317 lines
14 KiB
Python
317 lines
14 KiB
Python
# A utility class to test resonances of the printer
|
|
#
|
|
# Copyright (C) 2020 Dmitry Butyugin <dmbutyugin@google.com>
|
|
#
|
|
# This file may be distributed under the terms of the GNU GPLv3 license.
|
|
import logging, math, os, time
|
|
from . import shaper_calibrate
|
|
|
|
class TestAxis:
|
|
def __init__(self, axis=None, vib_dir=None):
|
|
if axis is None:
|
|
self._name = "axis=%.3f,%.3f" % (vib_dir[0], vib_dir[1])
|
|
else:
|
|
self._name = axis
|
|
if vib_dir is None:
|
|
self._vib_dir = (1., 0.) if axis == 'x' else (0., 1.)
|
|
else:
|
|
s = math.sqrt(sum([d*d for d in vib_dir]))
|
|
self._vib_dir = [d / s for d in vib_dir]
|
|
def matches(self, chip_axis):
|
|
if self._vib_dir[0] and 'x' in chip_axis:
|
|
return True
|
|
if self._vib_dir[1] and 'y' in chip_axis:
|
|
return True
|
|
return False
|
|
def get_name(self):
|
|
return self._name
|
|
def get_point(self, l):
|
|
return (self._vib_dir[0] * l, self._vib_dir[1] * l)
|
|
|
|
def _parse_axis(gcmd, raw_axis):
|
|
if raw_axis is None:
|
|
return None
|
|
raw_axis = raw_axis.lower()
|
|
if raw_axis in ['x', 'y']:
|
|
return TestAxis(axis=raw_axis)
|
|
dirs = raw_axis.split(',')
|
|
if len(dirs) != 2:
|
|
raise gcmd.error("Invalid format of axis '%s'" % (raw_axis,))
|
|
try:
|
|
dir_x = float(dirs[0].strip())
|
|
dir_y = float(dirs[1].strip())
|
|
except:
|
|
raise gcmd.error(
|
|
"Unable to parse axis direction '%s'" % (raw_axis,))
|
|
return TestAxis(vib_dir=(dir_x, dir_y))
|
|
|
|
class VibrationPulseTest:
|
|
def __init__(self, config):
|
|
self.printer = config.get_printer()
|
|
self.gcode = self.printer.lookup_object('gcode')
|
|
self.min_freq = config.getfloat('min_freq', 5., minval=1.)
|
|
# Defaults are such that max_freq * accel_per_hz == 10000 (max_accel)
|
|
self.max_freq = config.getfloat('max_freq', 10000. / 75.,
|
|
minval=self.min_freq, maxval=200.)
|
|
self.accel_per_hz = config.getfloat('accel_per_hz', 75., above=0.)
|
|
self.hz_per_sec = config.getfloat('hz_per_sec', 1.,
|
|
minval=0.1, maxval=2.)
|
|
|
|
self.probe_points = config.getlists('probe_points', seps=(',', '\n'),
|
|
parser=float, count=3)
|
|
def get_start_test_points(self):
|
|
return self.probe_points
|
|
def prepare_test(self, gcmd):
|
|
self.freq_start = gcmd.get_float("FREQ_START", self.min_freq, minval=1.)
|
|
self.freq_end = gcmd.get_float("FREQ_END", self.max_freq,
|
|
minval=self.freq_start, maxval=200.)
|
|
self.hz_per_sec = gcmd.get_float("HZ_PER_SEC", self.hz_per_sec,
|
|
above=0., maxval=2.)
|
|
def run_test(self, axis, gcmd):
|
|
toolhead = self.printer.lookup_object('toolhead')
|
|
X, Y, Z, E = toolhead.get_position()
|
|
sign = 1.
|
|
freq = self.freq_start
|
|
# Override maximum acceleration and acceleration to
|
|
# deceleration based on the maximum test frequency
|
|
systime = self.printer.get_reactor().monotonic()
|
|
toolhead_info = toolhead.get_status(systime)
|
|
old_max_accel = toolhead_info['max_accel']
|
|
old_max_accel_to_decel = toolhead_info['max_accel_to_decel']
|
|
max_accel = self.freq_end * self.accel_per_hz
|
|
self.gcode.run_script_from_command(
|
|
"SET_VELOCITY_LIMIT ACCEL=%.3f ACCEL_TO_DECEL=%.3f" % (
|
|
max_accel, max_accel))
|
|
input_shaper = self.printer.lookup_object('input_shaper', None)
|
|
if input_shaper is not None and not gcmd.get_int('INPUT_SHAPING', 0):
|
|
input_shaper.disable_shaping()
|
|
gcmd.respond_info("Disabled [input_shaper] for resonance testing")
|
|
else:
|
|
input_shaper = None
|
|
gcmd.respond_info("Testing frequency %.0f Hz" % (freq,))
|
|
while freq <= self.freq_end + 0.000001:
|
|
t_seg = .25 / freq
|
|
accel = self.accel_per_hz * freq
|
|
max_v = accel * t_seg
|
|
toolhead.cmd_M204(self.gcode.create_gcode_command(
|
|
"M204", "M204", {"S": accel}))
|
|
L = .5 * accel * t_seg**2
|
|
dX, dY = axis.get_point(L)
|
|
nX = X + sign * dX
|
|
nY = Y + sign * dY
|
|
toolhead.move([nX, nY, Z, E], max_v)
|
|
toolhead.move([X, Y, Z, E], max_v)
|
|
sign = -sign
|
|
old_freq = freq
|
|
freq += 2. * t_seg * self.hz_per_sec
|
|
if math.floor(freq) > math.floor(old_freq):
|
|
gcmd.respond_info("Testing frequency %.0f Hz" % (freq,))
|
|
# Restore the original acceleration values
|
|
self.gcode.run_script_from_command(
|
|
"SET_VELOCITY_LIMIT ACCEL=%.3f ACCEL_TO_DECEL=%.3f" % (
|
|
old_max_accel, old_max_accel_to_decel))
|
|
# Restore input shaper if it was disabled for resonance testing
|
|
if input_shaper is not None:
|
|
input_shaper.enable_shaping()
|
|
gcmd.respond_info("Re-enabled [input_shaper]")
|
|
|
|
class ResonanceTester:
|
|
def __init__(self, config):
|
|
self.printer = config.get_printer()
|
|
self.move_speed = config.getfloat('move_speed', 50., above=0.)
|
|
self.test = VibrationPulseTest(config)
|
|
if not config.get('accel_chip_x', None):
|
|
self.accel_chip_names = [('xy', config.get('accel_chip').strip())]
|
|
else:
|
|
self.accel_chip_names = [
|
|
('x', config.get('accel_chip_x').strip()),
|
|
('y', config.get('accel_chip_y').strip())]
|
|
if self.accel_chip_names[0][1] == self.accel_chip_names[1][1]:
|
|
self.accel_chip_names = [('xy', self.accel_chip_names[0][1])]
|
|
self.max_smoothing = config.getfloat('max_smoothing', None, minval=0.05)
|
|
|
|
self.gcode = self.printer.lookup_object('gcode')
|
|
self.gcode.register_command("MEASURE_AXES_NOISE",
|
|
self.cmd_MEASURE_AXES_NOISE,
|
|
desc=self.cmd_MEASURE_AXES_NOISE_help)
|
|
self.gcode.register_command("TEST_RESONANCES",
|
|
self.cmd_TEST_RESONANCES,
|
|
desc=self.cmd_TEST_RESONANCES_help)
|
|
self.gcode.register_command("SHAPER_CALIBRATE",
|
|
self.cmd_SHAPER_CALIBRATE,
|
|
desc=self.cmd_SHAPER_CALIBRATE_help)
|
|
self.printer.register_event_handler("klippy:connect", self.connect)
|
|
|
|
def connect(self):
|
|
self.accel_chips = [
|
|
(chip_axis, self.printer.lookup_object(chip_name))
|
|
for chip_axis, chip_name in self.accel_chip_names]
|
|
|
|
def _run_test(self, gcmd, axes, helper, raw_name_suffix=None):
|
|
toolhead = self.printer.lookup_object('toolhead')
|
|
calibration_data = {axis: None for axis in axes}
|
|
|
|
self.test.prepare_test(gcmd)
|
|
test_points = self.test.get_start_test_points()
|
|
for point in test_points:
|
|
toolhead.manual_move(point, self.move_speed)
|
|
if len(test_points) > 1:
|
|
gcmd.respond_info(
|
|
"Probing point (%.3f, %.3f, %.3f)" % tuple(point))
|
|
for axis in axes:
|
|
toolhead.wait_moves()
|
|
toolhead.dwell(0.500)
|
|
if len(axes) > 1:
|
|
gcmd.respond_info("Testing axis %s" % axis.get_name())
|
|
|
|
raw_values = []
|
|
for chip_axis, chip in self.accel_chips:
|
|
if axis.matches(chip_axis):
|
|
aclient = chip.start_internal_client()
|
|
raw_values.append((chip_axis, aclient))
|
|
# Generate moves
|
|
self.test.run_test(axis, gcmd)
|
|
for chip_axis, aclient in raw_values:
|
|
aclient.finish_measurements()
|
|
if raw_name_suffix is not None:
|
|
raw_name = self.get_filename(
|
|
'raw_data', raw_name_suffix, axis,
|
|
point if len(test_points) > 1 else None)
|
|
aclient.write_to_file(raw_name)
|
|
gcmd.respond_info(
|
|
"Writing raw accelerometer data to "
|
|
"%s file" % (raw_name,))
|
|
if helper is None:
|
|
continue
|
|
for chip_axis, chip_values in raw_values:
|
|
if not chip_values:
|
|
raise gcmd.error(
|
|
"%s-axis accelerometer measured no data" % (
|
|
chip_axis,))
|
|
new_data = helper.process_accelerometer_data(chip_values)
|
|
if calibration_data[axis] is None:
|
|
calibration_data[axis] = new_data
|
|
else:
|
|
calibration_data[axis].add_data(new_data)
|
|
return calibration_data
|
|
cmd_TEST_RESONANCES_help = ("Runs the resonance test for a specifed axis")
|
|
def cmd_TEST_RESONANCES(self, gcmd):
|
|
# Parse parameters
|
|
axis = _parse_axis(gcmd, gcmd.get("AXIS").lower())
|
|
|
|
outputs = gcmd.get("OUTPUT", "resonances").lower().split(',')
|
|
for output in outputs:
|
|
if output not in ['resonances', 'raw_data']:
|
|
raise gcmd.error("Unsupported output '%s', only 'resonances'"
|
|
" and 'raw_data' are supported" % (output,))
|
|
if not outputs:
|
|
raise gcmd.error("No output specified, at least one of 'resonances'"
|
|
" or 'raw_data' must be set in OUTPUT parameter")
|
|
name_suffix = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S"))
|
|
if not self.is_valid_name_suffix(name_suffix):
|
|
raise gcmd.error("Invalid NAME parameter")
|
|
csv_output = 'resonances' in outputs
|
|
raw_output = 'raw_data' in outputs
|
|
|
|
# Setup calculation of resonances
|
|
if csv_output:
|
|
helper = shaper_calibrate.ShaperCalibrate(self.printer)
|
|
else:
|
|
helper = None
|
|
|
|
data = self._run_test(
|
|
gcmd, [axis], helper,
|
|
raw_name_suffix=name_suffix if raw_output else None)[axis]
|
|
if csv_output:
|
|
csv_name = self.save_calibration_data('resonances', name_suffix,
|
|
helper, axis, data)
|
|
gcmd.respond_info(
|
|
"Resonances data written to %s file" % (csv_name,))
|
|
cmd_SHAPER_CALIBRATE_help = (
|
|
"Simular to TEST_RESONANCES but suggest input shaper config")
|
|
def cmd_SHAPER_CALIBRATE(self, gcmd):
|
|
# Parse parameters
|
|
axis = gcmd.get("AXIS", None)
|
|
if not axis:
|
|
calibrate_axes = [TestAxis('x'), TestAxis('y')]
|
|
elif axis.lower() not in 'xy':
|
|
raise gcmd.error("Unsupported axis '%s'" % (axis,))
|
|
else:
|
|
calibrate_axes = [TestAxis(axis.lower())]
|
|
|
|
max_smoothing = gcmd.get_float(
|
|
"MAX_SMOOTHING", self.max_smoothing, minval=0.05)
|
|
|
|
name_suffix = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S"))
|
|
if not self.is_valid_name_suffix(name_suffix):
|
|
raise gcmd.error("Invalid NAME parameter")
|
|
|
|
# Setup shaper calibration
|
|
helper = shaper_calibrate.ShaperCalibrate(self.printer)
|
|
|
|
calibration_data = self._run_test(gcmd, calibrate_axes, helper)
|
|
|
|
configfile = self.printer.lookup_object('configfile')
|
|
for axis in calibrate_axes:
|
|
axis_name = axis.get_name()
|
|
gcmd.respond_info(
|
|
"Calculating the best input shaper parameters for %s axis"
|
|
% (axis_name,))
|
|
calibration_data[axis].normalize_to_frequencies()
|
|
best_shaper, all_shapers = helper.find_best_shaper(
|
|
calibration_data[axis], max_smoothing, gcmd.respond_info)
|
|
gcmd.respond_info(
|
|
"Recommended shaper_type_%s = %s, shaper_freq_%s = %.1f Hz"
|
|
% (axis_name, best_shaper.name,
|
|
axis_name, best_shaper.freq))
|
|
helper.save_params(configfile, axis_name,
|
|
best_shaper.name, best_shaper.freq)
|
|
csv_name = self.save_calibration_data(
|
|
'calibration_data', name_suffix, helper, axis,
|
|
calibration_data[axis], all_shapers)
|
|
gcmd.respond_info(
|
|
"Shaper calibration data written to %s file" % (csv_name,))
|
|
gcmd.respond_info(
|
|
"The SAVE_CONFIG command will update the printer config file\n"
|
|
"with these parameters and restart the printer.")
|
|
cmd_MEASURE_AXES_NOISE_help = (
|
|
"Measures noise of all enabled accelerometer chips")
|
|
def cmd_MEASURE_AXES_NOISE(self, gcmd):
|
|
meas_time = gcmd.get_float("MEAS_TIME", 2.)
|
|
raw_values = [(chip_axis, chip.start_internal_client())
|
|
for chip_axis, chip in self.accel_chips]
|
|
self.printer.lookup_object('toolhead').dwell(meas_time)
|
|
for chip_axis, aclient in raw_values:
|
|
aclient.finish_measurements()
|
|
helper = shaper_calibrate.ShaperCalibrate(self.printer)
|
|
for chip_axis, aclient in raw_values:
|
|
data = helper.process_accelerometer_data(aclient)
|
|
vx = data.psd_x.mean()
|
|
vy = data.psd_y.mean()
|
|
vz = data.psd_z.mean()
|
|
gcmd.respond_info("Axes noise for %s-axis accelerometer: "
|
|
"%.6f (x), %.6f (y), %.6f (z)" % (
|
|
chip_axis, vx, vy, vz))
|
|
|
|
def is_valid_name_suffix(self, name_suffix):
|
|
return name_suffix.replace('-', '').replace('_', '').isalnum()
|
|
|
|
def get_filename(self, base, name_suffix, axis=None, point=None):
|
|
name = base
|
|
if axis:
|
|
name += '_' + axis.get_name()
|
|
if point:
|
|
name += "_%.3f_%.3f_%.3f" % (point[0], point[1], point[2])
|
|
name += '_' + name_suffix
|
|
return os.path.join("/tmp", name + ".csv")
|
|
|
|
def save_calibration_data(self, base_name, name_suffix, shaper_calibrate,
|
|
axis, calibration_data, all_shapers=None):
|
|
output = self.get_filename(base_name, name_suffix, axis)
|
|
shaper_calibrate.save_calibration_data(output, calibration_data,
|
|
all_shapers)
|
|
return output
|
|
|
|
def load_config(config):
|
|
return ResonanceTester(config)
|