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docs/Measuring_Resonances.md
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@@ -1,55 +1,182 @@
# Measuring Resonances
Klipper has built-in support for ADXL345 accelerometer, which can be used to
measure resonance frequencies of the printer for different axes, and auto-tune
[input shapers](Resonance_Compensation.md) to compensate for resonances.
Note that using ADXL345 requires some soldering and crimping. ADXL345 can be
connected to a Raspberry Pi directly, or to an SPI interface of an MCU
board (it needs to be reasonably fast).
Klipper has built-in support for the ADXL345, MPU-9250 and LIS2DW compatible
accelerometers which can be used to measure resonance frequencies of the printer
for different axes, and auto-tune [input shapers](Resonance_Compensation.md) to
compensate for resonances. Note that using accelerometers requires some
soldering and crimping. The ADXL345/LIS2DW can be connected to the SPI interface
of a Raspberry Pi or MCU board (it needs to be reasonably fast). The MPU family can
be connected to the I2C interface of a Raspberry Pi directly, or to an I2C
interface of an MCU board that supports 400kbit/s *fast mode* in Klipper.
When sourcing ADXL345, be aware that there is a variety of different PCB
board designs and different clones of them. Make sure that the board supports
SPI mode (small number of boards appear to be hard-configured for I2C by
pulling SDO to GND), and, if it is going to be connected to a 5V printer MCU,
that it has a voltage regulator and a level shifter.
When sourcing accelerometers, be aware that there are a variety of different PCB
board designs and different clones of them. If it is going to be connected to a
5V printer MCU ensure it has a voltage regulator and level shifters.
For ADXL345s/LIS2DWs, make sure that the board supports SPI mode (a small number of
boards appear to be hard-configured for I2C by pulling SDO to GND).
For MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500s there are also a variety of
board designs and clones with different I2C pull-up resistors which will need
supplementing.
## MCUs with Klipper I2C *fast-mode* Support
| MCU Family | MCU(s) Tested | MCU(s) with Support |
|:--:|:--|:--|
| Raspberry Pi | 3B+, Pico | 3A, 3A+, 3B, 4 |
| AVR ATmega | ATmega328p | ATmega32u4, ATmega128, ATmega168, ATmega328, ATmega644p, ATmega1280, ATmega1284, ATmega2560 |
| AVR AT90 | - | AT90usb646, AT90usb1286 |
## Installation instructions
### Wiring
An ethernet cable with shielded twisted pairs (cat5e or better) is recommended
for signal integrity over a long distance. If you still experience signal
integrity issues (SPI/I2C errors):
- Double check the wiring with a digital multimeter for:
- Correct connections when turned off (continuity)
- Correct power and ground voltages
- I2C only:
- Check the SCL and SDA lines' resistances to 3.3V are in the range of 900
ohms to 1.8K
- For full technical details consult [chapter 7 of the I2C-bus specification
and user manual UM10204](https://www.pololu.com/file/0J435/UM10204.pdf)
for *fast-mode*
- Shorten the cable
Connect ethernet cable shielding only to the MCU board/Pi ground.
***Double-check your wiring before powering up to prevent
damaging your MCU/Raspberry Pi or the accelerometer.***
### SPI Accelerometers
Suggested twisted pair order for three twisted pairs:
```
GND+MISO
3.3V+MOSI
SCLK+CS
```
Note that unlike a cable shield, GND must be connected at both ends.
#### ADXL345
##### Direct to Raspberry Pi
**Note: Many MCUs will work with an ADXL345 in SPI mode (e.g. Pi Pico), wiring
and configuration will vary according to your specific board and available
pins.**
You need to connect ADXL345 to your Raspberry Pi via SPI. Note that the I2C
connection, which is suggested by ADXL345 documentation, has too low throughput
and **will not work**. The recommended connection scheme:
| ADXL345 pin | RPi pin | RPi pin name |
|:--:|:--:|:--:|
| 3V3 (or VCC) | 01 | 3.3v DC power |
| 3V3 (or VCC) | 01 | 3.3V DC power |
| GND | 06 | Ground |
| CS | 24 | GPIO08 (SPI0_CE0_N) |
| SDO | 21 | GPIO09 (SPI0_MISO) |
| SDA | 19 | GPIO10 (SPI0_MOSI) |
| SCL | 23 | GPIO11 (SPI0_SCLK) |
An alternative to the ADXL345 is the MPU-9250 (or MPU-6050). This
accelerometer has been tested to work over I2C on the RPi at 400kbaud.
Recommended connection scheme for I2C:
| MPU-9250 pin | RPi pin | RPi pin name |
|:--:|:--:|:--:|
| 3V3 (or VCC) | 01 | 3.3v DC power |
| GND | 09 | Ground |
| SDA | 03 | GPIO02 (SDA1) |
| SCL | 05 | GPIO03 (SCL1) |
Fritzing wiring diagrams for some of the ADXL345 boards:
![ADXL345-Rpi](img/adxl345-fritzing.png)
##### Using Raspberry Pi Pico
Double-check your wiring before powering up the Raspberry Pi to prevent
damaging it or the accelerometer.
You may connect the ADXL345 to your Raspberry Pi Pico and then connect the
Pico to your Raspberry Pi via USB. This makes it easy to reuse the
accelerometer on other Klipper devices, as you can connect via USB instead
of GPIO. The Pico does not have much processing power, so make sure it is
only running the accelerometer and not performing any other duties.
In order to avoid damage to your RPi make sure to connect the ADXL345 to 3.3V
only. Depending on the board's layout, a level shifter may be present, which
makes 5V dangerous for your RPi.
| ADXL345 pin | Pico pin | Pico pin name |
|:--:|:--:|:--:|
| 3V3 (or VCC) | 36 | 3.3V DC power |
| GND | 38 | Ground |
| CS | 2 | GP1 (SPI0_CSn) |
| SDO | 1 | GP0 (SPI0_RX) |
| SDA | 5 | GP3 (SPI0_TX) |
| SCL | 4 | GP2 (SPI0_SCK) |
Wiring diagrams for some of the ADXL345 boards:
![ADXL345-Pico](img/adxl345-pico.png)
### I2C Accelerometers
Suggested twisted pair order for three pairs (preferred):
```
3.3V+GND
SDA+GND
SCL+GND
```
or for two pairs:
```
3.3V+SDA
GND+SCL
```
Note that unlike a cable shield, any GND(s) should be connected at both ends.
#### MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500
These accelerometers have been tested to work over I2C on the RPi, RP2040 (Pico)
and AVR at 400kbit/s (*fast mode*). Some MPU accelerometer modules include
pull-ups, but some are too large at 10K and must be changed or supplemented by
smaller parallel resistors.
Recommended connection scheme for I2C on the Raspberry Pi:
| MPU-9250 pin | RPi pin | RPi pin name |
|:--:|:--:|:--:|
| VCC | 01 | 3.3v DC power |
| GND | 09 | Ground |
| SDA | 03 | GPIO02 (SDA1) |
| SCL | 05 | GPIO03 (SCL1) |
The RPi has buit-in 1.8K pull-ups on both SCL and SDA.
![MPU-9250 connected to Pi](img/mpu9250-PI-fritzing.png)
Recommended connection scheme for I2C (i2c0a) on the RP2040:
| MPU-9250 pin | RP2040 pin | RP2040 pin name |
|:--:|:--:|:--:|
| VCC | 36 | 3v3 |
| GND | 38 | Ground |
| SDA | 01 | GP0 (I2C0 SDA) |
| SCL | 02 | GP1 (I2C0 SCL) |
The Pico does not include any built-in I2C pull-up resistors.
![MPU-9250 connected to Pico](img/mpu9250-PICO-fritzing.png)
##### Recommended connection scheme for I2C(TWI) on the AVR ATmega328P Arduino Nano:
| MPU-9250 pin | Atmega328P TQFP32 pin | Atmega328P pin name | Arduino Nano pin |
|:--:|:--:|:--:|:--:|
| VCC | 39 | - | - |
| GND | 38 | Ground | GND |
| SDA | 27 | SDA | A4 |
| SCL | 28 | SCL | A5 |
The Arduino Nano does not include any built-in pull-up resistors nor a 3.3V
power pin.
### Mounting the accelerometer
@@ -92,14 +219,18 @@ of time, up to 10-20 minutes. Be patient and wait for the completion of
the installation. On some occasions, if the board has too little RAM
the installation may fail and you will need to enable swap.
Afterwards, check and follow the instructions in the
#### Configure ADXL345 With RPi
First, check and follow the instructions in the
[RPi Microcontroller document](RPi_microcontroller.md) to setup the
"linux mcu" on the Raspberry Pi.
"linux mcu" on the Raspberry Pi. This will configure a second Klipper
instance that runs on your Pi.
Make sure the Linux SPI driver is enabled by running `sudo
raspi-config` and enabling SPI under the "Interfacing options" menu.
For the ADXL345, add the following to the printer.cfg file:
Add the following to the printer.cfg file:
```
[mcu rpi]
serial: /tmp/klipper_host_mcu
@@ -115,9 +246,91 @@ probe_points:
It is advised to start with 1 probe point, in the middle of the print bed,
slightly above it.
For the MPU-9250, make sure the Linux I2C driver is enabled and the baud rate is
#### Configure ADXL345 With Pi Pico
##### Flash the Pico Firmware
On your Raspberry Pi, compile the firmware for the Pico.
```
cd ~/klipper
make clean
make menuconfig
```
![Pico menuconfig](img/klipper_pico_menuconfig.png)
Now, while holding down the `BOOTSEL` button on the Pico, connect the Pico to
the Raspberry Pi via USB. Compile and flash the firmware.
```
make flash FLASH_DEVICE=first
```
If that fails, you will be told which `FLASH_DEVICE` to use. In this example,
that's ```make flash FLASH_DEVICE=2e8a:0003```.
![Determine flash device](img/flash_rp2040_FLASH_DEVICE.png)
##### Configure the Connection
The Pico will now reboot with the new firmware and should show up as a serial
device. Find the pico serial device with `ls /dev/serial/by-id/*`. You can
now add an `adxl.cfg` file with the following settings:
```
[mcu adxl]
# Change <mySerial> to whatever you found above. For example,
# usb-Klipper_rp2040_E661640843545B2E-if00
serial: /dev/serial/by-id/usb-Klipper_rp2040_<mySerial>
[adxl345]
cs_pin: adxl:gpio1
spi_bus: spi0a
axes_map: x,z,y
[resonance_tester]
accel_chip: adxl345
probe_points:
# Somewhere slightly above the middle of your print bed
147,154, 20
[output_pin power_mode] # Improve power stability
pin: adxl:gpio23
```
If setting up the ADXL345 configuration in a separate file, as shown above,
you'll also want to modify your `printer.cfg` file to include this:
```
[include adxl.cfg] # Comment this out when you disconnect the accelerometer
```
Restart Klipper via the `RESTART` command.
#### Configure LIS2DW series
```
[mcu lis]
# Change <mySerial> to whatever you found above. For example,
# usb-Klipper_rp2040_E661640843545B2E-if00
serial: /dev/serial/by-id/usb-Klipper_rp2040_<mySerial>
[lis2dw]
cs_pin: lis:gpio1
spi_bus: spi0a
axes_map: x,z,y
[resonance_tester]
accel_chip: lis2dw
probe_points:
# Somewhere slightly above the middle of your print bed
147,154, 20
```
#### Configure MPU-6000/9000 series With RPi
Make sure the Linux I2C driver is enabled and the baud rate is
set to 400000 (see [Enabling I2C](RPi_microcontroller.md#optional-enabling-i2c)
section for more details). Then, add the following to the printer.cfg:
```
[mcu rpi]
serial: /tmp/klipper_host_mcu
@@ -132,6 +345,46 @@ probe_points:
100, 100, 20 # an example
```
#### Configure MPU-9520 Compatibles With Pico
Pico I2C is set to 400000 on default. Simply add the following to the
printer.cfg:
```
[mcu pico]
serial: /dev/serial/by-id/<your Pico's serial ID>
[mpu9250]
i2c_mcu: pico
i2c_bus: i2c0a
[resonance_tester]
accel_chip: mpu9250
probe_points:
100, 100, 20 # an example
[static_digital_output pico_3V3pwm] # Improve power stability
pins: pico:gpio23
```
#### Configure MPU-9520 Compatibles with AVR
AVR I2C will be set to 400000 by the mpu9250 option. Simply add the following
to the printer.cfg:
```
[mcu nano]
serial: /dev/serial/by-id/<your nano's serial ID>
[mpu9250]
i2c_mcu: nano
[resonance_tester]
accel_chip: mpu9250
probe_points:
100, 100, 20 # an example
```
Restart Klipper via the `RESTART` command.
## Measuring the resonances
@@ -154,10 +407,15 @@ Recv: // adxl345 values (x, y, z): 470.719200, 941.438400, 9728.196800
```
If you get an error like `Invalid adxl345 id (got xx vs e5)`, where `xx`
is some other ID, it is indicative of the connection problem with ADXL345,
is some other ID, immediately try again. There's an issue with SPI
initialization. If you still get an error, it is indicative of the connection
problem with ADXL345,
or the faulty sensor. Double-check the power, the wiring (that it matches
the schematics, no wire is broken or loose, etc.), and soldering quality.
**If you are using a MPU-9250 compatible accelerometer and it shows up as
`mpu-unknown`, use with caution! They are probably refurbished chips!**
Next, try running `MEASURE_AXES_NOISE` in Octoprint, you should get some
baseline numbers for the noise of accelerometer on the axes (should be
somewhere in the range of ~1-100). Too high axes noise (e.g. 1000 and more)
@@ -233,7 +491,7 @@ or you can choose some other configuration yourself based on the generated
charts: peaks in the power spectral density on the charts correspond to
the resonance frequencies of the printer.
Note that alternatively you can run the input shaper autocalibration
Note that alternatively you can run the input shaper auto-calibration
from Klipper [directly](#input-shaper-auto-calibration), which can be
convenient, for example, for the input shaper
[re-calibration](#input-shaper-re-calibration).
@@ -245,10 +503,11 @@ of the accelerometer between the measurements for X and Y axes: measure the
resonances of X axis with the accelerometer attached to the toolhead and the
resonances of Y axis - to the bed (the usual bed slinger setup).
However, you can also connect two accelerometers simultaneously, though they
must be connected to different boards (say, to an RPi and printer MCU board), or
to two different physical SPI interfaces on the same board (rarely available).
Then they can be configured in the following manner:
However, you can also connect two accelerometers simultaneously, though the
ADXL345 must be connected to different boards (say, to an RPi and printer MCU
board), or to two different physical SPI interfaces on the same board (rarely
available). Then they can be configured in the following manner:
```
[adxl345 hotend]
# Assuming `hotend` chip is connected to an RPi
@@ -265,6 +524,30 @@ accel_chip_y: adxl345 bed
probe_points: ...
```
Two MPUs can share one I2C bus, but they **cannot** measure simultaneously as
the 400kbit/s I2C bus is not fast enough. One must have its AD0 pin pulled-down
to 0V (address 104) and the other its AD0 pin pulled-up to 3.3V (address 105):
```
[mpu9250 hotend]
i2c_mcu: rpi
i2c_bus: i2c.1
i2c_address: 104 # This MPU has pin AD0 pulled low
[mpu9250 bed]
i2c_mcu: rpi
i2c_bus: i2c.1
i2c_address: 105 # This MPU has pin AD0 pulled high
[resonance_tester]
# Assuming the typical setup of the bed slinger printer
accel_chip_x: mpu9250 hotend
accel_chip_y: mpu9250 bed
probe_points: ...
```
[Test with each MPU individually before connecting both to the bus for easy
debugging.]
Then the commands `TEST_RESONANCES AXIS=X` and `TEST_RESONANCES AXIS=Y`
will use the correct accelerometer for each axis.
@@ -473,9 +756,9 @@ supplying `AXIS=` parameter, like
SHAPER_CALIBRATE AXIS=X
```
**Warning!** It is not advisable to run the shaper autocalibration very
**Warning!** It is not advisable to run the shaper auto-calibration very
frequently (e.g. before every print, or every day). In order to determine
resonance frequencies, autocalibration creates intensive vibrations on each of
resonance frequencies, auto-calibration creates intensive vibrations on each of
the axes. Generally, 3D printers are not designed to withstand a prolonged
exposure to vibrations near the resonance frequencies. Doing so may increase
wear of the printer components and reduce their lifespan. There is also an