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Diffstat (limited to 'klippy/extras/lis2dw.py')
| -rw-r--r-- | klippy/extras/lis2dw.py | 265 |
1 files changed, 265 insertions, 0 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) |