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Diffstat (limited to 'docs')
| -rw-r--r-- | docs/API_Server.md | 18 | ||||
| -rw-r--r-- | docs/Config_Reference.md | 27 |
2 files changed, 45 insertions, 0 deletions
diff --git a/docs/API_Server.md b/docs/API_Server.md index 562ad57e..8c3e966e 100644 --- a/docs/API_Server.md +++ b/docs/API_Server.md @@ -341,6 +341,24 @@ and might later produce asynchronous messages such as: The "header" field in the initial query response is used to describe the fields found in later "data" responses. +### angle/dump_angle + +This endpoint is used to subscribe to +[angle sensor data](Config_Reference.md#angle). Obtaining these +low-level motion updates may be useful for diagnostic and debugging +purposes. Using this endpoint may increase Klipper's system load. + +A request may look like: +`{"id": 123, "method":"angle/dump_angle", +"params": {"sensor": "my_angle_sensor", "response_template": {}}}` +and might return: +`{"id": 123,"result":{"header":["time","angle"]}}` +and might later produce asynchronous messages such as: +`{"params":{"errors":0,"data":[[1290.951905,-5063],[1290.952321,-5065]]}}` + +The "header" field in the initial query response is used to describe +the fields found in later "data" responses. + ### pause_resume/cancel This endpoint is similar to running the "PRINT_CANCEL" G-Code command. diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md index a0eecf01..0add9aed 100644 --- a/docs/Config_Reference.md +++ b/docs/Config_Reference.md @@ -4001,6 +4001,33 @@ serial: # Auto cancel print when ping varation is above this threshold ``` +### [angle] + +Magnetic hall angle sensor support for reading stepper motor angle +shaft measurements using a1333, as5047d, or tle5012b SPI chips. The +measurements are available via the [API Server](API_Server.md) and +[motion analysis tool](Debugging.md#motion-analysis-and-data-logging). + +``` +[angle my_angle_sensor] +sensor_type: +# The type of the magnetic hall sensor chip. Available choices are +# "a1333", "as5047d", and "tle5012b". This parameter must be +# specified. +#sample_period: 0.000400 +# The query period (in seconds) to use during measurements. The +# default is 0.000400 (which is 2500 samples per second). +cs_pin: +# The SPI enable pin for the sensor. This parameter must be provided. +#spi_speed: +#spi_bus: +#spi_software_sclk_pin: +#spi_software_mosi_pin: +#spi_software_miso_pin: +# See the "common SPI settings" section for a description of the +# above parameters. +``` + ## Common bus parameters ### Common SPI settings |