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guaranteed BLTouch detection

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To guarantee that the 5mS pulse from a BLTouch is recognized you need to
have the endstops.update() routine run twice in that 5mS period.

At 200 steps per mm, my system has problems  below a feedrate of 120 mm
per minute.

Two things were done to guarantee the two updates within 5mS:
1) In interrupt mode, a check was added to the temperature ISR.  If the
endstop interrupt flag/counter is active then it'll kick off the endstop
update routine every 1mS until the flag/counter is zero.  This
flag/counter is decremented by the temperature ISR AND by the stepper
ISR.

2) In poling mode, code was added to the stepper ISR that will make sure
the ISR runs about every 1.5mS.  The "extra" ISR runs only check the
endstops.  This was done by grabbing the intended ISR delay and, if it's
over 2.0mS, splitting the intended delay into multiple smaller delays.
The first delay can be up to 2.0mS, the next ones 1.5mS (as needed) and
the last no less than 0.5mS.

=========================================

BLTouch error state recovery

If BLTouch already active when deploying the probe then try to reset it
& clear the probe.

If that doesn't fix it then declare an error.

Also added BLTouch init routine to startup section
This commit is contained in:
Bob-the-Kuhn
2017-01-21 18:10:02 -06:00
parent 1e4d4e5915
commit 0369f97ec1
4 changed files with 106 additions and 26 deletions
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27
Marlin/Marlin_main.cpp
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@ -388,7 +388,7 @@ int feedrate_percentage = 100, saved_feedrate_percentage,
flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
bool axis_relative_modes[] = AXIS_RELATIVE_MODES,
volumetric_enabled =
volumetric_enabled =
#if ENABLED(VOLUMETRIC_DEFAULT_ON)
true
#else
@ -1987,8 +1987,13 @@ static void clean_up_after_endstop_or_probe_move() {
#define STOW_PROBE() set_probe_deployed(false)
#if ENABLED(BLTOUCH)
void bltouch_command(int angle) {
servo[Z_ENDSTOP_SERVO_NR].move(angle); // Give the BL-Touch the command and wait
safe_delay(375);
}
FORCE_INLINE void set_bltouch_deployed(const bool &deploy) {
servo[Z_ENDSTOP_SERVO_NR].move(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
@ -2016,7 +2021,15 @@ static void clean_up_after_endstop_or_probe_move() {
// When deploying make sure BLTOUCH is not already triggered
#if ENABLED(BLTOUCH)
if (deploy && TEST_BLTOUCH()) { stop(); return true; }
if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
bltouch_command(BLTOUCH_RESET); // try to reset it.
set_bltouch_deployed(true); // Also needs to deploy and stow to
set_bltouch_deployed(false); // clear the triggered condition.
if (TEST_BLTOUCH()) { // If it still claims to be triggered...
stop(); // punt!
return true;
}
}
#elif ENABLED(Z_PROBE_SLED)
if (axis_unhomed_error(true, false, false)) { stop(); return true; }
#elif ENABLED(Z_PROBE_ALLEN_KEY)
@ -3902,7 +3915,7 @@ inline void gcode_G28() {
* R Set the Right limit of the probing grid
*
* Parameters with BILINEAR only:
*
*
* Z Supply an additional Z probe offset
*
* Global Parameters:
@ -10435,6 +10448,12 @@ void setup() {
mixing_virtual_tool_mix[t][i] = mixing_factor[i];
#endif
#if ENABLED(BLTOUCH)
bltouch_command(BLTOUCH_RESET); // Just in case the BLTouch is in the error state, try to
set_bltouch_deployed(true); // reset it. Also needs to deploy and stow to clear the
set_bltouch_deployed(false); // error condition.
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
i2c.onReceive(i2c_on_receive);
i2c.onRequest(i2c_on_request);