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lis2dw12: Add support for lis2dw12 accelerometer 

lis2dw12 is an accelerometer from STMicroelectronics(https://www.st.com/resource/en/datasheet/lis2dw12.pdf)
With better performance than the ADXL345 according to the datasheet.

Signed-off-by: XM.Zhou from BigTreeTech zhouxm@biqu3d.com
Signed-off-by: Alan.Ma from BigTreeTech tech@biqu3d.com
This commit is contained in:
bigtreetech 2023-07-05 20:23:40 +08:00 committed by KevinOConnor
parent c9aa7ac871
commit ec1dcf3bd2
3 changed files with 487 additions and 1 deletions
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265
klippy/extras/lis2dw.py Normal file
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@ -0,0 +1,265 @@
# Support for reading acceleration data from an LIS2DW chip
#
# Copyright (C) 2023 Zhou.XianMing <zhouxm@biqu3d.com>
# 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
# LIS2DW registers
REG_LIS2DW_WHO_AM_I_ADDR = 0x0F
REG_LIS2DW_CTRL_REG1_ADDR = 0x20
REG_LIS2DW_CTRL_REG2_ADDR = 0x21
REG_LIS2DW_CTRL_REG3_ADDR = 0x22
REG_LIS2DW_CTRL_REG6_ADDR = 0x25
REG_LIS2DW_STATUS_REG_ADDR = 0x27
REG_LIS2DW_OUT_XL_ADDR = 0x28
REG_LIS2DW_OUT_XH_ADDR = 0x29
REG_LIS2DW_OUT_YL_ADDR = 0x2A
REG_LIS2DW_OUT_YH_ADDR = 0x2B
REG_LIS2DW_OUT_ZL_ADDR = 0x2C
REG_LIS2DW_OUT_ZH_ADDR = 0x2D
REG_LIS2DW_FIFO_CTRL = 0x2E
REG_LIS2DW_FIFO_SAMPLES = 0x2F
REG_MOD_READ = 0x80
# REG_MOD_MULTI = 0x40
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
# Printer class that controls LIS2DW chip
class LIS2DW:
def __init__(self, config):
self.printer = config.get_printer()
adxl345.AccelCommandHelper(config, self)
self.query_rate = 0
am = {'x': (0, SCALE), 'y': (1, SCALE), 'z': (2, SCALE),
'-x': (0, -SCALE), '-y': (1, -SCALE), '-z': (2, -SCALE)}
axes_map = config.getlist('axes_map', ('x','y','z'), count=3)
if any([a not in am for a in axes_map]):
raise config.error("Invalid lis2dw axes_map parameter")
self.axes_map = [am[a.strip()] for a in axes_map]
self.data_rate = 1600
# Measurement storage (accessed from background thread)
self.lock = threading.Lock()
self.raw_samples = []
# Setup mcu sensor_lis2dw bulk query code
self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=5000000)
self.mcu = mcu = self.spi.get_mcu()
self.oid = oid = mcu.create_oid()
self.query_lis2dw_cmd = self.query_lis2dw_end_cmd = None
self.query_lis2dw_status_cmd = None
mcu.add_config_cmd("config_lis2dw oid=%d spi_oid=%d"
% (oid, self.spi.get_oid()))
mcu.add_config_cmd("query_lis2dw oid=%d clock=0 rest_ticks=0"
% (oid,), on_restart=True)
mcu.register_config_callback(self._build_config)
mcu.register_response(self._handle_lis2dw_data, "lis2dw_data", oid)
# 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)
# API server endpoints
self.api_dump = motion_report.APIDumpHelper(
self.printer, self._api_update, self._api_startstop, 0.100)
self.name = config.get_name().split()[-1]
wh = self.printer.lookup_object('webhooks')
wh.register_mux_endpoint("lis2dw/dump_lis2dw", "sensor", self.name,
self._handle_dump_lis2dw)
def _build_config(self):
cmdqueue = self.spi.get_command_queue()
self.query_lis2dw_cmd = self.mcu.lookup_command(
"query_lis2dw oid=%c clock=%u rest_ticks=%u", cq=cmdqueue)
self.query_lis2dw_end_cmd = self.mcu.lookup_query_command(
"query_lis2dw oid=%c clock=%u rest_ticks=%u",
"lis2dw_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
" buffered=%c fifo=%c limit_count=%hu", oid=self.oid, cq=cmdqueue)
self.query_lis2dw_status_cmd = self.mcu.lookup_query_command(
"query_lis2dw_status oid=%c",
"lis2dw_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
" buffered=%c fifo=%c limit_count=%hu", oid=self.oid, cq=cmdqueue)
def read_reg(self, reg):
params = self.spi.spi_transfer([reg | REG_MOD_READ, 0x00])
response = bytearray(params['response'])
return response[1]
def set_reg(self, reg, val, minclock=0):
self.spi.spi_send([reg, val & 0xFF], minclock=minclock)
stored_val = self.read_reg(reg)
if stored_val != val:
raise self.printer.command_error(
"Failed to set LIS2DW register [0x%x] to 0x%x: got 0x%x. "
"This is generally indicative of connection problems "
"(e.g. faulty wiring) or a faulty lis2dw chip." % (
reg, val, stored_val))
# Measurement collection
def is_measuring(self):
return self.query_rate > 0
def _handle_lis2dw_data(self, params):
with self.lock:
self.raw_samples.append(params)
def _extract_samples(self, raw_samples):
# Load variables to optimize inner loop below
(x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
last_sequence = self.last_sequence
time_base, chip_base, inv_freq = self.clock_sync.get_time_translation()
# Process every message in raw_samples
count = seq = 0
samples = [None] * (len(raw_samples) * SAMPLES_PER_BLOCK)
for params in raw_samples:
seq_diff = (last_sequence - params['sequence']) & 0xffff
seq_diff -= (seq_diff & 0x8000) << 1
seq = last_sequence - seq_diff
d = bytearray(params['data'])
msg_cdiff = seq * SAMPLES_PER_BLOCK - chip_base
for i in range(len(d) // BYTES_PER_SAMPLE):
d_xyz = d[i*BYTES_PER_SAMPLE:(i+1)*BYTES_PER_SAMPLE]
xlow, xhigh, ylow, yhigh, zlow, zhigh = d_xyz
# Merge and perform twos-complement
rx = (((xhigh << 8) | xlow)) - ((xhigh & 0x80) << 9)
ry = (((yhigh << 8) | ylow)) - ((yhigh & 0x80) << 9)
rz = (((zhigh << 8) | zlow)) - ((zhigh & 0x80) << 9)
raw_xyz = (rx, ry, rz)
x = round(raw_xyz[x_pos] * x_scale, 6)
y = round(raw_xyz[y_pos] * y_scale, 6)
z = round(raw_xyz[z_pos] * z_scale, 6)
ptime = round(time_base + (msg_cdiff + i) * inv_freq, 6)
samples[count] = (ptime, x, y, z)
count += 1
self.clock_sync.set_last_chip_clock(seq * SAMPLES_PER_BLOCK + i)
del samples[count:]
return samples
def _update_clock(self, minclock=0):
# Query current state
for retry in range(5):
params = self.query_lis2dw_status_cmd.send([self.oid],
minclock=minclock)
fifo = params['fifo'] & 0x1f
if fifo <= 32:
break
else:
raise self.printer.command_error("Unable to query lis2dw fifo")
mcu_clock = self.mcu.clock32_to_clock64(params['clock'])
sequence = (self.last_sequence & ~0xffff) | params['next_sequence']
if sequence < self.last_sequence:
sequence += 0x10000
self.last_sequence = sequence
buffered = params['buffered']
limit_count = (self.last_limit_count & ~0xffff) | params['limit_count']
if limit_count < self.last_limit_count:
limit_count += 0x10000
self.last_limit_count = limit_count
duration = params['query_ticks']
if duration > self.max_query_duration:
# Skip measurement as a high query time could skew clock tracking
self.max_query_duration = max(2 * self.max_query_duration,
self.mcu.seconds_to_clock(.000005))
return
self.max_query_duration = 2 * duration
msg_count = (sequence * SAMPLES_PER_BLOCK
+ buffered // BYTES_PER_SAMPLE + fifo)
# The "chip clock" is the message counter plus .5 for average
# inaccuracy of query responses and plus .5 for assumed offset
# of lis2dw hw processing time.
chip_clock = msg_count + 1
self.clock_sync.update(mcu_clock + duration // 2, chip_clock)
def _start_measurements(self):
if self.is_measuring():
return
# In case of miswiring, testing LIS2DW device ID prevents treating
# noise or wrong signal as a correctly initialized device
dev_id = self.read_reg(REG_LIS2DW_WHO_AM_I_ADDR)
logging.info("lis2dw_dev_id: %x", dev_id)
if dev_id != LIS2DW_DEV_ID:
raise self.printer.command_error(
"Invalid lis2dw id (got %x vs %x).\n"
"This is generally indicative of connection problems\n"
"(e.g. faulty wiring) or a faulty lis2dw chip."
% (dev_id, LIS2DW_DEV_ID))
# Setup chip in requested query rate
# ODR/2, +-16g, low-pass filter, Low-noise abled
self.set_reg(REG_LIS2DW_CTRL_REG6_ADDR, 0x34)
# Continuous mode: If the FIFO is full
# the new sample overwrites the older sample.
self.set_reg(REG_LIS2DW_FIFO_CTRL, 0xC0)
# High-Performance / Low-Power mode 1600/200 Hz
# High-Performance Mode (14-bit resolution)
self.set_reg(REG_LIS2DW_CTRL_REG1_ADDR, 0x94)
# Setup samples
with self.lock:
self.raw_samples = []
# Start bulk reading
systime = self.printer.get_reactor().monotonic()
print_time = self.mcu.estimated_print_time(systime) + MIN_MSG_TIME
reqclock = self.mcu.print_time_to_clock(print_time)
rest_ticks = self.mcu.seconds_to_clock(4. / self.data_rate)
self.query_rate = self.data_rate
self.query_lis2dw_cmd.send([self.oid, reqclock, rest_ticks],
reqclock=reqclock)
logging.info("LIS2DW starting '%s' measurements", self.name)
# Initialize clock tracking
self.last_sequence = 0
self.last_limit_count = self.last_error_count = 0
self.clock_sync.reset(reqclock, 0)
self.max_query_duration = 1 << 31
self._update_clock(minclock=reqclock)
self.max_query_duration = 1 << 31
def _finish_measurements(self):
if not self.is_measuring():
return
# Halt bulk reading
params = self.query_lis2dw_end_cmd.send([self.oid, 0, 0])
self.query_rate = 0
with self.lock:
self.raw_samples = []
logging.info("LIS2DW finished '%s' measurements", self.name)
self.set_reg(REG_LIS2DW_FIFO_CTRL, 0x00)
# API interface
def _api_update(self, eventtime):
self._update_clock()
with self.lock:
raw_samples = self.raw_samples
self.raw_samples = []
if not raw_samples:
return {}
samples = self._extract_samples(raw_samples)
if not samples:
return {}
return {'data': samples, 'errors': self.last_error_count,
'overflows': self.last_limit_count}
def _api_startstop(self, is_start):
if is_start:
self._start_measurements()
else:
self._finish_measurements()
def _handle_dump_lis2dw(self, web_request):
self.api_dump.add_client(web_request)
hdr = ('time', 'x_acceleration', 'y_acceleration', 'z_acceleration')
web_request.send({'header': hdr})
def start_internal_client(self):
cconn = self.api_dump.add_internal_client()
return adxl345.AccelQueryHelper(self.printer, cconn)
def load_config(config):
return LIS2DW(config)
def load_config_prefix(config):
return LIS2DW(config)

2
src/Makefile
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@ -15,6 +15,6 @@ src-$(CONFIG_WANT_DISPLAYS) += lcd_st7920.c lcd_hd44780.c
src-$(CONFIG_WANT_SOFTWARE_SPI) += spi_software.c src-$(CONFIG_WANT_SOFTWARE_SPI) += spi_software.c
src-$(CONFIG_WANT_SOFTWARE_I2C) += i2c_software.c src-$(CONFIG_WANT_SOFTWARE_I2C) += i2c_software.c
sensors-src-$(CONFIG_HAVE_GPIO_SPI) := thermocouple.c sensor_adxl345.c \ sensors-src-$(CONFIG_HAVE_GPIO_SPI) := thermocouple.c sensor_adxl345.c \
sensor_angle.c sensor_angle.c sensor_lis2dw.c
sensors-src-$(CONFIG_HAVE_GPIO_I2C) += sensor_mpu9250.c sensors-src-$(CONFIG_HAVE_GPIO_I2C) += sensor_mpu9250.c
src-$(CONFIG_WANT_SENSORS) += $(sensors-src-y) src-$(CONFIG_WANT_SENSORS) += $(sensors-src-y)

221
src/sensor_lis2dw.c Normal file
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@ -0,0 +1,221 @@
// Support for gathering acceleration data from LIS2DW chip
//
// Copyright (C) 2023 Zhou.XianMing <zhouxm@biqu3d.com>
// Copyright (C) 2020 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <string.h> // memcpy
#include "board/irq.h" // irq_disable
#include "board/misc.h" // timer_read_time
#include "basecmd.h" // oid_alloc
#include "command.h" // DECL_COMMAND
#include "sched.h" // DECL_TASK
#include "spicmds.h" // spidev_transfer
#define LIS_AR_DATAX0 0x28
#define LIS_AM_READ 0x80
#define LIS_FIFO_CTRL 0x2E
#define LIS_FIFO_SAMPLES 0x2F
struct lis2dw {
struct timer timer;
uint32_t rest_ticks;
struct spidev_s *spi;
uint16_t sequence, limit_count;
uint8_t flags, data_count, fifo_disable;
uint8_t data[48];
};
enum {
LIS_HAVE_START = 1<<0, LIS_RUNNING = 1<<1, LIS_PENDING = 1<<2,
};
static struct task_wake lis2dw_wake;
// Event handler that wakes lis2dw_task() periodically
static uint_fast8_t
lis2dw_event(struct timer *timer)
{
struct lis2dw *ax = container_of(timer, struct lis2dw, timer);
ax->flags |= LIS_PENDING;
sched_wake_task(&lis2dw_wake);
return SF_DONE;
}
void
command_config_lis2dw(uint32_t *args)
{
struct lis2dw *ax = oid_alloc(args[0], command_config_lis2dw
, sizeof(*ax));
ax->timer.func = lis2dw_event;
ax->spi = spidev_oid_lookup(args[1]);
}
DECL_COMMAND(command_config_lis2dw, "config_lis2dw oid=%c spi_oid=%c");
// Report local measurement buffer
static void
lis2dw_report(struct lis2dw *ax, uint8_t oid)
{
sendf("lis2dw_data oid=%c sequence=%hu data=%*s"
, oid, ax->sequence, ax->data_count, ax->data);
ax->data_count = 0;
ax->sequence++;
}
// Report buffer and fifo status
static void
lis2dw_status(struct lis2dw *ax, uint_fast8_t oid
, uint32_t time1, uint32_t time2, uint_fast8_t fifo)
{
sendf("lis2dw_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
" buffered=%c fifo=%c limit_count=%hu"
, oid, time1, time2-time1, ax->sequence
, ax->data_count, fifo, ax->limit_count);
}
// Helper code to reschedule the lis2dw_event() timer
static void
lis2dw_reschedule_timer(struct lis2dw *ax)
{
irq_disable();
ax->timer.waketime = timer_read_time() + ax->rest_ticks;
sched_add_timer(&ax->timer);
irq_enable();
}
// Query accelerometer data
static void
lis2dw_query(struct lis2dw *ax, uint8_t oid)
{
uint8_t msg[7] = {0};
uint8_t fifo[2] = {LIS_FIFO_SAMPLES| LIS_AM_READ , 0};
uint8_t fifo_empty,fifo_ovrn = 0;
msg[0] = LIS_AR_DATAX0 | LIS_AM_READ ;
uint8_t *d = &ax->data[ax->data_count];
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
spidev_transfer(ax->spi, 1, sizeof(fifo), fifo);
fifo_empty = fifo[1]&0x3F;
fifo_ovrn = fifo[1]&0x40;
d[0] = msg[1]; // x low bits
d[1] = msg[2]; // x high bits
d[2] = msg[3]; // y low bits
d[3] = msg[4]; // y high bits
d[4] = msg[5]; // z low bits
d[5] = msg[6]; // z high bits
ax->data_count += 6;
if (ax->data_count + 6 > ARRAY_SIZE(ax->data))
lis2dw_report(ax, oid);
// Check fifo status
if (fifo_ovrn)
ax->limit_count++;
// check if we need to run the task again (more packets in fifo?)
if (!fifo_empty&&!(ax->fifo_disable)) {
// More data in fifo - wake this task again
sched_wake_task(&lis2dw_wake);
} else if (ax->flags & LIS_RUNNING) {
// Sleep until next check time
sched_del_timer(&ax->timer);
ax->flags &= ~LIS_PENDING;
lis2dw_reschedule_timer(ax);
}
}
// Startup measurements
static void
lis2dw_start(struct lis2dw *ax, uint8_t oid)
{
sched_del_timer(&ax->timer);
ax->flags = LIS_RUNNING;
ax->fifo_disable = 0;
uint8_t ctrl[2] = {LIS_FIFO_CTRL , 0xC0};
spidev_transfer(ax->spi, 0, sizeof(ctrl), ctrl);
lis2dw_reschedule_timer(ax);
}
// End measurements
static void
lis2dw_stop(struct lis2dw *ax, uint8_t oid)
{
// Disable measurements
sched_del_timer(&ax->timer);
ax->flags = 0;
// Drain any measurements still in fifo
ax->fifo_disable = 1;
lis2dw_query(ax, oid);
uint8_t ctrl[2] = {LIS_FIFO_CTRL , 0};
uint32_t end1_time = timer_read_time();
spidev_transfer(ax->spi, 0, sizeof(ctrl), ctrl);
uint32_t end2_time = timer_read_time();
uint8_t msg[2] = { LIS_FIFO_SAMPLES | LIS_AM_READ , 0};
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
uint8_t fifo_status = msg[1]&0x1f;
//Report final data
if (ax->data_count)
lis2dw_report(ax, oid);
lis2dw_status(ax, oid, end1_time, end2_time, fifo_status);
}
void
command_query_lis2dw(uint32_t *args)
{
struct lis2dw *ax = oid_lookup(args[0], command_config_lis2dw);
if (!args[2]) {
// End measurements
lis2dw_stop(ax, args[0]);
return;
}
// Start new measurements query
sched_del_timer(&ax->timer);
ax->timer.waketime = args[1];
ax->rest_ticks = args[2];
ax->flags = LIS_HAVE_START;
ax->sequence = ax->limit_count = 0;
ax->data_count = 0;
ax->fifo_disable = 0;
sched_add_timer(&ax->timer);
}
DECL_COMMAND(command_query_lis2dw,
"query_lis2dw oid=%c clock=%u rest_ticks=%u");
void
command_query_lis2dw_status(uint32_t *args)
{
struct lis2dw *ax = oid_lookup(args[0], command_config_lis2dw);
uint8_t msg[2] = { LIS_FIFO_SAMPLES | LIS_AM_READ, 0x00 };
uint32_t time1 = timer_read_time();
spidev_transfer(ax->spi, 1, sizeof(msg), msg);
uint32_t time2 = timer_read_time();
lis2dw_status(ax, args[0], time1, time2, msg[1]&0x1f);
}
DECL_COMMAND(command_query_lis2dw_status, "query_lis2dw_status oid=%c");
void
lis2dw_task(void)
{
if (!sched_check_wake(&lis2dw_wake))
return;
uint8_t oid;
struct lis2dw *ax;
foreach_oid(oid, ax, command_config_lis2dw) {
uint_fast8_t flags = ax->flags;
if (!(flags & LIS_PENDING))
continue;
if (flags & LIS_HAVE_START)
lis2dw_start(ax, oid);
else
lis2dw_query(ax, oid);
}
}
DECL_TASK(lis2dw_task);