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

3 files changed, 487 insertions, 1 deletions

diff --git a/klippy/extras/lis2dw.py b/klippy/extras/lis2dw.py
new file mode 100644
index 00000000..5cf67639
--- /dev/null
+++ b/klippy/extras/lis2dw.py
@@ -0,0 +1,265 @@
+# Support for reading acceleration data from an LIS2DW chip
+#
+# Copyright (C) 2023  Zhou.XianMing <zhouxm@biqu3d.com>
+# Copyright (C) 2020-2021  Kevin O'Connor <kevin@koconnor.net>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import logging, time, collections, threading, multiprocessing, os
+from . import bus, motion_report, adxl345
+
+# LIS2DW registers
+REG_LIS2DW_WHO_AM_I_ADDR = 0x0F
+REG_LIS2DW_CTRL_REG1_ADDR = 0x20
+REG_LIS2DW_CTRL_REG2_ADDR = 0x21
+REG_LIS2DW_CTRL_REG3_ADDR = 0x22
+REG_LIS2DW_CTRL_REG6_ADDR = 0x25
+REG_LIS2DW_STATUS_REG_ADDR = 0x27
+REG_LIS2DW_OUT_XL_ADDR = 0x28
+REG_LIS2DW_OUT_XH_ADDR = 0x29
+REG_LIS2DW_OUT_YL_ADDR = 0x2A
+REG_LIS2DW_OUT_YH_ADDR = 0x2B
+REG_LIS2DW_OUT_ZL_ADDR = 0x2C
+REG_LIS2DW_OUT_ZH_ADDR = 0x2D
+REG_LIS2DW_FIFO_CTRL   = 0x2E
+REG_LIS2DW_FIFO_SAMPLES = 0x2F
+REG_MOD_READ = 0x80
+# REG_MOD_MULTI = 0x40
+
+LIS2DW_DEV_ID = 0x44
+
+FREEFALL_ACCEL = 9.80665
+SCALE = FREEFALL_ACCEL * 1.952 / 4
+
+Accel_Measurement = collections.namedtuple(
+    'Accel_Measurement', ('time', 'accel_x', 'accel_y', 'accel_z'))
+
+MIN_MSG_TIME = 0.100
+
+BYTES_PER_SAMPLE = 6
+SAMPLES_PER_BLOCK = 8
+
+# Printer class that controls LIS2DW chip
+class LIS2DW:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        adxl345.AccelCommandHelper(config, self)
+        self.query_rate = 0
+        am = {'x': (0, SCALE), 'y': (1, SCALE), 'z': (2, SCALE),
+              '-x': (0, -SCALE), '-y': (1, -SCALE), '-z': (2, -SCALE)}
+        axes_map = config.getlist('axes_map', ('x','y','z'), count=3)
+        if any([a not in am for a in axes_map]):
+            raise config.error("Invalid lis2dw axes_map parameter")
+        self.axes_map = [am[a.strip()] for a in axes_map]
+        self.data_rate = 1600
+        # Measurement storage (accessed from background thread)
+        self.lock = threading.Lock()
+        self.raw_samples = []
+        # Setup mcu sensor_lis2dw bulk query code
+        self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=5000000)
+        self.mcu = mcu = self.spi.get_mcu()
+        self.oid = oid = mcu.create_oid()
+        self.query_lis2dw_cmd = self.query_lis2dw_end_cmd = None
+        self.query_lis2dw_status_cmd = None
+        mcu.add_config_cmd("config_lis2dw oid=%d spi_oid=%d"
+                           % (oid, self.spi.get_oid()))
+        mcu.add_config_cmd("query_lis2dw oid=%d clock=0 rest_ticks=0"
+                           % (oid,), on_restart=True)
+        mcu.register_config_callback(self._build_config)
+        mcu.register_response(self._handle_lis2dw_data, "lis2dw_data", oid)
+        # Clock tracking
+        self.last_sequence = self.max_query_duration = 0
+        self.last_limit_count = self.last_error_count = 0
+        self.clock_sync = adxl345.ClockSyncRegression(self.mcu, 640)
+        # API server endpoints
+        self.api_dump = motion_report.APIDumpHelper(
+            self.printer, self._api_update, self._api_startstop, 0.100)
+        self.name = config.get_name().split()[-1]
+        wh = self.printer.lookup_object('webhooks')
+        wh.register_mux_endpoint("lis2dw/dump_lis2dw", "sensor", self.name,
+                                 self._handle_dump_lis2dw)
+
+    def _build_config(self):
+        cmdqueue = self.spi.get_command_queue()
+        self.query_lis2dw_cmd = self.mcu.lookup_command(
+            "query_lis2dw oid=%c clock=%u rest_ticks=%u", cq=cmdqueue)
+        self.query_lis2dw_end_cmd = self.mcu.lookup_query_command(
+            "query_lis2dw oid=%c clock=%u rest_ticks=%u",
+            "lis2dw_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
+            " buffered=%c fifo=%c limit_count=%hu", oid=self.oid, cq=cmdqueue)
+        self.query_lis2dw_status_cmd = self.mcu.lookup_query_command(
+            "query_lis2dw_status oid=%c",
+            "lis2dw_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
+            " buffered=%c fifo=%c limit_count=%hu", oid=self.oid, cq=cmdqueue)
+    def read_reg(self, reg):
+        params = self.spi.spi_transfer([reg | REG_MOD_READ, 0x00])
+        response = bytearray(params['response'])
+        return response[1]
+    def set_reg(self, reg, val, minclock=0):
+        self.spi.spi_send([reg, val & 0xFF], minclock=minclock)
+        stored_val = self.read_reg(reg)
+        if stored_val != val:
+            raise self.printer.command_error(
+                    "Failed to set LIS2DW register [0x%x] to 0x%x: got 0x%x. "
+                    "This is generally indicative of connection problems "
+                    "(e.g. faulty wiring) or a faulty lis2dw chip." % (
+                        reg, val, stored_val))
+    # Measurement collection
+    def is_measuring(self):
+        return self.query_rate > 0
+    def _handle_lis2dw_data(self, params):
+        with self.lock:
+            self.raw_samples.append(params)
+    def _extract_samples(self, raw_samples):
+        # Load variables to optimize inner loop below
+        (x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
+        last_sequence = self.last_sequence
+        time_base, chip_base, inv_freq = self.clock_sync.get_time_translation()
+        # Process every message in raw_samples
+        count = seq = 0
+        samples = [None] * (len(raw_samples) * SAMPLES_PER_BLOCK)
+        for params in raw_samples:
+            seq_diff = (last_sequence - params['sequence']) & 0xffff
+            seq_diff -= (seq_diff & 0x8000) << 1
+            seq = last_sequence - seq_diff
+            d = bytearray(params['data'])
+            msg_cdiff = seq * SAMPLES_PER_BLOCK - chip_base
+
+            for i in range(len(d) // BYTES_PER_SAMPLE):
+                d_xyz = d[i*BYTES_PER_SAMPLE:(i+1)*BYTES_PER_SAMPLE]
+                xlow, xhigh, ylow, yhigh, zlow, zhigh = d_xyz
+                # Merge and perform twos-complement
+
+                rx = (((xhigh << 8) | xlow)) - ((xhigh & 0x80) << 9)
+                ry = (((yhigh << 8) | ylow)) - ((yhigh & 0x80) << 9)
+                rz = (((zhigh << 8) | zlow)) - ((zhigh & 0x80) << 9)
+
+                raw_xyz = (rx, ry, rz)
+
+                x = round(raw_xyz[x_pos] * x_scale, 6)
+                y = round(raw_xyz[y_pos] * y_scale, 6)
+                z = round(raw_xyz[z_pos] * z_scale, 6)
+
+                ptime = round(time_base + (msg_cdiff + i) * inv_freq, 6)
+                samples[count] = (ptime, x, y, z)
+                count += 1
+        self.clock_sync.set_last_chip_clock(seq * SAMPLES_PER_BLOCK + i)
+        del samples[count:]
+        return samples
+    def _update_clock(self, minclock=0):
+        # Query current state
+        for retry in range(5):
+            params = self.query_lis2dw_status_cmd.send([self.oid],
+                                                        minclock=minclock)
+            fifo = params['fifo'] & 0x1f
+            if fifo <= 32:
+                break
+        else:
+            raise self.printer.command_error("Unable to query lis2dw fifo")
+        mcu_clock = self.mcu.clock32_to_clock64(params['clock'])
+        sequence = (self.last_sequence & ~0xffff) | params['next_sequence']
+        if sequence < self.last_sequence:
+            sequence += 0x10000
+        self.last_sequence = sequence
+        buffered = params['buffered']
+        limit_count = (self.last_limit_count & ~0xffff) | params['limit_count']
+        if limit_count < self.last_limit_count:
+            limit_count += 0x10000
+        self.last_limit_count = limit_count
+        duration = params['query_ticks']
+        if duration > self.max_query_duration:
+            # Skip measurement as a high query time could skew clock tracking
+            self.max_query_duration = max(2 * self.max_query_duration,
+                                          self.mcu.seconds_to_clock(.000005))
+            return
+        self.max_query_duration = 2 * duration
+        msg_count = (sequence * SAMPLES_PER_BLOCK
+                     + buffered // BYTES_PER_SAMPLE + fifo)
+        # The "chip clock" is the message counter plus .5 for average
+        # inaccuracy of query responses and plus .5 for assumed offset
+        # of lis2dw hw processing time.
+        chip_clock = msg_count + 1
+        self.clock_sync.update(mcu_clock + duration // 2, chip_clock)
+    def _start_measurements(self):
+        if self.is_measuring():
+            return
+        # In case of miswiring, testing LIS2DW device ID prevents treating
+        # noise or wrong signal as a correctly initialized device
+        dev_id = self.read_reg(REG_LIS2DW_WHO_AM_I_ADDR)
+        logging.info("lis2dw_dev_id: %x", dev_id)
+        if dev_id != LIS2DW_DEV_ID:
+            raise self.printer.command_error(
+                "Invalid lis2dw id (got %x vs %x).\n"
+                "This is generally indicative of connection problems\n"
+                "(e.g. faulty wiring) or a faulty lis2dw chip."
+                % (dev_id, LIS2DW_DEV_ID))
+        # Setup chip in requested query rate
+        # ODR/2, +-16g, low-pass filter, Low-noise abled
+        self.set_reg(REG_LIS2DW_CTRL_REG6_ADDR, 0x34)
+        # Continuous mode: If the FIFO is full
+        # the new sample overwrites the older sample.
+        self.set_reg(REG_LIS2DW_FIFO_CTRL, 0xC0)
+        # High-Performance / Low-Power mode 1600/200 Hz
+        # High-Performance Mode (14-bit resolution)
+        self.set_reg(REG_LIS2DW_CTRL_REG1_ADDR, 0x94)
+
+        # Setup samples
+        with self.lock:
+            self.raw_samples = []
+        # Start bulk reading
+        systime = self.printer.get_reactor().monotonic()
+        print_time = self.mcu.estimated_print_time(systime) + MIN_MSG_TIME
+        reqclock = self.mcu.print_time_to_clock(print_time)
+        rest_ticks = self.mcu.seconds_to_clock(4. / self.data_rate)
+        self.query_rate = self.data_rate
+        self.query_lis2dw_cmd.send([self.oid, reqclock, rest_ticks],
+                                    reqclock=reqclock)
+        logging.info("LIS2DW starting '%s' measurements", self.name)
+        # Initialize clock tracking
+        self.last_sequence = 0
+        self.last_limit_count = self.last_error_count = 0
+        self.clock_sync.reset(reqclock, 0)
+        self.max_query_duration = 1 << 31
+        self._update_clock(minclock=reqclock)
+        self.max_query_duration = 1 << 31
+    def _finish_measurements(self):
+        if not self.is_measuring():
+            return
+        # Halt bulk reading
+        params = self.query_lis2dw_end_cmd.send([self.oid, 0, 0])
+        self.query_rate = 0
+        with self.lock:
+            self.raw_samples = []
+        logging.info("LIS2DW finished '%s' measurements", self.name)
+        self.set_reg(REG_LIS2DW_FIFO_CTRL, 0x00)
+    # API interface
+    def _api_update(self, eventtime):
+        self._update_clock()
+        with self.lock:
+            raw_samples = self.raw_samples
+            self.raw_samples = []
+        if not raw_samples:
+            return {}
+        samples = self._extract_samples(raw_samples)
+        if not samples:
+            return {}
+        return {'data': samples, 'errors': self.last_error_count,
+                'overflows': self.last_limit_count}
+    def _api_startstop(self, is_start):
+        if is_start:
+            self._start_measurements()
+        else:
+            self._finish_measurements()
+    def _handle_dump_lis2dw(self, web_request):
+        self.api_dump.add_client(web_request)
+        hdr = ('time', 'x_acceleration', 'y_acceleration', 'z_acceleration')
+        web_request.send({'header': hdr})
+    def start_internal_client(self):
+        cconn = self.api_dump.add_internal_client()
+        return adxl345.AccelQueryHelper(self.printer, cconn)
+
+
+def load_config(config):
+    return LIS2DW(config)
+
+def load_config_prefix(config):
+    return LIS2DW(config)
diff --git a/src/Makefile b/src/Makefile
index e8984554..0fcfacec 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -15,6 +15,6 @@ src-$(CONFIG_WANT_DISPLAYS) += lcd_st7920.c lcd_hd44780.c
 src-$(CONFIG_WANT_SOFTWARE_SPI) += spi_software.c
 src-$(CONFIG_WANT_SOFTWARE_I2C) += i2c_software.c
 sensors-src-$(CONFIG_HAVE_GPIO_SPI) := thermocouple.c sensor_adxl345.c \
-    sensor_angle.c
+    sensor_angle.c sensor_lis2dw.c
 sensors-src-$(CONFIG_HAVE_GPIO_I2C) += sensor_mpu9250.c
 src-$(CONFIG_WANT_SENSORS) += $(sensors-src-y)
diff --git a/src/sensor_lis2dw.c b/src/sensor_lis2dw.c
new file mode 100644
index 00000000..52612623
--- /dev/null
+++ b/src/sensor_lis2dw.c
@@ -0,0 +1,221 @@
+// Support for gathering acceleration data from LIS2DW chip
+//
+// Copyright (C) 2023  Zhou.XianMing <zhouxm@biqu3d.com>
+// Copyright (C) 2020  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include <string.h> // memcpy
+#include "board/irq.h" // irq_disable
+#include "board/misc.h" // timer_read_time
+#include "basecmd.h" // oid_alloc
+#include "command.h" // DECL_COMMAND
+#include "sched.h" // DECL_TASK
+#include "spicmds.h" // spidev_transfer
+
+#define LIS_AR_DATAX0 0x28
+#define LIS_AM_READ   0x80
+#define LIS_FIFO_CTRL    0x2E
+#define LIS_FIFO_SAMPLES 0x2F
+
+struct lis2dw {
+    struct timer timer;
+    uint32_t rest_ticks;
+    struct spidev_s *spi;
+    uint16_t sequence, limit_count;
+    uint8_t flags, data_count, fifo_disable;
+    uint8_t data[48];
+};
+
+enum {
+    LIS_HAVE_START = 1<<0, LIS_RUNNING = 1<<1, LIS_PENDING = 1<<2,
+};
+
+static struct task_wake lis2dw_wake;
+
+// Event handler that wakes lis2dw_task() periodically
+static uint_fast8_t
+lis2dw_event(struct timer *timer)
+{
+    struct lis2dw *ax = container_of(timer, struct lis2dw, timer);
+    ax->flags |= LIS_PENDING;
+    sched_wake_task(&lis2dw_wake);
+    return SF_DONE;
+}
+
+void
+command_config_lis2dw(uint32_t *args)
+{
+    struct lis2dw *ax = oid_alloc(args[0], command_config_lis2dw
+                                   , sizeof(*ax));
+    ax->timer.func = lis2dw_event;
+    ax->spi = spidev_oid_lookup(args[1]);
+}
+DECL_COMMAND(command_config_lis2dw, "config_lis2dw oid=%c spi_oid=%c");
+
+// Report local measurement buffer
+static void
+lis2dw_report(struct lis2dw *ax, uint8_t oid)
+{
+    sendf("lis2dw_data oid=%c sequence=%hu data=%*s"
+          , oid, ax->sequence, ax->data_count, ax->data);
+    ax->data_count = 0;
+    ax->sequence++;
+}
+
+// Report buffer and fifo status
+static void
+lis2dw_status(struct lis2dw *ax, uint_fast8_t oid
+            , uint32_t time1, uint32_t time2, uint_fast8_t fifo)
+{
+    sendf("lis2dw_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
+          " buffered=%c fifo=%c limit_count=%hu"
+          , oid, time1, time2-time1, ax->sequence
+          , ax->data_count, fifo, ax->limit_count);
+}
+
+// Helper code to reschedule the lis2dw_event() timer
+static void
+lis2dw_reschedule_timer(struct lis2dw *ax)
+{
+    irq_disable();
+    ax->timer.waketime = timer_read_time() + ax->rest_ticks;
+    sched_add_timer(&ax->timer);
+    irq_enable();
+}
+
+// Query accelerometer data
+static void
+lis2dw_query(struct lis2dw *ax, uint8_t oid)
+{
+    uint8_t msg[7] = {0};
+    uint8_t fifo[2] = {LIS_FIFO_SAMPLES| LIS_AM_READ , 0};
+    uint8_t fifo_empty,fifo_ovrn = 0;
+
+    msg[0] = LIS_AR_DATAX0 | LIS_AM_READ ;
+    uint8_t *d = &ax->data[ax->data_count];
+
+    spidev_transfer(ax->spi, 1, sizeof(msg), msg);
+
+    spidev_transfer(ax->spi, 1, sizeof(fifo), fifo);
+    fifo_empty = fifo[1]&0x3F;
+    fifo_ovrn = fifo[1]&0x40;
+
+    d[0] = msg[1]; // x low bits
+    d[1] = msg[2]; // x high bits
+    d[2] = msg[3]; // y low bits
+    d[3] = msg[4]; // y high bits
+    d[4] = msg[5]; // z low bits
+    d[5] = msg[6]; // z high bits
+
+    ax->data_count += 6;
+    if (ax->data_count + 6 > ARRAY_SIZE(ax->data))
+        lis2dw_report(ax, oid);
+
+    // Check fifo status
+    if (fifo_ovrn)
+        ax->limit_count++;
+
+    // check if we need to run the task again (more packets in fifo?)
+    if (!fifo_empty&&!(ax->fifo_disable)) {
+        // More data in fifo - wake this task again
+        sched_wake_task(&lis2dw_wake);
+    } else if (ax->flags & LIS_RUNNING) {
+        // Sleep until next check time
+        sched_del_timer(&ax->timer);
+        ax->flags &= ~LIS_PENDING;
+        lis2dw_reschedule_timer(ax);
+    }
+}
+
+// Startup measurements
+static void
+lis2dw_start(struct lis2dw *ax, uint8_t oid)
+{
+    sched_del_timer(&ax->timer);
+    ax->flags = LIS_RUNNING;
+    ax->fifo_disable = 0;
+    uint8_t ctrl[2] = {LIS_FIFO_CTRL , 0xC0};
+    spidev_transfer(ax->spi, 0, sizeof(ctrl), ctrl);
+    lis2dw_reschedule_timer(ax);
+}
+
+// End measurements
+static void
+lis2dw_stop(struct lis2dw *ax, uint8_t oid)
+{
+    // Disable measurements
+    sched_del_timer(&ax->timer);
+    ax->flags = 0;
+    // Drain any measurements still in fifo
+    ax->fifo_disable = 1;
+    lis2dw_query(ax, oid);
+
+    uint8_t ctrl[2] = {LIS_FIFO_CTRL , 0};
+    uint32_t end1_time = timer_read_time();
+    spidev_transfer(ax->spi, 0, sizeof(ctrl), ctrl);
+    uint32_t end2_time = timer_read_time();
+
+    uint8_t msg[2] = { LIS_FIFO_SAMPLES | LIS_AM_READ , 0};
+    spidev_transfer(ax->spi, 1, sizeof(msg), msg);
+    uint8_t fifo_status = msg[1]&0x1f;
+
+    //Report final data
+    if (ax->data_count)
+        lis2dw_report(ax, oid);
+    lis2dw_status(ax, oid, end1_time, end2_time, fifo_status);
+}
+
+void
+command_query_lis2dw(uint32_t *args)
+{
+    struct lis2dw *ax = oid_lookup(args[0], command_config_lis2dw);
+
+    if (!args[2]) {
+        // End measurements
+        lis2dw_stop(ax, args[0]);
+        return;
+    }
+    // Start new measurements query
+    sched_del_timer(&ax->timer);
+    ax->timer.waketime = args[1];
+    ax->rest_ticks = args[2];
+    ax->flags = LIS_HAVE_START;
+    ax->sequence = ax->limit_count = 0;
+    ax->data_count = 0;
+    ax->fifo_disable = 0;
+    sched_add_timer(&ax->timer);
+}
+DECL_COMMAND(command_query_lis2dw,
+             "query_lis2dw oid=%c clock=%u rest_ticks=%u");
+
+void
+command_query_lis2dw_status(uint32_t *args)
+{
+    struct lis2dw *ax = oid_lookup(args[0], command_config_lis2dw);
+    uint8_t msg[2] = { LIS_FIFO_SAMPLES | LIS_AM_READ, 0x00 };
+    uint32_t time1 = timer_read_time();
+    spidev_transfer(ax->spi, 1, sizeof(msg), msg);
+    uint32_t time2 = timer_read_time();
+    lis2dw_status(ax, args[0], time1, time2, msg[1]&0x1f);
+}
+DECL_COMMAND(command_query_lis2dw_status, "query_lis2dw_status oid=%c");
+
+void
+lis2dw_task(void)
+{
+    if (!sched_check_wake(&lis2dw_wake))
+        return;
+    uint8_t oid;
+    struct lis2dw *ax;
+    foreach_oid(oid, ax, command_config_lis2dw) {
+        uint_fast8_t flags = ax->flags;
+        if (!(flags & LIS_PENDING))
+            continue;
+        if (flags & LIS_HAVE_START)
+            lis2dw_start(ax, oid);
+        else
+            lis2dw_query(ax, oid);
+    }
+}
+DECL_TASK(lis2dw_task);