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sensor_angle: Support TLE5012b frame counter for timing

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Use the tle5012b internal frame counter to calculate the time of each
measurement.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2022-03-19 19:27:18 -04:00
parent 76558168d9
commit f9d505e376
2 changed files with 146 additions and 21 deletions
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96
klippy/extras/angle.py
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@ -263,6 +263,7 @@ class HelperA1333:
SPI_SPEED = 10000000
def __init__(self, config, spi, oid):
self.spi = spi
self.is_tcode_absolute = False
def get_static_delay(self):
return .000001
def start(self):
@ -274,6 +275,7 @@ class HelperAS5047D:
SPI_SPEED = int(1. / .000000350)
def __init__(self, config, spi, oid):
self.spi = spi
self.is_tcode_absolute = False
def get_static_delay(self):
return .000100
def start(self):
@ -286,12 +288,71 @@ class HelperTLE5012B:
SPI_MODE = 1
SPI_SPEED = 4000000
def __init__(self, config, spi, oid):
self.printer = config.get_printer()
self.spi = spi
def get_static_delay(self):
return .000042700 * 2.5
self.oid = oid
self.is_tcode_absolute = True
self.mcu = spi.get_mcu()
self.mcu.register_config_callback(self._build_config)
self.spi_angle_transfer_cmd = None
self.last_chip_mcu_clock = self.last_chip_clock = 0
self.chip_freq = 0.
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 get_tcode_params(self):
return self.last_chip_mcu_clock, self.last_chip_clock, self.chip_freq
def _calc_crc(self, data):
crc = 0xff
for d in data:
crc ^= d
for i in range(8):
if crc & 0x80:
crc = (crc << 1) ^ 0x1d
else:
crc <<= 1
return (~crc) & 0xff
def _send_spi(self, msg):
for retry in range(5):
if msg[0] & 0x04:
params = self.spi_angle_transfer_cmd.send([self.oid, msg])
else:
params = self.spi.spi_transfer(msg)
resp = bytearray(params['response'])
crc = self._calc_crc(bytearray(msg[:2]) + resp[2:-2])
if crc == resp[-1]:
return params
raise self.printer.command_error("Unable to query tle5012b chip")
def _query_clock(self):
# Read frame counter (and normalize to a 16bit counter)
msg = [0x84, 0x42, 0, 0, 0, 0, 0, 0] # Read with latch, AREV and FSYNC
params = self._send_spi(msg)
resp = bytearray(params['response'])
mcu_clock = self.mcu.clock32_to_clock64(params['clock'])
chip_clock = ((resp[2] & 0x7e) << 9) | ((resp[4] & 0x3e) << 4)
return mcu_clock, chip_clock
def update_clock(self):
mcu_clock, chip_clock = self._query_clock()
mdiff = mcu_clock - self.last_chip_mcu_clock
chip_mclock = self.last_chip_clock + int(mdiff * self.chip_freq + .5)
cdiff = (chip_mclock - chip_clock) & 0xffff
cdiff -= (cdiff & 0x8000) << 1
new_chip_clock = chip_mclock - cdiff
self.chip_freq = float(new_chip_clock - self.last_chip_clock) / mdiff
self.last_chip_clock = new_chip_clock
self.last_chip_mcu_clock = mcu_clock
def start(self):
# Clear any errors from device
self.spi.spi_transfer([0x80, 0x01, 0x00, 0x00, 0x00, 0x00]) # Read STAT
self._send_spi([0x80, 0x01, 0x00, 0x00, 0x00, 0x00]) # Read STAT
# Setup starting clock values
mcu_clock, chip_clock = self._query_clock()
self.last_chip_clock = chip_clock
self.last_chip_mcu_clock = mcu_clock
self.chip_freq = float(1<<5) / self.mcu.seconds_to_clock(1. / 750000.)
self.update_clock()
SAMPLE_PERIOD = 0.000400
@ -359,8 +420,17 @@ class Angle:
clock_to_print_time = self.mcu.clock_to_print_time
last_sequence = self.last_sequence
last_angle = self.last_angle
time_shift = self.time_shift
static_delay = self.sensor_helper.get_static_delay()
time_shift = 0
static_delay = 0.
last_chip_mcu_clock = last_chip_clock = chip_freq = inv_chip_freq = 0.
is_tcode_absolute = self.sensor_helper.is_tcode_absolute
if is_tcode_absolute:
tparams = self.sensor_helper.get_tcode_params()
last_chip_mcu_clock, last_chip_clock, chip_freq = tparams
inv_chip_freq = 1. / chip_freq
else:
time_shift = self.time_shift
static_delay = self.sensor_helper.get_static_delay()
# Process every message in raw_samples
count = error_count = 0
samples = [None] * (len(raw_samples) * 16)
@ -380,8 +450,18 @@ class Angle:
angle_diff = (last_angle - raw_angle) & 0xffff
angle_diff -= (angle_diff & 0x8000) << 1
last_angle -= angle_diff
mclock = msg_mclock + i*sample_ticks + (tcode<<time_shift)
ptime = round(clock_to_print_time(mclock) - static_delay, 6)
mclock = msg_mclock + i*sample_ticks
if is_tcode_absolute:
# tcode is tle5012b frame counter
mdiff = mclock - last_chip_mcu_clock
chip_mclock = last_chip_clock + int(mdiff * chip_freq + .5)
cdiff = ((tcode << 10) - chip_mclock) & 0xffff
cdiff -= (cdiff & 0x8000) << 1
sclock = mclock + (cdiff - 0x800) * inv_chip_freq
else:
# tcode is mcu clock offset shifted by time_shift
sclock = mclock + (tcode<<time_shift)
ptime = round(clock_to_print_time(sclock) - static_delay, 6)
samples[count] = (ptime, last_angle)
count += 1
self.last_sequence = last_sequence
@ -390,6 +470,8 @@ class Angle:
return samples, error_count
# API interface
def _api_update(self, eventtime):
if self.sensor_helper.is_tcode_absolute:
self.sensor_helper.update_clock()
with self.lock:
raw_samples = self.raw_samples
self.raw_samples = []