shaper_calibrate: store accel_per_hz

klippy/extras/resonance_tester.py

@@ -189,6 +189,9 @@ def _run_test(self, axis, gcmd):
     def get_max_freq(self):
         return self.freq_end
 
+    def get_accel_per_hz(self):
+        return self.accel_per_hz
+
 
 class ResonanceTester:
     def __init__(self, config):
@@ -380,6 +383,7 @@ def cmd_TEST_RESONANCES(self, gcmd):
                 data,
                 point=test_point,
                 max_freq=self._get_max_calibration_freq(),
+                accel_per_hz=self.test.get_accel_per_hz(),
             )
             gcmd.respond_info(
                 "Resonances data written to %s file" % (csv_name,)
@@ -457,6 +461,7 @@ def cmd_SHAPER_CALIBRATE(self, gcmd):
                 calibration_data[axis],
                 all_shapers,
                 max_freq=max_freq,
+                accel_per_hz=self.test.get_accel_per_hz(),
             )
             gcmd.respond_info(
                 "Shaper calibration data written to %s file" % (csv_name,)
@@ -520,10 +525,11 @@ def save_calibration_data(
         all_shapers=None,
         point=None,
         max_freq=None,
+        accel_per_hz=None,
     ):
         output = self.get_filename(base_name, name_suffix, axis, point)
         shaper_calibrate.save_calibration_data(
-            output, calibration_data, all_shapers, max_freq
+            output, calibration_data, all_shapers, max_freq, accel_per_hz
         )
         return output
 

klippy/extras/shaper_calibrate.py

@@ -456,12 +456,17 @@ def apply_params(self, input_shaper, axis, shaper_name, shaper_freq):
         )
 
     def save_calibration_data(
-        self, output, calibration_data, shapers=None, max_freq=None
+        self,
+        output,
+        calibration_data,
+        shapers=None,
+        max_freq=None,
+        accel_per_hz=None,
     ):
         try:
             max_freq = max_freq or MAX_FREQ
             with open(output, "w") as csvfile:
-                csvfile.write("freq,psd_x,psd_y,psd_z,psd_xyz")
+                csvfile.write("freq,psd_x,psd_y,psd_z,psd_xyz,accel_per_hz")
                 if shapers:
                     for shaper in shapers:
                         csvfile.write(",%s(%.1f)" % (shaper.name, shaper.freq))
@@ -471,13 +476,14 @@ def save_calibration_data(
                     if calibration_data.freq_bins[i] >= max_freq:
                         break
                     csvfile.write(
-                        "%.1f,%.3e,%.3e,%.3e,%.3e"
+                        "%.1f,%.3e,%.3e,%.3e,%.3e,%.1f"
                         % (
                             calibration_data.freq_bins[i],
                             calibration_data.psd_x[i],
                             calibration_data.psd_y[i],
                             calibration_data.psd_z[i],
                             calibration_data.psd_sum[i],
+                            accel_per_hz,
                         )
                     )
                     if shapers:

scripts/calibrate_shaper.py

@@ -23,7 +23,7 @@ def parse_log(logname):
         for header in f:
             if not header.startswith("#"):
                 break
-        if not header.startswith("freq,psd_x,psd_y,psd_z,psd_xyz"):
+        if not header.startswith("freq,psd_x,psd_y,psd_z,psd_xyz,accel_per_hz"):
             # Raw accelerometer data
             return np.loadtxt(logname, comments="#", delimiter=",")
     # Parse power spectral density data
@@ -43,6 +43,20 @@ def parse_log(logname):
     return calibration_data
 
 
+def parse_accel_per_hz(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,accel_per_hz"):
+            return None  # TODO
+
+    data = np.loadtxt(
+        logname, skiprows=1, comments="#", delimiter=",", max_rows=2
+    )
+    return data[0][5].item()
+
+
 ######################################################################
 # Shaper calibration
 ######################################################################
@@ -102,7 +116,12 @@ def calibrate_shaper(
 
 
 def plot_freq_response(
-    lognames, calibration_data, shapers, selected_shaper, max_freq
+    lognames,
+    calibration_data,
+    shapers,
+    selected_shaper,
+    max_freq,
+    accels_per_hz,
 ):
     freqs = calibration_data.freq_bins
     psd = calibration_data.psd_sum[freqs <= max_freq]
@@ -154,6 +173,13 @@ def plot_freq_response(
         [], [], " ", label="Recommended shaper: %s" % (selected_shaper.upper())
     )
 
+    ax2.plot(
+        [],
+        [],
+        " ",
+        label="accels_per_hz: %s" % (", ".join(str(e) for e in accels_per_hz)),
+    )
+
     ax.legend(loc="upper left", prop=fontP)
     ax2.legend(loc="upper right", prop=fontP)
 
@@ -309,6 +335,7 @@ def main():
 
     # Parse data
     datas = [parse_log(fn) for fn in args]
+    accels_per_hz = [parse_accel_per_hz(fn) for fn in args]
 
     # Calibrate shaper and generate outputs
     selected_shaper, shapers, calibration_data = calibrate_shaper(
@@ -330,7 +357,12 @@ def main():
         setup_matplotlib(options.output is not None)
 
         fig = plot_freq_response(
-            args, calibration_data, shapers, selected_shaper, max_freq
+            args,
+            calibration_data,
+            shapers,
+            selected_shaper,
+            max_freq,
+            accels_per_hz,
         )
 
         # Show graph