sensor_ldc1612: Halt homing if sensor reports a warning

Explicitly check for sensor warnings during homing and report an error code back to the host. Signed-off-by: Kevin O'Connor <[email protected]>
combolek · May 22, 2024 · 4a92727 · 4a92727
1 parent 3748217
commit 4a92727
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Showing 3 changed files with 20 additions and 9 deletions.
diff --git a/klippy/extras/ldc1612.py b/klippy/extras/ldc1612.py
@@ -121,7 +121,7 @@ def _build_config(self):
                                           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 @@ def set_reg(self, reg, val, minclock=0):
     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])

diff --git a/klippy/extras/probe_eddy_current.py b/klippy/extras/probe_eddy_current.py
@@ -185,6 +185,7 @@ def cmd_EDDY_CALIBRATE(self, gcmd):
 
 # Helper for implementing PROBE style commands
 class EddyEndstopWrapper:
+    REASON_SENSOR_ERROR = mcu.MCU_trsync.REASON_COMMS_TIMEOUT + 1
     def __init__(self, config, sensor_helper, calibration):
         self._printer = config.get_printer()
         self._sensor_helper = sensor_helper
@@ -236,16 +237,18 @@ def home_start(self, print_time, sample_time, sample_count, rest_time,
         trigger_completion = self._dispatch.start(print_time)
         self._sensor_helper.setup_home(
             print_time, trigger_freq, self._dispatch.get_oid(),
-            mcu.MCU_trsync.REASON_ENDSTOP_HIT)
+            mcu.MCU_trsync.REASON_ENDSTOP_HIT, self.REASON_SENSOR_ERROR)
         return trigger_completion
     def home_wait(self, home_end_time):
         self._dispatch.wait_end(home_end_time)
         trigger_time = self._sensor_helper.clear_home()
         self._stop_measurements(is_home=True)
         res = self._dispatch.stop()
         if res >= mcu.MCU_trsync.REASON_COMMS_TIMEOUT:
-            raise self._printer.command_error(
-                "Communication timeout during homing")
+            if res == mcu.MCU_trsync.REASON_COMMS_TIMEOUT:
+                raise self._printer.command_error(
+                    "Communication timeout during homing")
+            raise self._printer.command_error("Eddy current sensor error")
         if res != mcu.MCU_trsync.REASON_ENDSTOP_HIT:
             return 0.
         if self._mcu.is_fileoutput():

diff --git a/src/sensor_ldc1612.c b/src/sensor_ldc1612.c
@@ -31,7 +31,7 @@ struct ldc1612 {
     // homing
     struct trsync *ts;
     uint8_t homing_flags;
-    uint8_t trigger_reason;
+    uint8_t trigger_reason, error_reason;
     uint32_t trigger_threshold;
     uint32_t homing_clock;
 };
@@ -95,11 +95,12 @@ command_ldc1612_setup_home(uint32_t *args)
     ld->homing_clock = args[1];
     ld->ts = trsync_oid_lookup(args[3]);
     ld->trigger_reason = args[4];
+    ld->error_reason = args[5];
     ld->homing_flags = LH_AWAIT_HOMING | LH_CAN_TRIGGER;
 }
 DECL_COMMAND(command_ldc1612_setup_home,
              "ldc1612_setup_home oid=%c clock=%u threshold=%u"
-             " trsync_oid=%c trigger_reason=%c");
+             " trsync_oid=%c trigger_reason=%c error_reason=%c");
 
 void
 command_query_ldc1612_home_state(uint32_t *args)
@@ -118,6 +119,12 @@ check_home(struct ldc1612 *ld, uint32_t data)
     uint8_t homing_flags = ld->homing_flags;
     if (!(homing_flags & LH_CAN_TRIGGER))
         return;
+    if (data > 0x0fffffff) {
+        // Sensor reports an issue - cancel homing
+        ld->homing_flags = 0;
+        trsync_do_trigger(ld->ts, ld->error_reason);
+        return;
+    }
     uint32_t time = timer_read_time();
     if ((homing_flags & LH_AWAIT_HOMING)
         && timer_is_before(time, ld->homing_clock))