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118 lines
4.1 KiB
118 lines
4.1 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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#pragma once
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#include "../inc/MarlinConfigPre.h"
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// BLTouch commands are sent as servo angles
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typedef unsigned char BLTCommand;
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#define STOW_ALARM true
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#define BLTOUCH_DEPLOY 10
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#define BLTOUCH_STOW 90
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#define BLTOUCH_SW_MODE 60
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#define BLTOUCH_SELFTEST 120
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#define BLTOUCH_MODE_STORE 130
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#define BLTOUCH_5V_MODE 140
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#define BLTOUCH_OD_MODE 150
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#define BLTOUCH_RESET 160
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/**
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* The following commands require different minimum delays.
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*
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* 500ms required for a reliable Reset.
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*
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* 750ms required for Deploy/Stow, otherwise the alarm state
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* will not be seen until the following move command.
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*/
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#ifndef BLTOUCH_SET5V_DELAY
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#define BLTOUCH_SET5V_DELAY 150
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#endif
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#ifndef BLTOUCH_SETOD_DELAY
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#define BLTOUCH_SETOD_DELAY 150
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#endif
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#ifndef BLTOUCH_MODE_STORE_DELAY
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#define BLTOUCH_MODE_STORE_DELAY 150
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#endif
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#ifndef BLTOUCH_DEPLOY_DELAY
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#define BLTOUCH_DEPLOY_DELAY 750
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#endif
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#ifndef BLTOUCH_STOW_DELAY
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#define BLTOUCH_STOW_DELAY 750
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#endif
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#ifndef BLTOUCH_RESET_DELAY
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#define BLTOUCH_RESET_DELAY 500
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#endif
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class BLTouch {
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public:
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static void init(const bool set_voltage=false);
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static bool od_5v_mode; // Initialized by settings.load, 0 = Open Drain; 1 = 5V Drain
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#ifdef BLTOUCH_HS_MODE
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static bool high_speed_mode; // Initialized by settings.load, 0 = Low Speed; 1 = High Speed
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#else
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static constexpr bool high_speed_mode = false;
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#endif
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static float z_extra_clearance() { return high_speed_mode ? 7 : 0; }
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// DEPLOY and STOW are wrapped for error handling - these are used by homing and by probing
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static bool deploy() { return deploy_proc(); }
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static bool stow() { return stow_proc(); }
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static bool status() { return status_proc(); }
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// Native BLTouch commands ("Underscore"...), used in lcd menus and internally
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static void _reset() { command(BLTOUCH_RESET, BLTOUCH_RESET_DELAY); }
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static void _selftest() { command(BLTOUCH_SELFTEST, BLTOUCH_DELAY); }
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static void _set_SW_mode() { command(BLTOUCH_SW_MODE, BLTOUCH_DELAY); }
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static void _reset_SW_mode() { if (triggered()) _stow(); else _deploy(); }
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static void _set_5V_mode() { command(BLTOUCH_5V_MODE, BLTOUCH_SET5V_DELAY); }
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static void _set_OD_mode() { command(BLTOUCH_OD_MODE, BLTOUCH_SETOD_DELAY); }
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static void _mode_store() { command(BLTOUCH_MODE_STORE, BLTOUCH_MODE_STORE_DELAY); }
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static void _deploy() { command(BLTOUCH_DEPLOY, BLTOUCH_DEPLOY_DELAY); }
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static void _stow() { command(BLTOUCH_STOW, BLTOUCH_STOW_DELAY); }
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static void mode_conv_5V() { mode_conv_proc(true); }
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static void mode_conv_OD() { mode_conv_proc(false); }
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static bool triggered();
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private:
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static bool _deploy_query_alarm() { return command(BLTOUCH_DEPLOY, BLTOUCH_DEPLOY_DELAY); }
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static bool _stow_query_alarm() { return command(BLTOUCH_STOW, BLTOUCH_STOW_DELAY) == STOW_ALARM; }
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static void clear();
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static bool command(const BLTCommand cmd, const millis_t &ms);
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static bool deploy_proc();
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static bool stow_proc();
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static bool status_proc();
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static void mode_conv_proc(const bool M5V);
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};
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extern BLTouch bltouch;
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