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
KevinOConnor
parent
c9aa7ac871
commit
ec1dcf3bd2
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# Support for reading acceleration data from an LIS2DW chip
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#
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# Copyright (C) 2023 Zhou.XianMing <zhouxm@biqu3d.com>
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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, threading, multiprocessing, os
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from . import bus, motion_report, adxl345
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# LIS2DW registers
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REG_LIS2DW_WHO_AM_I_ADDR = 0x0F
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REG_LIS2DW_CTRL_REG1_ADDR = 0x20
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REG_LIS2DW_CTRL_REG2_ADDR = 0x21
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REG_LIS2DW_CTRL_REG3_ADDR = 0x22
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REG_LIS2DW_CTRL_REG6_ADDR = 0x25
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REG_LIS2DW_STATUS_REG_ADDR = 0x27
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REG_LIS2DW_OUT_XL_ADDR = 0x28
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REG_LIS2DW_OUT_XH_ADDR = 0x29
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REG_LIS2DW_OUT_YL_ADDR = 0x2A
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REG_LIS2DW_OUT_YH_ADDR = 0x2B
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REG_LIS2DW_OUT_ZL_ADDR = 0x2C
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REG_LIS2DW_OUT_ZH_ADDR = 0x2D
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REG_LIS2DW_FIFO_CTRL = 0x2E
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REG_LIS2DW_FIFO_SAMPLES = 0x2F
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REG_MOD_READ = 0x80
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# REG_MOD_MULTI = 0x40
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LIS2DW_DEV_ID = 0x44
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FREEFALL_ACCEL = 9.80665
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SCALE = FREEFALL_ACCEL * 1.952 / 4
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Accel_Measurement = collections.namedtuple(
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'Accel_Measurement', ('time', 'accel_x', 'accel_y', 'accel_z'))
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MIN_MSG_TIME = 0.100
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BYTES_PER_SAMPLE = 6
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SAMPLES_PER_BLOCK = 8
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# Printer class that controls LIS2DW chip
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class LIS2DW:
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def __init__(self, config):
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self.printer = config.get_printer()
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adxl345.AccelCommandHelper(config, self)
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self.query_rate = 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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if any([a not in am for a in axes_map]):
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raise config.error("Invalid lis2dw axes_map parameter")
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self.axes_map = [am[a.strip()] for a in axes_map]
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self.data_rate = 1600
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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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# Setup mcu sensor_lis2dw bulk query code
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self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=5000000)
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self.mcu = mcu = self.spi.get_mcu()
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self.oid = oid = mcu.create_oid()
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self.query_lis2dw_cmd = self.query_lis2dw_end_cmd = None
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self.query_lis2dw_status_cmd = None
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mcu.add_config_cmd("config_lis2dw oid=%d spi_oid=%d"
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% (oid, self.spi.get_oid()))
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mcu.add_config_cmd("query_lis2dw oid=%d clock=0 rest_ticks=0"
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% (oid,), on_restart=True)
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mcu.register_config_callback(self._build_config)
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mcu.register_response(self._handle_lis2dw_data, "lis2dw_data", oid)
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# Clock tracking
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self.last_sequence = self.max_query_duration = 0
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self.last_limit_count = self.last_error_count = 0
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self.clock_sync = adxl345.ClockSyncRegression(self.mcu, 640)
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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 = config.get_name().split()[-1]
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wh = self.printer.lookup_object('webhooks')
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wh.register_mux_endpoint("lis2dw/dump_lis2dw", "sensor", self.name,
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self._handle_dump_lis2dw)
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def _build_config(self):
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cmdqueue = self.spi.get_command_queue()
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self.query_lis2dw_cmd = self.mcu.lookup_command(
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"query_lis2dw oid=%c clock=%u rest_ticks=%u", cq=cmdqueue)
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self.query_lis2dw_end_cmd = self.mcu.lookup_query_command(
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"query_lis2dw oid=%c clock=%u rest_ticks=%u",
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"lis2dw_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
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" buffered=%c fifo=%c limit_count=%hu", oid=self.oid, cq=cmdqueue)
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self.query_lis2dw_status_cmd = self.mcu.lookup_query_command(
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"query_lis2dw_status oid=%c",
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"lis2dw_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
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" buffered=%c fifo=%c limit_count=%hu", oid=self.oid, cq=cmdqueue)
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def read_reg(self, reg):
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params = self.spi.spi_transfer([reg | REG_MOD_READ, 0x00])
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response = bytearray(params['response'])
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return response[1]
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def set_reg(self, reg, val, minclock=0):
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self.spi.spi_send([reg, val & 0xFF], minclock=minclock)
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stored_val = self.read_reg(reg)
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if stored_val != val:
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raise self.printer.command_error(
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"Failed to set LIS2DW register [0x%x] to 0x%x: got 0x%x. "
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"This is generally indicative of connection problems "
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"(e.g. faulty wiring) or a faulty lis2dw 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_lis2dw_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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time_base, chip_base, inv_freq = self.clock_sync.get_time_translation()
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# Process every message in raw_samples
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count = seq = 0
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samples = [None] * (len(raw_samples) * SAMPLES_PER_BLOCK)
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for params in raw_samples:
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seq_diff = (last_sequence - params['sequence']) & 0xffff
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seq_diff -= (seq_diff & 0x8000) << 1
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seq = last_sequence - seq_diff
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d = bytearray(params['data'])
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msg_cdiff = seq * SAMPLES_PER_BLOCK - chip_base
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for i in range(len(d) // BYTES_PER_SAMPLE):
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d_xyz = d[i*BYTES_PER_SAMPLE:(i+1)*BYTES_PER_SAMPLE]
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xlow, xhigh, ylow, yhigh, zlow, zhigh = d_xyz
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# Merge and perform twos-complement
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rx = (((xhigh << 8) | xlow)) - ((xhigh & 0x80) << 9)
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ry = (((yhigh << 8) | ylow)) - ((yhigh & 0x80) << 9)
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rz = (((zhigh << 8) | zlow)) - ((zhigh & 0x80) << 9)
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raw_xyz = (rx, ry, rz)
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x = round(raw_xyz[x_pos] * x_scale, 6)
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y = round(raw_xyz[y_pos] * y_scale, 6)
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z = round(raw_xyz[z_pos] * z_scale, 6)
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ptime = round(time_base + (msg_cdiff + i) * inv_freq, 6)
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samples[count] = (ptime, x, y, z)
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count += 1
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self.clock_sync.set_last_chip_clock(seq * SAMPLES_PER_BLOCK + i)
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del samples[count:]
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return samples
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def _update_clock(self, minclock=0):
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# Query current state
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for retry in range(5):
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params = self.query_lis2dw_status_cmd.send([self.oid],
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minclock=minclock)
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fifo = params['fifo'] & 0x1f
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if fifo <= 32:
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break
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else:
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raise self.printer.command_error("Unable to query lis2dw fifo")
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mcu_clock = self.mcu.clock32_to_clock64(params['clock'])
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sequence = (self.last_sequence & ~0xffff) | params['next_sequence']
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if sequence < self.last_sequence:
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sequence += 0x10000
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self.last_sequence = sequence
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buffered = params['buffered']
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limit_count = (self.last_limit_count & ~0xffff) | params['limit_count']
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if limit_count < self.last_limit_count:
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limit_count += 0x10000
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self.last_limit_count = limit_count
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duration = params['query_ticks']
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if duration > self.max_query_duration:
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# Skip measurement as a high query time could skew clock tracking
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self.max_query_duration = max(2 * self.max_query_duration,
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self.mcu.seconds_to_clock(.000005))
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return
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self.max_query_duration = 2 * duration
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msg_count = (sequence * SAMPLES_PER_BLOCK
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+ buffered // BYTES_PER_SAMPLE + fifo)
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# The "chip clock" is the message counter plus .5 for average
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# inaccuracy of query responses and plus .5 for assumed offset
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# of lis2dw hw processing time.
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chip_clock = msg_count + 1
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self.clock_sync.update(mcu_clock + duration // 2, chip_clock)
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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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# In case of miswiring, testing LIS2DW device ID prevents treating
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# noise or wrong signal as a correctly initialized device
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dev_id = self.read_reg(REG_LIS2DW_WHO_AM_I_ADDR)
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logging.info("lis2dw_dev_id: %x", dev_id)
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if dev_id != LIS2DW_DEV_ID:
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raise self.printer.command_error(
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"Invalid lis2dw id (got %x vs %x).\n"
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"This is generally indicative of connection problems\n"
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"(e.g. faulty wiring) or a faulty lis2dw chip."
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% (dev_id, LIS2DW_DEV_ID))
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# Setup chip in requested query rate
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# ODR/2, +-16g, low-pass filter, Low-noise abled
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self.set_reg(REG_LIS2DW_CTRL_REG6_ADDR, 0x34)
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# Continuous mode: If the FIFO is full
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# the new sample overwrites the older sample.
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self.set_reg(REG_LIS2DW_FIFO_CTRL, 0xC0)
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# High-Performance / Low-Power mode 1600/200 Hz
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# High-Performance Mode (14-bit resolution)
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self.set_reg(REG_LIS2DW_CTRL_REG1_ADDR, 0x94)
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# Setup samples
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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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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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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.query_rate = self.data_rate
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self.query_lis2dw_cmd.send([self.oid, reqclock, rest_ticks],
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reqclock=reqclock)
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logging.info("LIS2DW starting '%s' measurements", self.name)
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# Initialize clock tracking
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self.last_sequence = 0
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self.last_limit_count = self.last_error_count = 0
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self.clock_sync.reset(reqclock, 0)
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self.max_query_duration = 1 << 31
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self._update_clock(minclock=reqclock)
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self.max_query_duration = 1 << 31
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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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params = self.query_lis2dw_end_cmd.send([self.oid, 0, 0])
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self.query_rate = 0
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with self.lock:
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self.raw_samples = []
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logging.info("LIS2DW finished '%s' measurements", self.name)
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self.set_reg(REG_LIS2DW_FIFO_CTRL, 0x00)
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# API interface
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def _api_update(self, eventtime):
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self._update_clock()
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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, 'errors': self.last_error_count,
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'overflows': self.last_limit_count}
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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_lis2dw(self, web_request):
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self.api_dump.add_client(web_request)
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hdr = ('time', '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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cconn = self.api_dump.add_internal_client()
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return adxl345.AccelQueryHelper(self.printer, cconn)
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def load_config(config):
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return LIS2DW(config)
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def load_config_prefix(config):
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return LIS2DW(config)
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@ -15,6 +15,6 @@ src-$(CONFIG_WANT_DISPLAYS) += lcd_st7920.c lcd_hd44780.c
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src-$(CONFIG_WANT_SOFTWARE_SPI) += spi_software.c
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src-$(CONFIG_WANT_SOFTWARE_I2C) += i2c_software.c
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sensors-src-$(CONFIG_HAVE_GPIO_SPI) := thermocouple.c sensor_adxl345.c \
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sensor_angle.c
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sensor_angle.c sensor_lis2dw.c
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sensors-src-$(CONFIG_HAVE_GPIO_I2C) += sensor_mpu9250.c
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src-$(CONFIG_WANT_SENSORS) += $(sensors-src-y)
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@ -0,0 +1,221 @@
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// Support for gathering acceleration data from LIS2DW chip
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//
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// Copyright (C) 2023 Zhou.XianMing <zhouxm@biqu3d.com>
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// Copyright (C) 2020 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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#include <string.h> // memcpy
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#include "board/irq.h" // irq_disable
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#include "board/misc.h" // timer_read_time
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#include "basecmd.h" // oid_alloc
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#include "command.h" // DECL_COMMAND
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#include "sched.h" // DECL_TASK
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#include "spicmds.h" // spidev_transfer
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#define LIS_AR_DATAX0 0x28
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#define LIS_AM_READ 0x80
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#define LIS_FIFO_CTRL 0x2E
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#define LIS_FIFO_SAMPLES 0x2F
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struct lis2dw {
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struct timer timer;
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uint32_t rest_ticks;
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struct spidev_s *spi;
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uint16_t sequence, limit_count;
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uint8_t flags, data_count, fifo_disable;
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uint8_t data[48];
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};
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enum {
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LIS_HAVE_START = 1<<0, LIS_RUNNING = 1<<1, LIS_PENDING = 1<<2,
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};
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static struct task_wake lis2dw_wake;
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// Event handler that wakes lis2dw_task() periodically
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static uint_fast8_t
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lis2dw_event(struct timer *timer)
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{
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struct lis2dw *ax = container_of(timer, struct lis2dw, timer);
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ax->flags |= LIS_PENDING;
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sched_wake_task(&lis2dw_wake);
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return SF_DONE;
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}
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void
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command_config_lis2dw(uint32_t *args)
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{
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struct lis2dw *ax = oid_alloc(args[0], command_config_lis2dw
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, sizeof(*ax));
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ax->timer.func = lis2dw_event;
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ax->spi = spidev_oid_lookup(args[1]);
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}
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DECL_COMMAND(command_config_lis2dw, "config_lis2dw oid=%c spi_oid=%c");
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// Report local measurement buffer
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static void
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lis2dw_report(struct lis2dw *ax, uint8_t oid)
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{
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sendf("lis2dw_data oid=%c sequence=%hu data=%*s"
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, oid, ax->sequence, ax->data_count, ax->data);
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ax->data_count = 0;
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ax->sequence++;
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}
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// Report buffer and fifo status
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static void
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lis2dw_status(struct lis2dw *ax, uint_fast8_t oid
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, uint32_t time1, uint32_t time2, uint_fast8_t fifo)
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{
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sendf("lis2dw_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
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" buffered=%c fifo=%c limit_count=%hu"
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, oid, time1, time2-time1, ax->sequence
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, ax->data_count, fifo, ax->limit_count);
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}
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// Helper code to reschedule the lis2dw_event() timer
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static void
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lis2dw_reschedule_timer(struct lis2dw *ax)
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{
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irq_disable();
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ax->timer.waketime = timer_read_time() + ax->rest_ticks;
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sched_add_timer(&ax->timer);
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irq_enable();
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}
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// Query accelerometer data
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static void
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lis2dw_query(struct lis2dw *ax, uint8_t oid)
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{
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uint8_t msg[7] = {0};
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uint8_t fifo[2] = {LIS_FIFO_SAMPLES| LIS_AM_READ , 0};
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uint8_t fifo_empty,fifo_ovrn = 0;
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msg[0] = LIS_AR_DATAX0 | LIS_AM_READ ;
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uint8_t *d = &ax->data[ax->data_count];
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spidev_transfer(ax->spi, 1, sizeof(msg), msg);
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spidev_transfer(ax->spi, 1, sizeof(fifo), fifo);
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fifo_empty = fifo[1]&0x3F;
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fifo_ovrn = fifo[1]&0x40;
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d[0] = msg[1]; // x low bits
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d[1] = msg[2]; // x high bits
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d[2] = msg[3]; // y low bits
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d[3] = msg[4]; // y high bits
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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);
|
||||
Loading…
Reference in New Issue