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extras: add ADXL355 accelerometer module
Signed-off-by: Sven Thiele <thiele61@gmx.de>
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Sven Thiele
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1 changed files with 189 additions and 0 deletions
189
klippy/extras/adxl355.py
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189
klippy/extras/adxl355.py
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# Support for reading acceleration data from an ADXL355 chip
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#
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# Copyright (C) 2026 Sven
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# Copyright (C) 2020-2023 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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from . import adxl345, bus, bulk_sensor
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# ADXL355 registers
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REG_DEVID_AD = 0x00
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REG_DEVID_MST = 0x01
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REG_PARTID = 0x02
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REG_FILTER = 0x28
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REG_RANGE = 0x2C
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REG_POWER_CTL = 0x2D
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REG_MOD_READ = 0x01
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QUERY_RATES = [
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(4000., 0x00), (2000., 0x01), (1000., 0x02), (500., 0x03),
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(250., 0x04), (125., 0x05), (62.5, 0x06), (31.25, 0x07),
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(15.625, 0x08), (7.813, 0x09), (3.906, 0x0a),
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]
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ADXL355_DEV_ID = (0xAD, 0x1D, 0xED)
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POWER_CTL_STANDBY = 0x01
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POWER_CTL_TEMP_OFF = 0x02
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POWER_CTL_DRDY_OFF = 0x04
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RANGE_2G = 0x01
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FREEFALL_ACCEL = 9.80665 * 1000.
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SCALE = FREEFALL_ACCEL / 256000.
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BATCH_UPDATES = 0.100
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def _lookup_query_rate(config):
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req_rate = config.getfloat('rate', 4000.)
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for data_rate, bits in QUERY_RATES:
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if abs(req_rate - data_rate) <= .001:
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return data_rate, bits
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valid = ", ".join(["%g" % (r,) for r, _bits in QUERY_RATES])
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raise config.error("Invalid rate parameter: %s (valid: %s)"
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% (req_rate, valid))
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# Printer class that controls ADXL355 chip
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class ADXL355:
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def __init__(self, config):
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self.printer = config.get_printer()
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adxl345.AccelCommandHelper(config, self)
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self.axes_map = adxl345.read_axes_map(config, SCALE, SCALE, SCALE)
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self.data_rate, self.filter_rate_bits = _lookup_query_rate(config)
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# Setup mcu sensor_adxl355 bulk query code
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self.spi = bus.MCU_SPI_from_config(config, 3, default_speed=5000000)
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self.mcu = mcu = self.spi.get_mcu()
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self.oid = oid = mcu.create_oid()
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self.query_adxl355_cmd = None
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mcu.add_config_cmd("config_adxl355 oid=%d spi_oid=%d"
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% (oid, self.spi.get_oid()))
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mcu.add_config_cmd("query_adxl355 oid=%d rest_ticks=0"
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% (oid,), on_restart=True)
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mcu.register_config_callback(self._build_config)
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# Bulk sample message reading
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chip_smooth = self.data_rate * BATCH_UPDATES * 2
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self.ffreader = bulk_sensor.FixedFreqReader(mcu, chip_smooth,
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"BBBBBBBBB")
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self.last_error_count = 0
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# Process messages in batches
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self.batch_bulk = bulk_sensor.BatchBulkHelper(
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self.printer, self._process_batch,
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self._start_measurements, self._finish_measurements, BATCH_UPDATES)
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self.name = config.get_name().split()[-1]
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hdr = ('time', 'x_acceleration', 'y_acceleration', 'z_acceleration')
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self.batch_bulk.add_mux_endpoint("adxl355/dump_adxl355", "sensor",
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self.name, {'header': hdr})
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def _build_config(self):
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cmdqueue = self.spi.get_command_queue()
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self.query_adxl355_cmd = self.mcu.lookup_command(
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"query_adxl355 oid=%c rest_ticks=%u", cq=cmdqueue)
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self.ffreader.setup_query_command("query_adxl355_status oid=%c",
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oid=self.oid, cq=cmdqueue)
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def read_reg(self, reg):
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params = self.spi.spi_transfer([((reg & 0x7f) << 1) | REG_MOD_READ,
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0x00])
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response = bytearray(params['response'])
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return response[1]
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def set_reg(self, reg, val, minclock=0):
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reg_addr = ((reg & 0x7f) << 1) & ~REG_MOD_READ
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self.spi.spi_send([reg_addr, val & 0xFF], minclock=minclock)
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stored_val = self.read_reg(reg)
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if stored_val != val:
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raise self.printer.command_error(
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"Failed to set ADXL355 register [0x%x] to 0x%x: got 0x%x. "
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"This is generally indicative of connection problems "
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"(e.g. faulty wiring) or a faulty adxl355 chip." % (
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reg, val, stored_val))
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def start_internal_client(self):
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aqh = adxl345.AccelQueryHelper(self.printer)
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self.batch_bulk.add_client(aqh.handle_batch)
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return aqh
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@staticmethod
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def _decode_axis(msb, csb, lsb):
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raw = ((msb << 16) | (csb << 8) | lsb) >> 4
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if raw & 0x80000:
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raw -= (1 << 20)
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return raw
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# Measurement decoding
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def _convert_samples(self, samples):
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(x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
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count = 0
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for ptime, x3, x2, x1, y3, y2, y1, z3, z2, z1 in samples:
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if (x1 & 0x0f) or (y1 & 0x0f) or (z1 & 0x0f):
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# Invalid framing in the 20-bit sample payload.
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self.last_error_count += 1
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continue
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rx = self._decode_axis(x3, x2, x1)
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ry = self._decode_axis(y3, y2, y1)
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rz = self._decode_axis(z3, z2, z1)
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raw_xyz = (rx, ry, rz)
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x = round(raw_xyz[x_pos] * x_scale, 6)
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y = round(raw_xyz[y_pos] * y_scale, 6)
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z = round(raw_xyz[z_pos] * z_scale, 6)
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samples[count] = (round(ptime, 6), x, y, z)
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count += 1
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del samples[count:]
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def _check_device_id(self):
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dev_id = self.read_reg(REG_DEVID_AD)
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mst_id = self.read_reg(REG_DEVID_MST)
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part_id = self.read_reg(REG_PARTID)
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if (dev_id, mst_id, part_id) != ADXL355_DEV_ID:
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raise self.printer.command_error(
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"Invalid adxl355 id (got ad=%x mst=%x part=%x "
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"vs expected ad=%x mst=%x part=%x).\n"
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"This is generally indicative of connection problems\n"
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"(e.g. faulty wiring) or a faulty adxl355 chip."
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% ((dev_id, mst_id, part_id) + ADXL355_DEV_ID))
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# Start, stop, and process message batches
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def _start_measurements(self):
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# In case of miswiring, test ADXL355 device IDs before measuring.
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self._check_device_id()
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# Setup chip in standby and configure output data rate and range.
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self.set_reg(REG_POWER_CTL,
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POWER_CTL_STANDBY | POWER_CTL_TEMP_OFF | POWER_CTL_DRDY_OFF)
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self.set_reg(REG_RANGE, RANGE_2G)
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self.set_reg(REG_FILTER, self.filter_rate_bits)
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# Start bulk reading
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rest_ticks = self.mcu.seconds_to_clock(1. / self.data_rate)
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self.query_adxl355_cmd.send([self.oid, rest_ticks])
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self.set_reg(REG_POWER_CTL, POWER_CTL_TEMP_OFF | POWER_CTL_DRDY_OFF)
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logging.info("ADXL355 starting '%s' measurements", self.name)
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# Initialize clock tracking
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self.ffreader.note_start()
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self.last_error_count = 0
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def _finish_measurements(self):
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# Halt bulk reading
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self.set_reg(REG_POWER_CTL,
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POWER_CTL_STANDBY | POWER_CTL_TEMP_OFF | POWER_CTL_DRDY_OFF)
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self.query_adxl355_cmd.send_wait_ack([self.oid, 0])
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self.ffreader.note_end()
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logging.info("ADXL355 finished '%s' measurements", self.name)
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def _process_batch(self, eventtime):
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samples = self.ffreader.pull_samples()
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self._convert_samples(samples)
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if not samples:
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return {}
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return {'data': samples, 'errors': self.last_error_count,
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'overflows': self.ffreader.get_last_overflows()}
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def load_config(config):
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return ADXL355(config)
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def load_config_prefix(config):
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return ADXL355(config)
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