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>
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@ -896,23 +896,28 @@ all enabled accelerometer chips.
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#### TEST_RESONANCES
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#### TEST_RESONANCES
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`TEST_RESONANCES AXIS=<axis> OUTPUT=<resonances,raw_data>
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`TEST_RESONANCES AXIS=<axis> OUTPUT=<resonances,raw_data>
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[NAME=<name>] [FREQ_START=<min_freq>] [FREQ_END=<max_freq>]
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[NAME=<name>] [FREQ_START=<min_freq>] [FREQ_END=<max_freq>]
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[HZ_PER_SEC=<hz_per_sec>] [INPUT_SHAPING=[<0:1>]]`: Runs the resonance
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[HZ_PER_SEC=<hz_per_sec>] [CHIPS=<adxl345_chip_name>]
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[POINT=x,y,z] [INPUT_SHAPING=[<0:1>]]`: Runs the resonance
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test in all configured probe points for the requested "axis" and
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test in all configured probe points for the requested "axis" and
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measures the acceleration using the accelerometer chips configured for
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measures the acceleration using the accelerometer chips configured for
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the respective axis. "axis" can either be X or Y, or specify an
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the respective axis. "axis" can either be X or Y, or specify an
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arbitrary direction as `AXIS=dx,dy`, where dx and dy are floating
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arbitrary direction as `AXIS=dx,dy`, where dx and dy are floating
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point numbers defining a direction vector (e.g. `AXIS=X`, `AXIS=Y`, or
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point numbers defining a direction vector (e.g. `AXIS=X`, `AXIS=Y`, or
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`AXIS=1,-1` to define a diagonal direction). Note that `AXIS=dx,dy`
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`AXIS=1,-1` to define a diagonal direction). Note that `AXIS=dx,dy`
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and `AXIS=-dx,-dy` is equivalent. If `INPUT_SHAPING=0` or not set
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and `AXIS=-dx,-dy` is equivalent. `adxl345_chip_name` can be one or
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(default), disables input shaping for the resonance testing, because
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more configured adxl345 chip,delimited with comma, for example
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`CHIPS="adxl345, adxl345 rpi"`. Note that `adxl345` can be omitted from
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named adxl345 chips. If POINT is specified it will override the point(s)
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configured in `[resonance_tester]`. If `INPUT_SHAPING=0` or not set(default),
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disables input shaping for the resonance testing, because
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it is not valid to run the resonance testing with the input shaper
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it is not valid to run the resonance testing with the input shaper
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enabled. `OUTPUT` parameter is a comma-separated list of which outputs
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enabled. `OUTPUT` parameter is a comma-separated list of which outputs
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will be written. If `raw_data` is requested, then the raw
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will be written. If `raw_data` is requested, then the raw
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accelerometer data is written into a file or a series of files
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accelerometer data is written into a file or a series of files
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`/tmp/raw_data_<axis>_[<point>_]<name>.csv` with (`<point>_` part of
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`/tmp/raw_data_<axis>_[<chip_name>_][<point>_]<name>.csv` with
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the name generated only if more than 1 probe point is configured). If
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(`<point>_` part of the name generated only if more than 1 probe point
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`resonances` is specified, the frequency response is calculated
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is configured or POINT is specified). If `resonances` is specified, the
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(across all probe points) and written into
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frequency response is calculated (across all probe points) and written into
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`/tmp/resonances_<axis>_<name>.csv` file. If unset, OUTPUT defaults to
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`/tmp/resonances_<axis>_<name>.csv` file. If unset, OUTPUT defaults to
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`resonances`, and NAME defaults to the current time in
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`resonances`, and NAME defaults to the current time in
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"YYYYMMDD_HHMMSS" format.
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"YYYYMMDD_HHMMSS" format.
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@ -147,15 +147,21 @@ class ResonanceTester:
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(chip_axis, self.printer.lookup_object(chip_name))
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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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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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def _run_test(self, gcmd, axes, helper, raw_name_suffix=None,
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accel_chips=None, test_point=None):
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toolhead = self.printer.lookup_object('toolhead')
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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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calibration_data = {axis: None for axis in axes}
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self.test.prepare_test(gcmd)
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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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if test_point is not None:
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test_points = [test_point]
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else:
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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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for point in test_points:
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toolhead.manual_move(point, self.move_speed)
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toolhead.manual_move(point, self.move_speed)
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if len(test_points) > 1:
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if len(test_points) > 1 or test_point is not None:
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gcmd.respond_info(
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gcmd.respond_info(
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"Probing point (%.3f, %.3f, %.3f)" % tuple(point))
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"Probing point (%.3f, %.3f, %.3f)" % tuple(point))
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for axis in axes:
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for axis in axes:
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@ -165,29 +171,36 @@ class ResonanceTester:
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gcmd.respond_info("Testing axis %s" % axis.get_name())
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gcmd.respond_info("Testing axis %s" % axis.get_name())
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raw_values = []
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raw_values = []
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for chip_axis, chip in self.accel_chips:
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if accel_chips is None:
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if axis.matches(chip_axis):
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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, chip.name))
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else:
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for chip in accel_chips:
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aclient = chip.start_internal_client()
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aclient = chip.start_internal_client()
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raw_values.append((chip_axis, aclient))
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raw_values.append((axis, aclient, chip.name))
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# Generate moves
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# Generate moves
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self.test.run_test(axis, gcmd)
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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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for chip_axis, aclient, chip_name in raw_values:
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aclient.finish_measurements()
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aclient.finish_measurements()
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if raw_name_suffix is not None:
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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_name = self.get_filename(
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'raw_data', raw_name_suffix, axis,
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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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point if len(test_points) > 1 else None,
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chip_name if accel_chips is not None else None,)
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aclient.write_to_file(raw_name)
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aclient.write_to_file(raw_name)
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gcmd.respond_info(
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gcmd.respond_info(
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"Writing raw accelerometer data to "
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"Writing raw accelerometer data to "
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"%s file" % (raw_name,))
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"%s file" % (raw_name,))
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if helper is None:
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if helper is None:
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continue
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continue
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for chip_axis, aclient in raw_values:
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for chip_axis, aclient, chip_name in raw_values:
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if not aclient.has_valid_samples():
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if not aclient.has_valid_samples():
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raise gcmd.error(
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raise gcmd.error(
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"%s-axis accelerometer measured no data" % (
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"accelerometer '%s' measured no data" % (
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chip_axis,))
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chip_name,))
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new_data = helper.process_accelerometer_data(aclient)
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new_data = helper.process_accelerometer_data(aclient)
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if calibration_data[axis] is None:
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if calibration_data[axis] is None:
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calibration_data[axis] = new_data
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calibration_data[axis] = new_data
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@ -198,6 +211,28 @@ class ResonanceTester:
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def cmd_TEST_RESONANCES(self, gcmd):
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def cmd_TEST_RESONANCES(self, gcmd):
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# Parse parameters
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# Parse parameters
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axis = _parse_axis(gcmd, gcmd.get("AXIS").lower())
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axis = _parse_axis(gcmd, gcmd.get("AXIS").lower())
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accel_chips = gcmd.get("CHIPS", None)
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test_point = gcmd.get("POINT", None)
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if test_point:
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test_coords = test_point.split(',')
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if len(test_coords) != 3:
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raise gcmd.error("Invalid POINT parameter, must be 'x,y,z'")
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try:
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test_point = [float(p.strip()) for p in test_coords]
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except ValueError:
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raise gcmd.error("Invalid POINT parameter, must be 'x,y,z'"
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" where x, y and z are valid floating point numbers")
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if accel_chips:
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parsed_chips = []
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for chip_name in accel_chips.split(','):
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if "adxl345" in chip_name:
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chip_lookup_name = chip_name.strip()
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else:
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chip_lookup_name = "adxl345 " + chip_name.strip();
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chip = self.printer.lookup_object(chip_lookup_name)
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parsed_chips.append(chip)
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outputs = gcmd.get("OUTPUT", "resonances").lower().split(',')
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outputs = gcmd.get("OUTPUT", "resonances").lower().split(',')
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for output in outputs:
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for output in outputs:
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@ -221,10 +256,13 @@ class ResonanceTester:
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data = self._run_test(
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data = self._run_test(
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gcmd, [axis], helper,
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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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raw_name_suffix=name_suffix if raw_output else None,
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accel_chips=parsed_chips if accel_chips else None,
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test_point=test_point)[axis]
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if csv_output:
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if csv_output:
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csv_name = self.save_calibration_data('resonances', name_suffix,
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csv_name = self.save_calibration_data('resonances', name_suffix,
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helper, axis, data)
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helper, axis, data,
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point=test_point)
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gcmd.respond_info(
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gcmd.respond_info(
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"Resonances data written to %s file" % (csv_name,))
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"Resonances data written to %s file" % (csv_name,))
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cmd_SHAPER_CALIBRATE_help = (
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cmd_SHAPER_CALIBRATE_help = (
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@ -287,7 +325,8 @@ class ResonanceTester:
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for chip_axis, aclient in raw_values:
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for chip_axis, aclient in raw_values:
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if not aclient.has_valid_samples():
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if not aclient.has_valid_samples():
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raise gcmd.error(
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raise gcmd.error(
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"%s-axis accelerometer measured no data" % (chip_axis,))
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"%s-axis accelerometer measured no data" % (
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chip_axis,))
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data = helper.process_accelerometer_data(aclient)
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data = helper.process_accelerometer_data(aclient)
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vx = data.psd_x.mean()
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vx = data.psd_x.mean()
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vy = data.psd_y.mean()
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vy = data.psd_y.mean()
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@ -299,18 +338,22 @@ class ResonanceTester:
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def is_valid_name_suffix(self, name_suffix):
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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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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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def get_filename(self, base, name_suffix, axis=None,
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point=None, chip_name=None):
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name = base
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name = base
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if axis:
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if axis:
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name += '_' + axis.get_name()
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name += '_' + axis.get_name()
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if chip_name:
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name += '_' + chip_name.replace(" ", "_")
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if point:
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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 += "_%.3f_%.3f_%.3f" % (point[0], point[1], point[2])
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name += '_' + name_suffix
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name += '_' + name_suffix
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return os.path.join("/tmp", name + ".csv")
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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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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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axis, calibration_data,
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output = self.get_filename(base_name, name_suffix, axis)
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all_shapers=None, point=None):
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output = self.get_filename(base_name, name_suffix, axis, point)
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shaper_calibrate.save_calibration_data(output, calibration_data,
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shaper_calibrate.save_calibration_data(output, calibration_data,
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all_shapers)
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all_shapers)
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return output
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return output
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