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resonance_tester: Resonance testing and input shaper auto-calibration (#3381)

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Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
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Dmitry Butyugin
2020-10-15 02:08:10 +02:00
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commit f8c4f90c04
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@@ -642,14 +642,53 @@ section is enabled:
## Adxl345 Accelerometer Commands
The following command is available when an "adxl345" config section is
The following commands are available when an "adxl345" config section is
enabled:
- `ACCELEROMETER_MEASURE [CHIP=<config_name>] [RATE=<value>]
[NAME=<value>]`: Starts accelerometer measurements at the requested
number of samples per second. If CHIP is not specified it defaults
to "default". Valid rates are 25, 50, 100, 200, 400, 800, 1600,
and 3200. If RATE is zero (or not specified) then the current series
of measurements are stopped and the results are written to a file
named `/tmp/adxl345-<name>.csv` where "<name>" is the optional NAME
parameter. If NAME is not specified it defaults to the current time
in "YYYYMMDD_HHMMSS" format.
and 3200. The command works in a start-stop mode: when executed for
the first time, it starts the measurements, next execution stops them.
If RATE is not specified, then the default value is used (either from
`printer.cfg` or `3200` default value). The results of measurements
are written to a file named `/tmp/adxl345-<name>.csv` where "<name>"
is the optional NAME parameter. If NAME is not specified it defaults
to the current time in "YYYYMMDD_HHMMSS" format.
- `ACCELEROMETER_QUERY [CHIP=<config_name>] [RATE=<value>]`: queries
accelerometer for the current value. If CHIP is not specified it
defaults to "default". If RATE is not specified, the default value is
used. This command is useful to test the connection to the ADXL345
accelerometer: one of the returned values should be a free-fall
acceleration (+/- some noise of the chip).
## Resonance Testing Commands
The following commands are available when a "resonance_tester" config section
is enabled:
- `MEASURE_AXES_NOISE`: Measures and outputs the noise for all axes of all
enabled accelerometer chips.
- `TEST_RESONANCES AXIS=<axis> OUTPUT=<resonances,raw_data> [NAME=<name>]
[FREQ_START=<min_freq>] [FREQ_END=<max_freq>] [HZ_PER_SEC=<hz_per_sec>]`:
Runs the resonance test in all configured probe points for the requested
axis (X or Y) and measures the acceleration using the accelerometer chips
configured for the respective axis. `OUTPUT` parameter is a comma-separated
list of which outputs will be written. If `raw_data` is requested, then the
raw accelerometer data is written into a file or a series of files
`/tmp/raw_data_<axis>_[<point>_]<name>.csv` with (`<point>_` part of
the name generated only if more than 1 probe point is configured). If
`resonances` is specified, the frequency response is calculated (across
all probe points) and written into `/tmp/resonances_<axis>_<name>.csv`
file. If unset, OUTPUT defaults to `resonances`, and NAME defaults to
the current time in "YYYYMMDD_HHMMSS" format.
- `SHAPER_CALIBRATE [AXIS=<axis>] [NAME=<name>]
[FREQ_START=<min_freq>] [FREQ_END=<max_freq>] [HZ_PER_SEC=<hz_per_sec>]`:
Similarly to `TEST_RESONANCES`, runs the resonance test as configured, and
tries to find the optimal parameters for the input shaper for the requested
axis (or both X and Y axes if `AXIS` parameter is unset). The results of the
tuning are printed to the console, and the frequency responses and the
different input shapers values are written to a CSV file(s)
`/tmp/calibration_data_<axis>_<name>.csv`. Unless specified, NAME defaults
to the current time in "YYYYMMDD_HHMMSS" format. Note that the suggested
input shaper parameters can be persisted in the config by issuing
`SAVE_CONFIG` command.