diff options
Diffstat (limited to 'klippy/extras')
| -rw-r--r-- | klippy/extras/angle.py | 48 |
1 files changed, 47 insertions, 1 deletions
diff --git a/klippy/extras/angle.py b/klippy/extras/angle.py index c51d8bf0..aaaa8300 100644 --- a/klippy/extras/angle.py +++ b/klippy/extras/angle.py @@ -411,6 +411,52 @@ class HelperTLE5012B: parser=lambda x: int(x, 0)) self._write_reg(reg, val) +class HelperMT6816: + SPI_MODE = 3 + SPI_SPEED = 10000000 + def __init__(self, config, spi, oid): + self.printer = config.get_printer() + self.spi = spi + self.oid = oid + self.mcu = spi.get_mcu() + self.mcu.register_config_callback(self._build_config) + self.spi_angle_transfer_cmd = None + self.is_tcode_absolute = False + self.last_temperature = None + name = config.get_name().split()[-1] + gcode = self.printer.lookup_object("gcode") + gcode.register_mux_command("ANGLE_DEBUG_READ", "CHIP", name, + self.cmd_ANGLE_DEBUG_READ, + desc=self.cmd_ANGLE_DEBUG_READ_help) + def _build_config(self): + cmdqueue = self.spi.get_command_queue() + self.spi_angle_transfer_cmd = self.mcu.lookup_query_command( + "spi_angle_transfer oid=%c data=%*s", + "spi_angle_transfer_response oid=%c clock=%u response=%*s", + oid=self.oid, cq=cmdqueue) + def _send_spi(self, msg): + return self.spi.spi_transfer(msg) + def get_static_delay(self): + return .000001 + def _read_reg(self, reg): + msg = [reg, 0, 0] + params = self._send_spi(msg) + resp = bytearray(params['response']) + val = (resp[1] << 8) | resp[2] + return val + def start(self): + pass + cmd_ANGLE_DEBUG_READ_help = "Query low-level angle sensor register" + def cmd_ANGLE_DEBUG_READ(self, gcmd): + reg = 0x83 + val = self._read_reg(reg) + gcmd.respond_info("ANGLE REG[0x%02x] = 0x%04x" % (reg, val)) + angle = val >> 2 + parity = bin(val >> 1).count("1") % 2 + gcmd.respond_info("Angle %i ~ %.2f" % (angle, angle * 360 / (1 << 14))) + gcmd.respond_info("No Mag: %i" % (val >> 1 & 0x1)) + gcmd.respond_info("Parity: %i == %i" % (parity, val & 0x1)) + BYTES_PER_SAMPLE = 3 SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE @@ -428,7 +474,7 @@ class Angle: self.last_sequence = self.last_angle = 0 # Sensor type sensors = { "a1333": HelperA1333, "as5047d": HelperAS5047D, - "tle5012b": HelperTLE5012B } + "tle5012b": HelperTLE5012B, "mt6816": HelperMT6816 } sensor_type = config.getchoice('sensor_type', {s: s for s in sensors}) sensor_class = sensors[sensor_type] self.spi = bus.MCU_SPI_from_config(config, sensor_class.SPI_MODE, |