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Reduce debug output

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This commit is contained in:
Thomas Farstrike
2025-12-06 11:16:19 +01:00
parent 0f2bbd5fa9
commit 5199a92394
3 changed files with 21 additions and 38 deletions
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internal_filesystem/builtin/apps/com.micropythonos.settings/assets/calibrate_imu.py
+4 -4
View File
@@ -295,15 +295,15 @@ class CalibrateIMUActivity(Activity):
print(f"[CalibrateIMU] Accel sensor: {accel}, Gyro sensor: {gyro}")
if accel:
print("[CalibrateIMU] Calibrating accelerometer (100 samples)...")
accel_offsets = SensorManager.calibrate_sensor(accel, samples=100)
print("[CalibrateIMU] Calibrating accelerometer (30 samples)...")
accel_offsets = SensorManager.calibrate_sensor(accel, samples=30)
print(f"[CalibrateIMU] Accel offsets: {accel_offsets}")
else:
accel_offsets = None
if gyro:
print("[CalibrateIMU] Calibrating gyroscope (100 samples)...")
gyro_offsets = SensorManager.calibrate_sensor(gyro, samples=100)
print("[CalibrateIMU] Calibrating gyroscope (30 samples)...")
gyro_offsets = SensorManager.calibrate_sensor(gyro, samples=30)
print(f"[CalibrateIMU] Gyro offsets: {gyro_offsets}")
else:
gyro_offsets = None
internal_filesystem/lib/mpos/hardware/drivers/wsen_isds.py
+10 -21
View File
@@ -165,15 +165,6 @@ class Wsen_Isds:
print("[WSEN_ISDS] Waiting 100ms for sensors to stabilize...")
time.sleep_ms(100)
# Debug: Read all control registers to see full sensor state
print("[WSEN_ISDS] === Sensor State After Initialization ===")
for reg_addr in [0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18, 0x19]:
try:
reg_val = self.i2c.readfrom_mem(self.address, reg_addr, 1)[0]
print(f"[WSEN_ISDS] Reg 0x{reg_addr:02x} (CTRL{reg_addr-0x0f}): 0x{reg_val:02x} = 0b{reg_val:08b}")
except:
pass
print("[WSEN_ISDS] Initialization complete")
def get_chip_id(self):
@@ -193,7 +184,6 @@ class Wsen_Isds:
config_value &= opt["mask"]
config_value |= (bits << opt["shift_left"])
self.i2c.writeto_mem(self.address, opt["reg"], bytes([config_value]))
print(f"[WSEN_ISDS] _write_option: {option}={value} → reg {hex(opt['reg'])}: {hex(old_value)} → {hex(config_value)}")
except KeyError as err:
print(f"Invalid option: {option}, or invalid option value: {value}.", err)
@@ -280,11 +270,14 @@ class Wsen_Isds:
if samples is None:
samples = self.ACC_NUM_SAMPLES_CALIBRATION
print(f"[WSEN_ISDS] Calibrating accelerometer with {samples} samples...")
self.acc_offset_x = 0
self.acc_offset_y = 0
self.acc_offset_z = 0
for _ in range(samples):
for i in range(samples):
if i % 10 == 0:
print(f"[WSEN_ISDS] Accel sample {i}/{samples}")
x, y, z = self._read_raw_accelerations()
self.acc_offset_x += x
self.acc_offset_y += y
@@ -294,6 +287,7 @@ class Wsen_Isds:
self.acc_offset_x //= samples
self.acc_offset_y //= samples
self.acc_offset_z //= samples
print(f"[WSEN_ISDS] Accelerometer calibration complete: offsets=({self.acc_offset_x}, {self.acc_offset_y}, {self.acc_offset_z})")
def _acc_calc_sensitivity(self):
"""Calculate accelerometer sensitivity based on range (in mg/digit)."""
@@ -324,19 +318,15 @@ class Wsen_Isds:
def _read_raw_accelerations(self):
"""Read raw accelerometer data."""
print("[WSEN_ISDS] _read_raw_accelerations: checking data ready...")
if not self._acc_data_ready():
print("[WSEN_ISDS] _read_raw_accelerations: DATA NOT READY!")
raise Exception("sensor data not ready")
print("[WSEN_ISDS] _read_raw_accelerations: data ready, reading registers...")
raw = self.i2c.readfrom_mem(self.address, Wsen_Isds._REG_A_X_OUT_L, 6)
raw_a_x = self._convert_from_raw(raw[0], raw[1])
raw_a_y = self._convert_from_raw(raw[2], raw[3])
raw_a_z = self._convert_from_raw(raw[4], raw[5])
print(f"[WSEN_ISDS] _read_raw_accelerations: raw values = ({raw_a_x}, {raw_a_y}, {raw_a_z})")
return raw_a_x, raw_a_y, raw_a_z
def gyro_calibrate(self, samples=None):
@@ -348,11 +338,14 @@ class Wsen_Isds:
if samples is None:
samples = self.GYRO_NUM_SAMPLES_CALIBRATION
print(f"[WSEN_ISDS] Calibrating gyroscope with {samples} samples...")
self.gyro_offset_x = 0
self.gyro_offset_y = 0
self.gyro_offset_z = 0
for _ in range(samples):
for i in range(samples):
if i % 10 == 0:
print(f"[WSEN_ISDS] Gyro sample {i}/{samples}")
x, y, z = self._read_raw_angular_velocities()
self.gyro_offset_x += x
self.gyro_offset_y += y
@@ -362,6 +355,7 @@ class Wsen_Isds:
self.gyro_offset_x //= samples
self.gyro_offset_y //= samples
self.gyro_offset_z //= samples
print(f"[WSEN_ISDS] Gyroscope calibration complete: offsets=({self.gyro_offset_x}, {self.gyro_offset_y}, {self.gyro_offset_z})")
def read_angular_velocities(self):
"""Read calibrated gyroscope data.
@@ -379,19 +373,15 @@ class Wsen_Isds:
def _read_raw_angular_velocities(self):
"""Read raw gyroscope data."""
print("[WSEN_ISDS] _read_raw_angular_velocities: checking data ready...")
if not self._gyro_data_ready():
print("[WSEN_ISDS] _read_raw_angular_velocities: DATA NOT READY!")
raise Exception("sensor data not ready")
print("[WSEN_ISDS] _read_raw_angular_velocities: data ready, reading registers...")
raw = self.i2c.readfrom_mem(self.address, Wsen_Isds._REG_G_X_OUT_L, 6)
raw_g_x = self._convert_from_raw(raw[0], raw[1])
raw_g_y = self._convert_from_raw(raw[2], raw[3])
raw_g_z = self._convert_from_raw(raw[4], raw[5])
print(f"[WSEN_ISDS] _read_raw_angular_velocities: raw values = ({raw_g_x}, {raw_g_y}, {raw_g_z})")
return raw_g_x, raw_g_y, raw_g_z
def read_angular_velocities_accelerations(self):
@@ -468,5 +458,4 @@ class Wsen_Isds:
gyro_data_ready = bool(status & 0x02) # Bit 1
temp_data_ready = bool(status & 0x04) # Bit 2
print(f"[WSEN_ISDS] Status register: 0x{status:02x} = 0b{status:08b}, acc_ready={acc_data_ready}, gyro_ready={gyro_data_ready}, temp_ready={temp_data_ready}")
return acc_data_ready, gyro_data_ready, temp_data_ready
internal_filesystem/lib/mpos/sensor_manager.py
+7 -13
View File
@@ -652,53 +652,47 @@ class _QMI8658Driver(_IMUDriver):
def calibrate_accelerometer(self, samples):
"""Calibrate accelerometer (device must be stationary)."""
print(f"[QMI8658Driver] calibrate_accelerometer: starting with {samples} samples")
print(f"[QMI8658Driver] Calibrating accelerometer with {samples} samples...")
sum_x, sum_y, sum_z = 0.0, 0.0, 0.0
for i in range(samples):
if i % 10 == 0:
print(f"[QMI8658Driver] Sample {i}/{samples}: about to read acceleration...")
print(f"[QMI8658Driver] Accel sample {i}/{samples}")
ax, ay, az = self.sensor.acceleration
if i % 10 == 0:
print(f"[QMI8658Driver] Sample {i}/{samples}: read complete, values=({ax:.3f}, {ay:.3f}, {az:.3f}), sleeping...")
# Convert to m/s²
sum_x += ax * _GRAVITY
sum_y += ay * _GRAVITY
sum_z += az * _GRAVITY
time.sleep_ms(10)
if i % 10 == 0:
print(f"[QMI8658Driver] Sample {i}/{samples}: sleep complete")
print(f"[QMI8658Driver] All {samples} samples collected, calculating offsets...")
# Average offsets (assuming Z-axis should read +9.8 m/s²)
self.accel_offset[0] = sum_x / samples
self.accel_offset[1] = sum_y / samples
self.accel_offset[2] = (sum_z / samples) - _GRAVITY # Expect +1G on Z
print(f"[QMI8658Driver] Calibration complete: offsets = {tuple(self.accel_offset)}")
print(f"[QMI8658Driver] Accelerometer calibration complete: offsets = {tuple(self.accel_offset)}")
return tuple(self.accel_offset)
def calibrate_gyroscope(self, samples):
"""Calibrate gyroscope (device must be stationary)."""
print(f"[QMI8658Driver] calibrate_gyroscope: starting with {samples} samples")
print(f"[QMI8658Driver] Calibrating gyroscope with {samples} samples...")
sum_x, sum_y, sum_z = 0.0, 0.0, 0.0
for i in range(samples):
if i % 20 == 0:
print(f"[QMI8658Driver] Reading sample {i}/{samples}...")
if i % 10 == 0:
print(f"[QMI8658Driver] Gyro sample {i}/{samples}")
gx, gy, gz = self.sensor.gyro
sum_x += gx
sum_y += gy
sum_z += gz
time.sleep_ms(10)
print(f"[QMI8658Driver] All {samples} samples collected, calculating offsets...")
# Average offsets (should be 0 when stationary)
self.gyro_offset[0] = sum_x / samples
self.gyro_offset[1] = sum_y / samples
self.gyro_offset[2] = sum_z / samples
print(f"[QMI8658Driver] Calibration complete: offsets = {tuple(self.gyro_offset)}")
print(f"[QMI8658Driver] Gyroscope calibration complete: offsets = {tuple(self.gyro_offset)}")
return tuple(self.gyro_offset)
def get_calibration(self):