Check that accelerometer INT1 is working when starting to collect data

3 files changed, 55 insertions, 4 deletions

diff --git a/src/Accelerometers/Accelerometers.cpp b/src/Accelerometers/Accelerometers.cpp
index 949937b4..eb56a0fa 100644
--- a/src/Accelerometers/Accelerometers.cpp
+++ b/src/Accelerometers/Accelerometers.cpp
@@ -73,6 +73,8 @@ static unsigned int numLocalRunsCompleted = 0;
 static unsigned int lastRunNumSamplesReceived = 0;
 static uint8_t axisLookup[3];
 static bool axisInverted[3];
+static volatile bool successfulStart = false;
+static volatile bool failedStart = false;
 
 static IoPort spiCsPort;
 static IoPort irqPort;
@@ -112,9 +114,11 @@ static uint8_t TranslateAxes(uint8_t axes) noexcept
 			unsigned int numOverflows = 0;
 			const uint16_t mask = (1u << resolution) - 1;
 			const int decimalPlaces = GetDecimalPlaces(resolution);
+			bool recordFailedStart = false;
 
 			if (accelerometer->StartCollecting(TranslateAxes(axesRequested)))
 			{
+				successfulStart = true;
 				uint16_t dataRate = 0;
 				do
 				{
@@ -198,9 +202,13 @@ static uint8_t TranslateAxes(uint8_t axes) noexcept
 					f->Write(temp.c_str());
 				}
 			}
-			else if (f != nullptr)
+			else
 			{
-				f->Write("Failed to start accelerometer\n");
+				recordFailedStart = true;
+				if (f != nullptr)
+				{
+					f->Write("Failed to start accelerometer\n");
+				}
 			}
 
 			if (f != nullptr)
@@ -214,6 +222,10 @@ static uint8_t TranslateAxes(uint8_t axes) noexcept
 
 			// Wait for another command
 			accelerometerFile = nullptr;
+			if (recordFailedStart)
+			{
+				failedStart = true;
+			}
 		}
 	}
 }
@@ -465,7 +477,6 @@ GCodeResult Accelerometers::StartAccelerometer(GCodeBuffer& gb, const StringRef&
 		temp.cat('\n');
 		f->Write(temp.c_str());
 	}
-	accelerometerFile = f;
 
 # if SUPPORT_CAN_EXPANSION
 	if (device.IsRemote())
@@ -475,10 +486,12 @@ GCodeResult Accelerometers::StartAccelerometer(GCodeBuffer& gb, const StringRef&
 		expectedRemoteAxes = axes;
 		numRemoteOverflows = 0;
 
+		accelerometerFile = f;
 		const GCodeResult rslt = CanInterface::StartAccelerometer(device, axes, numSamples, mode, gb, reply);
 		if (rslt > GCodeResult::warning)
 		{
 			accelerometerFile->Close();
+			accelerometerFile = nullptr;
 			MassStorage::Delete(accelerometerFileName.c_str(), false);
 			reprap.GetExpansion().AddAccelerometerRun(device.boardAddress, 0);
 		}
@@ -486,8 +499,32 @@ GCodeResult Accelerometers::StartAccelerometer(GCodeBuffer& gb, const StringRef&
 	}
 # endif
 
+	successfulStart = false;
+	failedStart = false;
+	accelerometerFile = f;
 	accelerometerTask->Give();
-	return GCodeResult::ok;
+	const uint32_t startTime = millis();
+	do
+	{
+		delay(5);
+		if (successfulStart)
+		{
+			return GCodeResult::ok;
+		}
+	} while (!failedStart && millis() - startTime < 1000);
+
+	reply.copy("Failed to start accelerometer data collection");
+	if (accelerometer->HasInterruptError())
+	{
+		reply.cat(": INT1 error");
+	}
+	if (accelerometerFile != nullptr)
+	{
+		accelerometerFile->Close();
+		accelerometerFile = nullptr;
+		MassStorage::Delete(accelerometerFileName.c_str(), false);
+	}
+	return GCodeResult::error;
 }
 
 bool Accelerometers::HasLocalAccelerometer() noexcept
diff --git a/src/Accelerometers/LIS3DH.cpp b/src/Accelerometers/LIS3DH.cpp
index 4fd80be6..6b0a8e25 100644
--- a/src/Accelerometers/LIS3DH.cpp
+++ b/src/Accelerometers/LIS3DH.cpp
@@ -178,6 +178,16 @@ bool LIS3DH:: StartCollecting(uint8_t axes) noexcept
 	}
 
 	totalNumRead = 0;
+
+	// Before we enable data collection, check that the interrupt line is low
+	pinMode(int1Pin, INPUT);			// make sure we can read the interrupt pin
+	delayMicroseconds(5);
+	interruptError = digitalRead(int1Pin);
+	if (interruptError)
+	{
+		return false;
+	}
+
 	const bool ok = WriteRegister(LisRegister::Ctrl_0x20, ctrlReg_0x20 | (axes & 7));
 	return ok && attachInterrupt(int1Pin, Int1Interrupt, InterruptMode::rising, CallbackParameter(this));
 }
diff --git a/src/Accelerometers/LIS3DH.h b/src/Accelerometers/LIS3DH.h
index 65ed8105..22fe4751 100644
--- a/src/Accelerometers/LIS3DH.h
+++ b/src/Accelerometers/LIS3DH.h
@@ -43,6 +43,9 @@ public:
 	// Used by the ISR
 	void Int1Isr() noexcept;
 
+	// Used by diagnostics
+	bool HasInterruptError() const noexcept { return interruptError; }
+
 private:
 	enum class LisRegister : uint8_t
 	{
@@ -65,6 +68,7 @@ private:
 	uint32_t lastInterruptTime;
 	uint32_t totalNumRead;
 	bool is3DSH;
+	bool interruptError;
 	uint8_t currentAxis;
 	uint8_t ctrlReg_0x20;
 	Pin int1Pin;