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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 <http://www.gnu.org/licenses/>.
- *
- */
- #pragma once
-
- #include "../inc/MarlinConfigPre.h"
-
- // BLTouch commands are sent as servo angles
- typedef unsigned char BLTCommand;
-
- #define BLTOUCH_DEPLOY 10
- #define BLTOUCH_SW_MODE 60
- #define BLTOUCH_STOW 90
- #define BLTOUCH_SELFTEST 120
- #define BLTOUCH_MODE_STORE 130
- #define BLTOUCH_5V_MODE 140
- #define BLTOUCH_OD_MODE 150
- #define BLTOUCH_RESET 160
-
- /**
- * The following commands require different minimum delays.
- *
- * 500ms required for a reliable Reset.
- *
- * 750ms required for Deploy/Stow, otherwise the alarm state
- * will not be seen until the following move command.
- */
-
- #ifndef BLTOUCH_SET5V_DELAY
- #define BLTOUCH_SET5V_DELAY 150
- #endif
- #ifndef BLTOUCH_SETOD_DELAY
- #define BLTOUCH_SETOD_DELAY 150
- #endif
- #ifndef BLTOUCH_MODE_STORE_DELAY
- #define BLTOUCH_MODE_STORE_DELAY 150
- #endif
- #ifndef BLTOUCH_DEPLOY_DELAY
- #define BLTOUCH_DEPLOY_DELAY 750
- #endif
- #ifndef BLTOUCH_STOW_DELAY
- #define BLTOUCH_STOW_DELAY 750
- #endif
- #ifndef BLTOUCH_RESET_DELAY
- #define BLTOUCH_RESET_DELAY 500
- #endif
-
- class BLTouch {
- public:
- static void init(const bool set_voltage=false);
- static bool last_written_mode; // Initialized by settings.load, 0 = Open Drain; 1 = 5V Drain
-
- // DEPLOY and STOW are wrapped for error handling - these are used by homing and by probing
- FORCE_INLINE static bool deploy() { return deploy_proc(); }
- FORCE_INLINE static bool stow() { return stow_proc(); }
- FORCE_INLINE static bool status() { return status_proc(); }
-
- // Native BLTouch commands ("Underscore"...), used in lcd menus and internally
- FORCE_INLINE static void _reset() { command(BLTOUCH_RESET, BLTOUCH_RESET_DELAY); }
-
- FORCE_INLINE static void _selftest() { command(BLTOUCH_SELFTEST, BLTOUCH_DELAY); }
-
- FORCE_INLINE static void _set_SW_mode() { command(BLTOUCH_SW_MODE, BLTOUCH_DELAY); }
- FORCE_INLINE static void _reset_SW_mode() { if (triggered()) _stow(); else _deploy(); }
-
- FORCE_INLINE static void _set_5V_mode() { command(BLTOUCH_5V_MODE, BLTOUCH_SET5V_DELAY); }
- FORCE_INLINE static void _set_OD_mode() { command(BLTOUCH_OD_MODE, BLTOUCH_SETOD_DELAY); }
- FORCE_INLINE static void _mode_store() { command(BLTOUCH_MODE_STORE, BLTOUCH_MODE_STORE_DELAY); }
-
- FORCE_INLINE static void _deploy() { command(BLTOUCH_DEPLOY, BLTOUCH_DEPLOY_DELAY); }
- FORCE_INLINE static void _stow() { command(BLTOUCH_STOW, BLTOUCH_STOW_DELAY); }
-
- FORCE_INLINE static void mode_conv_5V() { mode_conv_proc(true); }
- FORCE_INLINE static void mode_conv_OD() { mode_conv_proc(false); }
-
- static bool triggered();
-
- private:
- FORCE_INLINE static bool _deploy_query_alarm() { return command(BLTOUCH_DEPLOY, BLTOUCH_DEPLOY_DELAY); }
- FORCE_INLINE static bool _stow_query_alarm() { return command(BLTOUCH_STOW, BLTOUCH_STOW_DELAY); }
-
- static void clear();
- static bool command(const BLTCommand cmd, const millis_t &ms);
- static bool deploy_proc();
- static bool stow_proc();
- static bool status_proc();
- static void mode_conv_proc(const bool M5V);
- };
-
- extern BLTouch bltouch;
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