Store average accelerometer readings in Object Model by BrendonBuilds · Pull Request #590 · Duet3D/RepRapFirmware

BrendonBuilds · 2022-11-02T13:43:13Z

Store the average value of each axis of the last accelerometer run in the Object Model

BrendonBuilds · 2022-11-02T13:44:03Z

src/Accelerometers/Accelerometers.cpp

 static uint8_t resolution = DefaultResolution;
 static uint8_t orientation = 20;							// +Z -> +Z, +X -> +X
 static volatile uint8_t axesRequested;
+constexpr size_t NumAxis = 3;


Is this var name too generic?

NumAccelerometerAxes would be better

BrendonBuilds · 2022-11-02T13:44:27Z

src/CAN/ExpansionManager.cpp

+{
+	{
+		nullptr,					// no lock needed
+		[] (const ObjectModel *self, const ObjectExplorationContext& context) noexcept -> size_t { return 3; },


How would you prefer array sizes are tracked?

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

BrendonBuilds · 2022-11-02T13:44:35Z

src/Platform/Platform.cpp

+	// 2. Average readings from last accelerometer run
+	{
+		nullptr,					// no lock needed
+		[] (const ObjectModel *self, const ObjectExplorationContext& context) noexcept -> size_t { return 3; },


How would you prefer array sizes are tracked?

See earlier comment

BrendonBuilds · 2022-11-02T13:44:48Z

src/CAN/ExpansionManager.h


 	const char *_ecv_array typeName;
 	MinCurMax mcuTemp, vin, v12;
+	float accelerometerLastRunAverages[3];


How would you prefer array sizes are defined?

See previous comment

dc42 · 2022-11-04T09:32:18Z

src/Accelerometers/Accelerometers.cpp

 	reprap.BoardsUpdated();
 }

+static void AddLocalAccelerometerAverages(float averages[]) noexcept


Why not add extra arguments to AddLocalAccelerometerRun instead of adding this function?

I will do the same thing for AddAccelerometerRun as well

dc42 · 2022-11-04T09:34:51Z

src/CAN/ExpansionManager.cpp

+{
+	{
+		nullptr,					// no lock needed
+		[] (const ObjectModel *self, const ObjectExplorationContext& context) noexcept -> size_t { return 3; },


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

dc42 · 2022-11-04T09:35:40Z

src/CAN/ExpansionManager.h


 	const char *_ecv_array typeName;
 	MinCurMax mcuTemp, vin, v12;
+	float accelerometerLastRunAverages[3];


See previous comment

dc42 · 2022-11-04T09:36:04Z

src/Platform/Platform.cpp

+	// 2. Average readings from last accelerometer run
+	{
+		nullptr,					// no lock needed
+		[] (const ObjectModel *self, const ObjectExplorationContext& context) noexcept -> size_t { return 3; },


See earlier comment

Add extra arguments to AddLocalAccelerometerRun instead of a separate function Move NumAccelerometerAxes to CANLib\RRF3Common.h

BrendonBuilds · 2022-11-04T21:21:21Z

The second commit will require the changes in: Duet3D/CANlib#8

…ware into 3.5-dev

dc42 · 2022-11-05T10:37:57Z

src/Accelerometers/Accelerometers.cpp

-static void AddLocalAccelerometerAverages(float averages[]) noexcept
-{
-	for(unsigned int axis = 0;axis < NumAxis;++axis)
+	for(unsigned int axis = 0;axis < NumAccelerometerAxes;++axis)


Suggest use memcpyf here instead of a loop

dc42 · 2022-11-05T10:40:21Z

src/Accelerometers/Accelerometers.cpp

 		if (device.IsRemote())
 		{
-			reprap.GetExpansion().AddAccelerometerRun(device.boardAddress, 0);
+			reprap.GetExpansion().AddAccelerometerRun(device.boardAddress, 0, {0});


Need to pass an array of the correct size here because the compiler doesn't know how many values are expected

dc42 · 2022-11-05T10:40:28Z

src/Accelerometers/Accelerometers.cpp

 # endif
 		{
-			AddLocalAccelerometerRun(0);
+			AddLocalAccelerometerRun(0, {0});


Need to pass an array of the correct size here because the compiler doesn't know how many values are expected, or add a new function AddFailedLocalAccelerometerRun that doesn't take the averages parameter

dc42 · 2022-11-05T10:41:58Z

src/Accelerometers/Accelerometers.cpp

 			accelerometerFile = nullptr;
 			MassStorage::Delete(accelerometerFileName.c_str(), false);
-			reprap.GetExpansion().AddAccelerometerRun(device.boardAddress, 0);
+			reprap.GetExpansion().AddAccelerometerRun(device.boardAddress, 0, {0});


Need to pass an array of the correct size here because the compiler doesn't know how many values are expected. Alternatively, add another function AddFailedAccelerometerRun that doesn't take the averages as a parameter and instead sets them to zero, since this appears to be done in several places.

dc42 · 2022-11-05T10:42:20Z

src/Accelerometers/Accelerometers.cpp

 			f->Close();
 			accelerometerFile = nullptr;
-			reprap.GetExpansion().AddAccelerometerRun(src, 0);
+			reprap.GetExpansion().AddAccelerometerRun(src, 0, {0});


See previous comment.

dc42 · 2022-11-05T10:42:30Z

src/Accelerometers/Accelerometers.cpp

 			f->Close();
 			accelerometerFile = nullptr;
-			reprap.GetExpansion().AddAccelerometerRun(src, 0);
+			reprap.GetExpansion().AddAccelerometerRun(src, 0, {0});


See previous comment.

dc42 · 2022-11-05T10:43:03Z

src/Accelerometers/Accelerometers.cpp


 				// find the average value for each axis
-				for (unsigned int axis = 0; axis < NumAxis; ++axis)
+				for (unsigned int axis = 0; axis < NumAccelerometerAxes; ++axis)


Better to use a range-based for-loop here

dc42 · 2022-11-05T10:43:37Z

src/CAN/ExpansionManager.cpp

+	boards[address].accelerometerLastRunDataPoints = numDataPoints;
+	++boards[address].accelerometerRuns;
+
+	for(int32_t i = 0;i < NumAccelerometerAxes;++i)


Could we use memcpyf here?

Store average accelerometer readings in Object Model

f4ab904

Store the average value of each axis of the last accelerometer run in the Object Model

BrendonBuilds commented Nov 2, 2022

View reviewed changes

dc42 reviewed Nov 4, 2022

View reviewed changes

BrendonBuilds and others added 2 commits November 4, 2022 14:11

Adjustments to accelerometer averaging

3a4e5ee

Add extra arguments to AddLocalAccelerometerRun instead of a separate function Move NumAccelerometerAxes to CANLib\RRF3Common.h

Merge branch 'Duet3D:3.5-dev' into 3.5-dev

f46e907

Merge branch '3.5-dev' of https://github.com/BrendonBuilds/RepRapFirm…

a775ab6

…ware into 3.5-dev

dc42 reviewed Nov 5, 2022

View reviewed changes

BrendonBuilds added 2 commits November 5, 2022 09:16

Add Add(Local)FailedAccelerometerRun

b891a99

fix compiler warnings

4d2f10c

btoms20 mentioned this pull request Sep 19, 2023

Semi-real-time accelerometer readouts in the OM #726

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BrendonBuilds commented Nov 2, 2022

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BrendonBuilds commented Nov 4, 2022

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dc42 Nov 5, 2022 •

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