diff options
Diffstat (limited to 'klippy/extras/ldc1612.py')
| -rw-r--r-- | klippy/extras/ldc1612.py | 163 |
1 files changed, 102 insertions, 61 deletions
diff --git a/klippy/extras/ldc1612.py b/klippy/extras/ldc1612.py index dd41b43a..1bec5c35 100644 --- a/klippy/extras/ldc1612.py +++ b/klippy/extras/ldc1612.py @@ -10,53 +10,63 @@ MIN_MSG_TIME = 0.100 BATCH_UPDATES = 0.100 -LDC1612_ADDR = 0x2a +LDC1612_ADDR = 0x2A DEFAULT_LDC1612_FREQ = 12000000 SETTLETIME = 0.005 DRIVECUR = 15 -DEGLITCH = 0x05 # 10 Mhz +DEGLITCH = 0x05 # 10 Mhz LDC1612_MANUF_ID = 0x5449 LDC1612_DEV_ID = 0x3055 REG_RCOUNT0 = 0x08 -REG_OFFSET0 = 0x0c +REG_OFFSET0 = 0x0C REG_SETTLECOUNT0 = 0x10 REG_CLOCK_DIVIDERS0 = 0x14 REG_ERROR_CONFIG = 0x19 -REG_CONFIG = 0x1a -REG_MUX_CONFIG = 0x1b -REG_DRIVE_CURRENT0 = 0x1e -REG_MANUFACTURER_ID = 0x7e -REG_DEVICE_ID = 0x7f +REG_CONFIG = 0x1A +REG_MUX_CONFIG = 0x1B +REG_DRIVE_CURRENT0 = 0x1E +REG_MANUFACTURER_ID = 0x7E +REG_DEVICE_ID = 0x7F + # Tool for determining appropriate DRIVE_CURRENT register class DriveCurrentCalibrate: def __init__(self, config, sensor): self.printer = config.get_printer() self.sensor = sensor - self.drive_cur = config.getint("reg_drive_current", DRIVECUR, - minval=0, maxval=31) + self.drive_cur = config.getint( + "reg_drive_current", DRIVECUR, minval=0, maxval=31 + ) self.name = config.get_name() - gcode = self.printer.lookup_object('gcode') - gcode.register_mux_command("LDC_CALIBRATE_DRIVE_CURRENT", - "CHIP", self.name.split()[-1], - self.cmd_LDC_CALIBRATE, - desc=self.cmd_LDC_CALIBRATE_help) + gcode = self.printer.lookup_object("gcode") + gcode.register_mux_command( + "LDC_CALIBRATE_DRIVE_CURRENT", + "CHIP", + self.name.split()[-1], + self.cmd_LDC_CALIBRATE, + desc=self.cmd_LDC_CALIBRATE_help, + ) + def get_drive_current(self): return self.drive_cur + cmd_LDC_CALIBRATE_help = "Calibrate LDC1612 DRIVE_CURRENT register" + def cmd_LDC_CALIBRATE(self, gcmd): is_in_progress = True + def handle_batch(msg): return is_in_progress + self.sensor.add_client(handle_batch) toolhead = self.printer.lookup_object("toolhead") toolhead.dwell(0.100) toolhead.wait_moves() old_config = self.sensor.read_reg(REG_CONFIG) - self.sensor.set_reg(REG_CONFIG, 0x001 | (1<<9)) + self.sensor.set_reg(REG_CONFIG, 0x001 | (1 << 9)) toolhead.wait_moves() toolhead.dwell(0.100) toolhead.wait_moves() @@ -64,13 +74,15 @@ class DriveCurrentCalibrate: self.sensor.set_reg(REG_CONFIG, old_config) is_in_progress = False # Report found value to user - drive_cur = (reg_drive_current0 >> 6) & 0x1f + drive_cur = (reg_drive_current0 >> 6) & 0x1F gcmd.respond_info( "%s: reg_drive_current: %d\n" "The SAVE_CONFIG command will update the printer config file\n" - "with the above and restart the printer." % (self.name, drive_cur)) - configfile = self.printer.lookup_object('configfile') - configfile.set(self.name, 'reg_drive_current', "%d" % (drive_cur,)) + "with the above and restart the printer." % (self.name, drive_cur) + ) + configfile = self.printer.lookup_object("configfile") + configfile.set(self.name, "reg_drive_current", "%d" % (drive_cur,)) + # Interface class to LDC1612 mcu support class LDC1612: @@ -80,28 +92,32 @@ class LDC1612: self.dccal = DriveCurrentCalibrate(config, self) self.data_rate = 250 # Setup mcu sensor_ldc1612 bulk query code - self.i2c = bus.MCU_I2C_from_config(config, - default_addr=LDC1612_ADDR, - default_speed=400000) + self.i2c = bus.MCU_I2C_from_config( + config, default_addr=LDC1612_ADDR, default_speed=400000 + ) self.mcu = mcu = self.i2c.get_mcu() self.oid = oid = mcu.create_oid() self.query_ldc1612_cmd = None self.ldc1612_setup_home_cmd = self.query_ldc1612_home_state_cmd = None - self.frequency = config.getint("frequency", DEFAULT_LDC1612_FREQ, - 2000000, 40000000) - if config.get('intb_pin', None) is not None: + self.frequency = config.getint( + "frequency", DEFAULT_LDC1612_FREQ, 2000000, 40000000 + ) + if config.get("intb_pin", None) is not None: ppins = config.get_printer().lookup_object("pins") - pin_params = ppins.lookup_pin(config.get('intb_pin')) - if pin_params['chip'] != mcu: + pin_params = ppins.lookup_pin(config.get("intb_pin")) + if pin_params["chip"] != mcu: raise config.error("ldc1612 intb_pin must be on same mcu") mcu.add_config_cmd( "config_ldc1612_with_intb oid=%d i2c_oid=%d intb_pin=%s" - % (oid, self.i2c.get_oid(), pin_params['pin'])) + % (oid, self.i2c.get_oid(), pin_params["pin"]) + ) else: - mcu.add_config_cmd("config_ldc1612 oid=%d i2c_oid=%d" - % (oid, self.i2c.get_oid())) - mcu.add_config_cmd("query_ldc1612 oid=%d rest_ticks=0" - % (oid,), on_restart=True) + mcu.add_config_cmd( + "config_ldc1612 oid=%d i2c_oid=%d" % (oid, self.i2c.get_oid()) + ) + mcu.add_config_cmd( + "query_ldc1612 oid=%d rest_ticks=0" % (oid,), on_restart=True + ) mcu.register_config_callback(self._build_config) # Bulk sample message reading chip_smooth = self.data_rate * BATCH_UPDATES * 2 @@ -109,60 +125,79 @@ class LDC1612: self.last_error_count = 0 # Process messages in batches self.batch_bulk = bulk_sensor.BatchBulkHelper( - self.printer, self._process_batch, - self._start_measurements, self._finish_measurements, BATCH_UPDATES) + self.printer, + self._process_batch, + self._start_measurements, + self._finish_measurements, + BATCH_UPDATES, + ) self.name = config.get_name().split()[-1] - hdr = ('time', 'frequency', 'z') - self.batch_bulk.add_mux_endpoint("ldc1612/dump_ldc1612", "sensor", - self.name, {'header': hdr}) + hdr = ("time", "frequency", "z") + self.batch_bulk.add_mux_endpoint( + "ldc1612/dump_ldc1612", "sensor", self.name, {"header": hdr} + ) + def _build_config(self): cmdqueue = self.i2c.get_command_queue() self.query_ldc1612_cmd = self.mcu.lookup_command( - "query_ldc1612 oid=%c rest_ticks=%u", cq=cmdqueue) - self.ffreader.setup_query_command("query_status_ldc1612 oid=%c", - oid=self.oid, cq=cmdqueue) + "query_ldc1612 oid=%c rest_ticks=%u", cq=cmdqueue + ) + self.ffreader.setup_query_command( + "query_status_ldc1612 oid=%c", oid=self.oid, cq=cmdqueue + ) self.ldc1612_setup_home_cmd = self.mcu.lookup_command( "ldc1612_setup_home oid=%c clock=%u threshold=%u" - " trsync_oid=%c trigger_reason=%c error_reason=%c", cq=cmdqueue) + " trsync_oid=%c trigger_reason=%c error_reason=%c", + cq=cmdqueue, + ) self.query_ldc1612_home_state_cmd = self.mcu.lookup_query_command( "query_ldc1612_home_state oid=%c", "ldc1612_home_state oid=%c homing=%c trigger_clock=%u", - oid=self.oid, cq=cmdqueue) + oid=self.oid, + cq=cmdqueue, + ) + def get_mcu(self): return self.i2c.get_mcu() + def read_reg(self, reg): params = self.i2c.i2c_read([reg], 2) - response = bytearray(params['response']) + response = bytearray(params["response"]) return (response[0] << 8) | response[1] + def set_reg(self, reg, val, minclock=0): - self.i2c.i2c_write([reg, (val >> 8) & 0xff, val & 0xff], - minclock=minclock) + self.i2c.i2c_write([reg, (val >> 8) & 0xFF, val & 0xFF], minclock=minclock) + def add_client(self, cb): self.batch_bulk.add_client(cb) + # Homing - def setup_home(self, print_time, trigger_freq, - trsync_oid, hit_reason, err_reason): + def setup_home(self, print_time, trigger_freq, trsync_oid, hit_reason, err_reason): clock = self.mcu.print_time_to_clock(print_time) - tfreq = int(trigger_freq * (1<<28) / float(self.frequency) + 0.5) + tfreq = int(trigger_freq * (1 << 28) / float(self.frequency) + 0.5) self.ldc1612_setup_home_cmd.send( - [self.oid, clock, tfreq, trsync_oid, hit_reason, err_reason]) + [self.oid, clock, tfreq, trsync_oid, hit_reason, err_reason] + ) + def clear_home(self): self.ldc1612_setup_home_cmd.send([self.oid, 0, 0, 0, 0, 0]) if self.mcu.is_fileoutput(): - return 0. + return 0.0 params = self.query_ldc1612_home_state_cmd.send([self.oid]) - tclock = self.mcu.clock32_to_clock64(params['trigger_clock']) + tclock = self.mcu.clock32_to_clock64(params["trigger_clock"]) return self.mcu.clock_to_print_time(tclock) + # Measurement decoding def _convert_samples(self, samples): - freq_conv = float(self.frequency) / (1<<28) + freq_conv = float(self.frequency) / (1 << 28) count = 0 for ptime, val in samples: - mv = val & 0x0fffffff + mv = val & 0x0FFFFFFF if mv != val: self.last_error_count += 1 samples[count] = (round(ptime, 6), round(freq_conv * mv, 3), 999.9) count += 1 + # Start, stop, and process message batches def _start_measurements(self): # In case of miswiring, testing LDC1612 device ID prevents treating @@ -174,16 +209,17 @@ class LDC1612: "Invalid ldc1612 id (got %x,%x vs %x,%x).\n" "This is generally indicative of connection problems\n" "(e.g. faulty wiring) or a faulty ldc1612 chip." - % (manuf_id, dev_id, LDC1612_MANUF_ID, LDC1612_DEV_ID)) + % (manuf_id, dev_id, LDC1612_MANUF_ID, LDC1612_DEV_ID) + ) # Setup chip in requested query rate - rcount0 = self.frequency / (16. * (self.data_rate - 4)) + rcount0 = self.frequency / (16.0 * (self.data_rate - 4)) self.set_reg(REG_RCOUNT0, int(rcount0 + 0.5)) self.set_reg(REG_OFFSET0, 0) - self.set_reg(REG_SETTLECOUNT0, int(SETTLETIME*self.frequency/16. + .5)) + self.set_reg(REG_SETTLECOUNT0, int(SETTLETIME * self.frequency / 16.0 + 0.5)) self.set_reg(REG_CLOCK_DIVIDERS0, (1 << 12) | 1) - self.set_reg(REG_ERROR_CONFIG, (0x1f << 11) | 1) + self.set_reg(REG_ERROR_CONFIG, (0x1F << 11) | 1) self.set_reg(REG_MUX_CONFIG, 0x0208 | DEGLITCH) - self.set_reg(REG_CONFIG, 0x001 | (1<<12) | (1<<10) | (1<<9)) + self.set_reg(REG_CONFIG, 0x001 | (1 << 12) | (1 << 10) | (1 << 9)) self.set_reg(REG_DRIVE_CURRENT0, self.dccal.get_drive_current() << 11) # Start bulk reading rest_ticks = self.mcu.seconds_to_clock(0.5 / self.data_rate) @@ -192,11 +228,13 @@ class LDC1612: # Initialize clock tracking self.ffreader.note_start() self.last_error_count = 0 + def _finish_measurements(self): # Halt bulk reading self.query_ldc1612_cmd.send_wait_ack([self.oid, 0]) self.ffreader.note_end() logging.info("LDC1612 finished '%s' measurements", self.name) + def _process_batch(self, eventtime): samples = self.ffreader.pull_samples() self._convert_samples(samples) @@ -204,5 +242,8 @@ class LDC1612: return {} if self.calibration is not None: self.calibration.apply_calibration(samples) - return {'data': samples, 'errors': self.last_error_count, - 'overflows': self.ffreader.get_last_overflows()} + return { + "data": samples, + "errors": self.last_error_count, + "overflows": self.ffreader.get_last_overflows(), + } |