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107 lines
4.0 KiB
107 lines
4.0 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2019 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 <http://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 BLTOUCH_DEPLOY 10
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#define BLTOUCH_SW_MODE 60
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#define BLTOUCH_STOW 90
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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 may require different delays.
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*
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* ANTClabs recommends 2000ms for 5V/OD commands. However it is
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* not common for other commands to immediately follow these,
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* and testing has shown that these complete in 500ms reliably.
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*
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* AntClabs recommends 750ms for Deploy/Stow, otherwise you will
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* not catch an alarm state 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 BLTOUCH_DELAY
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#endif
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#ifndef BLTOUCH_SETOD_DELAY
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#define BLTOUCH_SETOD_DELAY BLTOUCH_DELAY
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#endif
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#ifndef BLTOUCH_MODE_STORE_DELAY
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#define BLTOUCH_MODE_STORE_DELAY BLTOUCH_DELAY
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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 BLTOUCH_DELAY
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#endif
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class BLTouch {
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public:
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static bool triggered(); // used by menu_advanced.cpp
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static void init(); // used by main.cpp
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// DEPLOY and STOW are wrapped for error handling - these are used by homing and by probing
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FORCE_INLINE static bool deploy() { return deploy_proc(); }
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FORCE_INLINE static bool stow() { return stow_proc(); }
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FORCE_INLINE static bool status() { return status_proc(); }
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// Native BLTouch commands ("Underscore"...), used in lcd menus and internally
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FORCE_INLINE static void _reset() { command(BLTOUCH_RESET, BLTOUCH_RESET_DELAY); }
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FORCE_INLINE static void _selftest() { command(BLTOUCH_SELFTEST, BLTOUCH_DELAY); }
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FORCE_INLINE static void _set_SW_mode() { command(BLTOUCH_SW_MODE, BLTOUCH_DELAY); }
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FORCE_INLINE static void _reset_SW_mode() { if (triggered()) _stow(); else _deploy(); }
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FORCE_INLINE static void _set_5V_mode() { command(BLTOUCH_5V_MODE, BLTOUCH_SET5V_DELAY); }
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FORCE_INLINE static void _set_OD_mode() { command(BLTOUCH_OD_MODE, BLTOUCH_SETOD_DELAY); }
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FORCE_INLINE static void _mode_store() { command(BLTOUCH_MODE_STORE, BLTOUCH_MODE_STORE_DELAY); }
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FORCE_INLINE static void _deploy() { command(BLTOUCH_DEPLOY, BLTOUCH_DEPLOY_DELAY); }
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FORCE_INLINE static void _stow() { command(BLTOUCH_STOW, BLTOUCH_STOW_DELAY); }
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private:
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FORCE_INLINE static bool _deploy_query_alarm() { return command(BLTOUCH_DEPLOY, BLTOUCH_DEPLOY_DELAY); }
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FORCE_INLINE static bool _stow_query_alarm() { return command(BLTOUCH_STOW, BLTOUCH_STOW_DELAY); }
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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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};
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// Deploy/stow angles for use by servo.cpp / servo.h
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#define BLTOUCH_ANGLES { BLTOUCH_DEPLOY, BLTOUCH_STOW }
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extern BLTouch bltouch;
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