper config")
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def cmd_SHAPER_CALIBRATE(self, gcmd):
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# Parse parameters
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axis = gcmd.get("AXIS", None)
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if not axis:
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calibrate_axes = [TestAxis('x'), TestAxis('y')]
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elif axis.lower() not in 'xy':
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raise gcmd.error("Unsupported axis '%s'" % (axis,))
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else:
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calibrate_axes = [TestAxis(axis.lower())]
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max_smoothing = gcmd.get_float(
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"MAX_SMOOTHING", self.max_smoothing, minval=0.05)
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name_suffix = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S"))
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if not self.is_valid_name_suffix(name_suffix):
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raise gcmd.error("Invalid NAME parameter")
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# Setup shaper calibration
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helper = shaper_calibrate.ShaperCalibrate(self.printer)
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calibration_data = self._run_test(gcmd, calibrate_axes, helper)
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configfile = self.printer.lookup_object('configfile')
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for axis in calibrate_axes:
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axis_name = axis.get_name()
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gcmd.respond_info(
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"Calculating the best input shaper parameters for %s axis"
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% (axis_name,))
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calibration_data[axis].normalize_to_frequencies()
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best_shaper, all_shapers = helper.find_best_shaper(
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calibration_data[axis], max_smoothing, gcmd.respond_info)
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gcmd.respond_info(
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"Recommended shaper_type_%s = %s, shaper_freq_%s = %.1f Hz"
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% (axis_name, best_shaper.name,
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axis_name, best_shaper.freq))
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helper.save_params(configfile, axis_name,
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best_shaper.name, best_shaper.freq)
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csv_name = self.save_calibration_data(
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'calibration_data', name_suffix, helper, axis,
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calibration_data[axis], all_shapers)
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gcmd.respond_info(
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"Shaper calibration data written to %s file" % (csv_name,))
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gcmd.respond_info(
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"The SAVE_CONFIG command will update the printer config file\n"
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"with these parameters and restart the printer.")
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cmd_MEASURE_AXES_NOISE_help = (
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"Measures noise of all enabled accelerometer chips")
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def cmd_MEASURE_AXES_NOISE(self, gcmd):
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meas_time = gcmd.get_float("MEAS_TIME", 2.)
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raw_values = [(chip_axis, chip.start_internal_client())
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for chip_axis, chip in self.accel_chips]
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self.printer.lookup_object('toolhead').dwell(meas_time)
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for chip_axis, aclient in raw_values:
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aclient.finish_measurements()
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helper = shaper_calibrate.ShaperCalibrate(self.printer)
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for chip_axis, aclient in raw_values:
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data = helper.process_accelerometer_data(aclient)
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vx = data.psd_x.mean()
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vy = data.psd_y.mean()
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vz = data.psd_z.mean()
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gcmd.respond_info("Axes noise for %s-axis accelerometer: "
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"%.6f (x), %.6f (y), %.6f (z)" % (
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chip_axis, vx, vy, vz))
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def is_valid_name_suffix(self, name_suffix):
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return name_suffix.replace('-', '').replace('_', '').isalnum()
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def get_filename(self, base, name_suffix, axis=None, point=None):
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name = base
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if axis:
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name += '_' + axis.get_name()
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if point:
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name += "_%.3f_%.3f_%.3f" % (point[0], point[1], point[2])
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name += '_' + name_suffix
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return os.path.join("/tmp", name + ".csv")
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def save_calibration_data(self, base_name, name_suffix, shaper_calibrate,
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axis, calibration_data, all_shapers=None):
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output = self.get_filename(base_name, name_suffix, axis)
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shaper_calibrate.save_calibration_data(output, calibration_data,
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all_shapers)
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return output
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def load_config(config):
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return ResonanceTester(config)
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