lis2dw12: Add support for lis2dw12 accelerometer

docs/Config_Reference.md

@@ -1646,6 +1646,27 @@ cs_pin:
 #   measurements.
 ```
 
+### [lis2dw]
+
+Support for LIS2DW accelerometers.
+
+```
+[lis2dw]
+cs_pin:
+#   The SPI enable pin for the sensor. This parameter must be provided.
+#spi_speed: 5000000
+#   The SPI speed (in hz) to use when communicating with the chip.
+#   The default is 5000000.
+#spi_bus:
+#spi_software_sclk_pin:
+#spi_software_mosi_pin:
+#spi_software_miso_pin:
+#   See the "common SPI settings" section for a description of the
+#   above parameters.
+#axes_map: x, y, z
+#   See the "adxl345" section for information on this parameter.
+```
+
 ### [mpu9250]
 
 Support for MPU-9250, MPU-9255, MPU-6515, MPU-6050, and MPU-6500

docs/Measuring_Resonances.md

@@ -1,19 +1,19 @@
 # Measuring Resonances
 
-Klipper has built-in support for the ADXL345 and MPU-9250 compatible
+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 can be connected to the SPI interface of a
-Raspberry Pi or MCU board (it needs to be reasonably fast). The MPU family can
+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 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, make sure that the board supports SPI mode (a small number of
+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
@@ -305,6 +305,26 @@ you'll also want to modify your `printer.cfg` file to include this:
 
 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

klippy/extras/lis2dw.py

@@ -0,0 +1,265 @@
+# Support for reading acceleration data from an LIS2DW chip
+#
+# Copyright (C) 2023  Zhou.XianMing <[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
+
+# LIS2DW registers
+REG_LIS2DW_WHO_AM_I_ADDR = 0x0F
+REG_LIS2DW_CTRL_REG1_ADDR = 0x20
+REG_LIS2DW_CTRL_REG2_ADDR = 0x21
+REG_LIS2DW_CTRL_REG3_ADDR = 0x22
+REG_LIS2DW_CTRL_REG6_ADDR = 0x25
+REG_LIS2DW_STATUS_REG_ADDR = 0x27
+REG_LIS2DW_OUT_XL_ADDR = 0x28
+REG_LIS2DW_OUT_XH_ADDR = 0x29
+REG_LIS2DW_OUT_YL_ADDR = 0x2A
+REG_LIS2DW_OUT_YH_ADDR = 0x2B
+REG_LIS2DW_OUT_ZL_ADDR = 0x2C
+REG_LIS2DW_OUT_ZH_ADDR = 0x2D
+REG_LIS2DW_FIFO_CTRL   = 0x2E
+REG_LIS2DW_FIFO_SAMPLES = 0x2F
+REG_MOD_READ = 0x80
+# REG_MOD_MULTI = 0x40
+
+LIS2DW_DEV_ID = 0x44
+
+FREEFALL_ACCEL = 9.80665
+SCALE = FREEFALL_ACCEL * 1.952 / 4
+
+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
+
+# Printer class that controls LIS2DW chip
+class LIS2DW:
+    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 lis2dw axes_map parameter")
+        self.axes_map = [am[a.strip()] for a in axes_map]
+        self.data_rate = 1600
+        # Measurement storage (accessed from background thread)
+        self.lock = threading.Lock()
+        self.raw_samples = []
+        # Setup mcu sensor_lis2dw 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_lis2dw_cmd = self.query_lis2dw_end_cmd = None
+        self.query_lis2dw_status_cmd = None
+        mcu.add_config_cmd("config_lis2dw oid=%d spi_oid=%d"
+                           % (oid, self.spi.get_oid()))
+        mcu.add_config_cmd("query_lis2dw oid=%d clock=0 rest_ticks=0"
+                           % (oid,), on_restart=True)
+        mcu.register_config_callback(self._build_config)
+        mcu.register_response(self._handle_lis2dw_data, "lis2dw_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("lis2dw/dump_lis2dw", "sensor", self.name,
+                                 self._handle_dump_lis2dw)
+
+    def _build_config(self):
+        cmdqueue = self.spi.get_command_queue()
+        self.query_lis2dw_cmd = self.mcu.lookup_command(
+            "query_lis2dw oid=%c clock=%u rest_ticks=%u", cq=cmdqueue)
+        self.query_lis2dw_end_cmd = self.mcu.lookup_query_command(
+            "query_lis2dw oid=%c clock=%u rest_ticks=%u",
+            "lis2dw_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
+            " buffered=%c fifo=%c limit_count=%hu", oid=self.oid, cq=cmdqueue)
+        self.query_lis2dw_status_cmd = self.mcu.lookup_query_command(
+            "query_lis2dw_status oid=%c",
+            "lis2dw_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
+            " buffered=%c fifo=%c limit_count=%hu", 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 LIS2DW register [0x%x] to 0x%x: got 0x%x. "
+                    "This is generally indicative of connection problems "
+                    "(e.g. faulty wiring) or a faulty lis2dw chip." % (
+                        reg, val, stored_val))
+    # Measurement collection
+    def is_measuring(self):
+        return self.query_rate > 0
+    def _handle_lis2dw_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]
+                xlow, xhigh, ylow, yhigh, zlow, zhigh = 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_lis2dw_status_cmd.send([self.oid],
+                                                        minclock=minclock)
+            fifo = params['fifo'] & 0x1f
+            if fifo <= 32:
+                break
+        else:
+            raise self.printer.command_error("Unable to query lis2dw 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 lis2dw 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 LIS2DW device ID prevents treating
+        # noise or wrong signal as a correctly initialized device
+        dev_id = self.read_reg(REG_LIS2DW_WHO_AM_I_ADDR)
+        logging.info("lis2dw_dev_id: %x", dev_id)
+        if dev_id != LIS2DW_DEV_ID:
+            raise self.printer.command_error(
+                "Invalid lis2dw id (got %x vs %x).\n"
+                "This is generally indicative of connection problems\n"
+                "(e.g. faulty wiring) or a faulty lis2dw chip."
+                % (dev_id, LIS2DW_DEV_ID))
+        # Setup chip in requested query rate
+        # ODR/2, +-16g, low-pass filter, Low-noise abled
+        self.set_reg(REG_LIS2DW_CTRL_REG6_ADDR, 0x34)
+        # Continuous mode: If the FIFO is full
+        # the new sample overwrites the older sample.
+        self.set_reg(REG_LIS2DW_FIFO_CTRL, 0xC0)
+        # High-Performance / Low-Power mode 1600/200 Hz
+        # High-Performance Mode (14-bit resolution)
+        self.set_reg(REG_LIS2DW_CTRL_REG1_ADDR, 0x94)
+
+        # 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_lis2dw_cmd.send([self.oid, reqclock, rest_ticks],
+                                    reqclock=reqclock)
+        logging.info("LIS2DW 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_lis2dw_end_cmd.send([self.oid, 0, 0])
+        self.query_rate = 0
+        with self.lock:
+            self.raw_samples = []
+        logging.info("LIS2DW finished '%s' measurements", self.name)
+        self.set_reg(REG_LIS2DW_FIFO_CTRL, 0x00)
+    # 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_lis2dw(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 LIS2DW(config)
+
+def load_config_prefix(config):
+    return LIS2DW(config)

src/Kconfig

@@ -100,6 +100,10 @@ config WANT_SENSORS
     bool
     depends on HAVE_GPIO_I2C || HAVE_GPIO_SPI
     default y
+config WANT_LIS2DW
+    bool
+    depends on HAVE_GPIO_SPI
+    default y
 config WANT_SOFTWARE_I2C
     bool
     depends on HAVE_GPIO && HAVE_GPIO_I2C
@@ -119,6 +123,9 @@ config WANT_DISPLAYS
 config WANT_SENSORS
     bool "Support external sensor devices"
     depends on HAVE_GPIO_I2C || HAVE_GPIO_SPI
+config WANT_LIS2DW
+    bool "Support lis2dw 3-axis accelerometer"
+    depends on HAVE_GPIO_SPI
 config WANT_SOFTWARE_I2C
     bool "Support software based I2C \"bit-banging\""
     depends on HAVE_GPIO && HAVE_GPIO_I2C

src/Makefile

@@ -16,5 +16,6 @@ src-$(CONFIG_WANT_SOFTWARE_SPI) += spi_software.c
 src-$(CONFIG_WANT_SOFTWARE_I2C) += i2c_software.c
 sensors-src-$(CONFIG_HAVE_GPIO_SPI) := thermocouple.c sensor_adxl345.c \
     sensor_angle.c
+src-$(CONFIG_WANT_LIS2DW) += sensor_lis2dw.c
 sensors-src-$(CONFIG_HAVE_GPIO_I2C) += sensor_mpu9250.c
 src-$(CONFIG_WANT_SENSORS) += $(sensors-src-y)