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sensor_ldc1612: Halt homing if sensor reports a warning

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Explicitly check for sensor warnings during homing and report an error
code back to the host.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2024-05-01 21:10:17 -04:00
parent 37482178b5
commit 4a92727eab
3 changed files with 20 additions and 9 deletions
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9
klippy/extras/ldc1612.py
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@@ -121,7 +121,7 @@ class LDC1612:
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", 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",
@@ -138,13 +138,14 @@ class LDC1612:
def add_client(self, cb):
self.batch_bulk.add_client(cb)
# Homing
def setup_home(self, print_time, trigger_freq, trsync_oid, 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(LDC1612_FREQ) + 0.5)
self.ldc1612_setup_home_cmd.send(
[self.oid, clock, tfreq, trsync_oid, 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])
self.ldc1612_setup_home_cmd.send([self.oid, 0, 0, 0, 0, 0])
if self.mcu.is_fileoutput():
return 0.
params = self.query_ldc1612_home_state_cmd.send([self.oid])