adxl345: Support querying accelerometer data from webhooks interface
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
d87f7a77c3
commit
dd95f80d9d
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@ -1,10 +1,10 @@
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# Support for reading acceleration data from an adxl345 chip
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#
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# Copyright (C) 2020 Kevin O'Connor <kevin@koconnor.net>
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# Copyright (C) 2020-2021 Kevin O'Connor <kevin@koconnor.net>
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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, time, collections, multiprocessing, os
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from . import bus
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import logging, time, collections, threading, multiprocessing, os
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from . import bus, motion_report
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# ADXL345 registers
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REG_DEVID = 0x00
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@ -30,24 +30,33 @@ Accel_Measurement = collections.namedtuple(
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# Helper class to obtain measurements
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class ADXL345QueryHelper:
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def __init__(self, printer, chip, axes_map):
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def __init__(self, printer, chip, cconn):
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self.printer = printer
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self.chip = chip
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self.axes_map = axes_map
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self.cconn = cconn
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print_time = printer.lookup_object('toolhead').get_last_move_time()
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self.request_start_time = self.request_end_time = print_time
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self.raw_samples = None
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self.samples = []
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self.drops = self.overflows = 0
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self.start2_time = 0.
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self.time_per_sample = self.start_range = self.end_range = 0.
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def finish_measurements(self):
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self.chip._finish_measurements()
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toolhead = self.printer.lookup_object('toolhead')
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self.request_end_time = toolhead.get_last_move_time()
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toolhead.wait_moves()
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self.cconn.finalize()
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toolhead.dwell(0.200)
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toolhead.wait_moves()
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self._setup_data(*self.chip.final_results) # XXX
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def get_stats(self):
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return ("drops=%d,overflows=%d"
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",time_per_sample=%.9f,start_range=%.6f,end_range=%.6f"
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% (self.drops, self.overflows,
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self.time_per_sample, self.start_range, self.end_range))
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def _setup_data(self, raw_samples, end_sequence, overflows,
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def _setup_data(self, end_sequence, overflows,
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start1_time, start2_time, end1_time, end2_time):
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raw_samples = self.cconn.get_messages()
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if not raw_samples or not end_sequence:
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return
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self.raw_samples = raw_samples
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@ -55,32 +64,26 @@ class ADXL345QueryHelper:
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self.start2_time = start2_time
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self.start_range = start2_time - start1_time
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self.end_range = end2_time - end1_time
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self.total_count = (end_sequence - 1) * 8 + len(raw_samples[-1][1]) // 6
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self.total_count = raw_samples[-1]['params']['data'][-1][0] + 1
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total_time = end2_time - start2_time
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self.time_per_sample = time_per_sample = total_time / self.total_count
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self.seq_to_time = time_per_sample * 8.
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actual_count = sum([len(data)//6 for _, data in raw_samples])
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self.time_per_sample = total_time / self.total_count
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actual_count = sum([len(m['params']['data']) for m in raw_samples])
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self.drops = self.total_count - actual_count
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def decode_samples(self):
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if not self.raw_samples:
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return self.samples
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(x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
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actual_count = 0
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count = 0
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self.samples = samples = [None] * self.total_count
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for seq, data in self.raw_samples:
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d = bytearray(data)
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count = len(data)
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sdata = [(d[i] | (d[i+1] << 8)) - ((d[i+1] & 0x80) << 9)
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for i in range(0, count-1, 2)]
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seq_time = self.start2_time + seq * self.seq_to_time
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for i in range(count//6):
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samp_time = seq_time + i * self.time_per_sample
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x = sdata[i*3 + x_pos] * x_scale
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y = sdata[i*3 + y_pos] * y_scale
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z = sdata[i*3 + z_pos] * z_scale
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samples[actual_count] = Accel_Measurement(samp_time, x, y, z)
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actual_count += 1
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del samples[actual_count:]
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for msg in self.raw_samples:
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for seq, x, y, z in msg['params']['data']:
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samp_time = self.start2_time + seq * self.time_per_sample
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if samp_time < self.request_start_time:
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continue
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if samp_time > self.request_end_time:
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break
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samples[count] = Accel_Measurement(samp_time, x, y, z)
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count += 1
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del samples[count:]
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return self.samples
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def write_to_file(self, filename):
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def write_impl():
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@ -180,13 +183,15 @@ class ADXLCommandHelper:
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val = gcmd.get("VAL", minval=0, maxval=255, parser=lambda x: int(x, 0))
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self.chip.set_reg(reg, val)
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MIN_MSG_TIME = 0.100
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# Printer class that controls ADXL345 chip
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class ADXL345:
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def __init__(self, config):
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self.printer = config.get_printer()
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ADXLCommandHelper(config, self)
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self.query_rate = 0
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self.last_tx_time = 0.
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self.last_sequence = 0
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am = {'x': (0, SCALE), 'y': (1, SCALE), 'z': (2, SCALE),
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'-x': (0, -SCALE), '-y': (1, -SCALE), '-z': (2, -SCALE)}
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axes_map = config.getlist('axes_map', ('x','y','z'), count=3)
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@ -197,8 +202,8 @@ class ADXL345:
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if self.data_rate not in QUERY_RATES:
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raise config.error("Invalid rate parameter: %d" % (self.data_rate,))
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# Measurement storage (accessed from background thread)
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self.lock = threading.Lock()
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self.raw_samples = []
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self.last_sequence = 0
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self.samples_start1 = self.samples_start2 = 0.
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# Setup mcu sensor_adxl345 bulk query code
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self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=5000000)
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@ -212,6 +217,15 @@ class ADXL345:
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mcu.register_config_callback(self._build_config)
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mcu.register_response(self._handle_adxl345_start, "adxl345_start", oid)
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mcu.register_response(self._handle_adxl345_data, "adxl345_data", oid)
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# API server endpoints
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self.api_dump = motion_report.APIDumpHelper(
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self.printer, self._api_update, self._api_startstop, 0.100)
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self.name = "default"
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if len(config.get_name().split()) > 1:
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self.name = config.get_name().split()[1]
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wh = self.printer.lookup_object('webhooks')
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wh.register_mux_endpoint("adxl345/dump_adxl345", "sensor", self.name,
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self._handle_dump_adxl345)
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def _build_config(self):
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self.query_adxl345_cmd = self.mcu.lookup_command(
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"query_adxl345 oid=%c clock=%u rest_ticks=%u",
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@ -223,20 +237,6 @@ class ADXL345:
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oid=self.oid, cq=self.spi.get_command_queue())
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def _clock_to_print_time(self, clock):
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return self.mcu.clock_to_print_time(self.mcu.clock32_to_clock64(clock))
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def _handle_adxl345_start(self, params):
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self.samples_start1 = self._clock_to_print_time(params['start1_clock'])
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self.samples_start2 = self._clock_to_print_time(params['start2_clock'])
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def _handle_adxl345_data(self, params):
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last_sequence = self.last_sequence
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sequence = (last_sequence & ~0xffff) | params['sequence']
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if sequence < last_sequence:
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sequence += 0x10000
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self.last_sequence = sequence
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raw_samples = self.raw_samples
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if len(raw_samples) >= 300000:
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# Avoid filling up memory with too many samples
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return
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raw_samples.append((sequence, params['data']))
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def _convert_sequence(self, sequence):
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sequence = (self.last_sequence & ~0xffff) | sequence
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if sequence < self.last_sequence:
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@ -255,8 +255,40 @@ class ADXL345:
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"This is generally indicative of connection problems "
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"(e.g. faulty wiring) or a faulty adxl345 chip." % (
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reg, val, stored_val))
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# Measurement collection
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def is_measuring(self):
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return self.query_rate > 0
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def _handle_adxl345_start(self, params):
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self.samples_start1 = self._clock_to_print_time(params['start1_clock'])
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self.samples_start2 = self._clock_to_print_time(params['start2_clock'])
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def _handle_adxl345_data(self, params):
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with self.lock:
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self.raw_samples.append(params)
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def _extract_samples(self, raw_samples):
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# Load variables to optimize inner loop below
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(x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
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last_sequence = self.last_sequence
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# Process every message in raw_samples
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count = 0
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samples = [None] * (len(raw_samples) * 8)
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for params in raw_samples:
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seq = (last_sequence & ~0xffff) | params['sequence']
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if seq < last_sequence:
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seq += 0x10000
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last_sequence = seq
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d = bytearray(params['data'])
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len_d = len(d)
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sdata = [(d[i] | (d[i+1] << 8)) - ((d[i+1] & 0x80) << 9)
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for i in range(0, len_d-1, 2)]
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for i in range(len_d // 6):
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x = round(sdata[i*3 + x_pos] * x_scale, 6)
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y = round(sdata[i*3 + y_pos] * y_scale, 6)
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z = round(sdata[i*3 + z_pos] * z_scale, 6)
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samples[count] = (seq * 8 + i, x, y, z)
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count += 1
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self.last_sequence = last_sequence
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del samples[count:]
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return samples
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def _start_measurements(self):
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if self.is_measuring():
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return
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@ -267,54 +299,68 @@ class ADXL345:
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raise self.printer.command_error("Invalid adxl345 id (got %x vs %x)"
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% (dev_id, ADXL345_DEV_ID))
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# Setup chip in requested query rate
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clock = 0
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if self.last_tx_time:
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clock = self.mcu.print_time_to_clock(self.last_tx_time)
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self.set_reg(REG_POWER_CTL, 0x00, minclock=clock)
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self.set_reg(REG_POWER_CTL, 0x00)
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self.set_reg(REG_DATA_FORMAT, 0x0B)
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self.set_reg(REG_FIFO_CTL, 0x00)
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self.set_reg(REG_BW_RATE, QUERY_RATES[self.data_rate])
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self.set_reg(REG_FIFO_CTL, 0x80)
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# Setup samples
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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self.raw_samples = []
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self.last_sequence = 0
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systime = self.printer.get_reactor().monotonic()
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print_time = self.mcu.estimated_print_time(systime) + MIN_MSG_TIME
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self.samples_start1 = self.samples_start2 = print_time
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self.last_sequence = 0
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with self.lock:
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self.raw_samples = []
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# Start bulk reading
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reqclock = self.mcu.print_time_to_clock(print_time)
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rest_ticks = self.mcu.seconds_to_clock(4. / self.data_rate)
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self.last_tx_time = print_time
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self.query_rate = self.data_rate
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self.query_adxl345_cmd.send([self.oid, reqclock, rest_ticks],
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reqclock=reqclock)
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logging.info("ADXL345 starting measurements")
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logging.info("ADXL345 starting '%s' measurements", self.name)
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def _finish_measurements(self):
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if not self.is_measuring():
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return
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# Halt bulk reading
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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clock = self.mcu.print_time_to_clock(print_time)
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params = self.query_adxl345_end_cmd.send([self.oid, 0, 0],
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minclock=clock)
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self.last_tx_time = print_time
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params = self.query_adxl345_end_cmd.send([self.oid, 0, 0])
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self.query_rate = 0
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raw_samples = self.raw_samples
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self.raw_samples = []
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with self.lock:
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self.raw_samples = []
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# Generate results
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end1_time = self._clock_to_print_time(params['end1_clock'])
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end2_time = self._clock_to_print_time(params['end2_clock'])
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end_sequence = self._convert_sequence(params['sequence'])
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overflows = params['limit_count']
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logging.info("ADXL345 finished measurements")
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self.final_results = (raw_samples, end_sequence, overflows,
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logging.info("ADXL345 finished '%s' measurements", self.name)
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self.final_results = (end_sequence, overflows,
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self.samples_start1, self.samples_start2,
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end1_time, end2_time) # XXX
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# API interface
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def _api_update(self, eventtime):
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with self.lock:
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raw_samples = self.raw_samples
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self.raw_samples = []
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if not raw_samples:
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return {}
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samples = self._extract_samples(raw_samples)
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if not samples:
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return {}
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return {'data': samples}
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def _api_startstop(self, is_start):
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if is_start:
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self._start_measurements()
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else:
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self._finish_measurements()
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def _handle_dump_adxl345(self, web_request):
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self.api_dump.add_client(web_request)
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hdr = ('sequence', 'x_acceleration', 'y_acceleration', 'z_acceleration')
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web_request.send({'header': hdr})
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def start_internal_client(self):
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if self.is_measuring():
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raise self.printer.command_error(
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"ADXL345 measurement already in progress")
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self._start_measurements()
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return ADXL345QueryHelper(self.printer, self, self.axes_map)
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cconn = self.api_dump.add_internal_client()
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return ADXL345QueryHelper(self.printer, self, cconn)
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def load_config(config):
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return ADXL345(config)
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