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Measuring_Resonances.html
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@@ -706,6 +706,13 @@
</label>
<ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
<li class="md-nav__item">
<a href="#mcus-with-klipper-i2c-fast-mode-support" class="md-nav__link">
MCUs with Klipper I2C fast-mode Support
</a>
</li>
<li class="md-nav__item">
<a href="#installation-instructions" class="md-nav__link">
Installation instructions
@@ -719,8 +726,7 @@
Wiring
</a>
<nav class="md-nav" aria-label="Wiring">
<ul class="md-nav__list">
</li>
<li class="md-nav__item">
<a href="#spi-accelerometers" class="md-nav__link">
@@ -750,6 +756,13 @@
Using Raspberry Pi Pico
</a>
</li>
<li class="md-nav__item">
<a href="#using-raspberry-pi-pico_1" class="md-nav__link">
Using Raspberry Pi Pico
</a>
</li>
</ul>
@@ -775,6 +788,14 @@
MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500
</a>
<nav class="md-nav" aria-label="MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500">
<ul class="md-nav__list">
<li class="md-nav__item">
<a href="#recommended-connection-scheme-for-i2ctwi-on-the-avr-atmega328p-arduino-nano" class="md-nav__link">
Recommended connection scheme for I2C(TWI) on the AVR ATmega328P Arduino Nano:
</a>
</li>
</ul>
@@ -844,8 +865,15 @@
</li>
<li class="md-nav__item">
<a href="#configure-mpu-60009000-series-with-pico" class="md-nav__link">
Configure MPU-6000/9000 series With PICO
<a href="#configure-mpu-9520-compatibles-with-pico" class="md-nav__link">
Configure MPU-9520 Compatibles With Pico
</a>
</li>
<li class="md-nav__item">
<a href="#configure-mpu-9520-compatibles-with-avr" class="md-nav__link">
Configure MPU-9520 Compatibles with AVR
</a>
</li>
@@ -1498,6 +1526,13 @@
</label>
<ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
<li class="md-nav__item">
<a href="#mcus-with-klipper-i2c-fast-mode-support" class="md-nav__link">
MCUs with Klipper I2C fast-mode Support
</a>
</li>
<li class="md-nav__item">
<a href="#installation-instructions" class="md-nav__link">
Installation instructions
@@ -1511,8 +1546,7 @@
Wiring
</a>
<nav class="md-nav" aria-label="Wiring">
<ul class="md-nav__list">
</li>
<li class="md-nav__item">
<a href="#spi-accelerometers" class="md-nav__link">
@@ -1542,6 +1576,13 @@
Using Raspberry Pi Pico
</a>
</li>
<li class="md-nav__item">
<a href="#using-raspberry-pi-pico_1" class="md-nav__link">
Using Raspberry Pi Pico
</a>
</li>
</ul>
@@ -1567,6 +1608,14 @@
MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500
</a>
<nav class="md-nav" aria-label="MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500">
<ul class="md-nav__list">
<li class="md-nav__item">
<a href="#recommended-connection-scheme-for-i2ctwi-on-the-avr-atmega328p-arduino-nano" class="md-nav__link">
Recommended connection scheme for I2C(TWI) on the AVR ATmega328P Arduino Nano:
</a>
</li>
</ul>
@@ -1636,8 +1685,15 @@
</li>
<li class="md-nav__item">
<a href="#configure-mpu-60009000-series-with-pico" class="md-nav__link">
Configure MPU-6000/9000 series With PICO
<a href="#configure-mpu-9520-compatibles-with-pico" class="md-nav__link">
Configure MPU-9520 Compatibles With Pico
</a>
</li>
<li class="md-nav__item">
<a href="#configure-mpu-9520-compatibles-with-avr" class="md-nav__link">
Configure MPU-9520 Compatibles with AVR
</a>
</li>
@@ -1752,36 +1808,82 @@
<h1 id="measuring-resonances">Measuring Resonances<a class="headerlink" href="#measuring-resonances" title="Permanent link">&para;</a></h1>
<p>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
<a href="Resonance_Compensation.html">input shapers</a> 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).</p>
<p>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.</p>
<p>Klipper has built-in support for the ADXL345 and MPU-9250 compatible
accelerometers which can be used to measure resonance frequencies of the printer
for different axes, and auto-tune <a href="Resonance_Compensation.html">input shapers</a> 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
be connected to the I2C interface of a Raspberry Pi directly, or to an I2C
interface of an MCU board that supports 400kbit/s <em>fast mode</em> in Klipper.</p>
<p>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.</p>
<p>For ADXL345s, 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).</p>
<p>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.</p>
<h2 id="mcus-with-klipper-i2c-fast-mode-support">MCUs with Klipper I2C <em>fast-mode</em> Support<a class="headerlink" href="#mcus-with-klipper-i2c-fast-mode-support" title="Permanent link">&para;</a></h2>
<table>
<thead>
<tr>
<th align="center">MCU Family</th>
<th align="left">MCU(s) Tested</th>
<th align="left">MCU(s) with Support</th>
</tr>
</thead>
<tbody>
<tr>
<td align="center">Raspberry Pi</td>
<td align="left">3B+, Pico</td>
<td align="left">3A, 3A+, 3B, 4</td>
</tr>
<tr>
<td align="center">AVR ATmega</td>
<td align="left">ATmega328p</td>
<td align="left">ATmega32u4, ATmega128, ATmega168, ATmega328, ATmega644p, ATmega1280, ATmega1284, ATmega2560</td>
</tr>
<tr>
<td align="center">AVR AT90</td>
<td align="left">-</td>
<td align="left">AT90usb646, AT90usb1286</td>
</tr>
</tbody>
</table>
<h2 id="installation-instructions">Installation instructions<a class="headerlink" href="#installation-instructions" title="Permanent link">&para;</a></h2>
<h3 id="wiring">Wiring<a class="headerlink" href="#wiring" title="Permanent link">&para;</a></h3>
<p>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), shorten the cable.</p>
<p>Connect ethernet cable shielding to the controller board/RPI ground.</p>
for signal integrity over a long distance. If you still experience signal
integrity issues (SPI/I2C errors):</p>
<ul>
<li>Double check the wiring with a digital multimeter for:</li>
<li>Correct connections when turned off (continuity)</li>
<li>Correct power and ground voltages</li>
<li>I2C only:</li>
<li>Check the SCL and SDA lines' resistances to 3.3V are in the range of 900
ohms to 1.8K</li>
<li>For full technical details consult <a href="https://www.pololu.com/file/0J435/UM10204.pdf">chapter 7 of the I2C-bus specification
and user manual UM10204</a>
for <em>fast-mode</em></li>
<li>Shorten the cable</li>
</ul>
<p>Connect ethernet cable shielding only to the MCU board/Pi ground.</p>
<p><strong><em>Double-check your wiring before powering up to prevent
damaging your MCU/Raspberry Pi or the accelerometer.</em></strong></p>
<h4 id="spi-accelerometers">SPI Accelerometers<a class="headerlink" href="#spi-accelerometers" title="Permanent link">&para;</a></h4>
<p>Suggested twisted pair order:</p>
<h3 id="spi-accelerometers">SPI Accelerometers<a class="headerlink" href="#spi-accelerometers" title="Permanent link">&para;</a></h3>
<p>Suggested twisted pair order for three twisted pairs:</p>
<div class="highlight"><pre><span></span><code>GND+MISO
3.3V+MOSI
SCLK+CS
</code></pre></div>
<h5 id="adxl345">ADXL345<a class="headerlink" href="#adxl345" title="Permanent link">&para;</a></h5>
<p>Note that unlike a cable shield, GND must be connected at both ends.</p>
<h4 id="adxl345">ADXL345<a class="headerlink" href="#adxl345" title="Permanent link">&para;</a></h4>
<h6 id="direct-to-raspberry-pi">Direct to Raspberry Pi<a class="headerlink" href="#direct-to-raspberry-pi" title="Permanent link">&para;</a></h6>
<p><strong>Note: Many MCUs will work with an ADXL345 in SPI mode(eg Pi Pico), wiring and
configuration will vary according to your specific board and available pins.</strong></p>
<p><strong>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.</strong></p>
<p>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 <strong>will not work</strong>. The recommended connection scheme:</p>
@@ -1880,16 +1982,76 @@ makes 5V dangerous for your RPi.</p>
</table>
<p>Wiring diagrams for some of the ADXL345 boards:</p>
<p><img alt="ADXL345-Pico" src="img/adxl345-pico.png" /></p>
<h4 id="i2c-accelerometers">I2C Accelerometers<a class="headerlink" href="#i2c-accelerometers" title="Permanent link">&para;</a></h4>
<p>Suggested twisted pair order:</p>
<h6 id="using-raspberry-pi-pico_1">Using Raspberry Pi Pico<a class="headerlink" href="#using-raspberry-pi-pico_1" title="Permanent link">&para;</a></h6>
<p>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.</p>
<p>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.</p>
<table>
<thead>
<tr>
<th align="center">ADXL345 pin</th>
<th align="center">Pico pin</th>
<th align="center">Pico pin name</th>
</tr>
</thead>
<tbody>
<tr>
<td align="center">3V3 (or VCC)</td>
<td align="center">36</td>
<td align="center">3.3V DC power</td>
</tr>
<tr>
<td align="center">GND</td>
<td align="center">38</td>
<td align="center">Ground</td>
</tr>
<tr>
<td align="center">CS</td>
<td align="center">2</td>
<td align="center">GP1 (SPI0_CSn)</td>
</tr>
<tr>
<td align="center">SDO</td>
<td align="center">1</td>
<td align="center">GP0 (SPI0_RX)</td>
</tr>
<tr>
<td align="center">SDA</td>
<td align="center">5</td>
<td align="center">GP3 (SPI0_TX)</td>
</tr>
<tr>
<td align="center">SCL</td>
<td align="center">4</td>
<td align="center">GP2 (SPI0_SCK)</td>
</tr>
</tbody>
</table>
<p>Wiring diagrams for some of the ADXL345 boards:</p>
<p><img alt="ADXL345-Pico" src="img/adxl345-pico.png" /></p>
<h3 id="i2c-accelerometers">I2C Accelerometers<a class="headerlink" href="#i2c-accelerometers" title="Permanent link">&para;</a></h3>
<p>Suggested twisted pair order for three pairs (preferred):</p>
<div class="highlight"><pre><span></span><code>3.3V+GND
SDA+GND
SCL+GND
</code></pre></div>
<p>or for two pairs:</p>
<div class="highlight"><pre><span></span><code>3.3V+SDA
GND+SCL
</code></pre></div>
<h5 id="mpu-9250mpu-9255mpu-6515mpu-6050mpu-6500">MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500<a class="headerlink" href="#mpu-9250mpu-9255mpu-6515mpu-6050mpu-6500" title="Permanent link">&para;</a></h5>
<p>Alternatives to the ADXL345 are MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500.
These accelerometers have been tested to work over I2C on the RPi or RP2040(pico)
at 400kbaud.</p>
<p>Note that unlike a cable shield, any GND(s) should be connected at both ends.</p>
<h4 id="mpu-9250mpu-9255mpu-6515mpu-6050mpu-6500">MPU-9250/MPU-9255/MPU-6515/MPU-6050/MPU-6500<a class="headerlink" href="#mpu-9250mpu-9255mpu-6515mpu-6050mpu-6500" title="Permanent link">&para;</a></h4>
<p>These accelerometers have been tested to work over I2C on the RPi, RP2040 (Pico)
and AVR at 400kbit/s (<em>fast mode</em>). Some MPU accelerometer modules include
pull-ups, but some are too large at 10K and must be changed or supplemented by
smaller parallel resistors.</p>
<p>Recommended connection scheme for I2C on the Raspberry Pi:</p>
<table>
<thead>
@@ -1922,14 +2084,15 @@ at 400kbaud.</p>
</tr>
</tbody>
</table>
<p><img alt="MPU-9250 connected to RPI" src="img/mpu9250-PI-fritzing.png" /></p>
<p>Recommended connection scheme for I2C(i2c0a) on the RP2040:</p>
<p>The RPi has buit-in 1.8K pull-ups on both SCL and SDA.</p>
<p><img alt="MPU-9250 connected to Pi" src="img/mpu9250-PI-fritzing.png" /></p>
<p>Recommended connection scheme for I2C (i2c0a) on the RP2040:</p>
<table>
<thead>
<tr>
<th align="center">MPU-9250 pin</th>
<th align="center">RP2040 pin</th>
<th align="center">RPi pin name</th>
<th align="center">RP2040 pin name</th>
</tr>
</thead>
<tbody>
@@ -1955,7 +2118,47 @@ at 400kbaud.</p>
</tr>
</tbody>
</table>
<p><img alt="MPU-9250 connected to PICO" src="img/mpu9250-PICO-fritzing.png" /></p>
<p>The Pico does not include any built-in I2C pull-up resistors.</p>
<p><img alt="MPU-9250 connected to Pico" src="img/mpu9250-PICO-fritzing.png" /></p>
<h5 id="recommended-connection-scheme-for-i2ctwi-on-the-avr-atmega328p-arduino-nano">Recommended connection scheme for I2C(TWI) on the AVR ATmega328P Arduino Nano:<a class="headerlink" href="#recommended-connection-scheme-for-i2ctwi-on-the-avr-atmega328p-arduino-nano" title="Permanent link">&para;</a></h5>
<table>
<thead>
<tr>
<th align="center">MPU-9250 pin</th>
<th align="center">Atmega328P TQFP32 pin</th>
<th align="center">Atmega328P pin name</th>
<th align="center">Arduino Nano pin</th>
</tr>
</thead>
<tbody>
<tr>
<td align="center">VCC</td>
<td align="center">39</td>
<td align="center">-</td>
<td align="center">-</td>
</tr>
<tr>
<td align="center">GND</td>
<td align="center">38</td>
<td align="center">Ground</td>
<td align="center">GND</td>
</tr>
<tr>
<td align="center">SDA</td>
<td align="center">27</td>
<td align="center">SDA</td>
<td align="center">A4</td>
</tr>
<tr>
<td align="center">SCL</td>
<td align="center">28</td>
<td align="center">SCL</td>
<td align="center">A5</td>
</tr>
</tbody>
</table>
<p>The Arduino Nano does not include any built-in pull-up resistors nor a 3.3V
power pin.</p>
<h3 id="mounting-the-accelerometer">Mounting the accelerometer<a class="headerlink" href="#mounting-the-accelerometer" title="Permanent link">&para;</a></h3>
<p>The accelerometer must be attached to the toolhead. One needs to design a proper
mount that fits their own 3D printer. It is better to align the axes of the
@@ -2073,11 +2276,11 @@ probe_points:
100, 100, 20 # an example
</code></pre></div>
<h4 id="configure-mpu-60009000-series-with-pico">Configure MPU-6000/9000 series With PICO<a class="headerlink" href="#configure-mpu-60009000-series-with-pico" title="Permanent link">&para;</a></h4>
<p>PICO I2C is set to 400000 on default. Simply add the following to the
<h4 id="configure-mpu-9520-compatibles-with-pico">Configure MPU-9520 Compatibles With Pico<a class="headerlink" href="#configure-mpu-9520-compatibles-with-pico" title="Permanent link">&para;</a></h4>
<p>Pico I2C is set to 400000 on default. Simply add the following to the
printer.cfg:</p>
<div class="highlight"><pre><span></span><code>[mcu pico]
serial: /dev/serial/by-id/&lt;your PICO&#39;s serial ID&gt;
serial: /dev/serial/by-id/&lt;your Pico&#39;s serial ID&gt;
[mpu9250]
i2c_mcu: pico
@@ -2092,6 +2295,21 @@ probe_points:
pin: pico:gpio23
</code></pre></div>
<h4 id="configure-mpu-9520-compatibles-with-avr">Configure MPU-9520 Compatibles with AVR<a class="headerlink" href="#configure-mpu-9520-compatibles-with-avr" title="Permanent link">&para;</a></h4>
<p>AVR I2C will be set to 400000 by the mpu9250 option. Simply add the following
to the printer.cfg:</p>
<div class="highlight"><pre><span></span><code>[mcu nano]
serial: /dev/serial/by-id/&lt;your nano&#39;s serial ID&gt;
[mpu9250]
i2c_mcu: nano
[resonance_tester]
accel_chip: mpu9250
probe_points:
100, 100, 20 # an example
</code></pre></div>
<p>Restart Klipper via the <code>RESTART</code> command.</p>
<h2 id="measuring-the-resonances">Measuring the resonances<a class="headerlink" href="#measuring-the-resonances" title="Permanent link">&para;</a></h2>
<h3 id="checking-the-setup">Checking the setup<a class="headerlink" href="#checking-the-setup" title="Permanent link">&para;</a></h3>
@@ -2115,8 +2333,8 @@ 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.</p>
<p><strong>If you are using MPU-6000/9000 series accelerometer and it show up as <code>mpu-unknown</code>, use with
caution! They are probably refurbished chips!</strong></p>
<p><strong>If you are using a MPU-9250 compatible accelerometer and it shows up as
<code>mpu-unknown</code>, use with caution! They are probably refurbished chips!</strong></p>
<p>Next, try running <code>MEASURE_AXES_NOISE</code> 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)
@@ -2194,10 +2412,10 @@ convenient, for example, for the input shaper
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).</p>
<p>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:</p>
<p>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:</p>
<div class="highlight"><pre><span></span><code>[adxl345 hotend]
# Assuming `hotend` chip is connected to an RPi
cs_pin: rpi:None
@@ -2213,6 +2431,28 @@ accel_chip_y: adxl345 bed
probe_points: ...
</code></pre></div>
<p>Two MPUs can share one I2C bus, but they <strong>cannot</strong> 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):</p>
<div class="highlight"><pre><span></span><code>[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: ...
</code></pre></div>
<p>[Test with each MPU individually before connecting both to the bus for easy
debugging.]</p>
<p>Then the commands <code>TEST_RESONANCES AXIS=X</code> and <code>TEST_RESONANCES AXIS=Y</code>
will use the correct accelerometer for each axis.</p>
<h3 id="max-smoothing">Max smoothing<a class="headerlink" href="#max-smoothing" title="Permanent link">&para;</a></h3>