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sos_filter: Implement auto_offset feature

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Add a setting that will enable the mcu sos_filter code to
automatically set an offset using the first read measurement.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2026-01-24 12:12:39 -05:00
parent 30720d29b5
commit 9a97ade74f
2 changed files with 18 additions and 5 deletions
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12
klippy/extras/trigger_analog.py
View file

@ -86,6 +86,7 @@ class MCU_SosFilter:
self._offset = 0
self._scale = 1.
self._scale_frac_bits = 0
self._auto_offset = False
# MCU commands
self._oid = self._mcu.create_oid()
self._set_section_cmd = self._set_state_cmd = None
@ -105,7 +106,7 @@ class MCU_SosFilter:
cq=self._cmd_queue)
self._set_offset_scale_cmd = self._mcu.lookup_command(
"sos_filter_set_offset_scale oid=%c offset=%i"
" scale=%i scale_frac_bits=%c", cq=self._cmd_queue)
" scale=%i scale_frac_bits=%c auto_offset=%c", cq=self._cmd_queue)
self._set_active_cmd = self._mcu.lookup_command(
"sos_filter_set_active oid=%c n_sections=%c coeff_frac_bits=%c",
cq=self._cmd_queue)
@ -160,10 +161,12 @@ class MCU_SosFilter:
self._start_value = start_value
# Set conversion of a raw value 1 to a 1.0 value processed by sos filter
def set_offset_scale(self, offset, scale, scale_frac_bits=0):
def set_offset_scale(self, offset=0, scale=1., scale_frac_bits=0,
auto_offset=False):
self._offset = offset
self._scale = scale
self._scale_frac_bits = scale_frac_bits
self._auto_offset = auto_offset
# Change the filter coefficients and state at runtime
def set_filter_design(self, design, coeff_frac_bits=29):
@ -196,8 +199,9 @@ class MCU_SosFilter:
self._set_state_cmd.send([self._oid, i, state[0], state[1]])
# Send offset/scale (if they have changed)
su = to_fixed_32(self._scale, self._scale_frac_bits)
args = (self._oid, self._offset, su, self._scale_frac_bits)
if args != self._last_sent_offset_scale:
args = (self._oid, self._offset, su, self._scale_frac_bits,
self._auto_offset)
if args != self._last_sent_offset_scale or self._auto_offset:
self._set_offset_scale_cmd.send(args)
self._last_sent_offset_scale = args
# Activate filter

11
src/sos_filter.c
View file

@ -21,6 +21,7 @@ struct sos_filter_section {
struct sos_filter {
uint8_t max_sections, n_sections, coeff_frac_bits, scale_frac_bits;
uint8_t auto_offset;
int32_t offset, scale;
// filter composed of second order sections
struct sos_filter_section filter[0];
@ -58,6 +59,12 @@ sos_filter_apply(struct sos_filter *sf, int32_t *pvalue)
{
int32_t raw_val = *pvalue;
// Automatically apply offset (if requested)
if (sf->auto_offset) {
sf->offset = -raw_val;
sf->auto_offset = 0;
}
// Apply offset and scale
int32_t offset = sf->offset, offset_val = raw_val + offset, cur_val;
if ((offset >= 0) != (offset_val >= raw_val))
@ -163,9 +170,11 @@ command_trigger_analog_set_offset_scale(uint32_t *args)
sf->offset = args[1];
sf->scale = args[2];
sf->scale_frac_bits = args[3] & 0x3f;
sf->auto_offset = args[4];
}
DECL_COMMAND(command_trigger_analog_set_offset_scale,
"sos_filter_set_offset_scale oid=%c offset=%i scale=%i scale_frac_bits=%c");
"sos_filter_set_offset_scale oid=%c offset=%i scale=%i scale_frac_bits=%c"
" auto_offset=%c");
// Set one section of the filter
void