332 lines
15 KiB
Python
332 lines
15 KiB
Python
# Support for reading acceleration data from an adxl345 chip
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#
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# Copyright (C) 2020-2023 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, bulk_sensor
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# ADXL345 registers
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REG_DEVID = 0x00
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REG_BW_RATE = 0x2C
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REG_POWER_CTL = 0x2D
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REG_DATA_FORMAT = 0x31
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REG_FIFO_CTL = 0x38
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REG_MOD_READ = 0x80
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REG_MOD_MULTI = 0x40
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QUERY_RATES = {
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25: 0x8, 50: 0x9, 100: 0xa, 200: 0xb, 400: 0xc,
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800: 0xd, 1600: 0xe, 3200: 0xf,
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}
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ADXL345_DEV_ID = 0xe5
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SET_FIFO_CTL = 0x90
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FREEFALL_ACCEL = 9.80665 * 1000.
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SCALE_XY = 0.003774 * FREEFALL_ACCEL # 1 / 265 (at 3.3V) mg/LSB
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SCALE_Z = 0.003906 * FREEFALL_ACCEL # 1 / 256 (at 3.3V) mg/LSB
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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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# Helper class to obtain measurements
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class AccelQueryHelper:
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def __init__(self, printer):
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self.printer = printer
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self.is_finished = False
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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.msgs = []
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self.samples = []
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def finish_measurements(self):
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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.is_finished = True
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def handle_batch(self, msg):
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if self.is_finished:
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return False
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if len(self.msgs) >= 10000:
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# Avoid filling up memory with too many samples
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return False
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self.msgs.append(msg)
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return True
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def has_valid_samples(self):
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for msg in self.msgs:
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data = msg['data']
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first_sample_time = data[0][0]
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last_sample_time = data[-1][0]
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if (first_sample_time > self.request_end_time
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or last_sample_time < self.request_start_time):
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continue
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# The time intervals [first_sample_time, last_sample_time]
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# and [request_start_time, request_end_time] have non-zero
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# intersection. It is still theoretically possible that none
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# of the samples from msgs fall into the time interval
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# [request_start_time, request_end_time] if it is too narrow
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# or on very heavy data losses. In practice, that interval
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# is at least 1 second, so this possibility is negligible.
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return True
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return False
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def get_samples(self):
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if not self.msgs:
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return self.samples
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total = sum([len(m['data']) for m in self.msgs])
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count = 0
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self.samples = samples = [None] * total
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for msg in self.msgs:
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for samp_time, x, y, z in msg['data']:
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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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try:
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# Try to re-nice writing process
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os.nice(20)
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except:
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pass
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f = open(filename, "w")
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f.write("#time,accel_x,accel_y,accel_z\n")
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samples = self.samples or self.get_samples()
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for t, accel_x, accel_y, accel_z in samples:
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f.write("%.6f,%.6f,%.6f,%.6f\n" % (
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t, accel_x, accel_y, accel_z))
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f.close()
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write_proc = multiprocessing.Process(target=write_impl)
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write_proc.daemon = True
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write_proc.start()
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# Helper class for G-Code commands
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class AccelCommandHelper:
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def __init__(self, config, chip):
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self.printer = config.get_printer()
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self.chip = chip
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self.bg_client = None
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name_parts = config.get_name().split()
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self.base_name = name_parts[0]
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self.name = name_parts[-1]
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self.register_commands(self.name)
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if len(name_parts) == 1:
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if self.name == "adxl345" or not config.has_section("adxl345"):
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self.register_commands(None)
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def register_commands(self, name):
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# Register commands
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gcode = self.printer.lookup_object('gcode')
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gcode.register_mux_command("ACCELEROMETER_MEASURE", "CHIP", name,
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self.cmd_ACCELEROMETER_MEASURE,
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desc=self.cmd_ACCELEROMETER_MEASURE_help)
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gcode.register_mux_command("ACCELEROMETER_QUERY", "CHIP", name,
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self.cmd_ACCELEROMETER_QUERY,
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desc=self.cmd_ACCELEROMETER_QUERY_help)
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gcode.register_mux_command("ACCELEROMETER_DEBUG_READ", "CHIP", name,
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self.cmd_ACCELEROMETER_DEBUG_READ,
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desc=self.cmd_ACCELEROMETER_DEBUG_READ_help)
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gcode.register_mux_command("ACCELEROMETER_DEBUG_WRITE", "CHIP", name,
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self.cmd_ACCELEROMETER_DEBUG_WRITE,
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desc=self.cmd_ACCELEROMETER_DEBUG_WRITE_help)
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cmd_ACCELEROMETER_MEASURE_help = "Start/stop accelerometer"
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def cmd_ACCELEROMETER_MEASURE(self, gcmd):
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if self.bg_client is None:
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# Start measurements
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self.bg_client = self.chip.start_internal_client()
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gcmd.respond_info("accelerometer measurements started")
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return
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# End measurements
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name = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S"))
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if not name.replace('-', '').replace('_', '').isalnum():
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raise gcmd.error("Invalid NAME parameter")
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bg_client = self.bg_client
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self.bg_client = None
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bg_client.finish_measurements()
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# Write data to file
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if self.base_name == self.name:
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filename = "/tmp/%s-%s.csv" % (self.base_name, name)
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else:
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filename = "/tmp/%s-%s-%s.csv" % (self.base_name, self.name, name)
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bg_client.write_to_file(filename)
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gcmd.respond_info("Writing raw accelerometer data to %s file"
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% (filename,))
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cmd_ACCELEROMETER_QUERY_help = "Query accelerometer for the current values"
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def cmd_ACCELEROMETER_QUERY(self, gcmd):
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aclient = self.chip.start_internal_client()
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self.printer.lookup_object('toolhead').dwell(1.)
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aclient.finish_measurements()
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values = aclient.get_samples()
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if not values:
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raise gcmd.error("No accelerometer measurements found")
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_, accel_x, accel_y, accel_z = values[-1]
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gcmd.respond_info("accelerometer values (x, y, z): %.6f, %.6f, %.6f"
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% (accel_x, accel_y, accel_z))
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cmd_ACCELEROMETER_DEBUG_READ_help = "Query register (for debugging)"
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def cmd_ACCELEROMETER_DEBUG_READ(self, gcmd):
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reg = gcmd.get("REG", minval=0, maxval=126, parser=lambda x: int(x, 0))
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val = self.chip.read_reg(reg)
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gcmd.respond_info("Accelerometer REG[0x%x] = 0x%x" % (reg, val))
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cmd_ACCELEROMETER_DEBUG_WRITE_help = "Set register (for debugging)"
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def cmd_ACCELEROMETER_DEBUG_WRITE(self, gcmd):
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reg = gcmd.get("REG", minval=0, maxval=126, parser=lambda x: int(x, 0))
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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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# Helper to read the axes_map parameter from the config
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def read_axes_map(config):
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am = {'x': (0, SCALE_XY), 'y': (1, SCALE_XY), 'z': (2, SCALE_Z),
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'-x': (0, -SCALE_XY), '-y': (1, -SCALE_XY), '-z': (2, -SCALE_Z)}
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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 axes_map parameter")
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return [am[a.strip()] for a in axes_map]
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BYTES_PER_SAMPLE = 5
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SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
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BATCH_UPDATES = 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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AccelCommandHelper(config, self)
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self.axes_map = read_axes_map(config)
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self.data_rate = config.getint('rate', 3200)
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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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# 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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self.mcu = mcu = self.spi.get_mcu()
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self.oid = oid = mcu.create_oid()
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self.query_adxl345_cmd = None
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mcu.add_config_cmd("config_adxl345 oid=%d spi_oid=%d"
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% (oid, self.spi.get_oid()))
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mcu.add_config_cmd("query_adxl345 oid=%d 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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self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid)
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# Clock tracking
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chip_smooth = self.data_rate * BATCH_UPDATES * 2
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self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth)
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self.clock_updater = bulk_sensor.ChipClockUpdater(self.clock_sync,
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BYTES_PER_SAMPLE)
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self.last_error_count = 0
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# Process messages in batches
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self.batch_bulk = bulk_sensor.BatchBulkHelper(
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self.printer, self._process_batch,
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self._start_measurements, self._finish_measurements, BATCH_UPDATES)
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self.name = config.get_name().split()[-1]
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hdr = ('time', 'x_acceleration', 'y_acceleration', 'z_acceleration')
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self.batch_bulk.add_mux_endpoint("adxl345/dump_adxl345", "sensor",
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self.name, {'header': hdr})
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def _build_config(self):
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cmdqueue = self.spi.get_command_queue()
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self.query_adxl345_cmd = self.mcu.lookup_command(
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"query_adxl345 oid=%c rest_ticks=%u", cq=cmdqueue)
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self.clock_updater.setup_query_command(
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self.mcu, "query_adxl345_status oid=%c", 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 ADXL345 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 adxl345 chip." % (
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reg, val, stored_val))
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def start_internal_client(self):
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aqh = AccelQueryHelper(self.printer)
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self.batch_bulk.add_client(aqh.handle_batch)
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return aqh
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# Measurement decoding
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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.clock_updater.get_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 = (params['sequence'] - last_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, ylow, zlow, xzhigh, yzhigh = d_xyz
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if yzhigh & 0x80:
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self.last_error_count += 1
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continue
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rx = (xlow | ((xzhigh & 0x1f) << 8)) - ((xzhigh & 0x10) << 9)
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ry = (ylow | ((yzhigh & 0x1f) << 8)) - ((yzhigh & 0x10) << 9)
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rz = ((zlow | ((xzhigh & 0xe0) << 3) | ((yzhigh & 0xe0) << 6))
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- ((yzhigh & 0x40) << 7))
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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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# Start, stop, and process message batches
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def _start_measurements(self):
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# In case of miswiring, testing ADXL345 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_DEVID)
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if dev_id != ADXL345_DEV_ID:
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raise self.printer.command_error(
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"Invalid adxl345 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 adxl345 chip."
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% (dev_id, ADXL345_DEV_ID))
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# Setup chip in requested query rate
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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, SET_FIFO_CTL)
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# Start bulk reading
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self.bulk_queue.clear_samples()
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rest_ticks = self.mcu.seconds_to_clock(4. / self.data_rate)
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self.query_adxl345_cmd.send([self.oid, rest_ticks])
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self.set_reg(REG_POWER_CTL, 0x08)
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logging.info("ADXL345 starting '%s' measurements", self.name)
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# Initialize clock tracking
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self.clock_updater.note_start()
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self.last_error_count = 0
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def _finish_measurements(self):
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# Halt bulk reading
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self.set_reg(REG_POWER_CTL, 0x00)
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self.query_adxl345_cmd.send_wait_ack([self.oid, 0])
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self.bulk_queue.clear_samples()
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logging.info("ADXL345 finished '%s' measurements", self.name)
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def _process_batch(self, eventtime):
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self.clock_updater.update_clock()
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raw_samples = self.bulk_queue.pull_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.clock_updater.get_last_overflows()}
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def load_config(config):
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return ADXL345(config)
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def load_config_prefix(config):
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return ADXL345(config)
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