From b02c3258b56f73ae6cff17d7e47c9e1fba7c91cd Mon Sep 17 00:00:00 2001 From: Mark Date: Sat, 6 Aug 2022 14:14:58 +0800 Subject: [PATCH] =?UTF-8?q?=E2=9C=A8=20Bed=20Distance=20Sensor=20(#24554)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Marlin/Configuration.h | 9 + Marlin/src/MarlinCore.cpp | 11 ++ Marlin/src/core/utility.cpp | 1 + Marlin/src/feature/babystep.cpp | 12 ++ Marlin/src/feature/babystep.h | 4 + Marlin/src/feature/bedlevel/bdl/bdl.cpp | 195 ++++++++++++++++++++ Marlin/src/feature/bedlevel/bdl/bdl.h | 36 ++++ Marlin/src/gcode/calibrate/G28.cpp | 8 +- Marlin/src/gcode/gcode.cpp | 4 + Marlin/src/gcode/gcode.h | 7 + Marlin/src/gcode/probe/M102.cpp | 57 ++++++ Marlin/src/inc/Conditionals_LCD.h | 2 +- Marlin/src/inc/SanityCheck.h | 4 +- Marlin/src/inc/Warnings.cpp | 7 + Marlin/src/module/endstops.cpp | 13 +- Marlin/src/module/endstops.h | 5 + Marlin/src/module/probe.cpp | 6 + Marlin/src/module/stepper.cpp | 4 + Marlin/src/module/stepper/indirection.h | 2 +- Marlin/src/pins/stm32f1/pins_PANDA_PI_V29.h | 6 + buildroot/tests/PANDA_PI_V29 | 19 ++ ini/features.ini | 2 + ini/stm32f1.ini | 3 +- platformio.ini | 1 + 24 files changed, 409 insertions(+), 9 deletions(-) create mode 100644 Marlin/src/feature/bedlevel/bdl/bdl.cpp create mode 100644 Marlin/src/feature/bedlevel/bdl/bdl.h create mode 100644 Marlin/src/gcode/probe/M102.cpp create mode 100755 buildroot/tests/PANDA_PI_V29 diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 9259468374..84e4f49e59 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -1886,6 +1886,15 @@ #define LEVELING_BED_TEMP 50 #endif +/** + * Bed Distance Sensor + * + * Measures the distance from bed to nozzle with accuracy of 0.01mm. + * For information about this sensor https://github.com/markniu/Bed_Distance_sensor + * Uses I2C port, so it requires I2C library markyue/Panda_SoftMasterI2C. + */ +//#define BD_SENSOR + /** * Enable detailed logging of G28, G29, M48, etc. * Turn on with the command 'M111 S32'. diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp index 921c3c60bc..1e2e6c6483 100644 --- a/Marlin/src/MarlinCore.cpp +++ b/Marlin/src/MarlinCore.cpp @@ -121,6 +121,10 @@ #include "feature/bltouch.h" #endif +#if ENABLED(BD_SENSOR) + #include "feature/bedlevel/bdl/bdl.h" +#endif + #if ENABLED(POLL_JOG) #include "feature/joystick.h" #endif @@ -779,6 +783,9 @@ void idle(bool no_stepper_sleep/*=false*/) { if (++idle_depth > 5) SERIAL_ECHOLNPGM("idle() call depth: ", idle_depth); #endif + // Bed Distance Sensor task + TERN_(BD_SENSOR, bdl.process()); + // Core Marlin activities manage_inactivity(no_stepper_sleep); @@ -1632,6 +1639,10 @@ void setup() { SETUP_RUN(test_tmc_connection()); #endif + #if ENABLED(BD_SENSOR) + SETUP_RUN(bdl.init(I2C_BD_SDA_PIN, I2C_BD_SCL_PIN, I2C_BD_DELAY)); + #endif + marlin_state = MF_RUNNING; SETUP_LOG("setup() completed."); diff --git a/Marlin/src/core/utility.cpp b/Marlin/src/core/utility.cpp index e4fd525924..64f083e197 100644 --- a/Marlin/src/core/utility.cpp +++ b/Marlin/src/core/utility.cpp @@ -70,6 +70,7 @@ void safe_delay(millis_t ms) { TERN_(NOZZLE_AS_PROBE, "NOZZLE_AS_PROBE") TERN_(FIX_MOUNTED_PROBE, "FIX_MOUNTED_PROBE") TERN_(HAS_Z_SERVO_PROBE, TERN(BLTOUCH, "BLTOUCH", "SERVO PROBE")) + TERN_(BD_SENSOR, "BD_SENSOR") TERN_(TOUCH_MI_PROBE, "TOUCH_MI_PROBE") TERN_(Z_PROBE_SLED, "Z_PROBE_SLED") TERN_(Z_PROBE_ALLEN_KEY, "Z_PROBE_ALLEN_KEY") diff --git a/Marlin/src/feature/babystep.cpp b/Marlin/src/feature/babystep.cpp index 54ad9588f4..2e3d6a9fd2 100644 --- a/Marlin/src/feature/babystep.cpp +++ b/Marlin/src/feature/babystep.cpp @@ -54,6 +54,18 @@ void Babystep::add_mm(const AxisEnum axis, const_float_t mm) { add_steps(axis, mm * planner.settings.axis_steps_per_mm[axis]); } +#if ENABLED(BD_SENSOR) + void Babystep::set_mm(const AxisEnum axis, const_float_t mm) { + //if (DISABLED(BABYSTEP_WITHOUT_HOMING) && axes_should_home(_BV(axis))) return; + const int16_t distance = mm * planner.settings.axis_steps_per_mm[axis]; + accum = distance; // Count up babysteps for the UI + steps[BS_AXIS_IND(axis)] = distance; + TERN_(BABYSTEP_DISPLAY_TOTAL, axis_total[BS_TOTAL_IND(axis)] = distance); + TERN_(BABYSTEP_ALWAYS_AVAILABLE, gcode.reset_stepper_timeout()); + TERN_(INTEGRATED_BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping()); + } +#endif + void Babystep::add_steps(const AxisEnum axis, const int16_t distance) { if (DISABLED(BABYSTEP_WITHOUT_HOMING) && axes_should_home(_BV(axis))) return; diff --git a/Marlin/src/feature/babystep.h b/Marlin/src/feature/babystep.h index 5693afb4fc..bbf0c5a260 100644 --- a/Marlin/src/feature/babystep.h +++ b/Marlin/src/feature/babystep.h @@ -63,6 +63,10 @@ public: static void add_steps(const AxisEnum axis, const int16_t distance); static void add_mm(const AxisEnum axis, const_float_t mm); + #if ENABLED(BD_SENSOR) + static void set_mm(const AxisEnum axis, const_float_t mm); + #endif + static bool has_steps() { return steps[BS_AXIS_IND(X_AXIS)] || steps[BS_AXIS_IND(Y_AXIS)] || steps[BS_AXIS_IND(Z_AXIS)]; } diff --git a/Marlin/src/feature/bedlevel/bdl/bdl.cpp b/Marlin/src/feature/bedlevel/bdl/bdl.cpp new file mode 100644 index 0000000000..0668eb705c --- /dev/null +++ b/Marlin/src/feature/bedlevel/bdl/bdl.cpp @@ -0,0 +1,195 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(BD_SENSOR) + +#include "../../../MarlinCore.h" +#include "../../../gcode/gcode.h" +#include "../../../module/settings.h" +#include "../../../module/motion.h" +#include "../../../module/planner.h" +#include "../../../module/stepper.h" +#include "../../../module/probe.h" +#include "../../../module/temperature.h" +#include "../../../module/endstops.h" +#include "../../babystep.h" + +// I2C software Master library for segment bed heating and bed distance sensor +#include + +#include "bdl.h" +BDS_Leveling bdl; + +//#define DEBUG_OUT_BD + +// M102 S-5 Read raw Calibrate data +// M102 S-6 Start Calibrate +// M102 S4 Set the adjustable Z height value (e.g., 'M102 S4' means it will do adjusting while the Z height <= 0.4mm , disable with 'M102 S0'.) +// M102 S-1 Read sensor information + +#define MAX_BD_HEIGHT 4.0f +#define CMD_START_READ_CALIBRATE_DATA 1017 +#define CMD_END_READ_CALIBRATE_DATA 1018 +#define CMD_START_CALIBRATE 1019 +#define CMD_END_CALIBRATE 1021 +#define CMD_READ_VERSION 1016 + +I2C_SegmentBED BD_I2C_SENSOR; + +#define BD_SENSOR_I2C_ADDR 0x3C + +int8_t BDS_Leveling::config_state; +uint8_t BDS_Leveling::homing; + +void BDS_Leveling::echo_name() { SERIAL_ECHOPGM("Bed Distance Leveling"); } + +void BDS_Leveling::init(uint8_t _sda, uint8_t _scl, uint16_t delay_s) { + int ret = BD_I2C_SENSOR.i2c_init(_sda, _scl, BD_SENSOR_I2C_ADDR, delay_s); + if (ret != 1) SERIAL_ECHOLNPGM("BD_I2C_SENSOR Init Fail return code:", ret); + config_state = 0; +} + +float BDS_Leveling::read() { + const uint16_t tmp = BD_I2C_SENSOR.BD_i2c_read(); + float BD_z = NAN; + if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && (tmp & 0x3FF) < 1020) + BD_z = (tmp & 0x3FF) / 100.0f; + return BD_z; +} + +void BDS_Leveling::process() { + //if (config_state == 0) return; + static millis_t next_check_ms = 0; // starting at T=0 + static float z_pose = 0.0f; + const millis_t ms = millis(); + if (ELAPSED(ms, next_check_ms)) { // timed out (or first run) + next_check_ms = ms + (config_state < 0 ? 1000 : 100); // check at 1Hz or 10Hz + + unsigned short tmp = 0; + const float cur_z = planner.get_axis_position_mm(Z_AXIS); //current_position.z + static float old_cur_z = cur_z, + old_buf_z = current_position.z; + + tmp = BD_I2C_SENSOR.BD_i2c_read(); + if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && (tmp & 0x3FF) < 1020) { + const float z_sensor = (tmp & 0x3FF) / 100.0f; + if (cur_z < 0) config_state = 0; + //float abs_z = current_position.z > cur_z ? (current_position.z - cur_z) : (cur_z - current_position.z); + if ( cur_z < config_state * 0.1f + && config_state > 0 + && old_cur_z == cur_z + && old_buf_z == current_position.z + && z_sensor < (MAX_BD_HEIGHT) + ) { + babystep.set_mm(Z_AXIS, cur_z - z_sensor); + #if ENABLED(DEBUG_OUT_BD) + SERIAL_ECHOLNPGM("BD:", z_sensor, ", Z:", cur_z, "|", current_position.z); + #endif + } + else { + babystep.set_mm(Z_AXIS, 0); + //if (old_cur_z <= cur_z) Z_DIR_WRITE(!INVERT_Z_DIR); + stepper.set_directions(); + } + old_cur_z = cur_z; + old_buf_z = current_position.z; + endstops.bdp_state_update(z_sensor <= 0.01f); + //endstops.update(); + } + else + stepper.set_directions(); + + #if ENABLED(DEBUG_OUT_BD) + SERIAL_ECHOLNPGM("BD:", tmp & 0x3FF, ", Z:", cur_z, "|", current_position.z); + if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) == 0) SERIAL_ECHOLNPGM("errorCRC"); + #endif + + if ((tmp & 0x3FF) > 1020) { + BD_I2C_SENSOR.BD_i2c_stop(); + safe_delay(10); + } + + // read raw calibrate data + if (config_state == -5) { + BD_I2C_SENSOR.BD_i2c_write(CMD_START_READ_CALIBRATE_DATA); + safe_delay(1000); + + for (int i = 0; i < MAX_BD_HEIGHT * 10; i++) { + tmp = BD_I2C_SENSOR.BD_i2c_read(); + SERIAL_ECHOLNPGM("Calibrate data:", i, ",", tmp & 0x3FF, ", check:", BD_I2C_SENSOR.BD_Check_OddEven(tmp)); + safe_delay(500); + } + config_state = 0; + BD_I2C_SENSOR.BD_i2c_write(CMD_END_READ_CALIBRATE_DATA); + safe_delay(500); + } + else if (config_state <= -6) { // Start Calibrate + safe_delay(100); + if (config_state == -6) { + //BD_I2C_SENSOR.BD_i2c_write(1019); // begin calibrate + //delay(1000); + gcode.stepper_inactive_time = SEC_TO_MS(60 * 5); + gcode.process_subcommands_now(F("M17 Z")); + gcode.process_subcommands_now(F("G1 Z0.0")); + z_pose = 0; + safe_delay(1000); + BD_I2C_SENSOR.BD_i2c_write(CMD_START_CALIBRATE); // Begin calibrate + SERIAL_ECHOLNPGM("Begin calibrate"); + safe_delay(2000); + config_state = -7; + } + else if (planner.get_axis_position_mm(Z_AXIS) < 10.0f) { + if (z_pose >= MAX_BD_HEIGHT) { + BD_I2C_SENSOR.BD_i2c_write(CMD_END_CALIBRATE); // End calibrate + SERIAL_ECHOLNPGM("End calibrate data"); + z_pose = 7; + config_state = 0; + safe_delay(1000); + } + else { + float tmp_k = 0; + char tmp_1[30]; + sprintf_P(tmp_1, PSTR("G1 Z%d.%d"), int(z_pose), int(int(z_pose * 10) % 10)); + gcode.process_subcommands_now(tmp_1); + + SERIAL_ECHO(tmp_1); + SERIAL_ECHOLNPGM(" ,Z:", current_position.z); + + while (tmp_k < (z_pose - 0.1f)) { + tmp_k = planner.get_axis_position_mm(Z_AXIS); + safe_delay(1); + } + safe_delay(800); + tmp = (z_pose + 0.0001f) * 10; + BD_I2C_SENSOR.BD_i2c_write(tmp); + SERIAL_ECHOLNPGM("w:", tmp, ",Zpose:", z_pose); + z_pose += 0.1001f; + //queue.enqueue_now_P(PSTR("G90")); + } + } + } + } +} + +#endif // BD_SENSOR diff --git a/Marlin/src/feature/bedlevel/bdl/bdl.h b/Marlin/src/feature/bedlevel/bdl/bdl.h new file mode 100644 index 0000000000..6307b1ab28 --- /dev/null +++ b/Marlin/src/feature/bedlevel/bdl/bdl.h @@ -0,0 +1,36 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ +#pragma once + +#include + +class BDS_Leveling { +public: + static int8_t config_state; + static uint8_t homing; + static void echo_name(); + static void init(uint8_t _sda, uint8_t _scl, uint16_t delay_s); + static void process(); + static float read(); +}; + +extern BDS_Leveling bdl; diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp index e22e3cb5f8..a6dff2d75a 100644 --- a/Marlin/src/gcode/calibrate/G28.cpp +++ b/Marlin/src/gcode/calibrate/G28.cpp @@ -36,6 +36,10 @@ #include "../../feature/bedlevel/bedlevel.h" #endif +#if ENABLED(BD_SENSOR) + #include "../../feature/bedlevel/bdl/bdl.h" +#endif + #if ENABLED(SENSORLESS_HOMING) #include "../../feature/tmc_util.h" #endif @@ -202,7 +206,9 @@ void GcodeSuite::G28() { DEBUG_SECTION(log_G28, "G28", DEBUGGING(LEVELING)); if (DEBUGGING(LEVELING)) log_machine_info(); - /* + TERN_(BD_SENSOR, bdl.config_state = 0); + + /** * Set the laser power to false to stop the planner from processing the current power setting. */ #if ENABLED(LASER_FEATURE) diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp index bbfe561ffe..405e2d460c 100644 --- a/Marlin/src/gcode/gcode.cpp +++ b/Marlin/src/gcode/gcode.cpp @@ -577,6 +577,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) { case 100: M100(); break; // M100: Free Memory Report #endif + #if ENABLED(BD_SENSOR) + case 102: M102(); break; // M102: Configure Bed Distance Sensor + #endif + #if HAS_EXTRUDERS case 104: M104(); break; // M104: Set hot end temperature case 109: M109(); break; // M109: Wait for hotend temperature to reach target diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h index 135cfc7f43..2b15706395 100644 --- a/Marlin/src/gcode/gcode.h +++ b/Marlin/src/gcode/gcode.h @@ -132,6 +132,8 @@ * * M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER) * + * M102 - Configure Bed Distance Sensor. (Requires BD_SENSOR) + * * M104 - Set extruder target temp. * M105 - Report current temperatures. * M106 - Set print fan speed. @@ -705,6 +707,11 @@ private: static void M100(); #endif + #if ENABLED(BD_SENSOR) + static void M102(); + static void M102_report(const bool forReplay=true); + #endif + #if HAS_EXTRUDERS static void M104_M109(const bool isM109); FORCE_INLINE static void M104() { M104_M109(false); } diff --git a/Marlin/src/gcode/probe/M102.cpp b/Marlin/src/gcode/probe/M102.cpp new file mode 100644 index 0000000000..b70c9aed18 --- /dev/null +++ b/Marlin/src/gcode/probe/M102.cpp @@ -0,0 +1,57 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * M102.cpp - Configure Bed Distance Sensor + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(BD_SENSOR) + +#include "../gcode.h" +#include "../../feature/bedlevel/bdl/bdl.h" + +/** + * M102: Configure the Bed Distance Sensor + * + * M102 S<10ths> : Set adjustable Z height in 10ths of a mm (e.g., 'M102 S4' enables adjusting for Z <= 0.4mm.) + * M102 S0 : Disable adjustable Z height. + * + * Negative S values are commands: + * M102 S-1 : Read sensor information + * M102 S-5 : Read raw Calibration data + * M102 S-6 : Start Calibration + */ +void GcodeSuite::M102() { + if (parser.seenval('S')) + bdl.config_state = parser.value_int(); + else + M102_report(); +} + +void GcodeSuite::M102_report(const bool forReplay/*=true*/) { + report_heading(forReplay, F("Bed Distance Sensor")); + SERIAL_ECHOLNPGM(" M102 S", bdl.config_state); +} + +#endif // BD_SENSOR diff --git a/Marlin/src/inc/Conditionals_LCD.h b/Marlin/src/inc/Conditionals_LCD.h index a6be04e237..c1c174da46 100644 --- a/Marlin/src/inc/Conditionals_LCD.h +++ b/Marlin/src/inc/Conditionals_LCD.h @@ -1103,7 +1103,7 @@ #if ANY(TOUCH_MI_PROBE, Z_PROBE_ALLEN_KEY, SOLENOID_PROBE, Z_PROBE_SLED, RACK_AND_PINION_PROBE, SENSORLESS_PROBING, MAGLEV4, MAG_MOUNTED_PROBE) #define HAS_STOWABLE_PROBE 1 #endif -#if ANY(HAS_STOWABLE_PROBE, HAS_Z_SERVO_PROBE, FIX_MOUNTED_PROBE, NOZZLE_AS_PROBE) +#if ANY(HAS_STOWABLE_PROBE, HAS_Z_SERVO_PROBE, FIX_MOUNTED_PROBE, BD_SENSOR, NOZZLE_AS_PROBE) #define HAS_BED_PROBE 1 #endif diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h index bdcd1d3fce..ff8730d07b 100644 --- a/Marlin/src/inc/SanityCheck.h +++ b/Marlin/src/inc/SanityCheck.h @@ -1660,8 +1660,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS */ #if 1 < 0 \ + (DISABLED(BLTOUCH) && HAS_Z_SERVO_PROBE) \ - + COUNT_ENABLED(PROBE_MANUALLY, BLTOUCH, FIX_MOUNTED_PROBE, NOZZLE_AS_PROBE, TOUCH_MI_PROBE, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, RACK_AND_PINION_PROBE, SENSORLESS_PROBING, MAGLEV4, MAG_MOUNTED_PROBE) - #error "Please enable only one probe option: PROBE_MANUALLY, SENSORLESS_PROBING, BLTOUCH, FIX_MOUNTED_PROBE, NOZZLE_AS_PROBE, TOUCH_MI_PROBE, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, MAGLEV4, MAG_MOUNTED_PROBE or Z Servo." + + COUNT_ENABLED(PROBE_MANUALLY, BLTOUCH, BD_SENSOR, FIX_MOUNTED_PROBE, NOZZLE_AS_PROBE, TOUCH_MI_PROBE, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, RACK_AND_PINION_PROBE, SENSORLESS_PROBING, MAGLEV4, MAG_MOUNTED_PROBE) + #error "Please enable only one probe option: PROBE_MANUALLY, SENSORLESS_PROBING, BLTOUCH, BD_SENSOR, FIX_MOUNTED_PROBE, NOZZLE_AS_PROBE, TOUCH_MI_PROBE, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, MAGLEV4, MAG_MOUNTED_PROBE or Z Servo." #endif #if HAS_BED_PROBE diff --git a/Marlin/src/inc/Warnings.cpp b/Marlin/src/inc/Warnings.cpp index 054a006aff..e665ac5bca 100644 --- a/Marlin/src/inc/Warnings.cpp +++ b/Marlin/src/inc/Warnings.cpp @@ -773,3 +773,10 @@ #if MB(BTT_BTT002_V1_0, EINSY_RAMBO) && DISABLED(NO_MK3_FAN_PINS_WARNING) #warning "Define MK3_FAN_PINS to swap hotend and part cooling fan pins. (Define NO_MK3_FAN_PINS_WARNING to suppress this warning.)" #endif + +/** + * BD Sensor should always include BABYSTEPPING + */ +#if ENABLED(BD_SENSOR) && DISABLED(BABYSTEPPING) + #warning "BABYSTEPPING is recommended with BD_SENSOR." +#endif diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp index 1ee4b92b5f..33c94ae357 100644 --- a/Marlin/src/module/endstops.cpp +++ b/Marlin/src/module/endstops.cpp @@ -63,6 +63,13 @@ bool Endstops::enabled, Endstops::enabled_globally; // Initialized by settings.l volatile Endstops::endstop_mask_t Endstops::hit_state; Endstops::endstop_mask_t Endstops::live_state = 0; +#if ENABLED(BD_SENSOR) + bool Endstops::bdp_state; // = false + #define READ_ENDSTOP(P) ((P == Z_MIN_PIN) ? bdp_state : READ(P)) +#else + #define READ_ENDSTOP(P) READ(P) +#endif + #if ENDSTOP_NOISE_THRESHOLD Endstops::endstop_mask_t Endstops::validated_live_state; uint8_t Endstops::endstop_poll_count; @@ -566,7 +573,7 @@ static void print_es_state(const bool is_hit, FSTR_P const flabel=nullptr) { void __O2 Endstops::report_states() { TERN_(BLTOUCH, bltouch._set_SW_mode()); SERIAL_ECHOLNPGM(STR_M119_REPORT); - #define ES_REPORT(S) print_es_state(READ(S##_PIN) != S##_ENDSTOP_INVERTING, F(STR_##S)) + #define ES_REPORT(S) print_es_state(READ_ENDSTOP(S##_PIN) != S##_ENDSTOP_INVERTING, F(STR_##S)) #if HAS_X_MIN ES_REPORT(X_MIN); #endif @@ -703,7 +710,7 @@ void Endstops::update() { #endif // Macros to update / copy the live_state - #define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT_TO(live_state, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX))) + #define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT_TO(live_state, _ENDSTOP(AXIS, MINMAX), (READ_ENDSTOP(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX))) #define COPY_LIVE_STATE(SRC_BIT, DST_BIT) SET_BIT_TO(live_state, DST_BIT, TEST(live_state, SRC_BIT)) #if ENABLED(G38_PROBE_TARGET) && NONE(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX) @@ -1434,7 +1441,7 @@ void Endstops::update() { static uint8_t local_LED_status = 0; uint16_t live_state_local = 0; - #define ES_GET_STATE(S) if (READ(S##_PIN)) SBI(live_state_local, S) + #define ES_GET_STATE(S) if (READ_ENDSTOP(S##_PIN)) SBI(live_state_local, S) #if HAS_X_MIN ES_GET_STATE(X_MIN); diff --git a/Marlin/src/module/endstops.h b/Marlin/src/module/endstops.h index 9e411adbda..bffa7fdc39 100644 --- a/Marlin/src/module/endstops.h +++ b/Marlin/src/module/endstops.h @@ -166,6 +166,11 @@ class Endstops { */ static void update(); + #if ENABLED(BD_SENSOR) + static bool bdp_state; + static void bdp_state_update(const bool z_state) { bdp_state = z_state; } + #endif + /** * Get Endstop hit state. */ diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp index cc6b521fe1..3baef31479 100644 --- a/Marlin/src/module/probe.cpp +++ b/Marlin/src/module/probe.cpp @@ -44,6 +44,10 @@ #include "../feature/bedlevel/bedlevel.h" #endif +#if ENABLED(BD_SENSOR) + #include "../feature/bedlevel/bdl/bdl.h" +#endif + #if ENABLED(DELTA) #include "delta.h" #endif @@ -878,6 +882,8 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai // Move the probe to the starting XYZ do_blocking_move_to(npos, feedRate_t(XY_PROBE_FEEDRATE_MM_S)); + TERN_(BD_SENSOR, return bdl.read()); + float measured_z = NAN; if (!deploy()) { measured_z = run_z_probe(sanity_check) + offset.z; diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp index b759d97098..beea674ced 100644 --- a/Marlin/src/module/stepper.cpp +++ b/Marlin/src/module/stepper.cpp @@ -97,6 +97,10 @@ Stepper stepper; // Singleton #include "../MarlinCore.h" #include "../HAL/shared/Delay.h" +#if ENABLED(BD_SENSOR) + #include "../feature/bedlevel/bdl/bdl.h" +#endif + #if ENABLED(INTEGRATED_BABYSTEPPING) #include "../feature/babystep.h" #endif diff --git a/Marlin/src/module/stepper/indirection.h b/Marlin/src/module/stepper/indirection.h index 3f21530af7..e9a9aa7de9 100644 --- a/Marlin/src/module/stepper/indirection.h +++ b/Marlin/src/module/stepper/indirection.h @@ -981,7 +981,7 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset #if HAS_Z_AXIS #define ENABLE_AXIS_Z() if (SHOULD_ENABLE(z)) { ENABLE_STEPPER_Z(); ENABLE_STEPPER_Z2(); ENABLE_STEPPER_Z3(); ENABLE_STEPPER_Z4(); AFTER_CHANGE(z, true); } - #define DISABLE_AXIS_Z() if (SHOULD_DISABLE(z)) { DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); DISABLE_STEPPER_Z4(); AFTER_CHANGE(z, false); set_axis_untrusted(Z_AXIS); Z_RESET(); } + #define DISABLE_AXIS_Z() if (SHOULD_DISABLE(z)) { DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); DISABLE_STEPPER_Z4(); AFTER_CHANGE(z, false); set_axis_untrusted(Z_AXIS); Z_RESET(); TERN_(BD_SENSOR, bdl.config_state = 0); } #else #define ENABLE_AXIS_Z() NOOP #define DISABLE_AXIS_Z() NOOP diff --git a/Marlin/src/pins/stm32f1/pins_PANDA_PI_V29.h b/Marlin/src/pins/stm32f1/pins_PANDA_PI_V29.h index 5a82fbcd6d..ed602d8d01 100644 --- a/Marlin/src/pins/stm32f1/pins_PANDA_PI_V29.h +++ b/Marlin/src/pins/stm32f1/pins_PANDA_PI_V29.h @@ -38,6 +38,12 @@ #define MARLIN_EEPROM_SIZE EEPROM_PAGE_SIZE // 2K #endif +#if ENABLED(BD_SENSOR) + #define I2C_BD_SDA_PIN PC6 + #define I2C_BD_SCL_PIN PB2 + #define I2C_BD_DELAY 10 // (seconds) +#endif + // // Servos // diff --git a/buildroot/tests/PANDA_PI_V29 b/buildroot/tests/PANDA_PI_V29 new file mode 100755 index 0000000000..a176e571ba --- /dev/null +++ b/buildroot/tests/PANDA_PI_V29 @@ -0,0 +1,19 @@ +#!/usr/bin/env bash +# +# Build tests for PANDA_PI_V29 +# + +# exit on first failure +set -e + +# +# Build with the default configurations +# +restore_configs +opt_set MOTHERBOARD BOARD_PANDA_PI_V29 SERIAL_PORT -1 \ + Z_CLEARANCE_DEPLOY_PROBE 0 Z_CLEARANCE_BETWEEN_PROBES 1 Z_CLEARANCE_MULTI_PROBE 1 +opt_enable BD_SENSOR AUTO_BED_LEVELING_BILINEAR Z_SAFE_HOMING BABYSTEPPING +exec_test $1 $2 "Panda Pi V29 | BD Sensor | ABL-B" "$3" + +# clean up +restore_configs diff --git a/ini/features.ini b/ini/features.ini index b6a07c76df..2f26aa2523 100644 --- a/ini/features.ini +++ b/ini/features.ini @@ -99,6 +99,8 @@ HAS_MCP3426_ADC = src_filter=+ + AUTO_BED_LEVELING_(3POINT|(BI)?LINEAR) = src_filter=+ X_AXIS_TWIST_COMPENSATION = src_filter=+ + + +BD_SENSOR = markyue/Panda_SoftMasterI2C + src_filter=+ + MESH_BED_LEVELING = src_filter=+ + AUTO_BED_LEVELING_UBL = src_filter=+ + UBL_HILBERT_CURVE = src_filter=+ diff --git a/ini/stm32f1.ini b/ini/stm32f1.ini index d68704216f..1e29ea6de5 100644 --- a/ini/stm32f1.ini +++ b/ini/stm32f1.ini @@ -83,7 +83,8 @@ build_flags = ${common_STM32F103RC_variant.build_flags} -DTIMER_SERVO=TIM1 board_build.offset = 0x5000 board_upload.offset_address = 0x08005000 - +lib_deps = + markyue/Panda_SoftMasterI2C@1.0.3 # # MKS Robin (STM32F103ZET6) # Uses HAL STM32 to support Marlin UI for TFT screen with optional touch panel diff --git a/platformio.ini b/platformio.ini index 4f5598f6af..751543c8a3 100644 --- a/platformio.ini +++ b/platformio.ini @@ -103,6 +103,7 @@ default_src_filter = + - - + - - - - - + - - - - - - -