198 lines
8.4 KiB
Python
198 lines
8.4 KiB
Python
# 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
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from . import bus, adxl345, bulk_sensor
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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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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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BATCH_UPDATES = 0.100
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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.axes_map = adxl345.read_axes_map(config)
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self.data_rate = 1600
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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 = 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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self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "lis2dw_data", 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("lis2dw/dump_lis2dw", "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_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_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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def start_internal_client(self):
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aqh = adxl345.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, 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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params = self.query_lis2dw_status_cmd.send([self.oid],
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minclock=minclock)
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self.clock_updater.update_clock(params)
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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 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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# Start bulk reading
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self.bulk_queue.clear_samples()
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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_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.clock_updater.note_start(reqclock)
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self._update_clock(minclock=reqclock)
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self.clock_updater.clear_duration_filter()
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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.query_lis2dw_cmd.send_wait_ack([self.oid, 0, 0])
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self.bulk_queue.clear_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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def _process_batch(self, eventtime):
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self._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_limit_count()}
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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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