added axes_map computation

K-ShakeTune/K-SnT_axes_map.cfg

@@ -0,0 +1,60 @@
+############################################################
+###### AXE_MAP DETECTION AND ACCELEROMETER VALIDATION ######
+############################################################
+# Written by Frix_x#0161 #
+
+[gcode_macro AXES_MAP_CALIBRATION]
+gcode:
+    {% set z_height = params.Z_HEIGHT|default(20)|int %} # z height to put the toolhead before starting the movements
+    {% set speed = params.SPEED|default(80)|float * 60 %} # feedrate for the movements
+    {% set accel = params.ACCEL|default(1500)|int %} # accel value used to move on the pattern
+    {% set feedrate_travel = params.TRAVEL_SPEED|default(120)|int * 60 %} # travel feedrate between moves
+    {% set accel_chip = params.ACCEL_CHIP|default("adxl345") %} # ADXL chip name in the config
+
+    {% set mid_x = printer.toolhead.axis_maximum.x|float / 2 %}
+    {% set mid_y = printer.toolhead.axis_maximum.y|float / 2 %}
+
+    {% set accel = [accel, printer.configfile.settings.printer.max_accel]|min %}
+    {% set old_accel = printer.toolhead.max_accel %}
+    {% set old_accel_to_decel = printer.toolhead.max_accel_to_decel %}
+    {% set old_sqv = printer.toolhead.square_corner_velocity %}
+
+
+    {% if not 'xyz' in printer.toolhead.homed_axes %}
+        { action_raise_error("Must Home printer first!") }
+    {% endif %}
+
+    {action_respond_info("")}
+    {action_respond_info("Starting accelerometer axe_map calibration")}
+    {action_respond_info("This operation can not be interrupted by normal means. Hit the \"emergency stop\" button to stop it if needed")}
+    {action_respond_info("")}
+
+    SAVE_GCODE_STATE NAME=STATE_AXESMAP_CALIBRATION
+
+    G90
+
+    # Set the wanted acceleration values (not too high to avoid oscillation, not too low to be able to reach constant speed on each segments)
+    SET_VELOCITY_LIMIT ACCEL={accel} ACCEL_TO_DECEL={accel} SQUARE_CORNER_VELOCITY={[(accel / 1000), 5.0]|max}
+    
+    # Going to the start position
+    G1 Z{z_height} F{feedrate_travel / 8}
+    G1 X{mid_x - 15} Y{mid_y - 15} F{feedrate_travel}
+    G4 P500
+
+    ACCELEROMETER_MEASURE CHIP={accel_chip}
+    G4 P1000 # This first waiting time is to record the background accelerometer noise before moving
+    G1 X{mid_x + 15} F{speed}
+    G4 P1000
+    G1 Y{mid_y + 15} F{speed}
+    G4 P1000
+    G1 Z{z_height + 15} F{speed}
+    G4 P1000
+    ACCELEROMETER_MEASURE CHIP={accel_chip} NAME=axemap
+
+    RESPOND MSG="Analysis of the movements..."
+    RUN_SHELL_COMMAND CMD=shaketune PARAMS="AXESMAP {accel}"
+
+    # Restore the previous acceleration values
+    SET_VELOCITY_LIMIT ACCEL={old_accel} ACCEL_TO_DECEL={old_accel_to_decel} SQUARE_CORNER_VELOCITY={old_sqv}
+
+    RESTORE_GCODE_STATE NAME=STATE_AXESMAP_CALIBRATION

K-ShakeTune/K-SnT_axis.cfg

@@ -6,7 +6,6 @@
 [gcode_macro AXES_SHAPER_CALIBRATION]
 description: Perform standard axis input shaper tests on one or both XY axes to select the best input shaper filter
 gcode:
-    {% set verbose = params.VERBOSE|default(true) %}
     {% set min_freq = params.FREQ_START|default(5)|float %}
     {% set max_freq = params.FREQ_END|default(133.3)|float %}
     {% set hz_per_sec = params.HZ_PER_SEC|default(1)|float %}
@@ -28,10 +27,8 @@ gcode:
         TEST_RESONANCES AXIS=X OUTPUT=raw_data NAME=x FREQ_START={min_freq} FREQ_END={max_freq} HZ_PER_SEC={hz_per_sec}
         M400
 
-        {% if verbose %}
         RESPOND MSG="X axis frequency profile generation..."
         RESPOND MSG="This may take some time (1-3min)"
-        {% endif %}
         RUN_SHELL_COMMAND CMD=shaketune PARAMS=SHAPER
     {% endif %}
 
@@ -39,9 +36,7 @@ gcode:
         TEST_RESONANCES AXIS=Y OUTPUT=raw_data NAME=y FREQ_START={min_freq} FREQ_END={max_freq} HZ_PER_SEC={hz_per_sec}
         M400
 
-        {% if verbose %}
         RESPOND MSG="Y axis frequency profile generation..."
         RESPOND MSG="This may take some time (1-3min)"
-        {% endif %}
         RUN_SHELL_COMMAND CMD=shaketune PARAMS=SHAPER
     {% endif %}

K-ShakeTune/K-SnT_belts.cfg

@@ -6,7 +6,6 @@
 [gcode_macro BELTS_SHAPER_CALIBRATION]
 description: Perform a custom half-axis test to analyze and compare the frequency profiles of individual belts on CoreXY printers
 gcode:
-    {% set verbose = params.VERBOSE|default(true) %}
     {% set min_freq = params.FREQ_START|default(5)|float %}
     {% set max_freq = params.FREQ_END|default(133.33)|float %}
     {% set hz_per_sec = params.HZ_PER_SEC|default(1)|float %}
@@ -17,8 +16,6 @@ gcode:
     TEST_RESONANCES AXIS=1,-1 OUTPUT=raw_data NAME=a FREQ_START={min_freq} FREQ_END={max_freq} HZ_PER_SEC={hz_per_sec}
     M400
 
-    {% if verbose %}
     RESPOND MSG="Belts comparative frequency profile generation..."
     RESPOND MSG="This may take some time (3-5min)"
-    {% endif %}
     RUN_SHELL_COMMAND CMD=shaketune PARAMS=BELTS

K-ShakeTune/K-SnT_vibrations.cfg

@@ -8,7 +8,6 @@ gcode:
     {% set size = params.SIZE|default(60)|int %} # size of the area where the movements are done
     {% set direction = params.DIRECTION|default('XY') %} # can be set to either XY, AB, ABXY, A, B, X, Y, Z
     {% set z_height = params.Z_HEIGHT|default(20)|int %} # z height to put the toolhead before starting the movements
-    {% set verbose = params.VERBOSE|default(true) %} # Wether to log the current speed in the console
 
     {% set min_speed = params.MIN_SPEED|default(20)|float * 60 %} # minimum feedrate for the movements
     {% set max_speed = params.MAX_SPEED|default(200)|float * 60 %} # maximum feedrate for the movements
@@ -100,9 +99,7 @@ gcode:
         }
     %}
 
-    #
+
-    # STARTING...
-    #
     {% if not 'xyz' in printer.toolhead.homed_axes %}
         { action_raise_error("Must Home printer first!") }
     {% endif %}
@@ -126,22 +123,19 @@ gcode:
 
     SAVE_GCODE_STATE NAME=STATE_VIBRATIONS_CALIBRATION
 
-    M83
     G90
 
     # Set the wanted acceleration values (not too high to avoid oscillation, not too low to be able to reach constant speed on each segments)
     SET_VELOCITY_LIMIT ACCEL={accel} ACCEL_TO_DECEL={accel} SQUARE_CORNER_VELOCITY={[(accel / 1000), 5.0]|max}
     
     # Going to the start position
-    G1 Z{z_height}
+    G1 Z{z_height} F{feedrate_travel / 10}
     G1 X{mid_x + (size * direction_factor[direction].start.x) } Y{mid_y + (size * direction_factor[direction].start.y)} F{feedrate_travel}
 
     # vibration pattern for each frequency
     {% for curr_sample in range(0, nb_samples) %}
         {% set curr_speed = min_speed + curr_sample * speed_increment %}
-        {% if verbose %}
         RESPOND MSG="{"Current speed: %.2f mm/s" % (curr_speed / 60)|float}"
-        {% endif %}
 
         ACCELEROMETER_MEASURE CHIP={accel_chip}
         {% if direction == 'E' %}
@@ -152,14 +146,13 @@ gcode:
             {% endfor %}
         {% endif %}
         ACCELEROMETER_MEASURE CHIP={accel_chip} NAME=sp{("%.2f" % (curr_speed / 60)|float)|replace('.','_')}n1
-
         G4 P300
+
         M400
     {% endfor %}
 
-    {% if verbose %}
+    RESPOND MSG="Machine and motors vibration graph generation..."
-        RESPOND MSG="Graphs generation... Please wait a minute or two and look in the configured folder."
+    RESPOND MSG="This may take some time (3-5min)"
-    {% endif %}
     RUN_SHELL_COMMAND CMD=shaketune PARAMS="VIBRATIONS {direction}"
 
     # Restore the previous acceleration values

K-ShakeTune/scripts/analyze_axesmap.py

@@ -0,0 +1,171 @@
+#!/usr/bin/env python3
+
+######################################
+###### AXE_MAP DETECTION SCRIPT ######
+######################################
+# Written by Frix_x#0161 #
+
+# Be sure to make this script executable using SSH: type 'chmod +x ./analyze_axesmap.py' when in the folder !
+
+#####################################################################
+################ !!! DO NOT EDIT BELOW THIS LINE !!! ################
+#####################################################################
+
+import optparse
+import numpy as np
+import locale
+from scipy.signal import butter, filtfilt
+
+
+NUM_POINTS = 500
+
+
+# Set the best locale for time and date formating (generation of the titles)
+try:
+    locale.setlocale(locale.LC_TIME, locale.getdefaultlocale())
+except locale.Error:
+    locale.setlocale(locale.LC_TIME, 'C')
+
+# Override the built-in print function to avoid problem in Klipper due to locale settings
+original_print = print
+def print_with_c_locale(*args, **kwargs):
+    original_locale = locale.setlocale(locale.LC_ALL, None)
+    locale.setlocale(locale.LC_ALL, 'C')
+    original_print(*args, **kwargs)
+    locale.setlocale(locale.LC_ALL, original_locale)
+print = print_with_c_locale
+
+
+######################################################################
+# Computation
+######################################################################
+
+def accel_signal_filter(data, cutoff=2, fs=100, order=5):
+    nyq = 0.5 * fs
+    normal_cutoff = cutoff / nyq
+    b, a = butter(order, normal_cutoff, btype='low', analog=False)
+    filtered_data = filtfilt(b, a, data)
+    filtered_data -= np.mean(filtered_data)
+    return filtered_data
+
+def find_first_spike(data):
+    min_index, max_index = np.argmin(data), np.argmax(data)
+    return ('-', min_index) if min_index < max_index else ('', max_index)
+
+def get_movement_vector(data, start_idx, end_idx):
+    if start_idx < end_idx:
+        vector = []
+        for i in range(3):
+            vector.append(np.mean(data[i][start_idx:end_idx], axis=0))
+        return vector
+    else:
+        return np.zeros(3)
+
+def angle_between(v1, v2):
+    v1_u = v1 / np.linalg.norm(v1)
+    v2_u = v2 / np.linalg.norm(v2)
+    return np.arccos(np.clip(np.dot(v1_u, v2_u), -1.0, 1.0))
+
+def compute_errors(filtered_data, spikes_sorted, accel_value, num_points):
+    # Get the movement start points in the correct order from the sorted bag of spikes
+    movement_starts = [spike[0][1] for spike in spikes_sorted]
+
+    # Theoretical unit vectors for X, Y, Z printer axes
+    printer_axes  = {
+        'x': np.array([1, 0, 0]),
+        'y': np.array([0, 1, 0]),
+        'z': np.array([0, 0, 1])
+    }
+
+    alignment_errors = {}
+    sensitivity_errors = {}
+    for i, axis in enumerate(['x', 'y', 'z']):
+        movement_start = movement_starts[i]
+        movement_end = movement_start + num_points
+        movement_vector = get_movement_vector(filtered_data, movement_start, movement_end)
+        alignment_errors[axis] = angle_between(movement_vector, printer_axes[axis])
+
+        measured_accel_magnitude = np.linalg.norm(movement_vector)
+        if accel_value != 0:
+            sensitivity_errors[axis] = abs(measured_accel_magnitude - accel_value) / accel_value * 100
+        else:
+            sensitivity_errors[axis] = None
+
+    return alignment_errors, sensitivity_errors
+
+
+######################################################################
+# Startup and main routines
+######################################################################
+
+def parse_log(logname):
+    with open(logname) as f:
+        for header in f:
+            if not header.startswith('#'):
+                break
+        if not header.startswith('freq,psd_x,psd_y,psd_z,psd_xyz'):
+            # Raw accelerometer data
+            return np.loadtxt(logname, comments='#', delimiter=',')
+    # Power spectral density data or shaper calibration data
+    raise ValueError("File %s does not contain raw accelerometer data and therefore "
+               "is not supported by this script. Please use the official Klipper "
+               "calibrate_shaper.py script to process it instead." % (logname,))
+
+
+def axesmap_calibration(lognames, accel=None):
+    # Parse the raw data and get them ready for analysis
+    raw_datas = [parse_log(filename) for filename in lognames]
+    if len(raw_datas) > 1:
+        raise ValueError("Analysis of multiple CSV files at once is not possible with this script")
+
+    filtered_data = [accel_signal_filter(raw_datas[0][:, i+1]) for i in range(3)]
+    spikes = [find_first_spike(filtered_data[i]) for i in range(3)]
+    spikes_sorted = sorted([(spikes[0], 'x'), (spikes[1], 'y'), (spikes[2], 'z')], key=lambda x: x[0][1])
+
+    # Using the previous variables to get the axes_map and errors
+    axes_map = ','.join([f"{spike[0][0]}{spike[1]}" for spike in spikes_sorted])
+    # alignment_error, sensitivity_error = compute_errors(filtered_data, spikes_sorted, accel, NUM_POINTS)
+
+    results = f"Detected axes_map:\n  {axes_map}\n"
+
+    # TODO: work on this function that is currently not giving good results...
+    # results += "Accelerometer angle deviation:\n"
+    # for axis, angle in alignment_error.items():
+    #     angle_degrees = np.degrees(angle) # Convert radians to degrees
+    #     results += f"  {axis.upper()} axis: {angle_degrees:.2f} degrees\n"
+
+    # results += "Accelerometer sensitivity error:\n"
+    # for axis, error in sensitivity_error.items():
+    #     results += f"  {axis.upper()} axis: {error:.2f}%\n"
+
+    return results
+
+
+def main():
+    # Parse command-line arguments
+    usage = "%prog [options] <raw logs>"
+    opts = optparse.OptionParser(usage)
+    opts.add_option("-o", "--output", type="string", dest="output",
+                    default=None, help="filename of output graph")
+    opts.add_option("-a", "--accel", type="string", dest="accel",
+                    default=None, help="acceleration value used to do the movements")
+    options, args = opts.parse_args()
+    if len(args) < 1:
+        opts.error("No CSV file(s) to analyse")
+    if options.accel is None:
+        opts.error("You must specify the acceleration value used when generating the CSV file (option -a)")
+    try:
+        accel_value = float(options.accel)
+    except ValueError:
+        opts.error("Invalid acceleration value. It should be a numeric value.")
+
+    results = axesmap_calibration(args, accel_value)
+    print(results)
+
+    if options.output is not None:
+        with open(options.output, 'w') as f:
+            f.write(results)
+
+
+if __name__ == '__main__':
+    main()

K-ShakeTune/scripts/graph_vibrations.py

@@ -317,7 +317,7 @@ def parse_log(logname):
             return np.loadtxt(logname, comments='#', delimiter=',')
     # Power spectral density data or shaper calibration data
     raise ValueError("File %s does not contain raw accelerometer data and therefore "
-               "is not supported by graph_vibrations.py script. Please use "
+               "is not supported by this script. Please use the official Klipper"
                "calibrate_shaper.py script to process it instead." % (logname,))
 
 
@@ -326,7 +326,7 @@ def extract_speed(logname):
         speed = re.search('sp(.+?)n', os.path.basename(logname)).group(1).replace('_','.')
     except AttributeError:
         raise ValueError("File %s does not contain speed in its name and therefore "
-               "is not supported by graph_vibrations.py script." % (logname,))
+               "is not supported by this script." % (logname,))
     return float(speed)
 
 

K-ShakeTune/scripts/is_workflow.py

@@ -30,6 +30,7 @@ STORE_RESULTS = 3
 from graph_belts import belts_calibration
 from graph_shaper import shaper_calibration
 from graph_vibrations import vibrations_calibration
+from analyze_axesmap import axesmap_calibration
 
 RESULTS_SUBFOLDERS = ['belts', 'inputshaper', 'vibrations']
 
@@ -50,7 +51,7 @@ def is_file_open(filepath):
     return False
 
 
-def get_belts_graph():
+def create_belts_graph():
     current_date = datetime.now().strftime('%Y%m%d_%H%M%S')
     lognames = []
 
@@ -61,6 +62,7 @@ def get_belts_graph():
     if len(globbed_files) < 2:
         print("Not enough CSV files found in the /tmp folder. Two files are required for the belt graphs!")
         sys.exit(1)
+
     sorted_files = sorted(globbed_files, key=os.path.getmtime, reverse=True)
 
     for filename in sorted_files[:2]:
@@ -85,10 +87,11 @@ def get_belts_graph():
     fig = belts_calibration(lognames, KLIPPER_FOLDER)
     png_filename = os.path.join(RESULTS_FOLDER, RESULTS_SUBFOLDERS[0], f'belts_{current_date}.png')
 
-    return fig, png_filename
+    fig.savefig(png_filename)
+    return
 
 
-def get_shaper_graph():
+def create_shaper_graph():
     current_date = datetime.now().strftime('%Y%m%d_%H%M%S')
 
     # Get all the files and sort them based on last modified time to select the most recent one
@@ -96,6 +99,7 @@ def get_shaper_graph():
     if not globbed_files:
         print("No CSV files found in the /tmp folder to create the input shaper graphs!")
         sys.exit(1)
+
     sorted_files = sorted(globbed_files, key=os.path.getmtime, reverse=True)
     filename = sorted_files[0]
 
@@ -117,10 +121,11 @@ def get_shaper_graph():
     fig = shaper_calibration([new_file], KLIPPER_FOLDER)
     png_filename = os.path.join(RESULTS_FOLDER, RESULTS_SUBFOLDERS[1], f'resonances_{current_date}_{axis}.png')
     
-    return fig, png_filename
+    fig.savefig(png_filename)
+    return
 
 
-def get_vibrations_graph(axis_name):
+def create_vibrations_graph(axis_name):
     current_date = datetime.now().strftime('%Y%m%d_%H%M%S')
     lognames = []
 
@@ -159,7 +164,35 @@ def get_vibrations_graph(axis_name):
             tar.add(csv_file, recursive=False)
             os.remove(csv_file)
 
-    return fig, png_filename
+    fig.savefig(png_filename)
+    return
+
+
+def find_axesmap(accel):
+    current_date = datetime.now().strftime('%Y%m%d_%H%M%S')
+    result_filename = os.path.join(RESULTS_FOLDER, f'axes_map_{current_date}.txt')
+    lognames = []
+
+    globbed_files = glob.glob('/tmp/adxl345-*.csv')
+    if not globbed_files:
+        print("No CSV files found in the /tmp folder to analyze and find the axes_map!")
+        sys.exit(1)
+
+    sorted_files = sorted(globbed_files, key=os.path.getmtime, reverse=True)
+    filename = sorted_files[0]
+
+    # Wait for the file handler to be released by Klipper
+    while is_file_open(filename):
+        time.sleep(2)
+
+    # Analyze the CSV to find the axes_map parameter
+    lognames.append(filename)
+    results = axesmap_calibration(lognames, accel)
+
+    with open(result_filename, 'w') as f:
+        f.write(results)
+
+    return
 
 
 # Utility function to get old files based on their modification time
@@ -210,20 +243,21 @@ def main():
             os.makedirs(folder)
 
     if len(sys.argv) < 2:
-        print("Usage: is_workflow.py [SHAPER|BELTS|VIBRATIONS]")
+        print("Usage: is_workflow.py [BELTS|SHAPER|VIBRATIONS|AXESMAP]")
         sys.exit(1)
 
     if sys.argv[1].lower() == 'belts':
-        fig, png_filename = get_belts_graph()
+        create_belts_graph()
     elif sys.argv[1].lower() == 'shaper':
-        fig, png_filename = get_shaper_graph()
+        create_shaper_graph()
     elif sys.argv[1].lower() == 'vibrations':
-        fig, png_filename = get_vibrations_graph(axis_name=sys.argv[2])
+        create_vibrations_graph(axis_name=sys.argv[2])
+    elif sys.argv[1].lower() == 'axesmap':
+        find_axesmap(accel=sys.argv[2])
     else:
-        print("Usage: is_workflow.py [SHAPER|BELTS|VIBRATIONS]")
+        print("Usage: is_workflow.py [BELTS|SHAPER|VIBRATIONS|AXESMAP]")
         sys.exit(1)
 
-    fig.savefig(png_filename)
 
     clean_files()
     print(f"Graphs created. You will find the results in {RESULTS_FOLDER}")

K-ShakeTune/shaketune_cmd.cfg

@@ -2,3 +2,5 @@
 command: ~/printer_data/config/K-ShakeTune/scripts/shaketune.sh
 timeout: 600.0
 verbose: True
+
+[respond]

docs/README.md

@@ -4,8 +4,9 @@
 
 ### Detailed documentation
 
-First, check out **[input shaping and tuning generalities](./is_tuning_generalities.md)** to understand how it all works and what to look for when taking these measurements.
+Before running any tests, you should first run the `AXES_MAP_CALIBRATION` macro to detect the and set Klipper's accelerometer axes_map parameter and validate that your accelerometer is working correctly and properly mounted. Then, check out **[input shaping and tuning generalities](./is_tuning_generalities.md)** to understand how it all works and what to look for when taking these measurements.
-Then look at the documentation for each type of graph by clicking on them below to better understand your results and tune your machine!
+
+Finally look at the documentation for each type of graph by clicking on them below tu run the tests and better understand your results to tune your machine!
 
 | [Belts graph](./macros/belts_tuning.md) | [Axis input shaper graphs](./macros/axis_tuning.md) | [Vibrations graph](./macros/vibrations_tuning.md) |
 |:----------------:|:------------:|:---------------------:|

docs/macros/axis_tuning.md

@@ -11,7 +11,6 @@ Then, call the `AXES_SHAPER_CALIBRATION` macro and look for the graphs in the re
 
 | parameters | default value | description |
 |-----------:|---------------|-------------|
-|VERBOSE|1|Wether to log things in the console|
 |FREQ_START|5|Starting excitation frequency|
 |FREQ_END|133|Maximum excitation frequency|
 |HZ_PER_SEC|1|Number of Hz per seconds for the test|

docs/macros/belts_tuning.md

@@ -11,7 +11,6 @@ Then, call the `BELTS_SHAPER_CALIBRATION` macro and look for the graphs in the r
 
 | parameters | default value | description |
 |-----------:|---------------|-------------|
-|VERBOSE|1|Wether to log things in the console|
 |FREQ_START|5|Starting excitation frequency|
 |FREQ_END|133|Maximum excitation frequency|
 |HZ_PER_SEC|1|Number of Hz per seconds for the test|

docs/macros/vibrations_tuning.md

@@ -16,7 +16,6 @@ Call the `VIBRATIONS_CALIBRATION` macro with the direction and speed range you w
 |SIZE|60|size in mm of the area where the movements are done|
 |DIRECTION|"XY"|direction vector where you want to do the measurements. Can be set to either "XY", "AB", "ABXY", "A", "B", "X", "Y", "Z", "E"|
 |Z_HEIGHT|20|z height to put the toolhead before starting the movements. Be careful, if your ADXL is under the nozzle, increase it to avoid a crash of the ADXL on the bed of the machine|
-|VERBOSE|1|Wether to log the current speed in the console|
 |ACCEL|3000 (or max printer accel)|accel in mm/s^2 used for all the moves. Try to keep it relatively low to avoid bad oscillations that affect the measurements, but but high enough to reach constant speed for >~70% of the segments|
 |MIN_SPEED|20|minimum speed of the toolhead in mm/s for the movements|
 |MAX_SPEED|200|maximum speed of the toolhead in mm/s for the movements|

requirements.txt

@@ -8,4 +8,5 @@ packaging==23.2
 Pillow==10.1.0
 pyparsing==3.1.1
 python-dateutil==2.8.2
+scipy==1.11.4
 six==1.16.0