94 lines
2.7 KiB
C++
94 lines
2.7 KiB
C++
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/**
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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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#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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#include "../module/servo.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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void BLTouch::command(const BLTCommand cmd) {
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MOVE_SERVO(Z_PROBE_SERVO_NR, cmd);
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safe_delay(BLTOUCH_DELAY);
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}
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void BLTouch::init() {
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reset(); // Clear all BLTouch error conditions
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stow();
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}
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bool BLTouch::triggered() {
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return (
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#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
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READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING
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#else
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READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING
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#endif
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);
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}
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bool BLTouch::set_deployed(const bool in_deploy) {
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if (in_deploy && triggered()) { // If BLTouch says it's triggered
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reset(); // try to reset it.
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_deploy(); _stow(); // Deploy and stow to clear the "triggered" condition.
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safe_delay(1500); // Wait for internal self-test to complete.
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// (Measured completion time was 0.65 seconds
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// after reset, deploy, and stow sequence)
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if (triggered()) { // If it still claims to be triggered...
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SERIAL_ERROR_MSG(MSG_STOP_BLTOUCH);
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stop(); // punt!
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return true;
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}
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}
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#if ENABLED(BLTOUCH_V3)
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#if ENABLED(BLTOUCH_FORCE_5V_MODE)
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set_5V_mode(); // Assume 5V DC logic level if endstop pullup resistors are enabled
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#else
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set_OD_mode();
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#endif
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#endif
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if (in_deploy) {
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_deploy();
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#if ENABLED(BLTOUCH_V3)
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set_SW_mode(); // Ensure Switch mode is activated for BLTouch V3. Ignored on V2.
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#endif
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}
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else _stow();
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if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("bltouch.set_deployed(", in_deploy, ")");
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return false;
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}
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#endif // BLTOUCH
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