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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <https://www.gnu.org/licenses/>.
- *
- */
-
- #include "../inc/MarlinConfig.h"
-
- #if ENABLED(BLTOUCH)
-
- #include "bltouch.h"
-
- BLTouch bltouch;
-
- bool BLTouch::last_written_mode; // Initialized by settings.load, 0 = Open Drain; 1 = 5V Drain
-
- #include "../module/servo.h"
-
- void stop();
-
- #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
- #include "../core/debug_out.h"
-
- bool BLTouch::command(const BLTCommand cmd, const millis_t &ms) {
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("BLTouch Command :", cmd);
- MOVE_SERVO(Z_PROBE_SERVO_NR, cmd);
- safe_delay(_MAX(ms, (uint32_t)BLTOUCH_DELAY)); // BLTOUCH_DELAY is also the *minimum* delay
- return triggered();
- }
-
- // Init the class and device. Call from setup().
- void BLTouch::init(const bool set_voltage/*=false*/) {
- // Voltage Setting (if enabled). At every Marlin initialization:
- // BLTOUCH < V3.0 and clones: This will be ignored by the probe
- // BLTOUCH V3.0: SET_5V_MODE or SET_OD_MODE (if enabled).
- // OD_MODE is the default on power on, but setting it does not hurt
- // This mode will stay active until manual SET_OD_MODE or power cycle
- // BLTOUCH V3.1: SET_5V_MODE or SET_OD_MODE (if enabled).
- // At power on, the probe will default to the eeprom settings configured by the user
- _reset();
- _stow();
-
- #if ENABLED(BLTOUCH_FORCE_MODE_SET)
-
- constexpr bool should_set = true;
-
- #else
-
- if (DEBUGGING(LEVELING)) {
- DEBUG_ECHOLNPAIR("last_written_mode - ", (int)last_written_mode);
- DEBUG_ECHOLNPGM("config mode - "
- #if ENABLED(BLTOUCH_SET_5V_MODE)
- "BLTOUCH_SET_5V_MODE"
- #else
- "OD"
- #endif
- );
- }
-
- const bool should_set = last_written_mode != ENABLED(BLTOUCH_SET_5V_MODE);
-
- #endif
-
- if (should_set && set_voltage)
- mode_conv_proc(ENABLED(BLTOUCH_SET_5V_MODE));
- }
-
- void BLTouch::clear() {
- _reset(); // RESET or RESET_SW will clear an alarm condition but...
- // ...it will not clear a triggered condition in SW mode when the pin is currently up
- // ANTClabs <-- CODE ERROR
- _stow(); // STOW will pull up the pin and clear any triggered condition unless it fails, don't care
- _deploy(); // DEPLOY to test the probe. Could fail, don't care
- _stow(); // STOW to be ready for meaningful work. Could fail, don't care
- }
-
- bool BLTouch::triggered() {
- return (
- #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
- READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING
- #else
- READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING
- #endif
- );
- }
-
- bool BLTouch::deploy_proc() {
- // Do a DEPLOY
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch DEPLOY requested");
-
- // Attempt to DEPLOY, wait for DEPLOY_DELAY or ALARM
- if (_deploy_query_alarm()) {
- // The deploy might have failed or the probe is already triggered (nozzle too low?)
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch ALARM or TRIGGER after DEPLOY, recovering");
-
- clear(); // Get the probe into start condition
-
- // Last attempt to DEPLOY
- if (_deploy_query_alarm()) {
- // The deploy might have failed or the probe is actually triggered (nozzle too low?) again
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch Recovery Failed");
-
- SERIAL_ERROR_MSG(STR_STOP_BLTOUCH); // Tell the user something is wrong, needs action
- stop(); // but it's not too bad, no need to kill, allow restart
-
- return true; // Tell our caller we goofed in case he cares to know
- }
- }
-
- // One of the recommended ANTClabs ways to probe, using SW MODE
- TERN_(BLTOUCH_FORCE_SW_MODE, _set_SW_mode());
-
- // Now the probe is ready to issue a 10ms pulse when the pin goes up.
- // The trigger STOW (see motion.cpp for example) will pull up the probes pin as soon as the pulse
- // is registered.
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("bltouch.deploy_proc() end");
-
- return false; // report success to caller
- }
-
- bool BLTouch::stow_proc() {
- // Do a STOW
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch STOW requested");
-
- // A STOW will clear a triggered condition in the probe (10ms pulse).
- // At the moment that we come in here, we might (pulse) or will (SW mode) see the trigger on the pin.
- // So even though we know a STOW will be ignored if an ALARM condition is active, we will STOW.
- // Note: If the probe is deployed AND in an ALARM condition, this STOW will not pull up the pin
- // and the ALARM condition will still be there. --> ANTClabs should change this behavior maybe
-
- // Attempt to STOW, wait for STOW_DELAY or ALARM
- if (_stow_query_alarm()) {
- // The stow might have failed
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch ALARM or TRIGGER after STOW, recovering");
-
- _reset(); // This RESET will then also pull up the pin. If it doesn't
- // work and the pin is still down, there will no longer be
- // an ALARM condition though.
- // But one more STOW will catch that
- // Last attempt to STOW
- if (_stow_query_alarm()) { // so if there is now STILL an ALARM condition:
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch Recovery Failed");
-
- SERIAL_ERROR_MSG(STR_STOP_BLTOUCH); // Tell the user something is wrong, needs action
- stop(); // but it's not too bad, no need to kill, allow restart
-
- return true; // Tell our caller we goofed in case he cares to know
- }
- }
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("bltouch.stow_proc() end");
-
- return false; // report success to caller
- }
-
- bool BLTouch::status_proc() {
- /**
- * Return a TRUE for "YES, it is DEPLOYED"
- * This function will ensure switch state is reset after execution
- */
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch STATUS requested");
-
- _set_SW_mode(); // Incidentally, _set_SW_mode() will also RESET any active alarm
- const bool tr = triggered(); // If triggered in SW mode, the pin is up, it is STOWED
-
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("BLTouch is ", (int)tr);
-
- if (tr) _stow(); else _deploy(); // Turn off SW mode, reset any trigger, honor pin state
- return !tr;
- }
-
- void BLTouch::mode_conv_proc(const bool M5V) {
- /**
- * BLTOUCH pre V3.0 and clones: No reaction at all to this sequence apart from a DEPLOY -> STOW
- * BLTOUCH V3.0: This will set the mode (twice) and sadly, a STOW is needed at the end, because of the deploy
- * BLTOUCH V3.1: This will set the mode and store it in the eeprom. The STOW is not needed but does not hurt
- */
- if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("BLTouch Set Mode - ", (int)M5V);
- _deploy();
- if (M5V) _set_5V_mode(); else _set_OD_mode();
- _mode_store();
- if (M5V) _set_5V_mode(); else _set_OD_mode();
- _stow();
- last_written_mode = M5V;
- }
-
- #endif // BLTOUCH
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