diff options
Diffstat (limited to 'klippy')
| -rw-r--r-- | klippy/extras/adxl345.py | 58 | ||||
| -rw-r--r-- | klippy/extras/resonance_tester.py | 43 |
2 files changed, 57 insertions, 44 deletions
diff --git a/klippy/extras/adxl345.py b/klippy/extras/adxl345.py index 8019e350..8868943d 100644 --- a/klippy/extras/adxl345.py +++ b/klippy/extras/adxl345.py @@ -28,23 +28,28 @@ 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')) -# Sample results -class ADXL345Results: - def __init__(self): +# Helper class to obtain measurements +class ADXL345QueryHelper: + def __init__(self, printer, chip, axes_map): + self.printer = printer + self.chip = chip + self.axes_map = axes_map self.raw_samples = None self.samples = [] self.drops = self.overflows = 0 self.time_per_sample = self.start_range = self.end_range = 0. + def finish_measurements(self): + self.chip._finish_measurements() + self._setup_data(*self.chip.final_results) # XXX def get_stats(self): return ("drops=%d,overflows=%d" ",time_per_sample=%.9f,start_range=%.6f,end_range=%.6f" % (self.drops, self.overflows, self.time_per_sample, self.start_range, self.end_range)) - def setup_data(self, axes_map, raw_samples, end_sequence, overflows, - start1_time, start2_time, end1_time, end2_time): + def _setup_data(self, raw_samples, end_sequence, overflows, + start1_time, start2_time, end1_time, end2_time): if not raw_samples or not end_sequence: return - self.axes_map = axes_map self.raw_samples = raw_samples self.overflows = overflows self.start2_time = start2_time @@ -101,6 +106,7 @@ class ADXLCommandHelper: def __init__(self, config, chip): self.printer = config.get_printer() self.chip = chip + self.bg_client = None self.name = "default" if len(config.get_name().split()) > 1: self.name = config.get_name().split()[1] @@ -126,30 +132,34 @@ class ADXLCommandHelper: def cmd_ACCELEROMETER_MEASURE(self, gcmd): if not self.chip.is_measuring(): # Start measurements - self.chip.start_measurements() + self.bg_client = self.chip.start_internal_client() gcmd.respond_info("adxl345 measurements started") return + if self.bg_client is None: + raise gcmd.error("adxl345 measurements in progress") # End measurements 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") - res = self.chip.finish_measurements() + bg_client = self.bg_client + self.bg_client = None + bg_client.finish_measurements() # Write data to file if self.name == "default": filename = "/tmp/adxl345-%s.csv" % (name,) else: filename = "/tmp/adxl345-%s-%s.csv" % (self.name, name,) - res.write_to_file(filename) + 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): if self.chip.is_measuring(): raise gcmd.error("adxl345 measurements in progress") - self.chip.start_measurements() + aclient = self.chip.start_internal_client() self.printer.lookup_object('toolhead').dwell(1.) - result = self.chip.finish_measurements() - values = result.decode_samples() + aclient.finish_measurements() + values = aclient.decode_samples() if not values: raise gcmd.error("No adxl345 measurements found") _, accel_x, accel_y, accel_z = values[-1] @@ -247,7 +257,7 @@ class ADXL345: reg, val, stored_val)) def is_measuring(self): return self.query_rate > 0 - def start_measurements(self): + def _start_measurements(self): if self.is_measuring(): return # In case of miswiring, testing ADXL345 device ID prevents treating @@ -277,9 +287,10 @@ class ADXL345: self.query_rate = self.data_rate self.query_adxl345_cmd.send([self.oid, reqclock, rest_ticks], reqclock=reqclock) - def finish_measurements(self): + logging.info("ADXL345 starting measurements") + def _finish_measurements(self): if not self.is_measuring(): - return ADXL345Results() + return # Halt bulk reading print_time = self.printer.lookup_object('toolhead').get_last_move_time() clock = self.mcu.print_time_to_clock(print_time) @@ -294,13 +305,16 @@ class ADXL345: end2_time = self._clock_to_print_time(params['end2_clock']) end_sequence = self._convert_sequence(params['sequence']) overflows = params['limit_count'] - res = ADXL345Results() - res.setup_data(self.axes_map, raw_samples, end_sequence, overflows, - self.samples_start1, self.samples_start2, - end1_time, end2_time) - logging.info("ADXL345 finished %d measurements: %s", - res.total_count, res.get_stats()) - return res + logging.info("ADXL345 finished measurements") + self.final_results = (raw_samples, end_sequence, overflows, + self.samples_start1, self.samples_start2, + end1_time, end2_time) # XXX + def start_internal_client(self): + if self.is_measuring(): + raise self.printer.command_error( + "ADXL345 measurement already in progress") + self._start_measurements() + return ADXL345QueryHelper(self.printer, self, self.axes_map) def load_config(config): return ADXL345(config) diff --git a/klippy/extras/resonance_tester.py b/klippy/extras/resonance_tester.py index 7d7c76b6..eaa49db3 100644 --- a/klippy/extras/resonance_tester.py +++ b/klippy/extras/resonance_tester.py @@ -164,26 +164,25 @@ class ResonanceTester: if len(axes) > 1: gcmd.respond_info("Testing axis %s" % axis.get_name()) + raw_values = [] for chip_axis, chip in self.accel_chips: if axis.matches(chip_axis): - chip.start_measurements() + aclient = chip.start_internal_client() + raw_values.append((chip_axis, aclient)) # Generate moves self.test.run_test(axis, gcmd) - raw_values = [] - for chip_axis, chip in self.accel_chips: - if axis.matches(chip_axis): - results = chip.finish_measurements() - if raw_name_suffix is not None: - raw_name = self.get_filename( - 'raw_data', raw_name_suffix, axis, - point if len(test_points) > 1 else None) - results.write_to_file(raw_name) - gcmd.respond_info( - "Writing raw accelerometer data to " - "%s file" % (raw_name,)) - raw_values.append((chip_axis, results)) - gcmd.respond_info("%s-axis accelerometer stats: %s" % ( - chip_axis, results.get_stats(),)) + for chip_axis, aclient in raw_values: + aclient.finish_measurements() + if raw_name_suffix is not None: + raw_name = self.get_filename( + 'raw_data', raw_name_suffix, axis, + point if len(test_points) > 1 else None) + aclient.write_to_file(raw_name) + gcmd.respond_info( + "Writing raw accelerometer data to " + "%s file" % (raw_name,)) + gcmd.respond_info("%s-axis accelerometer stats: %s" % ( + chip_axis, aclient.get_stats(),)) if helper is None: continue for chip_axis, chip_values in raw_values: @@ -281,14 +280,14 @@ class ResonanceTester: "Measures noise of all enabled accelerometer chips") def cmd_MEASURE_AXES_NOISE(self, gcmd): meas_time = gcmd.get_float("MEAS_TIME", 2.) - for _, chip in self.accel_chips: - chip.start_measurements() - self.printer.lookup_object('toolhead').dwell(meas_time) - raw_values = [(chip_axis, chip.finish_measurements()) + raw_values = [(chip_axis, chip.start_internal_client()) for chip_axis, chip in self.accel_chips] + self.printer.lookup_object('toolhead').dwell(meas_time) + for chip_axis, aclient in raw_values: + aclient.finish_measurements() helper = shaper_calibrate.ShaperCalibrate(self.printer) - for chip_axis, raw_data in raw_values: - data = helper.process_accelerometer_data(raw_data) + for chip_axis, aclient in raw_values: + data = helper.process_accelerometer_data(aclient) vx = data.psd_x.mean() vy = data.psd_y.mean() vz = data.psd_z.mean() |