feat/resonance_tester: accepts ACCEL_PER_HZ in TEST_RESONANCES

README.md

@@ -112,6 +112,8 @@ See the [Danger Features document](https://dangerklipper.io/Danger_Features.html
 
 - [shaper_calibrate: store and expose accel_per_hz](https://github.com/DangerKlippers/danger-klipper/pull/224)
 
+- [resonance_tester: accepts ACCEL_PER_HZ in TEST_RESONANCES](https://github.com/DangerKlippers/danger-klipper/pull/312)
+
 - [mcu: support for AT32F403](https://github.com/DangerKlippers/danger-klipper/pull/284)
 
 If you're feeling adventurous, take a peek at the extra features in the bleeding-edge-v2 branch [feature documentation](docs/Bleeding_Edge.md)

docs/G-Codes.md

@@ -1270,8 +1270,8 @@ all enabled accelerometer chips.
 `TEST_RESONANCES AXIS=<axis> OUTPUT=<resonances,raw_data>
 [NAME=<name>] [FREQ_START=<min_freq>] [FREQ_END=<max_freq>]
 [HZ_PER_SEC=<hz_per_sec>] [CHIPS=<adxl345_chip_name>]
-[POINT=x,y,z] [INPUT_SHAPING=[<0:1>]]`: Runs the resonance
-test in all configured probe points for the requested "axis" and
+[POINT=x,y,z] [ACCEL_PER_HZ=<accel_per_hz>] [INPUT_SHAPING=[<0:1>]]`: Runs
+the resonance test in all configured probe points for the requested "axis" and
 measures the acceleration using the accelerometer chips configured for
 the respective axis. "axis" can either be X or Y, or specify an
 arbitrary direction as `AXIS=dx,dy`, where dx and dy are floating
@@ -1280,10 +1280,10 @@ point numbers defining a direction vector (e.g. `AXIS=X`, `AXIS=Y`, or
 and `AXIS=-dx,-dy` is equivalent. `adxl345_chip_name` can be one or
 more configured adxl345 chip,delimited with comma, for example
 `CHIPS="adxl345, adxl345 rpi"`. Note that `adxl345` can be omitted from
-named adxl345 chips. If POINT is specified it will override the point(s)
-configured in `[resonance_tester]`. If `INPUT_SHAPING=0` or not set(default),
-disables input shaping for the resonance testing, because
-it is not valid to run the resonance testing with the input shaper
+named adxl345 chips. If POINT or ACCEL_PER_HZ are specified,
+they will override the corresponding fields configured in `[resonance_tester]`.
+If `INPUT_SHAPING=0` or not set(default), disables input shaping for the resonance
+testing, because it is not valid to run the resonance testing with the input shaper
 enabled. `OUTPUT` parameter is a comma-separated list of which outputs
 will be written. If `raw_data` is requested, then the raw
 accelerometer data is written into a file or a series of files

klippy/extras/resonance_tester.py

@@ -241,6 +241,7 @@ def _run_test(
         raw_name_suffix=None,
         accel_chips=None,
         test_point=None,
+        test_accel_per_hz=None,
     ):
         toolhead = self.printer.lookup_object("toolhead")
         calibration_data = {axis: None for axis in axes}
@@ -252,6 +253,9 @@ def _run_test(
         else:
             test_points = self.test.get_start_test_points()
 
+        if test_accel_per_hz is not None:
+            self.test.accel_per_hz=test_accel_per_hz
+
         for point in test_points:
             toolhead.manual_move(point, self.move_speed)
             if len(test_points) > 1 or test_point is not None:
@@ -327,6 +331,7 @@ def cmd_TEST_RESONANCES(self, gcmd):
         axis = _parse_axis(gcmd, gcmd.get("AXIS").lower())
         chips_str = gcmd.get("CHIPS", None)
         test_point = gcmd.get("POINT", None)
+        test_accel_per_hz = gcmd.get("ACCEL_PER_HZ", None, above=0.0)
 
         if test_point:
             test_coords = test_point.split(",")
@@ -340,6 +345,12 @@ def cmd_TEST_RESONANCES(self, gcmd):
                     " where x, y and z are valid floating point numbers"
                 )
 
+        if test_accel_per_hz:
+            try:
+                test_accel_per_hz = float(test_accel_per_hz)
+            except ValueError:
+                raise gcmd.error("Accel Per Hz value has to be larger than 0")
+
         accel_chips = self._parse_chips(chips_str) if chips_str else None
 
         outputs = gcmd.get("OUTPUT", "resonances").lower().split(",")
@@ -373,6 +384,7 @@ def cmd_TEST_RESONANCES(self, gcmd):
             raw_name_suffix=name_suffix if raw_output else None,
             accel_chips=accel_chips,
             test_point=test_point,
+            test_accel_per_hz=test_accel_per_hz,
         )[axis]
         if csv_output:
             csv_name = self.save_calibration_data(