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@ -35,15 +35,32 @@ void stop(); |
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) |
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) |
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#include "../core/debug_out.h" |
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#include "../core/debug_out.h" |
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void BLTouch::command(const BLTCommand cmd) { |
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bool BLTouch::command(const BLTCommand cmd, const millis_t &ms) { |
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//SERIAL_ECHOLNPAIR("BLTouch Command :", cmd);
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("BLTouch Command :", cmd); |
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MOVE_SERVO(Z_PROBE_SERVO_NR, cmd); |
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MOVE_SERVO(Z_PROBE_SERVO_NR, cmd); |
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safe_delay(BLTOUCH_DELAY); |
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safe_delay(MAX(ms, BLTOUCH_DELAY)); // BLTOUCH_DELAY is also the *minimum* delay
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return triggered(); |
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} |
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} |
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void BLTouch::init() { |
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void BLTouch::init() { |
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reset(); // Clear all BLTouch error conditions
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// This is called by marlin.cpp on initialization
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stow(); |
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// SET_5V_MODE (if enabled). OD_MODE is the default on power on.
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// This mode will stay active until manual SET_OD_MODE or power cycle
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#if ENABLED(BLTOUCH_FORCE_5V_MODE) |
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_set_5V_mode(); // Set 5V mode if explicitely demanded (V3 upwards)
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#endif |
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clear(); |
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// There really should be no alarm outstanding now, and no triggered condition. But if there is,
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// there is no need to worry people here on init right at the start of the printer.
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} |
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void BLTouch::clear() { |
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_reset(); // RESET or RESET_SW will clear an alarm condition but...
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// ...it will not clear a triggered condition in SW mode when the pin is currently up
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// ANTClabs <-- CODE ERROR
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_stow(); // STOW will pull up the pin and clear any triggered condition unless it fails, don't care
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_deploy(); // DEPLOY to test the probe. Could fail, don't care
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_stow(); // STOW to be ready for meaningful work. Could fail, don't care
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} |
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} |
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bool BLTouch::triggered() { |
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bool BLTouch::triggered() { |
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@ -56,41 +73,92 @@ bool BLTouch::triggered() { |
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); |
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); |
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} |
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} |
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bool BLTouch::set_deployed(const bool in_deploy) { |
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bool BLTouch::deploy_proc() { |
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if (in_deploy && triggered()) { // If BLTouch says it's triggered
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// Do a DEPLOY
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reset(); // try to reset it.
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("BLTouch DEPLOY requested"); |
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_deploy(); _stow(); // Deploy and stow to clear the "triggered" condition.
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safe_delay(1500); // Wait for internal self-test to complete.
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// Attempt to DEPLOY, wait for DEPLOY_DELAY or ALARM
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// (Measured completion time was 0.65 seconds
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if (_deploy_query_alarm()) { |
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// after reset, deploy, and stow sequence)
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// The deploy might have failed or the probe is already triggered (nozzle too low?)
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if (triggered()) { // If it still claims to be triggered...
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("BLTouch ALARM or TRIGGER after DEPLOY, recovering"); |
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SERIAL_ERROR_MSG(MSG_STOP_BLTOUCH); |
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stop(); // punt!
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clear(); // Get the probe into start condition
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return true; |
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// Last attempt to DEPLOY
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if (_deploy_query_alarm()) { |
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// The deploy might have failed or the probe is actually triggered (nozzle too low?) again
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("BLTouch Recovery Failed"); |
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SERIAL_ERROR_MSG(MSG_STOP_BLTOUCH); // Tell the user something is wrong, needs action
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stop(); // but it's not too bad, no need to kill, allow restart
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return true; // Tell our caller we goofed in case he cares to know
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} |
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} |
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} |
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} |
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#if ENABLED(BLTOUCH_V3) |
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// Now the probe is ready to issue a 10ms pulse when the pin goes up.
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#if EITHER(BLTOUCH_FORCE_5V_MODE, ENDSTOPPULLUPS) \ |
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// The trigger STOW (see motion.cpp for example) will pull up the probes pin as soon as the pulse
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|| ALL(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, ENDSTOPPULLUP_ZMIN) \ |
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// is registered.
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|| (USES_Z_MIN_PROBE_ENDSTOP && ENABLED(ENDSTOPPULLUP_ZMIN_PROBE)) |
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set_5V_mode(); // Assume 5V DC logic level if endstop pullup resistors are enabled
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#elif true || ENABLED(BLTOUCH_FORCE_OPEN_DRAIN_MODE) |
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set_OD_mode(); |
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#endif |
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#endif |
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if (in_deploy) { |
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("bltouch.deploy_proc() end"); |
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_deploy(); |
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#if ENABLED(BLTOUCH_V3) |
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return false; // report success to caller
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set_SW_mode(); |
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} |
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#endif |
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bool BLTouch::stow_proc() { |
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// Do a STOW
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("BLTouch STOW requested"); |
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// A STOW will clear a triggered condition in the probe (10ms pulse).
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// At the moment that we come in here, we might (pulse) or will (SW mode) see the trigger on the pin.
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// So even though we know a STOW will be ignored if an ALARM condition is active, we will STOW.
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// Note: If the probe is deployed AND in an ALARM condition, this STOW will not pull up the pin
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// and the ALARM condition will still be there. --> ANTClabs should change this behaviour maybe
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// Attempt to STOW, wait for STOW_DELAY or ALARM
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if (_stow_query_alarm()) { |
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// The stow might have failed
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("BLTouch ALARM or TRIGGER after STOW, recovering"); |
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_reset(); // This RESET will then also pull up the pin. If it doesn't
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// work and the pin is still down, there will no longer be
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// an ALARM condition though.
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// But one more STOW will catch that
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// Last attempt to STOW
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if (_stow_query_alarm()) { // so if there is now STILL an ALARM condition:
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("BLTouch Recovery Failed"); |
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SERIAL_ERROR_MSG(MSG_STOP_BLTOUCH); // Tell the user something is wrong, needs action
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stop(); // but it's not too bad, no need to kill, allow restart
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return true; // Tell our caller we goofed in case he cares to know
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} |
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} |
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} |
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else _stow(); |
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("bltouch.set_deployed(", in_deploy, ")"); |
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("bltouch.stow_proc() end"); |
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return false; // report success to caller
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} |
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bool BLTouch::status_proc() { |
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/**
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* Return a TRUE for "YES, it is DEPLOYED" |
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* This function will ensure switch state is reset after execution |
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* This may change pin position in some scenarios, specifically |
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* if the pin has been triggered but not yet stowed. |
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*/ |
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("BLTouch STATUS requested"); |
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_set_SW_mode(); |
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const bool tr = triggered(); // If triggered in SW mode, the pin is up, it is STOWED
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("BLTouch is ", (int)tr); |
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return false; |
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_reset(); // turn off the SW Mode
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if (tr) _stow(); else _deploy(); // and reset any triggered signal, restore state
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return !tr; |
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} |
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} |
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#endif // BLTOUCH
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#endif // BLTOUCH
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InsanityAutomation
6 years ago
Scott Lahteine