mpu9250: Adding support for MPU-9250 (and MPU-6050) accelerometer

Add support for mpu9250 accelerometer over I2C bus.

Signed-off-by: Harry Beyel <harry3b9@gmail.com>

1 files changed, 461 insertions, 0 deletions

diff --git a/klippy/extras/mpu9250.py b/klippy/extras/mpu9250.py
new file mode 100644
index 00000000..a8f35bc6
--- /dev/null
+++ b/klippy/extras/mpu9250.py
@@ -0,0 +1,461 @@
+# Support for reading acceleration data from an mpu9250 chip
+#
+# Copyright (C) 2022  Harry Beyel <harry3b9@gmail.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
+
+MPU9250_ADDR =      0x68
+
+MPU9250_DEV_ID =    0x73
+MPU6050_DEV_ID =    0x68
+
+# MPU9250 registers
+REG_DEVID =         0x75
+REG_FIFO_EN =       0x23
+REG_SMPLRT_DIV =    0x19
+REG_CONFIG =        0x1A
+REG_ACCEL_CONFIG =  0x1C
+REG_ACCEL_CONFIG2 = 0x1D
+REG_USER_CTRL =     0x6A
+REG_PWR_MGMT_1 =    0x6B
+REG_PWR_MGMT_2 =    0x6C
+
+SAMPLE_RATE_DIVS = { 4000:0x00 }
+
+SET_CONFIG =        0x01 # FIFO mode 'stream' style
+SET_ACCEL_CONFIG =  0x10 # 8g full scale
+SET_ACCEL_CONFIG2 = 0x08 # 1046Hz BW, 0.503ms delay 4kHz sample rate
+SET_PWR_MGMT_1_WAKE =     0x00
+SET_PWR_MGMT_1_SLEEP=     0x40
+SET_PWR_MGMT_2_ACCEL_ON = 0x07
+SET_PWR_MGMT_2_OFF  =     0x3F
+
+FREEFALL_ACCEL = 9.80665 * 1000.
+# SCALE = 1/4096 g/LSB @8g scale * Earth gravity in mm/s**2
+SCALE = 0.000244140625 * FREEFALL_ACCEL
+
+FIFO_SIZE = 512
+
+Accel_Measurement = collections.namedtuple(
+    'Accel_Measurement', ('time', 'accel_x', 'accel_y', 'accel_z'))
+
+# Helper method for getting the two's complement value of an unsigned int
+def twos_complement(val, nbits):
+    if (val & (1 << (nbits - 1))) != 0:
+        val = val - (1 << nbits)
+    return val
+
+# Helper class to obtain measurements
+class MPU9250QueryHelper:
+    def __init__(self, printer, cconn):
+        self.printer = printer
+        self.cconn = cconn
+        print_time = printer.lookup_object('toolhead').get_last_move_time()
+        self.request_start_time = self.request_end_time = print_time
+        self.samples = self.raw_samples = []
+    def finish_measurements(self):
+        toolhead = self.printer.lookup_object('toolhead')
+        self.request_end_time = toolhead.get_last_move_time()
+        toolhead.wait_moves()
+        self.cconn.finalize()
+    def _get_raw_samples(self):
+        raw_samples = self.cconn.get_messages()
+        if raw_samples:
+            self.raw_samples = raw_samples
+        return self.raw_samples
+    def has_valid_samples(self):
+        raw_samples = self._get_raw_samples()
+        for msg in raw_samples:
+            data = msg['params']['data']
+            first_sample_time = data[0][0]
+            last_sample_time = data[-1][0]
+            if (first_sample_time > self.request_end_time
+                    or last_sample_time < self.request_start_time):
+                continue
+            # The time intervals [first_sample_time, last_sample_time]
+            # and [request_start_time, request_end_time] have non-zero
+            # intersection. It is still theoretically possible that none
+            # of the samples from raw_samples fall into the time interval
+            # [request_start_time, request_end_time] if it is too narrow
+            # or on very heavy data losses. In practice, that interval
+            # is at least 1 second, so this possibility is negligible.
+            return True
+        return False
+    def get_samples(self):
+        raw_samples = self._get_raw_samples()
+        if not raw_samples:
+            return self.samples
+        total = sum([len(m['params']['data']) for m in raw_samples])
+        count = 0
+        self.samples = samples = [None] * total
+        for msg in raw_samples:
+            for samp_time, x, y, z in msg['params']['data']:
+                if samp_time < self.request_start_time:
+                    continue
+                if samp_time > self.request_end_time:
+                    break
+                samples[count] = Accel_Measurement(samp_time, x, y, z)
+                count += 1
+        del samples[count:]
+        return self.samples
+    def write_to_file(self, filename):
+        def write_impl():
+            try:
+                # Try to re-nice writing process
+                os.nice(20)
+            except:
+                pass
+            f = open(filename, "w")
+            f.write("#time,accel_x,accel_y,accel_z\n")
+            samples = self.samples or self.get_samples()
+            for t, accel_x, accel_y, accel_z in samples:
+                f.write("%.6f,%.6f,%.6f,%.6f\n" % (
+                    t, accel_x, accel_y, accel_z))
+            f.close()
+        write_proc = multiprocessing.Process(target=write_impl)
+        write_proc.daemon = True
+        write_proc.start()
+
+# Helper class for G-Code commands
+class MPU9250CommandHelper:
+    def __init__(self, config, chip):
+        self.printer = config.get_printer()
+        self.chip = chip
+        self.bg_client = None
+        self.name = config.get_name().split()[-1]
+        self.register_commands(self.name)
+        if self.name == "mpu9250":
+            self.register_commands(None)
+    def register_commands(self, name):
+        # Register commands
+        gcode = self.printer.lookup_object('gcode')
+        gcode.register_mux_command("ACCELEROMETER_MEASURE", "CHIP", name,
+                                   self.cmd_ACCELEROMETER_MEASURE,
+                                   desc=self.cmd_ACCELEROMETER_MEASURE_help)
+        gcode.register_mux_command("ACCELEROMETER_QUERY", "CHIP", name,
+                                   self.cmd_ACCELEROMETER_QUERY,
+                                   desc=self.cmd_ACCELEROMETER_QUERY_help)
+        gcode.register_mux_command("ACCELEROMETER_DEBUG_READ", "CHIP", name,
+                                   self.cmd_ACCELEROMETER_DEBUG_READ,
+                                   desc=self.cmd_ACCELEROMETER_DEBUG_READ_help)
+        gcode.register_mux_command("ACCELEROMETER_DEBUG_WRITE", "CHIP", name,
+                                   self.cmd_ACCELEROMETER_DEBUG_WRITE,
+                                   desc=self.cmd_ACCELEROMETER_DEBUG_WRITE_help)
+    cmd_ACCELEROMETER_MEASURE_help = "Start/stop accelerometer"
+    def cmd_ACCELEROMETER_MEASURE(self, gcmd):
+        if self.bg_client is None:
+            # Start measurements
+            self.bg_client = self.chip.start_internal_client()
+            gcmd.respond_info("mpu9250 measurements started")
+            return
+        # End measurements
+        name = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S"))
+        if not name.replace('-', '').replace('_', '').isalnum():
+            raise gcmd.error("Invalid mpu9250 NAME parameter")
+        bg_client = self.bg_client
+        self.bg_client = None
+        bg_client.finish_measurements()
+        # Write data to file
+        if self.name == "mpu9250":
+            filename = "/tmp/mpu9250-%s.csv" % (name,)
+        else:
+            filename = "/tmp/mpu9250-%s-%s.csv" % (self.name, name,)
+        bg_client.write_to_file(filename)
+        gcmd.respond_info("Writing raw accelerometer data to %s file"
+                          % (filename,))
+    cmd_ACCELEROMETER_QUERY_help = "Query accelerometer for the current values"
+    def cmd_ACCELEROMETER_QUERY(self, gcmd):
+        aclient = self.chip.start_internal_client()
+        self.printer.lookup_object('toolhead').dwell(1.)
+        aclient.finish_measurements()
+        values = aclient.get_samples()
+        if not values:
+            raise gcmd.error("No mpu9250 measurements found")
+        _, accel_x, accel_y, accel_z = values[-1]
+        gcmd.respond_info("mpu9250 values (x, y, z): %.6f, %.6f, %.6f"
+                          % (accel_x, accel_y, accel_z))
+    cmd_ACCELEROMETER_DEBUG_READ_help = "Query mpu9250 register (for debugging)"
+    def cmd_ACCELEROMETER_DEBUG_READ(self, gcmd):
+        reg = gcmd.get("REG", minval=0, maxval=126, parser=lambda x: int(x, 0))
+        val = self.chip.read_reg(reg)
+        gcmd.respond_info("MPU9250 REG[0x%x] = 0x%x" % (reg, val))
+    cmd_ACCELEROMETER_DEBUG_WRITE_help = "Set mpu9250 register (for debugging)"
+    def cmd_ACCELEROMETER_DEBUG_WRITE(self, gcmd):
+        reg = gcmd.get("REG", minval=0, maxval=126, parser=lambda x: int(x, 0))
+        val = gcmd.get("VAL", minval=0, maxval=255, parser=lambda x: int(x, 0))
+        self.chip.set_reg(reg, val)
+
+# Helper class for chip clock synchronization via linear regression
+class ClockSyncRegression:
+    def __init__(self, mcu, chip_clock_smooth, decay = 1. / 20.):
+        self.mcu = mcu
+        self.chip_clock_smooth = chip_clock_smooth
+        self.decay = decay
+        self.last_chip_clock = self.last_exp_mcu_clock = 0.
+        self.mcu_clock_avg = self.mcu_clock_variance = 0.
+        self.chip_clock_avg = self.chip_clock_covariance = 0.
+    def reset(self, mcu_clock, chip_clock):
+        self.mcu_clock_avg = self.last_mcu_clock = mcu_clock
+        self.chip_clock_avg = chip_clock
+        self.mcu_clock_variance = self.chip_clock_covariance = 0.
+        self.last_chip_clock = self.last_exp_mcu_clock = 0.
+    def update(self, mcu_clock, chip_clock):
+        # Update linear regression
+        decay = self.decay
+        diff_mcu_clock = mcu_clock - self.mcu_clock_avg
+        self.mcu_clock_avg += decay * diff_mcu_clock
+        self.mcu_clock_variance = (1. - decay) * (
+            self.mcu_clock_variance + diff_mcu_clock**2 * decay)
+        diff_chip_clock = chip_clock - self.chip_clock_avg
+        self.chip_clock_avg += decay * diff_chip_clock
+        self.chip_clock_covariance = (1. - decay) * (
+            self.chip_clock_covariance + diff_mcu_clock*diff_chip_clock*decay)
+    def set_last_chip_clock(self, chip_clock):
+        base_mcu, base_chip, inv_cfreq = self.get_clock_translation()
+        self.last_chip_clock = chip_clock
+        self.last_exp_mcu_clock = base_mcu + (chip_clock-base_chip) * inv_cfreq
+    def get_clock_translation(self):
+        inv_chip_freq = self.mcu_clock_variance / self.chip_clock_covariance
+        if not self.last_chip_clock:
+            return self.mcu_clock_avg, self.chip_clock_avg, inv_chip_freq
+        # Find mcu clock associated with future chip_clock
+        s_chip_clock = self.last_chip_clock + self.chip_clock_smooth
+        scdiff = s_chip_clock - self.chip_clock_avg
+        s_mcu_clock = self.mcu_clock_avg + scdiff * inv_chip_freq
+        # Calculate frequency to converge at future point
+        mdiff = s_mcu_clock - self.last_exp_mcu_clock
+        s_inv_chip_freq = mdiff / self.chip_clock_smooth
+        return self.last_exp_mcu_clock, self.last_chip_clock, s_inv_chip_freq
+    def get_time_translation(self):
+        base_mcu, base_chip, inv_cfreq = self.get_clock_translation()
+        clock_to_print_time = self.mcu.clock_to_print_time
+        base_time = clock_to_print_time(base_mcu)
+        inv_freq = clock_to_print_time(base_mcu + inv_cfreq) - base_time
+        return base_time, base_chip, inv_freq
+
+MIN_MSG_TIME = 0.100
+
+BYTES_PER_SAMPLE = 6
+SAMPLES_PER_BLOCK = 8
+
+# Printer class that controls MPU9250 chip
+class MPU9250:
+    def __init__(self, config):
+        self.printer = config.get_printer()
+        MPU9250CommandHelper(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 mpu9250 axes_map parameter")
+        self.axes_map = [am[a.strip()] for a in axes_map]
+        self.data_rate = config.getint('rate', 4000)
+        if self.data_rate not in SAMPLE_RATE_DIVS:
+            raise config.error("Invalid rate parameter: %d" % (self.data_rate,))
+        # Measurement storage (accessed from background thread)
+        self.lock = threading.Lock()
+        self.raw_samples = []
+        # Setup mcu sensor_mpu9250 bulk query code
+        self.i2c = bus.MCU_I2C_from_config(config,
+                                           default_addr=MPU9250_ADDR,
+                                           default_speed=400000)
+        self.mcu = mcu = self.i2c.get_mcu()
+        self.oid = oid = mcu.create_oid()
+        self.query_mpu9250_cmd = self.query_mpu9250_end_cmd = None
+        self.query_mpu9250_status_cmd = None
+        mcu.register_config_callback(self._build_config)
+        mcu.register_response(self._handle_mpu9250_data, "mpu9250_data", oid)
+        # Clock tracking
+        self.last_sequence = self.max_query_duration = 0
+        self.last_limit_count = self.last_error_count = 0
+        self.clock_sync = 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("mpu9250/dump_mpu9250", "sensor", self.name,
+                                 self._handle_dump_mpu9250)
+    def _build_config(self):
+        cmdqueue = self.i2c.get_command_queue()
+        self.mcu.add_config_cmd("config_mpu9250 oid=%d i2c_oid=%d"
+                           % (self.oid, self.i2c.get_oid()))
+        self.mcu.add_config_cmd("query_mpu9250 oid=%d clock=0 rest_ticks=0"
+                           % (self.oid,), on_restart=True)
+        self.query_mpu9250_cmd = self.mcu.lookup_command(
+            "query_mpu9250 oid=%c clock=%u rest_ticks=%u", cq=cmdqueue)
+        self.query_mpu9250_end_cmd = self.mcu.lookup_query_command(
+            "query_mpu9250 oid=%c clock=%u rest_ticks=%u",
+            "mpu9250_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
+            " buffered=%c fifo=%u limit_count=%hu", oid=self.oid, cq=cmdqueue)
+        self.query_mpu9250_status_cmd = self.mcu.lookup_query_command(
+            "query_mpu9250_status oid=%c",
+            "mpu9250_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
+            " buffered=%c fifo=%u limit_count=%hu", oid=self.oid, cq=cmdqueue)
+    def read_reg(self, reg):
+        params = self.i2c.i2c_read([reg], 1)
+        return bytearray(params['response'])[0]
+
+    def set_reg(self, reg, val, minclock=0):
+        self.i2c.i2c_write([reg, val & 0xFF], minclock=minclock)
+
+    # Measurement collection
+    def is_measuring(self):
+        return self.query_rate > 0
+    def _handle_mpu9250_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]
+                xhigh, xlow, yhigh, ylow, zhigh, zlow = d_xyz
+                rx = twos_complement(xhigh << 8 | xlow, 16)
+                ry = twos_complement(yhigh << 8 | ylow, 16)
+                rz = twos_complement(zhigh << 8 | zlow, 16)
+                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_mpu9250_status_cmd.send([self.oid],
+                                                        minclock=minclock)
+            fifo = params['fifo'] & 0x1fff
+            if fifo <= FIFO_SIZE:
+                break
+        else:
+            raise self.printer.command_error("Unable to query mpu9250 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 mpu9250 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 MPU9250 device ID prevents treating
+        # noise or wrong signal as a correctly initialized device
+        dev_id = self.read_reg(REG_DEVID)
+        if dev_id != MPU9250_DEV_ID and dev_id != MPU6050_DEV_ID:
+            raise self.printer.command_error(
+                "Invalid mpu9250/mpu6050 id (got %x).\n"
+                "This is generally indicative of connection problems\n"
+                "(e.g. faulty wiring) or a faulty chip."
+                % (dev_id))
+        # Setup chip in requested query rate
+        self.set_reg(REG_PWR_MGMT_1, SET_PWR_MGMT_1_WAKE)
+        self.set_reg(REG_PWR_MGMT_2, SET_PWR_MGMT_2_ACCEL_ON)
+        time.sleep(20. / 1000) # wait for accelerometer chip wake up
+        self.set_reg(REG_SMPLRT_DIV, SAMPLE_RATE_DIVS[self.data_rate])
+        self.set_reg(REG_CONFIG, SET_CONFIG)
+        self.set_reg(REG_ACCEL_CONFIG, SET_ACCEL_CONFIG)
+        self.set_reg(REG_ACCEL_CONFIG2, SET_ACCEL_CONFIG2)
+
+        # 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(1. / self.data_rate)
+        self.query_rate = self.data_rate
+        self.query_mpu9250_cmd.send([self.oid, reqclock, rest_ticks],
+                                    reqclock=reqclock)
+        logging.info("MPU9250 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_mpu9250_end_cmd.send([self.oid, 0, 0])
+        self.query_rate = 0
+        with self.lock:
+            self.raw_samples = []
+        logging.info("MPU9250 finished '%s' measurements", self.name)
+        self.set_reg(REG_PWR_MGMT_1, SET_PWR_MGMT_1_SLEEP)
+        self.set_reg(REG_PWR_MGMT_2, SET_PWR_MGMT_2_OFF)
+
+    # 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_mpu9250(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 MPU9250QueryHelper(self.printer, cconn)
+
+def load_config(config):
+    return MPU9250(config)
+
+def load_config_prefix(config):
+    return MPU9250(config)