Merge remote-tracking branch 'upstream/master'

README.md

@@ -8,6 +8,11 @@ Beacon Klipper is the klipper module for using the [Beacon](https://beacon3d.com
 
 ## Firmware Release Notes
 
+### Beacon 2.1.0 - July 11, 2024
+ - Added parameters to adjust contact noise tolerance
+ - Adjusted contact latency values to match new parameters
+ - Increased robustness of the primary contact trigger
+
 ### Beacon 2.0.1 - June 4, 2024
  - Fixed USB enumeration issue affecting fast host controllers
 

beacon.py

@@ -80,6 +80,8 @@ def __init__(self, config):
         self.autocal_sample_count = config.getfloat("autocal_sample_count", 3)
         self.autocal_tolerance = config.getfloat("autocal_tolerance", 0.008)
         self.autocal_max_retries = config.getfloat("autocal_max_retries", 3)
+        self.contact_latency_min = config.getint("contact_latency_min", 0)
+        self.contact_sensitivity = config.getint("contact_sensitivity", 0)
 
         self.mcu_temp_wrapper = None
         self.coil_temp_wrapper = None
@@ -163,6 +165,8 @@ def beacon_mcu_stats(eventtime):
         self.beacon_contact_home_cmd = None
         self.beacon_contact_query_cmd = None
         self.beacon_contact_stop_home_cmd = None
+        self.beacon_contact_set_latency_min_cmd = None
+        self.beacon_contact_set_sensitivity_cmd = None
 
         # Register z_virtual_endstop
         self.printer.lookup_object("pins").register_chip("probe", self)
@@ -337,6 +341,20 @@ def _build_config(self):
                 "beacon_contact_stop_home",
                 cq=self.cmd_queue,
             )
+            try:
+                self.beacon_contact_set_latency_min_cmd = self._mcu.lookup_command(
+                    "beacon_contact_set_latency_min latency_min=%c",
+                    cq=self.cmd_queue,
+                )
+            except msgproto.error:
+                pass
+            try:
+                self.beacon_contact_set_sensitivity_cmd = self._mcu.lookup_command(
+                    "beacon_contact_set_sensitivity sensitivity=%c",
+                    cq=self.cmd_queue,
+                )
+            except msgproto.error:
+                pass
 
             constants = self._mcu.get_constants()
 
@@ -2500,6 +2518,14 @@ def home_start(
         self.beacon._sample_async()
         self._shared.trsync_start(print_time)
         etrsync = self._shared._trsync
+        if self.beacon.beacon_contact_set_latency_min_cmd is not None:
+            self.beacon.beacon_contact_set_latency_min_cmd.send(
+                [self.beacon.contact_latency_min]
+            )
+        if self.beacon.beacon_contact_set_sensitivity_cmd is not None:
+            self.beacon.beacon_contact_set_sensitivity_cmd.send(
+                [self.beacon.contact_sensitivity]
+            )
         self.beacon.beacon_contact_home_cmd.send(
             [
                 etrsync.get_oid(),