3.4b1 SBC mode accelerometer orientation ignored?

[Serbitar]

It appears that the I parameter of M955 (orientation) is ignored in 3.4b1 SBC mode.

M955 P0 C"io3.out+io3.in" I56
Accelerometer 0:0 with orientation 20 samples at 1344Hz with 10-bit resolution, SPI frequency 2000000

m122
=== Diagnostics ===
RepRapFirmware for Duet 3 MB6HC version 3.4.0beta1 (2021-07-10 16:20:28) running on Duet 3 MB6HC v0.6 or 1.0 (SBC mode)
Board ID: 08DJM-956L2-G43S8-6J9D8-3S86J-9B36F
Used output buffers: 1 of 40 (13 max)
=== RTOS ===
Static ram: 150904
Dynamic ram: 65280 of which 0 recycled
Never used RAM 135152, free system stack 152 words
Tasks: ACCEL(notifyWait,0.0%,242) SBC(ready,0.9%,326) HEAT(delaying,0.1%,325) Move(notifyWait,0.1%,254) CanReceiv(notifyWait,0.0%,944) CanSender(notifyWait,0.0%,362) CanClock(delaying,0.0%,333) TMC(notifyWait,7.8%,59) MAIN(running,91.1%,974) IDLE(ready,0.1%,29), total 100.0%
Owned mutexes: HTTP(MAIN)
=== Platform ===
Last reset 00:21:35 ago, cause: software
Last software reset at 2021-07-11 14:51, reason: User, none spinning, available RAM 134976, slot 1
Software reset code 0x0012 HFSR 0x00000000 CFSR 0x00000000 ICSR 0x0440f000 BFAR 0x00000000 SP 0x00000000 Task SBC Freestk 0 n/a
Error status: 0x00
Step timer max interval 7495
MCU temperature: min 42.7, current 43.1, max 46.1
Supply voltage: min 0.2, current 23.9, max 24.0, under voltage events: 0, over voltage events: 0, power good: yes
12V rail voltage: min 0.1, current 12.2, max 12.8, under voltage events: 0
Heap OK, handles allocated/used 99/0, heap memory allocated/used/recyclable 2048/12/12, gc cycles 0
Driver 0: position -1260, ok, reads 11757, writes 18 timeouts 0, SG min/max 0/708
Driver 1: position 1029, ok, reads 11757, writes 18 timeouts 0, SG min/max 0/239
Driver 2: position 760, ok, reads 11757, writes 18 timeouts 0, SG min/max 0/351
Driver 3: position 0, ok, reads 11737, writes 38 timeouts 0, SG min/max 0/1023
Driver 4: position 0, ok, reads 11737, writes 38 timeouts 0, SG min/max 0/1023
Driver 5: position 0, ok, reads 11762, writes 14 timeouts 0, SG min/max 0/1023
Date/time: 2021-07-11 15:12:58
Slowest loop: 61.67ms; fastest: 0.04ms
=== Storage ===
Free file entries: 10
SD card 0 not detected, interface speed: 37.5MBytes/sec
SD card longest read time 0.0ms, write time 0.0ms, max retries 0
=== Move ===
DMs created 125, maxWait 276204ms, bed compensation in use: mesh, comp offset 0.000
=== MainDDARing ===
Scheduled moves 6518, completed moves 6512, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 3], CDDA state 3
=== AuxDDARing ===
Scheduled moves 0, completed moves 0, hiccups 0, stepErrors 0, LaErrors 0, Underruns [0, 0, 0], CDDA state -1
=== Heat ===
Bed heaters = 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1, chamberHeaters = -1 -1 -1 -1
Heater 0 is on, I-accum = 0.1
Heater 1 is on, I-accum = 0.4
=== GCodes ===
Segments left: 1
Movement lock held by null
HTTP* is doing "M122" in state(s) 0
Telnet is idle in state(s) 0
File* is doing "G1 X-6.464000 Y0.986000 E2.233750" in state(s) 0
USB is idle in state(s) 0
Aux is idle in state(s) 0
Trigger* is idle in state(s) 0
Queue is idle in state(s) 0
LCD is idle in state(s) 0
SBC is idle in state(s) 0
Daemon is idle in state(s) 0
Aux2 is idle in state(s) 0
Autopause is idle in state(s) 0
Code queue is empty.
=== Filament sensors ===
Extruder 0 sensor: ok
=== CAN ===
Messages queued 11657, received 0, lost 0, longest wait 0ms for reply type 0, peak Tx sync delay 0, free buffers 49 (min 49), ts 6478/0/0
Tx timeouts 0,13,6477,0,0,5164 last cancelled message type 4514 dest 127

=== SBC interface ===
State: 4, failed transfers: 0, checksum errors: 0
Last transfer: 2ms ago
RX/TX seq numbers: 50547/50547
SPI underruns 0, overruns 0
Disconnects: 0, timeouts: 0, IAP RAM available 0x2c7a4
Buffer RX/TX: 2544/4056-0
=== Duet Control Server ===
Duet Control Server v3.4-b1

[dc42]

@serbitar I think the I parameter is processed correctly, however it is reported incorrectly if the accelerometer is connected to the main board via SPI. I will fix this in the next release. Thanks for reporting it.

[Serbitar]

@dc42 Looking at the results i agree. Just to double check I got the parameter correct, should I see +1G or -1G for Z when everything is stationary?

[dc42]

@serbitar yes you should see +1g on Z.