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203 lines
7.7 KiB
203 lines
7.7 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(BLTOUCH)
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#include "bltouch.h"
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BLTouch bltouch;
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bool BLTouch::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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bool BLTouch::high_speed_mode; // Initialized by settings.load, 0 = Low Speed; 1 = High Speed
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#else
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constexpr bool BLTouch::high_speed_mode;
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#endif
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#include "../module/servo.h"
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#include "../module/probe.h"
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void stop();
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
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#include "../core/debug_out.h"
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bool BLTouch::command(const BLTCommand cmd, const millis_t &ms) {
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("BLTouch Command :", cmd);
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MOVE_SERVO(Z_PROBE_SERVO_NR, cmd);
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safe_delay(_MAX(ms, (uint32_t)BLTOUCH_DELAY)); // BLTOUCH_DELAY is also the *minimum* delay
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return triggered();
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}
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// Init the class and device. Call from setup().
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void BLTouch::init(const bool set_voltage/*=false*/) {
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// Voltage Setting (if enabled). At every Marlin initialization:
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// BLTOUCH < V3.0 and clones: This will be ignored by the probe
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// BLTOUCH V3.0: SET_5V_MODE or SET_OD_MODE (if enabled).
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// OD_MODE is the default on power on, but setting it does not hurt
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// This mode will stay active until manual SET_OD_MODE or power cycle
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// BLTOUCH V3.1: SET_5V_MODE or SET_OD_MODE (if enabled).
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// At power on, the probe will default to the eeprom settings configured by the user
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_reset();
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_stow();
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#if ENABLED(BLTOUCH_FORCE_MODE_SET)
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constexpr bool should_set = true;
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#else
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#ifdef DEBUG_OUT
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if (DEBUGGING(LEVELING)) {
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PGMSTR(mode0, "OD");
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PGMSTR(mode1, "5V");
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DEBUG_ECHOPGM("BLTouch Mode: ");
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DEBUG_ECHOPGM_P(bltouch.od_5v_mode ? mode1 : mode0);
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DEBUG_ECHOLNPGM(" (Default " TERN(BLTOUCH_SET_5V_MODE, "5V", "OD") ")");
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}
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#endif
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const bool should_set = od_5v_mode != ENABLED(BLTOUCH_SET_5V_MODE);
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#endif
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if (should_set && set_voltage)
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mode_conv_proc(ENABLED(BLTOUCH_SET_5V_MODE));
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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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bool BLTouch::triggered() { return PROBE_TRIGGERED(); }
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bool BLTouch::deploy_proc() {
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// Do a DEPLOY
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch DEPLOY requested");
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// Attempt to DEPLOY, wait for DEPLOY_DELAY or ALARM
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if (_deploy_query_alarm()) {
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// The deploy might have failed or the probe is already triggered (nozzle too low?)
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch ALARM or TRIGGER after DEPLOY, recovering");
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clear(); // Get the probe into start condition
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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_ECHOLNPGM("BLTouch Recovery Failed");
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SERIAL_ERROR_MSG(STR_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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// One of the recommended ANTClabs ways to probe, using SW MODE
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TERN_(BLTOUCH_FORCE_SW_MODE, _set_SW_mode());
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// Now the probe is ready to issue a 10ms pulse when the pin goes up.
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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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// is registered.
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("bltouch.deploy_proc() end");
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return false; // report success to caller
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}
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bool BLTouch::stow_proc() {
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// Do a STOW
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("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 behavior 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_ECHOLNPGM("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_ECHOLNPGM("BLTouch Recovery Failed");
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SERIAL_ERROR_MSG(STR_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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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("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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*/
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch STATUS requested");
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_set_SW_mode(); // Incidentally, _set_SW_mode() will also RESET any active alarm
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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_ECHOLNPGM("BLTouch is ", tr);
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if (tr) _stow(); else _deploy(); // Turn off SW mode, reset any trigger, honor pin state
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return !tr;
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}
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void BLTouch::mode_conv_proc(const bool M5V) {
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/**
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* BLTOUCH pre V3.0 and clones: No reaction at all to this sequence apart from a DEPLOY -> STOW
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* BLTOUCH V3.0: This will set the mode (twice) and sadly, a STOW is needed at the end, because of the deploy
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* BLTOUCH V3.1: This will set the mode and store it in the eeprom. The STOW is not needed but does not hurt
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*/
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch Set Mode - ", M5V);
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_deploy();
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if (M5V) _set_5V_mode(); else _set_OD_mode();
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_mode_store();
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if (M5V) _set_5V_mode(); else _set_OD_mode();
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_stow();
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od_5v_mode = M5V;
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}
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#endif // BLTOUCH
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