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- /**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
- *
- */
-
- #include "../../inc/MarlinConfig.h"
-
- #if ENABLED(PINS_DEBUGGING)
-
- #include "../gcode.h"
- #include "../../Marlin.h" // for pin_is_protected
- #include "../../pins/pinsDebug.h"
- #include "../../module/endstops.h"
-
- #if HAS_Z_SERVO_ENDSTOP
- #include "../../module/probe.h"
- #endif
-
- inline void toggle_pins() {
- const bool I_flag = parser.boolval('I');
- const int repeat = parser.intval('R', 1),
- start = PARSED_PIN_INDEX('S', 0),
- end = PARSED_PIN_INDEX('E', NUM_DIGITAL_PINS - 1),
- wait = parser.intval('W', 500);
-
- for (uint8_t i = start; i <= end; i++) {
- pin_t pin = GET_PIN_MAP_PIN(i);
- //report_pin_state_extended(pin, I_flag, false);
- if (!VALID_PIN(pin)) continue;
- if (!I_flag && pin_is_protected(pin)) {
- report_pin_state_extended(pin, I_flag, true, "Untouched ");
- SERIAL_EOL();
- }
- else {
- report_pin_state_extended(pin, I_flag, true, "Pulsing ");
- #if AVR_AT90USB1286_FAMILY // Teensy IDEs don't know about these pins so must use FASTIO
- if (pin == TEENSY_E2) {
- SET_OUTPUT(TEENSY_E2);
- for (int16_t j = 0; j < repeat; j++) {
- WRITE(TEENSY_E2, LOW); safe_delay(wait);
- WRITE(TEENSY_E2, HIGH); safe_delay(wait);
- WRITE(TEENSY_E2, LOW); safe_delay(wait);
- }
- }
- else if (pin == TEENSY_E3) {
- SET_OUTPUT(TEENSY_E3);
- for (int16_t j = 0; j < repeat; j++) {
- WRITE(TEENSY_E3, LOW); safe_delay(wait);
- WRITE(TEENSY_E3, HIGH); safe_delay(wait);
- WRITE(TEENSY_E3, LOW); safe_delay(wait);
- }
- }
- else
- #endif
- {
- pinMode(pin, OUTPUT);
- for (int16_t j = 0; j < repeat; j++) {
- digitalWrite(pin, 0); safe_delay(wait);
- digitalWrite(pin, 1); safe_delay(wait);
- digitalWrite(pin, 0); safe_delay(wait);
- }
- }
-
- }
- SERIAL_EOL();
- }
- SERIAL_ECHOLNPGM("Done.");
-
- } // toggle_pins
-
- inline void servo_probe_test() {
- #if !(NUM_SERVOS > 0 && HAS_SERVO_0)
-
- SERIAL_ERROR_START();
- SERIAL_ERRORLNPGM("SERVO not setup");
-
- #elif !HAS_Z_SERVO_ENDSTOP
-
- SERIAL_ERROR_START();
- SERIAL_ERRORLNPGM("Z_ENDSTOP_SERVO_NR not setup");
-
- #else // HAS_Z_SERVO_ENDSTOP
-
- const uint8_t probe_index = parser.byteval('P', Z_ENDSTOP_SERVO_NR);
-
- SERIAL_PROTOCOLLNPGM("Servo probe test");
- SERIAL_PROTOCOLLNPAIR(". using index: ", probe_index);
- SERIAL_PROTOCOLLNPAIR(". deploy angle: ", z_servo_angle[0]);
- SERIAL_PROTOCOLLNPAIR(". stow angle: ", z_servo_angle[1]);
-
- bool probe_inverting;
-
- #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
-
- #define PROBE_TEST_PIN Z_MIN_PIN
-
- SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN pin: ", PROBE_TEST_PIN);
- SERIAL_PROTOCOLLNPGM(". uses Z_MIN_ENDSTOP_INVERTING (ignores Z_MIN_PROBE_ENDSTOP_INVERTING)");
- SERIAL_PROTOCOLPGM(". Z_MIN_ENDSTOP_INVERTING: ");
-
- #if Z_MIN_ENDSTOP_INVERTING
- SERIAL_PROTOCOLLNPGM("true");
- #else
- SERIAL_PROTOCOLLNPGM("false");
- #endif
-
- probe_inverting = Z_MIN_ENDSTOP_INVERTING;
-
- #elif ENABLED(Z_MIN_PROBE_ENDSTOP)
-
- #define PROBE_TEST_PIN Z_MIN_PROBE_PIN
- SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN_PROBE_PIN: ", PROBE_TEST_PIN);
- SERIAL_PROTOCOLLNPGM(". uses Z_MIN_PROBE_ENDSTOP_INVERTING (ignores Z_MIN_ENDSTOP_INVERTING)");
- SERIAL_PROTOCOLPGM(". Z_MIN_PROBE_ENDSTOP_INVERTING: ");
-
- #if Z_MIN_PROBE_ENDSTOP_INVERTING
- SERIAL_PROTOCOLLNPGM("true");
- #else
- SERIAL_PROTOCOLLNPGM("false");
- #endif
-
- probe_inverting = Z_MIN_PROBE_ENDSTOP_INVERTING;
-
- #endif
-
- SERIAL_PROTOCOLLNPGM(". deploy & stow 4 times");
- SET_INPUT_PULLUP(PROBE_TEST_PIN);
- uint8_t i = 0;
- bool deploy_state, stow_state;
- do {
- MOVE_SERVO(probe_index, z_servo_angle[0]); //deploy
- safe_delay(500);
- deploy_state = READ(PROBE_TEST_PIN);
- MOVE_SERVO(probe_index, z_servo_angle[1]); //stow
- safe_delay(500);
- stow_state = READ(PROBE_TEST_PIN);
- } while (++i < 4);
- if (probe_inverting != deploy_state) SERIAL_PROTOCOLLNPGM("WARNING - INVERTING setting probably backwards");
-
- gcode.refresh_cmd_timeout();
-
- if (deploy_state != stow_state) {
- SERIAL_PROTOCOLLNPGM("BLTouch clone detected");
- if (deploy_state) {
- SERIAL_PROTOCOLLNPGM(". DEPLOYED state: HIGH (logic 1)");
- SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: LOW (logic 0)");
- }
- else {
- SERIAL_PROTOCOLLNPGM(". DEPLOYED state: LOW (logic 0)");
- SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: HIGH (logic 1)");
- }
- #if ENABLED(BLTOUCH)
- SERIAL_PROTOCOLLNPGM("ERROR: BLTOUCH enabled - set this device up as a Z Servo Probe with inverting as true.");
- #endif
- }
- else { // measure active signal length
- MOVE_SERVO(probe_index, z_servo_angle[0]); // deploy
- safe_delay(500);
- SERIAL_PROTOCOLLNPGM("please trigger probe");
- uint16_t probe_counter = 0;
-
- // Allow 30 seconds max for operator to trigger probe
- for (uint16_t j = 0; j < 500 * 30 && probe_counter == 0 ; j++) {
-
- safe_delay(2);
-
- if (0 == j % (500 * 1)) // keep cmd_timeout happy
- gcode.refresh_cmd_timeout();
-
- if (deploy_state != READ(PROBE_TEST_PIN)) { // probe triggered
-
- for (probe_counter = 1; probe_counter < 50 && deploy_state != READ(PROBE_TEST_PIN); ++probe_counter)
- safe_delay(2);
-
- if (probe_counter == 50)
- SERIAL_PROTOCOLLNPGM("Z Servo Probe detected"); // >= 100mS active time
- else if (probe_counter >= 2)
- SERIAL_PROTOCOLLNPAIR("BLTouch compatible probe detected - pulse width (+/- 4mS): ", probe_counter * 2); // allow 4 - 100mS pulse
- else
- SERIAL_PROTOCOLLNPGM("noise detected - please re-run test"); // less than 2mS pulse
-
- MOVE_SERVO(probe_index, z_servo_angle[1]); //stow
-
- } // pulse detected
-
- } // for loop waiting for trigger
-
- if (probe_counter == 0) SERIAL_PROTOCOLLNPGM("trigger not detected");
-
- } // measure active signal length
-
- #endif
-
- } // servo_probe_test
-
- /**
- * M43: Pin debug - report pin state, watch pins, toggle pins and servo probe test/report
- *
- * M43 - report name and state of pin(s)
- * P<pin> Pin to read or watch. If omitted, reads all pins.
- * I Flag to ignore Marlin's pin protection.
- *
- * M43 W - Watch pins -reporting changes- until reset, click, or M108.
- * P<pin> Pin to read or watch. If omitted, read/watch all pins.
- * I Flag to ignore Marlin's pin protection.
- *
- * M43 E<bool> - Enable / disable background endstop monitoring
- * - Machine continues to operate
- * - Reports changes to endstops
- * - Toggles LED_PIN when an endstop changes
- * - Cannot reliably catch the 5mS pulse from BLTouch type probes
- *
- * M43 T - Toggle pin(s) and report which pin is being toggled
- * S<pin> - Start Pin number. If not given, will default to 0
- * L<pin> - End Pin number. If not given, will default to last pin defined for this board
- * I<bool> - Flag to ignore Marlin's pin protection. Use with caution!!!!
- * R - Repeat pulses on each pin this number of times before continueing to next pin
- * W - Wait time (in miliseconds) between pulses. If not given will default to 500
- *
- * M43 S - Servo probe test
- * P<index> - Probe index (optional - defaults to 0
- */
- void GcodeSuite::M43() {
-
- if (parser.seen('T')) { // must be first or else its "S" and "E" parameters will execute endstop or servo test
- toggle_pins();
- return;
- }
-
- // Enable or disable endstop monitoring
- if (parser.seen('E')) {
- endstops.monitor_flag = parser.value_bool();
- SERIAL_PROTOCOLPGM("endstop monitor ");
- serialprintPGM(endstops.monitor_flag ? PSTR("en") : PSTR("dis"));
- SERIAL_PROTOCOLLNPGM("abled");
- return;
- }
-
- if (parser.seen('S')) {
- servo_probe_test();
- return;
- }
-
- // Get the range of pins to test or watch
- const uint8_t first_pin = PARSED_PIN_INDEX('P', 0),
- last_pin = parser.seenval('P') ? first_pin : NUM_DIGITAL_PINS - 1;
-
- if (first_pin > last_pin) return;
-
- const bool ignore_protection = parser.boolval('I');
-
- // Watch until click, M108, or reset
- if (parser.boolval('W')) {
- SERIAL_PROTOCOLLNPGM("Watching pins");
- uint8_t pin_state[last_pin - first_pin + 1];
- for (uint8_t i = first_pin; i <= last_pin; i++) {
- pin_t pin = GET_PIN_MAP_PIN(i);
- if (!VALID_PIN(pin)) continue;
- if (pin_is_protected(pin) && !ignore_protection) continue;
- pinMode(pin, INPUT_PULLUP);
- delay(1);
- /*
- if (IS_ANALOG(pin))
- pin_state[pin - first_pin] = analogRead(DIGITAL_PIN_TO_ANALOG_PIN(pin)); // int16_t pin_state[...]
- else
- //*/
- pin_state[i - first_pin] = digitalRead(pin);
- }
-
- #if HAS_RESUME_CONTINUE
- wait_for_user = true;
- KEEPALIVE_STATE(PAUSED_FOR_USER);
- #endif
-
- for (;;) {
- for (uint8_t i = first_pin; i <= last_pin; i++) {
- pin_t pin = GET_PIN_MAP_PIN(i);
- if (!VALID_PIN(pin)) continue;
- if (pin_is_protected(pin) && !ignore_protection) continue;
- const byte val =
- /*
- IS_ANALOG(pin)
- ? analogRead(DIGITAL_PIN_TO_ANALOG_PIN(pin)) : // int16_t val
- :
- //*/
- digitalRead(pin);
- if (val != pin_state[i - first_pin]) {
- report_pin_state_extended(pin, ignore_protection, false);
- pin_state[i - first_pin] = val;
- }
- }
-
- #if HAS_RESUME_CONTINUE
- if (!wait_for_user) {
- KEEPALIVE_STATE(IN_HANDLER);
- break;
- }
- #endif
-
- safe_delay(200);
- }
- return;
- }
-
- // Report current state of selected pin(s)
- for (uint8_t i = first_pin; i <= last_pin; i++) {
- pin_t pin = GET_PIN_MAP_PIN(i);
- if (VALID_PIN(pin)) report_pin_state_extended(pin, ignore_protection, true);
- }
- }
-
- #endif // PINS_DEBUGGING
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