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idm_accel.py
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# Support for reading acceleration data from an mpu9250 chip
#
# Copyright (C) 2022 Harry Beyel <[email protected]>
# Copyright (C) 2020-2021 Kevin O'Connor <[email protected]>
#
# 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 mcu
from .bus import MCU_I2C
MPU9250_ADDR = 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
REG_FIFO_EN = 0x23
REG_SMPLRT_DIV = 0x19
REG_CONFIG = 0x1A
REG_ACCEL_CONFIG = 0x1C
REG_ACCEL_CONFIG2 = 0x1D
REG_USER_CTRL = 0x6A
REG_PWR_MGMT_1 = 0x6B
REG_PWR_MGMT_2 = 0x6C
SAMPLE_RATE_DIVS = { 4000:0x00 }
SET_CONFIG = 0x01 # FIFO mode 'stream' style
SET_ACCEL_CONFIG = 0x10 # 8g full scale
SET_ACCEL_CONFIG2 = 0x08 # 1046Hz BW, 0.503ms delay 4kHz sample rate
SET_PWR_MGMT_1_WAKE = 0x00
SET_PWR_MGMT_1_SLEEP= 0x40
SET_PWR_MGMT_2_ACCEL_ON = 0x07
SET_PWR_MGMT_2_OFF = 0x3F
FREEFALL_ACCEL = 9.80665 * 1000.
# SCALE = 1/4096 g/LSB @8g scale * Earth gravity in mm/s**2
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
def IDM_I2C_from_config(config, default_addr=None, default_speed=100000):
# Load bus parameters
printer = config.get_printer()
i2c_mcu = config.get_printer().lookup_object('idm')._mcu
speed = config.getint('i2c_speed', default_speed, minval=100000)
if default_addr is None:
addr = config.getint('i2c_address', minval=0, maxval=127)
else:
addr = config.getint('i2c_address', default_addr, minval=0, maxval=127)
# Determine pin from config
ppins = config.get_printer().lookup_object("pins")
if config.get('i2c_software_scl_pin', None) is not None:
sw_pin_names = ['i2c_software_%s_pin' % (name,)
for name in ['scl', 'sda']]
sw_pin_params = [ppins.lookup_pin(config.get(name), share_type=name)
for name in sw_pin_names]
sw_pins = tuple([pin_params['pin'] for pin_params in sw_pin_params])
bus = None
else:
bus = config.get('i2c_bus', None)
sw_pins = None
# Create MCU_I2C object
return MCU_I2C(i2c_mcu, bus, addr, speed, sw_pins)
# 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.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 = IDM_I2C_from_config(config,
default_addr=MPU9250_ADDR,
default_speed=400000)
self.mcu = mcu = self.i2c.get_mcu()
self.oid = oid = mcu.create_oid()
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)
# 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)
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)
def _build_config(self):
cmdqueue = self.i2c.get_command_queue()
self.mcu.add_config_cmd("config_mpu9250 oid=%d i2c_oid=%d"
% (self.oid, self.i2c.get_oid()))
self.mcu.add_config_cmd("query_mpu9250 oid=%d clock=0 rest_ticks=0"
% (self.oid,), on_restart=True)
self.query_mpu9250_cmd = self.mcu.lookup_command(
"query_mpu9250 oid=%c clock=%u rest_ticks=%u", cq=cmdqueue)
self.query_mpu9250_end_cmd = self.mcu.lookup_query_command(
"query_mpu9250 oid=%c clock=%u rest_ticks=%u",
"mpu9250_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
" buffered=%c fifo=%u limit_count=%hu", oid=self.oid, cq=cmdqueue)
self.query_mpu9250_status_cmd = self.mcu.lookup_query_command(
"query_mpu9250_status oid=%c",
"mpu9250_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
" buffered=%c fifo=%u limit_count=%hu", oid=self.oid, cq=cmdqueue)
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 _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
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 -= (seq_diff & 0x8000) << 1
seq = last_sequence - seq_diff
d = bytearray(params['data'])
msg_cdiff = seq * SAMPLES_PER_BLOCK - chip_base
for i in range(len(d) // BYTES_PER_SAMPLE):
d_xyz = d[i*BYTES_PER_SAMPLE:(i+1)*BYTES_PER_SAMPLE]
xhigh, xlow, yhigh, ylow, zhigh, zlow = d_xyz
# Merge and perform twos-complement
rx = ((xhigh << 8) | xlow) - ((xhigh & 0x80) << 9)
ry = ((yhigh << 8) | ylow) - ((yhigh & 0x80) << 9)
rz = ((zhigh << 8) | zlow) - ((zhigh & 0x80) << 9)
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)
ptime = round(time_base + (msg_cdiff + i) * inv_freq, 6)
samples[count] = (ptime, x, y, z)
count += 1
self.clock_sync.set_last_chip_clock(seq * SAMPLES_PER_BLOCK + i)
del samples[count:]
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)
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 not in MPU_DEV_IDS.keys():
raise self.printer.command_error(
"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])
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
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(4. / self.data_rate)
self.query_rate = 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._update_clock(minclock=reqclock)
self.max_query_duration = 1 << 31
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 = []
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):
self._update_clock()
with self.lock:
raw_samples = self.raw_samples
self.raw_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)
def load_config(config):
return MPU9250(config)
def load_config_prefix(config):
return MPU9250(config)