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plus4的klipper版本

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whb0514
2024-09-02 13:37:34 +08:00
parent 653d7a8f6e
commit b90736975b
1006 changed files with 1195894 additions and 11114 deletions
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170
klippy/extras/mpu9250.py
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@@ -4,13 +4,21 @@
# 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
import logging
from . import bus, adxl345, bulk_sensor
MPU9250_ADDR = 0x68
MPU9250_DEV_ID = 0x73
MPU6050_DEV_ID = 0x68
MPU_DEV_IDS = {
0x74: "mpu-9515",
0x73: "mpu-9255",
0x71: "mpu-9250",
0x70: "mpu-6500",
0x68: "mpu-6050",
#everything above are normal MPU IDs
0x75: "mpu-unknown (DEFECTIVE! USE WITH CAUTION!)",
0x69: "mpu-unknown (DEFECTIVE! USE WITH CAUTION!)",
}
# MPU9250 registers
REG_DEVID = 0x75
@@ -39,32 +47,22 @@ SCALE = 0.000244140625 * FREEFALL_ACCEL
FIFO_SIZE = 512
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
BATCH_UPDATES = 0.100
# Printer class that controls MPU9250 chip
class MPU9250:
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 mpu9250 axes_map parameter")
self.axes_map = [am[a.strip()] for a in axes_map]
self.axes_map = adxl345.read_axes_map(config)
self.data_rate = config.getint('rate', 4000)
if self.data_rate not in SAMPLE_RATE_DIVS:
raise config.error("Invalid rate parameter: %d" % (self.data_rate,))
# Measurement storage (accessed from background thread)
self.lock = threading.Lock()
self.raw_samples = []
# Setup mcu sensor_mpu9250 bulk query code
self.i2c = bus.MCU_I2C_from_config(config,
default_addr=MPU9250_ADDR,
@@ -74,18 +72,21 @@ class MPU9250:
self.query_mpu9250_cmd = self.query_mpu9250_end_cmd = None
self.query_mpu9250_status_cmd = None
mcu.register_config_callback(self._build_config)
mcu.register_response(self._handle_mpu9250_data, "mpu9250_data", oid)
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "mpu9250_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)
chip_smooth = self.data_rate * BATCH_UPDATES * 2
self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth)
self.clock_updater = bulk_sensor.ChipClockUpdater(self.clock_sync,
BYTES_PER_SAMPLE)
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]
wh = self.printer.lookup_object('webhooks')
wh.register_mux_endpoint("mpu9250/dump_mpu9250", "sensor", self.name,
self._handle_dump_mpu9250)
hdr = ('time', 'x_acceleration', 'y_acceleration', 'z_acceleration')
self.batch_bulk.add_mux_endpoint("mpu9250/dump_mpu9250", "sensor",
self.name, {'header': hdr})
def _build_config(self):
cmdqueue = self.i2c.get_command_queue()
self.mcu.add_config_cmd("config_mpu9250 oid=%d i2c_oid=%d"
@@ -105,28 +106,25 @@ class MPU9250:
def read_reg(self, reg):
params = self.i2c.i2c_read([reg], 1)
return bytearray(params['response'])[0]
def set_reg(self, reg, val, minclock=0):
self.i2c.i2c_write([reg, val & 0xFF], minclock=minclock)
# Measurement collection
def is_measuring(self):
return self.query_rate > 0
def _handle_mpu9250_data(self, params):
with self.lock:
self.raw_samples.append(params)
def start_internal_client(self):
aqh = adxl345.AccelQueryHelper(self.printer)
self.batch_bulk.add_client(aqh.handle_batch)
return aqh
# Measurement decoding
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
last_sequence = self.clock_updater.get_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 = (params['sequence'] - last_sequence) & 0xffff
seq_diff -= (seq_diff & 0x8000) << 1
seq = last_sequence - seq_diff
seq = last_sequence + seq_diff
d = bytearray(params['data'])
msg_cdiff = seq * SAMPLES_PER_BLOCK - chip_base
@@ -150,116 +148,66 @@ class MPU9250:
return samples
def _update_clock(self, minclock=0):
# Query current state
for retry in range(5):
params = self.query_mpu9250_status_cmd.send([self.oid],
minclock=minclock)
fifo = params['fifo'] & 0x1fff
if fifo <= FIFO_SIZE:
break
else:
raise self.printer.command_error("Unable to query mpu9250 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 mpu9250 hw processing time.
chip_clock = msg_count + 1
self.clock_sync.update(mcu_clock + duration // 2, chip_clock)
params = self.query_mpu9250_status_cmd.send([self.oid],
minclock=minclock)
self.clock_updater.update_clock(params)
# Start, stop, and process message batches
def _start_measurements(self):
if self.is_measuring():
return
# In case of miswiring, testing MPU9250 device ID prevents treating
# noise or wrong signal as a correctly initialized device
dev_id = self.read_reg(REG_DEVID)
if dev_id != MPU9250_DEV_ID and dev_id != MPU6050_DEV_ID:
if dev_id not in MPU_DEV_IDS.keys():
raise self.printer.command_error(
"Invalid mpu9250/mpu6050 id (got %x).\n"
"Invalid mpu id (got %x).\n"
"This is generally indicative of connection problems\n"
"(e.g. faulty wiring) or a faulty chip."
% (dev_id))
else:
logging.info("Found %s with id %x"% (MPU_DEV_IDS[dev_id], dev_id))
# Setup chip in requested query rate
self.set_reg(REG_PWR_MGMT_1, SET_PWR_MGMT_1_WAKE)
self.set_reg(REG_PWR_MGMT_2, SET_PWR_MGMT_2_ACCEL_ON)
time.sleep(20. / 1000) # wait for accelerometer chip wake up
self.set_reg(REG_SMPLRT_DIV, SAMPLE_RATE_DIVS[self.data_rate])
# Add 20ms pause for accelerometer chip wake up
self.read_reg(REG_DEVID) # Dummy read to ensure queues flushed
systime = self.printer.get_reactor().monotonic()
next_time = self.mcu.estimated_print_time(systime) + 0.020
self.set_reg(REG_SMPLRT_DIV, SAMPLE_RATE_DIVS[self.data_rate],
minclock=self.mcu.print_time_to_clock(next_time))
self.set_reg(REG_CONFIG, SET_CONFIG)
self.set_reg(REG_ACCEL_CONFIG, SET_ACCEL_CONFIG)
self.set_reg(REG_ACCEL_CONFIG2, SET_ACCEL_CONFIG2)
# Setup samples
with self.lock:
self.raw_samples = []
# Start bulk reading
self.bulk_queue.clear_samples()
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(1. / self.data_rate)
self.query_rate = self.data_rate
rest_ticks = self.mcu.seconds_to_clock(4. / self.data_rate)
self.query_mpu9250_cmd.send([self.oid, reqclock, rest_ticks],
reqclock=reqclock)
logging.info("MPU9250 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.clock_updater.note_start(reqclock)
self._update_clock(minclock=reqclock)
self.max_query_duration = 1 << 31
self.clock_updater.clear_duration_filter()
self.last_error_count = 0
def _finish_measurements(self):
if not self.is_measuring():
return
# Halt bulk reading
params = self.query_mpu9250_end_cmd.send([self.oid, 0, 0])
self.query_rate = 0
with self.lock:
self.raw_samples = []
self.bulk_queue.clear_samples()
logging.info("MPU9250 finished '%s' measurements", self.name)
self.set_reg(REG_PWR_MGMT_1, SET_PWR_MGMT_1_SLEEP)
self.set_reg(REG_PWR_MGMT_2, SET_PWR_MGMT_2_OFF)
# API interface
def _api_update(self, eventtime):
def _process_batch(self, eventtime):
self._update_clock()
with self.lock:
raw_samples = self.raw_samples
self.raw_samples = []
raw_samples = self.bulk_queue.pull_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_mpu9250(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)
'overflows': self.clock_updater.get_last_limit_count()}
def load_config(config):
return MPU9250(config)