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bulk_sensor: New file with helper code for reading bulk sensors 

Move the ClockSyncRegression class from adxl345.py to a new
bulk_sensors.py file.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2023-12-16 11:15:23 -05:00
parent 644f7e0872
commit 978c294741
4 changed files with 73 additions and 65 deletions
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57
klippy/extras/adxl345.py
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@ -4,7 +4,7 @@
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, time, collections, threading, multiprocessing, os
from . import bus, motion_report
from . import bus, motion_report, bulk_sensor
# ADXL345 registers
REG_DEVID = 0x00
@ -173,59 +173,13 @@ class AccelCommandHelper:
val = gcmd.get("VAL", minval=0, maxval=255, parser=lambda x: int(x, 0))
self.chip.set_reg(reg, val)
# Helper class for chip clock synchronization via linear regression
class ClockSyncRegression:
def __init__(self, mcu, chip_clock_smooth, decay = 1. / 20.):
self.mcu = mcu
self.chip_clock_smooth = chip_clock_smooth
self.decay = decay
self.last_chip_clock = self.last_exp_mcu_clock = 0.
self.mcu_clock_avg = self.mcu_clock_variance = 0.
self.chip_clock_avg = self.chip_clock_covariance = 0.
def reset(self, mcu_clock, chip_clock):
self.mcu_clock_avg = self.last_mcu_clock = mcu_clock
self.chip_clock_avg = chip_clock
self.mcu_clock_variance = self.chip_clock_covariance = 0.
self.last_chip_clock = self.last_exp_mcu_clock = 0.
def update(self, mcu_clock, chip_clock):
# Update linear regression
decay = self.decay
diff_mcu_clock = mcu_clock - self.mcu_clock_avg
self.mcu_clock_avg += decay * diff_mcu_clock
self.mcu_clock_variance = (1. - decay) * (
self.mcu_clock_variance + diff_mcu_clock**2 * decay)
diff_chip_clock = chip_clock - self.chip_clock_avg
self.chip_clock_avg += decay * diff_chip_clock
self.chip_clock_covariance = (1. - decay) * (
self.chip_clock_covariance + diff_mcu_clock*diff_chip_clock*decay)
def set_last_chip_clock(self, chip_clock):
base_mcu, base_chip, inv_cfreq = self.get_clock_translation()
self.last_chip_clock = chip_clock
self.last_exp_mcu_clock = base_mcu + (chip_clock-base_chip) * inv_cfreq
def get_clock_translation(self):
inv_chip_freq = self.mcu_clock_variance / self.chip_clock_covariance
if not self.last_chip_clock:
return self.mcu_clock_avg, self.chip_clock_avg, inv_chip_freq
# Find mcu clock associated with future chip_clock
s_chip_clock = self.last_chip_clock + self.chip_clock_smooth
scdiff = s_chip_clock - self.chip_clock_avg
s_mcu_clock = self.mcu_clock_avg + scdiff * inv_chip_freq
# Calculate frequency to converge at future point
mdiff = s_mcu_clock - self.last_exp_mcu_clock
s_inv_chip_freq = mdiff / self.chip_clock_smooth
return self.last_exp_mcu_clock, self.last_chip_clock, s_inv_chip_freq
def get_time_translation(self):
base_mcu, base_chip, inv_cfreq = self.get_clock_translation()
clock_to_print_time = self.mcu.clock_to_print_time
base_time = clock_to_print_time(base_mcu)
inv_freq = clock_to_print_time(base_mcu + inv_cfreq) - base_time
return base_time, base_chip, inv_freq
MIN_MSG_TIME = 0.100
BYTES_PER_SAMPLE = 5
SAMPLES_PER_BLOCK = 10
API_UPDATES = 0.100
# Printer class that controls ADXL345 chip
class ADXL345:
def __init__(self, config):
@ -259,10 +213,11 @@ class ADXL345:
# Clock tracking
self.last_sequence = self.max_query_duration = 0
self.last_limit_count = self.last_error_count = 0
self.clock_sync = ClockSyncRegression(self.mcu, 640)
chip_smooth = self.data_rate * API_UPDATES * 2
self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth)
# API server endpoints
self.api_dump = motion_report.APIDumpHelper(
self.printer, self._api_update, self._api_startstop, 0.100)
self.printer, self._api_update, self._api_startstop, API_UPDATES)
self.name = config.get_name().split()[-1]
wh = self.printer.lookup_object('webhooks')
wh.register_mux_endpoint("adxl345/dump_adxl345", "sensor", self.name,

53
klippy/extras/bulk_sensor.py Normal file
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@ -0,0 +1,53 @@
# Tools for reading bulk sensor data from the mcu
#
# Copyright (C) 2020-2023 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
# Helper class for chip clock synchronization via linear regression
class ClockSyncRegression:
def __init__(self, mcu, chip_clock_smooth, decay = 1. / 20.):
self.mcu = mcu
self.chip_clock_smooth = chip_clock_smooth
self.decay = decay
self.last_chip_clock = self.last_exp_mcu_clock = 0.
self.mcu_clock_avg = self.mcu_clock_variance = 0.
self.chip_clock_avg = self.chip_clock_covariance = 0.
def reset(self, mcu_clock, chip_clock):
self.mcu_clock_avg = self.last_mcu_clock = mcu_clock
self.chip_clock_avg = chip_clock
self.mcu_clock_variance = self.chip_clock_covariance = 0.
self.last_chip_clock = self.last_exp_mcu_clock = 0.
def update(self, mcu_clock, chip_clock):
# Update linear regression
decay = self.decay
diff_mcu_clock = mcu_clock - self.mcu_clock_avg
self.mcu_clock_avg += decay * diff_mcu_clock
self.mcu_clock_variance = (1. - decay) * (
self.mcu_clock_variance + diff_mcu_clock**2 * decay)
diff_chip_clock = chip_clock - self.chip_clock_avg
self.chip_clock_avg += decay * diff_chip_clock
self.chip_clock_covariance = (1. - decay) * (
self.chip_clock_covariance + diff_mcu_clock*diff_chip_clock*decay)
def set_last_chip_clock(self, chip_clock):
base_mcu, base_chip, inv_cfreq = self.get_clock_translation()
self.last_chip_clock = chip_clock
self.last_exp_mcu_clock = base_mcu + (chip_clock-base_chip) * inv_cfreq
def get_clock_translation(self):
inv_chip_freq = self.mcu_clock_variance / self.chip_clock_covariance
if not self.last_chip_clock:
return self.mcu_clock_avg, self.chip_clock_avg, inv_chip_freq
# Find mcu clock associated with future chip_clock
s_chip_clock = self.last_chip_clock + self.chip_clock_smooth
scdiff = s_chip_clock - self.chip_clock_avg
s_mcu_clock = self.mcu_clock_avg + scdiff * inv_chip_freq
# Calculate frequency to converge at future point
mdiff = s_mcu_clock - self.last_exp_mcu_clock
s_inv_chip_freq = mdiff / self.chip_clock_smooth
return self.last_exp_mcu_clock, self.last_chip_clock, s_inv_chip_freq
def get_time_translation(self):
base_mcu, base_chip, inv_cfreq = self.get_clock_translation()
clock_to_print_time = self.mcu.clock_to_print_time
base_time = clock_to_print_time(base_mcu)
inv_freq = clock_to_print_time(base_mcu + inv_cfreq) - base_time
return base_time, base_chip, inv_freq

14
klippy/extras/lis2dw.py
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@ -4,8 +4,8 @@
# Copyright (C) 2020-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, time, collections, threading, multiprocessing, os
from . import bus, motion_report, adxl345
import logging, time, threading, multiprocessing, os
from . import bus, motion_report, adxl345, bulk_sensor
# LIS2DW registers
REG_LIS2DW_WHO_AM_I_ADDR = 0x0F
@ -30,14 +30,13 @@ LIS2DW_DEV_ID = 0x44
FREEFALL_ACCEL = 9.80665
SCALE = FREEFALL_ACCEL * 1.952 / 4
Accel_Measurement = collections.namedtuple(
'Accel_Measurement', ('time', 'accel_x', 'accel_y', 'accel_z'))
MIN_MSG_TIME = 0.100
BYTES_PER_SAMPLE = 6
SAMPLES_PER_BLOCK = 8
API_UPDATES = 0.100
# Printer class that controls LIS2DW chip
class LIS2DW:
def __init__(self, config):
@ -69,10 +68,11 @@ class LIS2DW:
# Clock tracking
self.last_sequence = self.max_query_duration = 0
self.last_limit_count = self.last_error_count = 0
self.clock_sync = adxl345.ClockSyncRegression(self.mcu, 640)
chip_smooth = self.data_rate * API_UPDATES * 2
self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth)
# API server endpoints
self.api_dump = motion_report.APIDumpHelper(
self.printer, self._api_update, self._api_startstop, 0.100)
self.printer, self._api_update, self._api_startstop, API_UPDATES)
self.name = config.get_name().split()[-1]
wh = self.printer.lookup_object('webhooks')
wh.register_mux_endpoint("lis2dw/dump_lis2dw", "sensor", self.name,

14
klippy/extras/mpu9250.py
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@ -4,8 +4,8 @@
# Copyright (C) 2020-2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, time, collections, threading, multiprocessing, os
from . import bus, motion_report, adxl345
import logging, time, threading, multiprocessing, os
from . import bus, motion_report, adxl345, bulk_sensor
MPU9250_ADDR = 0x68
@ -47,14 +47,13 @@ SCALE = 0.000244140625 * FREEFALL_ACCEL
FIFO_SIZE = 512
Accel_Measurement = collections.namedtuple(
'Accel_Measurement', ('time', 'accel_x', 'accel_y', 'accel_z'))
MIN_MSG_TIME = 0.100
BYTES_PER_SAMPLE = 6
SAMPLES_PER_BLOCK = 8
API_UPDATES = 0.100
# Printer class that controls MPU9250 chip
class MPU9250:
def __init__(self, config):
@ -86,10 +85,11 @@ class MPU9250:
# Clock tracking
self.last_sequence = self.max_query_duration = 0
self.last_limit_count = self.last_error_count = 0
self.clock_sync = adxl345.ClockSyncRegression(self.mcu, 640)
chip_smooth = self.data_rate * API_UPDATES * 2
self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth)
# API server endpoints
self.api_dump = motion_report.APIDumpHelper(
self.printer, self._api_update, self._api_startstop, 0.100)
self.printer, self._api_update, self._api_startstop, API_UPDATES)
self.name = config.get_name().split()[-1]
wh = self.printer.lookup_object('webhooks')
wh.register_mux_endpoint("mpu9250/dump_mpu9250", "sensor", self.name,