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386 lines
13 KiB
386 lines
13 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#if ENABLED(PINS_DEBUGGING)
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#include "../gcode.h"
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#include "../../MarlinCore.h" // for pin_is_protected
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#include "../../pins/pinsDebug.h"
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#include "../../module/endstops.h"
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#if HAS_Z_SERVO_PROBE
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#include "../../module/probe.h"
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#include "../../module/servo.h"
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#endif
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#if ENABLED(BLTOUCH)
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#include "../../feature/bltouch.h"
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#endif
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#if ENABLED(HOST_PROMPT_SUPPORT)
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#include "../../feature/host_actions.h"
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#endif
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#if ENABLED(EXTENSIBLE_UI)
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#include "../../lcd/extui/ui_api.h"
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#endif
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#if HAS_RESUME_CONTINUE
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#include "../../lcd/marlinui.h"
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#endif
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#ifndef GET_PIN_MAP_PIN_M43
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#define GET_PIN_MAP_PIN_M43(Q) GET_PIN_MAP_PIN(Q)
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#endif
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inline void toggle_pins() {
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const bool ignore_protection = parser.boolval('I');
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const int repeat = parser.intval('R', 1),
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start = PARSED_PIN_INDEX('S', 0),
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end = PARSED_PIN_INDEX('L', NUM_DIGITAL_PINS - 1),
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wait = parser.intval('W', 500);
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LOOP_S_LE_N(i, start, end) {
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pin_t pin = GET_PIN_MAP_PIN_M43(i);
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if (!VALID_PIN(pin)) continue;
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if (M43_NEVER_TOUCH(i) || (!ignore_protection && pin_is_protected(pin))) {
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report_pin_state_extended(pin, ignore_protection, true, F("Untouched "));
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SERIAL_EOL();
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}
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else {
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hal.watchdog_refresh();
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report_pin_state_extended(pin, ignore_protection, true, F("Pulsing "));
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#ifdef __STM32F1__
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const auto prior_mode = _GET_MODE(i);
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#else
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const bool prior_mode = GET_PINMODE(pin);
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#endif
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#if AVR_AT90USB1286_FAMILY // Teensy IDEs don't know about these pins so must use FASTIO
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if (pin == TEENSY_E2) {
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SET_OUTPUT(TEENSY_E2);
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for (int16_t j = 0; j < repeat; j++) {
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WRITE(TEENSY_E2, LOW); safe_delay(wait);
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WRITE(TEENSY_E2, HIGH); safe_delay(wait);
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WRITE(TEENSY_E2, LOW); safe_delay(wait);
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}
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}
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else if (pin == TEENSY_E3) {
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SET_OUTPUT(TEENSY_E3);
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for (int16_t j = 0; j < repeat; j++) {
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WRITE(TEENSY_E3, LOW); safe_delay(wait);
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WRITE(TEENSY_E3, HIGH); safe_delay(wait);
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WRITE(TEENSY_E3, LOW); safe_delay(wait);
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}
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}
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else
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#endif
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{
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pinMode(pin, OUTPUT);
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for (int16_t j = 0; j < repeat; j++) {
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hal.watchdog_refresh(); extDigitalWrite(pin, 0); safe_delay(wait);
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hal.watchdog_refresh(); extDigitalWrite(pin, 1); safe_delay(wait);
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hal.watchdog_refresh(); extDigitalWrite(pin, 0); safe_delay(wait);
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hal.watchdog_refresh();
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}
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}
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#ifdef __STM32F1__
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_SET_MODE(i, prior_mode);
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#else
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pinMode(pin, prior_mode);
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#endif
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}
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SERIAL_EOL();
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}
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SERIAL_ECHOLNPGM(STR_DONE);
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} // toggle_pins
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inline void servo_probe_test() {
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#if !(NUM_SERVOS > 0 && HAS_SERVO_0)
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SERIAL_ERROR_MSG("SERVO not set up.");
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#elif !HAS_Z_SERVO_PROBE
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SERIAL_ERROR_MSG("Z_PROBE_SERVO_NR not set up.");
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#else // HAS_Z_SERVO_PROBE
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const uint8_t probe_index = parser.byteval('P', Z_PROBE_SERVO_NR);
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SERIAL_ECHOLNPGM("Servo probe test\n"
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". using index: ", probe_index,
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", deploy angle: ", servo_angles[probe_index][0],
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", stow angle: ", servo_angles[probe_index][1]
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);
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bool deploy_state = false, stow_state;
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#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
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#define PROBE_TEST_PIN Z_MIN_PIN
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constexpr bool probe_inverting = Z_MIN_ENDSTOP_INVERTING;
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SERIAL_ECHOLNPGM(". Probe Z_MIN_PIN: ", PROBE_TEST_PIN);
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SERIAL_ECHOPGM(". Z_MIN_ENDSTOP_INVERTING: ");
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#else
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#define PROBE_TEST_PIN Z_MIN_PROBE_PIN
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constexpr bool probe_inverting = Z_MIN_PROBE_ENDSTOP_INVERTING;
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SERIAL_ECHOLNPGM(". Probe Z_MIN_PROBE_PIN: ", PROBE_TEST_PIN);
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SERIAL_ECHOPGM( ". Z_MIN_PROBE_ENDSTOP_INVERTING: ");
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#endif
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serialprint_truefalse(probe_inverting);
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SERIAL_EOL();
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SET_INPUT_PULLUP(PROBE_TEST_PIN);
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// First, check for a probe that recognizes an advanced BLTouch sequence.
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// In addition to STOW and DEPLOY, it uses SW MODE (and RESET in the beginning)
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// to see if this is one of the following: BLTOUCH Classic 1.2, 1.3, or
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// BLTouch Smart 1.0, 2.0, 2.2, 3.0, 3.1. But only if the user has actually
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// configured a BLTouch as being present. If the user has not configured this,
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// the BLTouch will be detected in the last phase of these tests (see further on).
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bool blt = false;
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// This code will try to detect a BLTouch probe or clone
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#if ENABLED(BLTOUCH)
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SERIAL_ECHOLNPGM(". Check for BLTOUCH");
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bltouch._reset();
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bltouch._stow();
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if (probe_inverting == READ(PROBE_TEST_PIN)) {
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bltouch._set_SW_mode();
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if (probe_inverting != READ(PROBE_TEST_PIN)) {
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bltouch._deploy();
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if (probe_inverting == READ(PROBE_TEST_PIN)) {
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bltouch._stow();
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SERIAL_ECHOLNPGM("= BLTouch Classic 1.2, 1.3, Smart 1.0, 2.0, 2.2, 3.0, 3.1 detected.");
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// Check for a 3.1 by letting the user trigger it, later
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blt = true;
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}
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}
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}
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#endif
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// The following code is common to all kinds of servo probes.
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// Since it could be a real servo or a BLTouch (any kind) or a clone,
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// use only "common" functions - i.e. SERVO_MOVE. No bltouch.xxxx stuff.
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// If it is already recognised as a being a BLTouch, no need for this test
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if (!blt) {
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// DEPLOY and STOW 4 times and see if the signal follows
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// Then it is a mechanical switch
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uint8_t i = 0;
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SERIAL_ECHOLNPGM(". Deploy & stow 4 times");
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do {
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servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy
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safe_delay(500);
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deploy_state = READ(PROBE_TEST_PIN);
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servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][1]); // Stow
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safe_delay(500);
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stow_state = READ(PROBE_TEST_PIN);
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} while (++i < 4);
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if (probe_inverting != deploy_state) SERIAL_ECHOLNPGM("WARNING: INVERTING setting probably backwards.");
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if (deploy_state != stow_state) {
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SERIAL_ECHOLNPGM("= Mechanical Switch detected");
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if (deploy_state) {
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SERIAL_ECHOLNPGM(" DEPLOYED state: HIGH (logic 1)",
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" STOWED (triggered) state: LOW (logic 0)");
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}
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else {
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SERIAL_ECHOLNPGM(" DEPLOYED state: LOW (logic 0)",
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" STOWED (triggered) state: HIGH (logic 1)");
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}
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#if ENABLED(BLTOUCH)
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SERIAL_ECHOLNPGM("FAIL: BLTOUCH enabled - Set up this device as a Servo Probe with INVERTING set to 'true'.");
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#endif
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return;
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}
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}
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// Ask the user for a trigger event and measure the pulse width.
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servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy
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safe_delay(500);
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SERIAL_ECHOLNPGM("** Please trigger probe within 30 sec **");
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uint16_t probe_counter = 0;
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// Wait 30 seconds for user to trigger probe
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for (uint16_t j = 0; j < 500 * 30 && probe_counter == 0 ; j++) {
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safe_delay(2);
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if (0 == j % (500 * 1)) gcode.reset_stepper_timeout(); // Keep steppers powered
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if (deploy_state != READ(PROBE_TEST_PIN)) { // probe triggered
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for (probe_counter = 0; probe_counter < 15 && deploy_state != READ(PROBE_TEST_PIN); ++probe_counter) safe_delay(2);
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SERIAL_ECHOPGM(". Pulse width");
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if (probe_counter == 15)
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SERIAL_ECHOLNPGM(": 30ms or more");
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else
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SERIAL_ECHOLNPGM(" (+/- 4ms): ", probe_counter * 2);
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if (probe_counter >= 4) {
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if (probe_counter == 15) {
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if (blt) SERIAL_ECHOPGM("= BLTouch V3.1");
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else SERIAL_ECHOPGM("= Z Servo Probe");
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}
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else SERIAL_ECHOPGM("= BLTouch pre V3.1 (or compatible)");
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SERIAL_ECHOLNPGM(" detected.");
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}
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else SERIAL_ECHOLNPGM("FAIL: Noise detected - please re-run test");
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servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][1]); // Stow
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return;
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}
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}
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if (!probe_counter) SERIAL_ECHOLNPGM("FAIL: No trigger detected");
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#endif // HAS_Z_SERVO_PROBE
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} // servo_probe_test
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/**
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* M43: Pin debug - report pin state, watch pins, toggle pins and servo probe test/report
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*
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* M43 - report name and state of pin(s)
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* P<pin> Pin to read or watch. If omitted, reads all pins.
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* I Flag to ignore Marlin's pin protection.
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*
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* M43 W - Watch pins -reporting changes- until reset, click, or M108.
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* P<pin> Pin to read or watch. If omitted, read/watch all pins.
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* I Flag to ignore Marlin's pin protection.
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*
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* M43 E<bool> - Enable / disable background endstop monitoring
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* - Machine continues to operate
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* - Reports changes to endstops
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* - Toggles LED_PIN when an endstop changes
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* - Cannot reliably catch the 5mS pulse from BLTouch type probes
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*
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* M43 T - Toggle pin(s) and report which pin is being toggled
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* S<pin> - Start Pin number. If not given, will default to 0
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* L<pin> - End Pin number. If not given, will default to last pin defined for this board
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* I<bool> - Flag to ignore Marlin's pin protection. Use with caution!!!!
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* R - Repeat pulses on each pin this number of times before continuing to next pin
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* W - Wait time (in milliseconds) between pulses. If not given will default to 500
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*
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* M43 S - Servo probe test
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* P<index> - Probe index (optional - defaults to 0
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*/
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void GcodeSuite::M43() {
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// 'T' must be first. It uses 'S' and 'E' differently.
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if (parser.seen('T')) return toggle_pins();
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// 'E' Enable or disable endstop monitoring and return
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if (parser.seen('E')) {
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endstops.monitor_flag = parser.value_bool();
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SERIAL_ECHOPGM("endstop monitor ");
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SERIAL_ECHOF(endstops.monitor_flag ? F("en") : F("dis"));
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SERIAL_ECHOLNPGM("abled");
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return;
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}
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// 'S' Run servo probe test and return
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if (parser.seen('S')) return servo_probe_test();
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// 'P' Get the range of pins to test or watch
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uint8_t first_pin = PARSED_PIN_INDEX('P', 0),
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last_pin = parser.seenval('P') ? first_pin : (NUMBER_PINS_TOTAL) - 1;
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if (first_pin > last_pin) return;
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// 'I' to ignore protected pins
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const bool ignore_protection = parser.boolval('I');
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// 'W' Watch until click, M108, or reset
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if (parser.boolval('W')) {
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SERIAL_ECHOLNPGM("Watching pins");
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#ifdef ARDUINO_ARCH_SAM
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NOLESS(first_pin, 2); // Don't hijack the UART pins
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#endif
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uint8_t pin_state[last_pin - first_pin + 1];
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LOOP_S_LE_N(i, first_pin, last_pin) {
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pin_t pin = GET_PIN_MAP_PIN_M43(i);
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if (!VALID_PIN(pin)) continue;
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if (M43_NEVER_TOUCH(i) || (!ignore_protection && pin_is_protected(pin))) continue;
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pinMode(pin, INPUT_PULLUP);
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delay(1);
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/*
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if (IS_ANALOG(pin))
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pin_state[pin - first_pin] = analogRead(DIGITAL_PIN_TO_ANALOG_PIN(pin)); // int16_t pin_state[...]
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else
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//*/
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pin_state[i - first_pin] = extDigitalRead(pin);
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}
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#if HAS_RESUME_CONTINUE
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KEEPALIVE_STATE(PAUSED_FOR_USER);
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wait_for_user = true;
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TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_USER_CONTINUE, F("M43 Wait Called"), FPSTR(CONTINUE_STR)));
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TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(F("M43 Wait Called")));
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#endif
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for (;;) {
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LOOP_S_LE_N(i, first_pin, last_pin) {
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pin_t pin = GET_PIN_MAP_PIN_M43(i);
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if (!VALID_PIN(pin)) continue;
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if (M43_NEVER_TOUCH(i) || (!ignore_protection && pin_is_protected(pin))) continue;
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const byte val =
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/*
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IS_ANALOG(pin)
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? analogRead(DIGITAL_PIN_TO_ANALOG_PIN(pin)) : // int16_t val
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:
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//*/
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extDigitalRead(pin);
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if (val != pin_state[i - first_pin]) {
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report_pin_state_extended(pin, ignore_protection, false);
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pin_state[i - first_pin] = val;
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}
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}
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#if HAS_RESUME_CONTINUE
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ui.update();
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if (!wait_for_user) break;
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#endif
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safe_delay(200);
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}
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}
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else {
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// Report current state of selected pin(s)
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LOOP_S_LE_N(i, first_pin, last_pin) {
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pin_t pin = GET_PIN_MAP_PIN_M43(i);
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if (VALID_PIN(pin)) report_pin_state_extended(pin, ignore_protection, true);
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}
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}
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}
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#endif // PINS_DEBUGGING
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