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Store average accelerometer readings in Object Model #590

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Store average accelerometer readings in Object Model #590

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f4ab904
Store average accelerometer readings in Object Model
BrendonBuilds Nov 2, 2022
3a4e5ee
Adjustments to accelerometer averaging
BrendonBuilds Nov 4, 2022
f46e907
Merge branch 'Duet3D:3.5-dev' into 3.5-dev
BrendonBuilds Nov 4, 2022
a775ab6
Merge branch '3.5-dev' of https://github.com/BrendonBuilds/RepRapFirm…
BrendonBuilds Nov 4, 2022
b891a99
Add Add(Local)FailedAccelerometerRun
BrendonBuilds Nov 5, 2022
4d2f10c
fix compiler warnings
BrendonBuilds Nov 5, 2022
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39 changes: 39 additions & 0 deletions src/Accelerometers/Accelerometers.cpp
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Expand Up @@ -68,6 +68,8 @@ static volatile uint32_t numSamplesRequested;
static uint8_t resolution = DefaultResolution;
static uint8_t orientation = 20; // +Z -> +Z, +X -> +X
static volatile uint8_t axesRequested;
constexpr size_t NumAxis = 3;
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Is this var name too generic?

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NumAccelerometerAxes would be better

static float lastRunAverages[NumAxis] = {0.0f, 0.0f, 0.0f};
static FileStore* volatile accelerometerFile = nullptr; // this is non-null when the accelerometer is running, null otherwise
static unsigned int numLocalRunsCompleted = 0;
static unsigned int lastRunNumSamplesReceived = 0;
Expand All @@ -87,6 +89,15 @@ static void AddLocalAccelerometerRun(unsigned int numDataPoints) noexcept
reprap.BoardsUpdated();
}

static void AddLocalAccelerometerAverages(float averages[]) noexcept
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Why not add extra arguments to AddLocalAccelerometerRun instead of adding this function?

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I will do the same thing for AddAccelerometerRun as well

{
for(unsigned int axis = 0;axis < NumAxis;++axis)
{
lastRunAverages[axis] = averages[axis];
}
reprap.BoardsUpdated();
}

static uint8_t TranslateAxes(uint8_t axes) noexcept
{
uint8_t rslt = 0;
Expand Down Expand Up @@ -115,6 +126,7 @@ static uint8_t TranslateAxes(uint8_t axes) noexcept
const uint16_t mask = (1u << resolution) - 1;
const int decimalPlaces = GetDecimalPlaces(resolution);
bool recordFailedStart = false;
float accumulatedSamples[NumAxis] = {0.0f, 0.0f, 0.0f};

if (accelerometer->StartCollecting(TranslateAxes(axesRequested)))
{
Expand Down Expand Up @@ -180,6 +192,9 @@ static uint8_t TranslateAxes(uint8_t axes) noexcept

// Append it to the buffer
temp.catf(",%.*f", decimalPlaces, (double)fVal);

// accumulate the values so they can be averaged later
accumulatedSamples[axis] += fVal;
}
}

Expand Down Expand Up @@ -216,6 +231,13 @@ static uint8_t TranslateAxes(uint8_t axes) noexcept
f->Truncate(); // truncate the file in case we didn't write all the preallocated space
f->Close();
AddLocalAccelerometerRun(samplesWritten);

// find the average value for each axis
for(unsigned int axis = 0;axis < NumAxis;++axis)
{
accumulatedSamples[axis] /= float(samplesWritten);
}
AddLocalAccelerometerAverages(accumulatedSamples);
}

accelerometer->StopCollecting();
Expand Down Expand Up @@ -532,6 +554,11 @@ bool Accelerometers::HasLocalAccelerometer() noexcept
return accelerometer != nullptr;
}

float Accelerometers::GetLocalAccelerometerLastRunAverage(const int &axis) noexcept
{
return lastRunAverages[axis];
}

unsigned int Accelerometers::GetLocalAccelerometerDataPoints() noexcept
{
return lastRunNumSamplesReceived;
Expand Down Expand Up @@ -592,6 +619,8 @@ void Accelerometers::ProcessReceivedData(CanAddress src, const CanMessageAcceler
const unsigned int receivedResolution = msg.bitsPerSampleMinusOne + 1;
const uint16_t mask = (1u << receivedResolution) - 1;
const int decimalPlaces = GetDecimalPlaces(receivedResolution);
float accumulatedSamples[NumAxis] = {0.0f, 0.0f, 0.0f};

if (msg.overflowed)
{
++numRemoteOverflows;
Expand Down Expand Up @@ -632,6 +661,9 @@ void Accelerometers::ProcessReceivedData(CanAddress src, const CanMessageAcceler

// Append it to the buffer
temp.catf(",%.*f", decimalPlaces, (double)fVal);

// accumulate the values so they can be averaged later
accumulatedSamples[axis] += fVal;
}

temp.cat('\n');
Expand All @@ -648,6 +680,13 @@ void Accelerometers::ProcessReceivedData(CanAddress src, const CanMessageAcceler
f->Close();
accelerometerFile = nullptr;
reprap.GetExpansion().AddAccelerometerRun(src, expectedRemoteSampleNumber);

// find the average value for each axis
for (unsigned int axis = 0; axis < NumAxis; ++axis)
{
accumulatedSamples[axis] /= float(msg.numSamples);
}
reprap.GetExpansion().AddAccelerometerLastRunAverages(src, accumulatedSamples, NumAxis);
}
}
}
Expand Down
1 change: 1 addition & 0 deletions src/Accelerometers/Accelerometers.h
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Expand Up @@ -23,6 +23,7 @@ class CanMessageAccelerometerData;
namespace Accelerometers
{
bool HasLocalAccelerometer() noexcept;
float GetLocalAccelerometerLastRunAverage(const int& axis) noexcept;
unsigned int GetLocalAccelerometerRuns() noexcept;
unsigned int GetLocalAccelerometerDataPoints() noexcept;
GCodeResult ConfigureAccelerometer(GCodeBuffer& gb, const StringRef& reply) THROWS(GCodeException);
Expand Down
24 changes: 23 additions & 1 deletion src/CAN/ExpansionManager.cpp
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Expand Up @@ -24,6 +24,18 @@
#define OBJECT_MODEL_FUNC(...) OBJECT_MODEL_FUNC_BODY(ExpansionManager, __VA_ARGS__)
#define OBJECT_MODEL_FUNC_IF(...) OBJECT_MODEL_FUNC_IF_BODY(ExpansionManager, __VA_ARGS__)

constexpr ObjectModelArrayTableEntry ExpansionManager::objectModelArrayTable[] =
{
{
nullptr, // no lock needed
[] (const ObjectModel *self, const ObjectExplorationContext& context) noexcept -> size_t { return 3; },
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How would you prefer array sizes are tracked?

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Move NumAccelerometerAxes (renamed from NumAxis) into an existing common header file so that you can use that value instead of 3.

[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue
{ return ExpressionValue(((const ExpansionManager*)self)->FindIndexedBoard(context.GetIndex(1)).accelerometerLastRunAverages[context.GetLastIndex()]); }
}
};

DEFINE_GET_OBJECT_MODEL_ARRAY_TABLE(ExpansionManager)

constexpr ObjectModelTableEntry ExpansionManager::objectModelTable[] =
{
// 0. boards[] members
Expand Down Expand Up @@ -59,6 +71,7 @@ constexpr ObjectModelTableEntry ExpansionManager::objectModelTable[] =
{ "min", OBJECT_MODEL_FUNC(self->FindIndexedBoard(context.GetLastIndex()).v12.minimum, 1), ObjectModelEntryFlags::none },

// 4. accelerometer members
{ "lastRunAverages", OBJECT_MODEL_FUNC_ARRAY(0), ObjectModelEntryFlags::none },
{ "points", OBJECT_MODEL_FUNC((int32_t)self->FindIndexedBoard(context.GetLastIndex()).accelerometerLastRunDataPoints), ObjectModelEntryFlags::none },
{ "runs", OBJECT_MODEL_FUNC((int32_t)self->FindIndexedBoard(context.GetLastIndex()).accelerometerRuns), ObjectModelEntryFlags::none },

Expand All @@ -74,7 +87,7 @@ constexpr uint8_t ExpansionManager::objectModelTableDescriptor[] =
3, // section 1: mcuTemp
3, // section 2: vIn
3, // section 3: v12
2, // section 4: accelerometer
3, // section 4: accelerometer
2 // section 5: closed loop
};

Expand Down Expand Up @@ -294,6 +307,15 @@ void ExpansionManager::UpdateFailed(CanAddress address) noexcept
UpdateBoardState(address, BoardState::flashFailed);
}

void ExpansionManager::AddAccelerometerLastRunAverages(CanAddress address, float averages[], int32_t numAxis) noexcept
{
for(int32_t i = 0;i < numAxis;++i)
{
boards[address].accelerometerLastRunAverages[i] = averages[i];
}
reprap.BoardsUpdated();
}

void ExpansionManager::AddAccelerometerRun(CanAddress address, unsigned int numDataPoints) noexcept
{
boards[address].accelerometerLastRunDataPoints = numDataPoints;
Expand Down
4 changes: 3 additions & 1 deletion src/CAN/ExpansionManager.h
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Expand Up @@ -26,6 +26,7 @@ struct ExpansionBoardData

const char *_ecv_array typeName;
MinCurMax mcuTemp, vin, v12;
float accelerometerLastRunAverages[3];
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How would you prefer array sizes are defined?

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See previous comment

uint32_t accelerometerLastRunDataPoints;
uint32_t closedLoopLastRunDataPoints;
UniqueId uniqueId;
Expand Down Expand Up @@ -59,13 +60,14 @@ class ExpansionManager INHERIT_OBJECT_MODEL
void UpdateFinished(CanAddress address) noexcept;
void UpdateFailed(CanAddress address) noexcept;
void AddAccelerometerRun(CanAddress address, unsigned int numDataPoints) noexcept;
void AddAccelerometerLastRunAverages(CanAddress address, float averages[], int32_t numAxis) noexcept;
void AddClosedLoopRun(CanAddress address, unsigned int numDataPoints) noexcept;
bool IsFlashing() const noexcept { return numBoardsFlashing != 0; }

void EmergencyStop() noexcept;

protected:
DECLARE_OBJECT_MODEL
DECLARE_OBJECT_MODEL_WITH_ARRAYS

private:
const ExpansionBoardData& FindIndexedBoard(unsigned int index) const noexcept;
Expand Down
10 changes: 9 additions & 1 deletion src/Platform/Platform.cpp
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Expand Up @@ -219,6 +219,13 @@ constexpr ObjectModelArrayTableEntry Platform::objectModelArrayTable[] =
[] (const ObjectModel *self, const ObjectExplorationContext& context) noexcept -> size_t { return NumCoordinateSystems; },
[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue
{ return ExpressionValue(reprap.GetGCodes().GetWorkplaceOffset(context.GetIndex(1), context.GetLastIndex()), 3); }
},
// 2. Average readings from last accelerometer run
{
nullptr, // no lock needed
[] (const ObjectModel *self, const ObjectExplorationContext& context) noexcept -> size_t { return 3; },
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How would you prefer array sizes are tracked?

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See earlier comment

[] (const ObjectModel *self, ObjectExplorationContext& context) noexcept -> ExpressionValue
{ return ExpressionValue((float)Accelerometers::GetLocalAccelerometerLastRunAverage(context.GetLastIndex())); }
}
};

Expand Down Expand Up @@ -357,6 +364,7 @@ constexpr ObjectModelTableEntry Platform::objectModelTable[] =

#if SUPPORT_ACCELEROMETERS
// 9. boards[0].accelerometer members
{ "lastRunAverages", OBJECT_MODEL_FUNC_ARRAY(2), ObjectModelEntryFlags::none },
{ "points", OBJECT_MODEL_FUNC_NOSELF((int32_t)Accelerometers::GetLocalAccelerometerDataPoints()), ObjectModelEntryFlags::none },
{ "runs", OBJECT_MODEL_FUNC_NOSELF((int32_t)Accelerometers::GetLocalAccelerometerRuns()), ObjectModelEntryFlags::none },
#endif
Expand Down Expand Up @@ -393,7 +401,7 @@ constexpr uint8_t Platform::objectModelTableDescriptor[] =
2, // section 7: move.axes[].microstepping
2, // section 8: move.extruders[].microstepping
#if SUPPORT_ACCELEROMETERS
2, // section 9: boards[0].accelerometer
3, // section 9: boards[0].accelerometer
#else
0,
#endif
Expand Down