path: root/klippy/extras/adxl345.py

# Support for reading acceleration data from an adxl345 chip
#
# Copyright (C) 2020-2023  Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, time, collections, multiprocessing, os
from . import bus, bulk_sensor

# ADXL345 registers
REG_DEVID = 0x00
REG_BW_RATE = 0x2C
REG_POWER_CTL = 0x2D
REG_DATA_FORMAT = 0x31
REG_FIFO_CTL = 0x38
REG_MOD_READ = 0x80
REG_MOD_MULTI = 0x40

QUERY_RATES = {
    25: 0x8,
    50: 0x9,
    100: 0xA,
    200: 0xB,
    400: 0xC,
    800: 0xD,
    1600: 0xE,
    3200: 0xF,
}

ADXL345_DEV_ID = 0xE5
SET_FIFO_CTL = 0x90

FREEFALL_ACCEL = 9.80665 * 1000.0
SCALE_XY = 0.003774 * FREEFALL_ACCEL  # 1 / 265 (at 3.3V) mg/LSB
SCALE_Z = 0.003906 * FREEFALL_ACCEL  # 1 / 256 (at 3.3V) mg/LSB

Accel_Measurement = collections.namedtuple(
    "Accel_Measurement", ("time", "accel_x", "accel_y", "accel_z")
)


# Helper class to obtain measurements
class AccelQueryHelper:
    def __init__(self, printer):
        self.printer = printer
        self.is_finished = False
        print_time = printer.lookup_object("toolhead").get_last_move_time()
        self.request_start_time = self.request_end_time = print_time
        self.msgs = []
        self.samples = []

    def finish_measurements(self):
        toolhead = self.printer.lookup_object("toolhead")
        self.request_end_time = toolhead.get_last_move_time()
        toolhead.wait_moves()
        self.is_finished = True

    def handle_batch(self, msg):
        if self.is_finished:
            return False
        if len(self.msgs) >= 10000:
            # Avoid filling up memory with too many samples
            return False
        self.msgs.append(msg)
        return True

    def has_valid_samples(self):
        for msg in self.msgs:
            data = msg["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 msgs 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):
        if not self.msgs:
            return self.samples
        total = sum([len(m["data"]) for m in self.msgs])
        count = 0
        self.samples = samples = [None] * total
        for msg in self.msgs:
            for samp_time, x, y, z in msg["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 AccelCommandHelper:
    def __init__(self, config, chip):
        self.printer = config.get_printer()
        self.chip = chip
        self.bg_client = None
        name_parts = config.get_name().split()
        self.base_name = name_parts[0]
        self.name = name_parts[-1]
        self.register_commands(self.name)
        if len(name_parts) == 1:
            if self.name == "adxl345" or not config.has_section("adxl345"):
                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("accelerometer 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 NAME parameter")
        bg_client = self.bg_client
        self.bg_client = None
        bg_client.finish_measurements()
        # Write data to file
        if self.base_name == self.name:
            filename = "/tmp/%s-%s.csv" % (self.base_name, name)
        else:
            filename = "/tmp/%s-%s-%s.csv" % (self.base_name, 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(1.0)
        aclient.finish_measurements()
        values = aclient.get_samples()
        if not values:
            raise gcmd.error("No accelerometer measurements found")
        _, accel_x, accel_y, accel_z = values[-1]
        gcmd.respond_info(
            "accelerometer values (x, y, z): %.6f, %.6f, %.6f"
            % (accel_x, accel_y, accel_z)
        )

    cmd_ACCELEROMETER_DEBUG_READ_help = "Query register (for debugging)"

    def cmd_ACCELEROMETER_DEBUG_READ(self, gcmd):
        reg = gcmd.get("REG", minval=0, maxval=127, parser=lambda x: int(x, 0))
        val = self.chip.read_reg(reg)
        gcmd.respond_info("Accelerometer REG[0x%x] = 0x%x" % (reg, val))

    cmd_ACCELEROMETER_DEBUG_WRITE_help = "Set register (for debugging)"

    def cmd_ACCELEROMETER_DEBUG_WRITE(self, gcmd):
        reg = gcmd.get("REG", minval=0, maxval=127, 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 to read the axes_map parameter from the config
def read_axes_map(config, scale_x, scale_y, scale_z):
    am = {
        "x": (0, scale_x),
        "y": (1, scale_y),
        "z": (2, scale_z),
        "-x": (0, -scale_x),
        "-y": (1, -scale_y),
        "-z": (2, -scale_z),
    }
    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 axes_map parameter")
    return [am[a.strip()] for a in axes_map]


BATCH_UPDATES = 0.100


# Printer class that controls ADXL345 chip
class ADXL345:
    def __init__(self, config):
        self.printer = config.get_printer()
        AccelCommandHelper(config, self)
        self.axes_map = read_axes_map(config, SCALE_XY, SCALE_XY, SCALE_Z)
        self.data_rate = config.getint("rate", 3200)
        if self.data_rate not in QUERY_RATES:
            raise config.error("Invalid rate parameter: %d" % (self.data_rate,))
        # Setup mcu sensor_adxl345 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_adxl345_cmd = None
        mcu.add_config_cmd(
            "config_adxl345 oid=%d spi_oid=%d" % (oid, self.spi.get_oid())
        )
        mcu.add_config_cmd(
            "query_adxl345 oid=%d rest_ticks=0" % (oid,), on_restart=True
        )
        mcu.register_config_callback(self._build_config)
        # Bulk sample message reading
        chip_smooth = self.data_rate * BATCH_UPDATES * 2
        self.ffreader = bulk_sensor.FixedFreqReader(mcu, chip_smooth, "BBBBB")
        self.last_error_count = 0
        # Process messages in batches
        self.batch_bulk = bulk_sensor.BatchBulkHelper(
            self.printer,
            self._process_batch,
            self._start_measurements,
            self._finish_measurements,
            BATCH_UPDATES,
        )
        self.name = config.get_name().split()[-1]
        hdr = ("time", "x_acceleration", "y_acceleration", "z_acceleration")
        self.batch_bulk.add_mux_endpoint(
            "adxl345/dump_adxl345", "sensor", self.name, {"header": hdr}
        )

    def _build_config(self):
        cmdqueue = self.spi.get_command_queue()
        self.query_adxl345_cmd = self.mcu.lookup_command(
            "query_adxl345 oid=%c rest_ticks=%u", cq=cmdqueue
        )
        self.ffreader.setup_query_command(
            "query_adxl345_status oid=%c", 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 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 start_internal_client(self):
        aqh = AccelQueryHelper(self.printer)
        self.batch_bulk.add_client(aqh.handle_batch)
        return aqh

    # Measurement decoding
    def _convert_samples(self, samples):
        (x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
        count = 0
        for ptime, xlow, ylow, zlow, xzhigh, yzhigh in samples:
            if yzhigh & 0x80:
                self.last_error_count += 1
                continue
            rx = (xlow | ((xzhigh & 0x1F) << 8)) - ((xzhigh & 0x10) << 9)
            ry = (ylow | ((yzhigh & 0x1F) << 8)) - ((yzhigh & 0x10) << 9)
            rz = (zlow | ((xzhigh & 0xE0) << 3) | ((yzhigh & 0xE0) << 6)) - (
                (yzhigh & 0x40) << 7
            )
            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)
            samples[count] = (round(ptime, 6), x, y, z)
            count += 1
        del samples[count:]

    # Start, stop, and process message batches
    def _start_measurements(self):
        # In case of miswiring, testing ADXL345 device ID prevents treating
        # noise or wrong signal as a correctly initialized device
        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).\n"
                "This is generally indicative of connection problems\n"
                "(e.g. faulty wiring) or a faulty adxl345 chip."
                % (dev_id, ADXL345_DEV_ID)
            )
        # Setup chip in requested query rate
        self.set_reg(REG_POWER_CTL, 0x00)
        self.set_reg(REG_DATA_FORMAT, 0x0B)
        self.set_reg(REG_FIFO_CTL, 0x00)
        self.set_reg(REG_BW_RATE, QUERY_RATES[self.data_rate])
        self.set_reg(REG_FIFO_CTL, SET_FIFO_CTL)
        # Start bulk reading
        rest_ticks = self.mcu.seconds_to_clock(4.0 / self.data_rate)
        self.query_adxl345_cmd.send([self.oid, rest_ticks])
        self.set_reg(REG_POWER_CTL, 0x08)
        logging.info("ADXL345 starting '%s' measurements", self.name)
        # Initialize clock tracking
        self.ffreader.note_start()
        self.last_error_count = 0

    def _finish_measurements(self):
        # Halt bulk reading
        self.set_reg(REG_POWER_CTL, 0x00)
        self.query_adxl345_cmd.send_wait_ack([self.oid, 0])
        self.ffreader.note_end()
        logging.info("ADXL345 finished '%s' measurements", self.name)

    def _process_batch(self, eventtime):
        samples = self.ffreader.pull_samples()
        self._convert_samples(samples)
        if not samples:
            return {}
        return {
            "data": samples,
            "errors": self.last_error_count,
            "overflows": self.ffreader.get_last_overflows(),
        }


def load_config(config):
    return ADXL345(config)


def load_config_prefix(config):
    return ADXL345(config)