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-rw-r--r--docs/G-Codes.md7
-rw-r--r--klippy/extras/adxl345.py95
2 files changed, 82 insertions, 20 deletions
diff --git a/docs/G-Codes.md b/docs/G-Codes.md
index 70af24ef..b8b96636 100644
--- a/docs/G-Codes.md
+++ b/docs/G-Codes.md
@@ -717,6 +717,13 @@ The following commands are available when an
is used. This command is useful to test the connection to the
ADXL345 accelerometer: one of the returned values should be a
free-fall acceleration (+/- some noise of the chip).
+- `ADXL345_DEBUG_READ [CHIP=<config_name>] REG=<register>`: queries
+ ADXL345 register <register> (e.g. 44 or 0x2C). Can be useful for
+ debugging purposes.
+- `ADXL345_DEBUG_WRITE [CHIP=<config_name>] REG=<reg> VAL=<value>`:
+ writes raw <value> into a register <register>. Both <value> and
+ <register> can be a decimal or a hexadecimal integer. Use with care,
+ and refer to ADXL345 data sheet for the reference.
## Resonance Testing Commands
diff --git a/klippy/extras/adxl345.py b/klippy/extras/adxl345.py
index 7bf1ab59..5753a088 100644
--- a/klippy/extras/adxl345.py
+++ b/klippy/extras/adxl345.py
@@ -20,7 +20,10 @@ QUERY_RATES = {
800: 0xd, 1600: 0xe, 3200: 0xf,
}
-SCALE = 0.004 * 9.80665 * 1000. # 4mg/LSB * Earth gravity in mm/s**2
+ADXL345_DEV_ID = 0xe5
+
+FREEFALL_ACCEL = 9.80665 * 1000.
+SCALE = 0.0039 * FREEFALL_ACCEL # 3.9mg/LSB * Earth gravity in mm/s**2
Accel_Measurement = collections.namedtuple(
'Accel_Measurement', ('time', 'accel_x', 'accel_y', 'accel_z'))
@@ -93,7 +96,7 @@ class ADXL345Results:
write_proc.daemon = True
write_proc.start()
-# Printer class that controls measurments
+# Printer class that controls ADXL345 chip
class ADXL345:
def __init__(self, config):
self.printer = config.get_printer()
@@ -135,11 +138,36 @@ class ADXL345:
gcode.register_mux_command("ACCELEROMETER_QUERY", "CHIP", self.name,
self.cmd_ACCELEROMETER_QUERY,
desc=self.cmd_ACCELEROMETER_QUERY_help)
+ gcode.register_mux_command("ADXL345_DEBUG_READ", "CHIP", self.name,
+ self.cmd_ADXL345_DEBUG_READ,
+ desc=self.cmd_ADXL345_DEBUG_READ_help)
+ gcode.register_mux_command("ADXL345_DEBUG_WRITE", "CHIP", self.name,
+ self.cmd_ADXL345_DEBUG_WRITE,
+ desc=self.cmd_ADXL345_DEBUG_WRITE_help)
if self.name == "default":
gcode.register_mux_command("ACCELEROMETER_MEASURE", "CHIP", None,
self.cmd_ACCELEROMETER_MEASURE)
gcode.register_mux_command("ACCELEROMETER_QUERY", "CHIP", None,
self.cmd_ACCELEROMETER_QUERY)
+ gcode.register_mux_command("ADXL345_DEBUG_READ", "CHIP", None,
+ self.cmd_ADXL345_DEBUG_READ,
+ desc=self.cmd_ADXL345_DEBUG_READ_help)
+ gcode.register_mux_command("ADXL345_DEBUG_WRITE", "CHIP", None,
+ self.cmd_ADXL345_DEBUG_WRITE,
+ desc=self.cmd_ADXL345_DEBUG_WRITE_help)
+ def is_initialized(self):
+ # In case of miswiring, testing ADXL345 device ID prevents treating
+ # noise or wrong signal as a correctly initialized device
+ return (self.read_reg(REG_DEVID) == ADXL345_DEV_ID and
+ (self.read_reg(REG_DATA_FORMAT) & 0xB) != 0)
+ def initialize(self):
+ # Setup ADXL345 parameters and verify chip connectivity
+ self.set_reg(REG_POWER_CTL, 0x00)
+ dev_id = self.read_reg(REG_DEVID)
+ if dev_id != ADXL345_DEV_ID:
+ raise self.printer.command_error("Invalid adxl345 id (got %x vs %x)"
+ % (dev_id, ADXL345_DEV_ID))
+ self.set_reg(REG_DATA_FORMAT, 0x0B)
def _build_config(self):
self.query_adxl345_cmd = self.mcu.lookup_command(
"query_adxl345 oid=%c clock=%u rest_ticks=%u",
@@ -170,23 +198,35 @@ class ADXL345:
if sequence < self.last_sequence:
sequence += 0x10000
return sequence
+ 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 ADXL345 register [0x%x] to 0x%x: got 0x%x. "
+ "This is generally indicative of connection problems "
+ "(e.g. faulty wiring) or a faulty adxl345 chip." % (
+ reg, val, stored_val))
+ def is_measuring(self):
+ return self.query_rate > 0
def start_measurements(self, rate=None):
+ if self.is_measuring():
+ return
rate = rate or self.data_rate
- # Verify chip connectivity
- params = self.spi.spi_transfer([REG_DEVID | REG_MOD_READ, 0x00])
- response = bytearray(params['response'])
- if response[1] != 0xe5:
- raise self.printer.command_error("Invalid adxl345 id (got %x vs %x)"
- % (response[1], 0xe5))
+ if not self.is_initialized():
+ self.initialize()
# Setup chip in requested query rate
clock = 0
if self.last_tx_time:
clock = self.mcu.print_time_to_clock(self.last_tx_time)
- self.spi.spi_send([REG_POWER_CTL, 0x00], minclock=clock)
- self.spi.spi_send([REG_FIFO_CTL, 0x00])
- self.spi.spi_send([REG_DATA_FORMAT, 0x0B])
- self.spi.spi_send([REG_BW_RATE, QUERY_RATES[rate]])
- self.spi.spi_send([REG_FIFO_CTL, 0x80])
+ self.set_reg(REG_POWER_CTL, 0x00, minclock=clock)
+ self.set_reg(REG_FIFO_CTL, 0x00)
+ self.set_reg(REG_BW_RATE, QUERY_RATES[rate])
+ self.set_reg(REG_FIFO_CTL, 0x80)
# Setup samples
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
self.raw_samples = []
@@ -200,8 +240,7 @@ class ADXL345:
self.query_adxl345_cmd.send([self.oid, reqclock, rest_ticks],
reqclock=reqclock)
def finish_measurements(self):
- query_rate = self.query_rate
- if not query_rate:
+ if not self.is_measuring():
return ADXL345Results()
# Halt bulk reading
print_time = self.printer.lookup_object('toolhead').get_last_move_time()
@@ -224,8 +263,8 @@ class ADXL345:
logging.info("ADXL345 finished %d measurements: %s",
res.total_count, res.get_stats())
return res
- def end_query(self, name):
- if not self.query_rate:
+ def end_query(self, name, gcmd):
+ if not self.is_measuring():
return
res = self.finish_measurements()
# Write data to file
@@ -234,13 +273,15 @@ class ADXL345:
else:
filename = "/tmp/adxl345-%s-%s.csv" % (self.name, name,)
res.write_to_file(filename)
+ gcmd.respond_info(
+ "Writing raw accelerometer data to %s file" % (filename,))
cmd_ACCELEROMETER_MEASURE_help = "Start/stop accelerometer"
def cmd_ACCELEROMETER_MEASURE(self, gcmd):
- if self.query_rate:
+ if self.is_measuring():
name = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S"))
if not name.replace('-', '').replace('_', '').isalnum():
raise gcmd.error("Invalid adxl345 NAME parameter")
- self.end_query(name)
+ self.end_query(name, gcmd)
gcmd.respond_info("adxl345 measurements stopped")
else:
rate = gcmd.get_int("RATE", self.data_rate)
@@ -250,7 +291,7 @@ class ADXL345:
gcmd.respond_info("adxl345 measurements started")
cmd_ACCELEROMETER_QUERY_help = "Query accelerometer for the current values"
def cmd_ACCELEROMETER_QUERY(self, gcmd):
- if self.query_rate:
+ if self.is_measuring():
raise gcmd.error("adxl345 measurements in progress")
self.start_measurements()
reactor = self.printer.get_reactor()
@@ -266,6 +307,20 @@ class ADXL345:
_, accel_x, accel_y, accel_z = values[-1]
gcmd.respond_info("adxl345 values (x, y, z): %.6f, %.6f, %.6f" % (
accel_x, accel_y, accel_z))
+ cmd_ADXL345_DEBUG_READ_help = "Query accelerometer register (for debugging)"
+ def cmd_ADXL345_DEBUG_READ(self, gcmd):
+ if self.is_measuring():
+ raise gcmd.error("adxl345 measurements in progress")
+ reg = gcmd.get("REG", minval=29, maxval=57, parser=lambda x: int(x, 0))
+ val = self.read_reg(reg)
+ gcmd.respond_info("ADXL345 REG[0x%x] = 0x%x" % (reg, val))
+ cmd_ADXL345_DEBUG_WRITE_help = "Set accelerometer register (for debugging)"
+ def cmd_ADXL345_DEBUG_WRITE(self, gcmd):
+ if self.is_measuring():
+ raise gcmd.error("adxl345 measurements in progress")
+ reg = gcmd.get("REG", minval=29, maxval=57, parser=lambda x: int(x, 0))
+ val = gcmd.get("VAL", minval=0, maxval=255, parser=lambda x: int(x, 0))
+ self.set_reg(reg, val)
def load_config(config):
return ADXL345(config)
generated by cgit v1.2.3-70-g09d2 (git 2.50.1) at 2025-09-02 17:31:51 +0000