mirror of
https://github.com/openglow-org/forgefirm.git
synced 2026-09-28 01:01:12 -07:00
ScottW514
06b9dc5f92
The head lis2hh12 (i2c-3 0x1e, direct-I2C at ~530 Hz - st_accel sysfs one-shots are ~6 Hz and the kernel has no IIO triggers) sees rail contact as a 20-40x jolt over the creep baseline within ~4 ms. bump_seek.py: 3/3 detected hits, zero false positives over ~180 mm of creep, jog-cancel stop and back-off. BRINGUP carries the full record and the driver integration design.
91 lines
2.2 KiB
Python
91 lines
2.2 KiB
Python
#!/usr/bin/env python3
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"""Fast direct-I2C sampler for the two LIS2HH12s on the head bus (i2c-3).
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Unbinds st_accel from both for the capture (rebinds after), programs
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800 Hz ODR, and polls OUT_X..OUT_Z as fast as the bus allows.
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Usage: accel_fast.py <seconds> [jog-gcode [jog2-gcode]]
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Jogs are sent to the local grblHAL at t=2 s (and t=2+4 s for jog2).
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CSV to /tmp/accel.csv: t,addr,x,y,z
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"""
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import fcntl
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import os
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import socket
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import struct
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import sys
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import time
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I2C_SLAVE = 0x0703
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BUS = '/dev/i2c-3'
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ADDRS = [0x1e, 0x1d]
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WHO_AM_I = 0x0F
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CTRL1 = 0x20
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OUT_X_L = 0x28
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DRIVER = '/sys/bus/i2c/drivers/st-accel-i2c'
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def bind_ctl(op, dev):
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try:
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with open(DRIVER + '/' + op, 'w') as f:
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f.write(dev)
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except OSError:
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pass
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def main():
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dur = float(sys.argv[1]) if len(sys.argv) > 1 else 5.0
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jogs = sys.argv[2:4]
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for a in ADDRS:
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bind_ctl('unbind', '3-%04x' % a)
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fd = os.open(BUS, os.O_RDWR)
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for a in ADDRS:
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fcntl.ioctl(fd, I2C_SLAVE, a)
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os.write(fd, bytes([WHO_AM_I]))
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who = os.read(fd, 1)[0]
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os.write(fd, bytes([CTRL1, 0x6F])) # 800 Hz, BDU, XYZ on
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print('addr 0x%02x WHO_AM_I=0x%02x' % (a, who))
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time.sleep(0.05)
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sock = None
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if jogs:
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sock = socket.create_connection(('127.0.0.1', 23), timeout=3)
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sock.settimeout(0.1)
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out = open('/tmp/accel.csv', 'w')
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t0 = time.monotonic()
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sent = 0
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n = 0
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while True:
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t = time.monotonic() - t0
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if t > dur:
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break
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if sock and sent < len(jogs) and t > 2.0 + 4.0 * sent:
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sock.sendall((jogs[sent] + '\n').encode())
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sent += 1
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for a in ADDRS:
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fcntl.ioctl(fd, I2C_SLAVE, a)
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os.write(fd, bytes([OUT_X_L]))
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d = os.read(fd, 6)
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x, y, z = struct.unpack('<hhh', d)
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out.write('%.5f,%02x,%d,%d,%d\n' % (t, a, x, y, z))
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n += 1
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out.close()
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if sock:
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try:
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sock.recv(4096)
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except OSError:
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pass
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sock.close()
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os.close(fd)
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for a in ADDRS:
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bind_ctl('bind', '3-%04x' % a)
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print('samples:', n, 'rate: %.0f Hz per device' % (n / 2 / dur))
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if __name__ == '__main__':
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main()
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