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BLTouch v3 / 3DTouch Interoperability & performance (#13814)

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This commit is contained in:
InsanityAutomation
2019-05-07 22:25:54 -04:00
committed by Scott Lahteine
parent 40aff7e1f2
commit 6811e2921b
107 changed files with 383 additions and 629 deletions
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134
Marlin/src/feature/bltouch.cpp
View File

@ -35,15 +35,32 @@ void stop();
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../core/debug_out.h"
void BLTouch::command(const BLTCommand cmd) {
//SERIAL_ECHOLNPAIR("BLTouch Command :", cmd);
bool BLTouch::command(const BLTCommand cmd, const millis_t &ms) {
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("BLTouch Command :", cmd);
MOVE_SERVO(Z_PROBE_SERVO_NR, cmd);
safe_delay(BLTOUCH_DELAY);
safe_delay(MAX(ms, BLTOUCH_DELAY)); // BLTOUCH_DELAY is also the *minimum* delay
return triggered();
}
void BLTouch::init() {
reset(); // Clear all BLTouch error conditions
stow();
// This is called by marlin.cpp on initialization
// SET_5V_MODE (if enabled). OD_MODE is the default on power on.
// This mode will stay active until manual SET_OD_MODE or power cycle
#if ENABLED(BLTOUCH_FORCE_5V_MODE)
_set_5V_mode(); // Set 5V mode if explicitely demanded (V3 upwards)
#endif
clear();
// There really should be no alarm outstanding now, and no triggered condition. But if there is,
// there is no need to worry people here on init right at the start of the printer.
}
void BLTouch::clear() {
_reset(); // RESET or RESET_SW will clear an alarm condition but...
// ...it will not clear a triggered condition in SW mode when the pin is currently up
// ANTClabs <-- CODE ERROR
_stow(); // STOW will pull up the pin and clear any triggered condition unless it fails, don't care
_deploy(); // DEPLOY to test the probe. Could fail, don't care
_stow(); // STOW to be ready for meaningful work. Could fail, don't care
}
bool BLTouch::triggered() {
@ -56,41 +73,92 @@ bool BLTouch::triggered() {
);
}
bool BLTouch::set_deployed(const bool in_deploy) {
if (in_deploy && triggered()) { // If BLTouch says it's triggered
reset(); // try to reset it.
_deploy(); _stow(); // Deploy and stow to clear the "triggered" condition.
safe_delay(1500); // Wait for internal self-test to complete.
// (Measured completion time was 0.65 seconds
// after reset, deploy, and stow sequence)
if (triggered()) { // If it still claims to be triggered...
SERIAL_ERROR_MSG(MSG_STOP_BLTOUCH);
stop(); // punt!
return true;
bool BLTouch::deploy_proc() {
// Do a DEPLOY
if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("BLTouch DEPLOY requested");
// Attempt to DEPLOY, wait for DEPLOY_DELAY or ALARM
if (_deploy_query_alarm()) {
// The deploy might have failed or the probe is already triggered (nozzle too low?)
if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("BLTouch ALARM or TRIGGER after DEPLOY, recovering");
clear(); // Get the probe into start condition
// Last attempt to DEPLOY
if (_deploy_query_alarm()) {
// The deploy might have failed or the probe is actually triggered (nozzle too low?) again
if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("BLTouch Recovery Failed");
SERIAL_ERROR_MSG(MSG_STOP_BLTOUCH); // Tell the user something is wrong, needs action
stop(); // but it's not too bad, no need to kill, allow restart
return true; // Tell our caller we goofed in case he cares to know
}
}
#if ENABLED(BLTOUCH_V3)
#if EITHER(BLTOUCH_FORCE_5V_MODE, ENDSTOPPULLUPS) \
|| ALL(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, ENDSTOPPULLUP_ZMIN) \
|| (USES_Z_MIN_PROBE_ENDSTOP && ENABLED(ENDSTOPPULLUP_ZMIN_PROBE))
set_5V_mode(); // Assume 5V DC logic level if endstop pullup resistors are enabled
#elif true || ENABLED(BLTOUCH_FORCE_OPEN_DRAIN_MODE)
set_OD_mode();
#endif
#endif
// Now the probe is ready to issue a 10ms pulse when the pin goes up.
// The trigger STOW (see motion.cpp for example) will pull up the probes pin as soon as the pulse
// is registered.
if (in_deploy) {
_deploy();
#if ENABLED(BLTOUCH_V3)
set_SW_mode();
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("bltouch.deploy_proc() end");
return false; // report success to caller
}
bool BLTouch::stow_proc() {
// Do a STOW
if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("BLTouch STOW requested");
// A STOW will clear a triggered condition in the probe (10ms pulse).
// At the moment that we come in here, we might (pulse) or will (SW mode) see the trigger on the pin.
// So even though we know a STOW will be ignored if an ALARM condition is active, we will STOW.
// Note: If the probe is deployed AND in an ALARM condition, this STOW will not pull up the pin
// and the ALARM condition will still be there. --> ANTClabs should change this behaviour maybe
// Attempt to STOW, wait for STOW_DELAY or ALARM
if (_stow_query_alarm()) {
// The stow might have failed
if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("BLTouch ALARM or TRIGGER after STOW, recovering");
_reset(); // This RESET will then also pull up the pin. If it doesn't
// work and the pin is still down, there will no longer be
// an ALARM condition though.
// But one more STOW will catch that
// Last attempt to STOW
if (_stow_query_alarm()) { // so if there is now STILL an ALARM condition:
if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("BLTouch Recovery Failed");
SERIAL_ERROR_MSG(MSG_STOP_BLTOUCH); // Tell the user something is wrong, needs action
stop(); // but it's not too bad, no need to kill, allow restart
return true; // Tell our caller we goofed in case he cares to know
}
}
else _stow();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("bltouch.set_deployed(", in_deploy, ")");
if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("bltouch.stow_proc() end");
return false;
return false; // report success to caller
}
bool BLTouch::status_proc() {
/**
* Return a TRUE for "YES, it is DEPLOYED"
* This function will ensure switch state is reset after execution
* This may change pin position in some scenarios, specifically
* if the pin has been triggered but not yet stowed.
*/
if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("BLTouch STATUS requested");
_set_SW_mode();
const bool tr = triggered(); // If triggered in SW mode, the pin is up, it is STOWED
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("BLTouch is ", (int)tr);
_reset(); // turn off the SW Mode
if (tr) _stow(); else _deploy(); // and reset any triggered signal, restore state
return !tr;
}
#endif // BLTOUCH

78
Marlin/src/feature/bltouch.h
View File

@ -26,37 +26,75 @@
// BLTouch commands are sent as servo angles
typedef unsigned char BLTCommand;
#define BLTOUCH_DEPLOY 10
#define BLTOUCH_SW_MODE 60
#define BLTOUCH_STOW 90
#define BLTOUCH_SELFTEST 120
#define BLTOUCH_5V_MODE 140
#define BLTOUCH_OD_MODE 150
#define BLTOUCH_RESET 160
#define BLTOUCH_DEPLOY 10
#define BLTOUCH_SW_MODE 60
#define BLTOUCH_STOW 90
#define BLTOUCH_SELFTEST 120
#define BLTOUCH_5V_MODE 140
#define BLTOUCH_OD_MODE 150
#define BLTOUCH_RESET 160
/**
* The following commands may require different delays.
*
* ANTClabs recommends 2000ms for 5V/OD commands. However it is
* not common for other commands to immediately follow these,
* and testing has shown that these complete in 500ms reliably.
*
* AntClabs recommends 750ms for Deploy/Stow, otherwise you will
* not catch an alarm state until the following move command.
*/
#ifndef BLTOUCH_SET5V_DELAY
#define BLTOUCH_SET5V_DELAY BLTOUCH_DELAY
#endif
#ifndef BLTOUCH_SETOD_DELAY
#define BLTOUCH_SETOD_DELAY BLTOUCH_DELAY
#endif
#ifndef BLTOUCH_DEPLOY_DELAY
#define BLTOUCH_DEPLOY_DELAY 750
#endif
#ifndef BLTOUCH_STOW_DELAY
#define BLTOUCH_STOW_DELAY 750
#endif
#ifndef BLTOUCH_RESET_DELAY
#define BLTOUCH_RESET_DELAY BLTOUCH_DELAY
#endif
class BLTouch {
public:
static void init();
static void command(const BLTCommand cmd);
static bool triggered();
static bool triggered(); // used by menu_advanced.cpp
static void init(); // used by main.cpp
FORCE_INLINE static void reset() { command(BLTOUCH_RESET); }
FORCE_INLINE static void selftest() { command(BLTOUCH_SELFTEST); }
// DEPLOY and STOW are wrapped for error handling - these are used by homing and by probing
FORCE_INLINE static bool deploy() { return deploy_proc(); }
FORCE_INLINE static bool stow() { return stow_proc(); }
FORCE_INLINE static bool status() { return status_proc(); }
FORCE_INLINE static void set_5V_mode() { command(BLTOUCH_5V_MODE); }
FORCE_INLINE static void set_OD_mode() { command(BLTOUCH_OD_MODE); }
FORCE_INLINE static void set_SW_mode() { command(BLTOUCH_SW_MODE); }
// Native BLTouch commands ("Underscore"...), used in lcd menus and internally
FORCE_INLINE static void _reset() { command(BLTOUCH_RESET, BLTOUCH_RESET_DELAY); }
FORCE_INLINE static bool deploy() { return set_deployed(true); }
FORCE_INLINE static bool stow() { return set_deployed(false); }
FORCE_INLINE static void _selftest() { command(BLTOUCH_SELFTEST, BLTOUCH_DELAY); }
FORCE_INLINE static void _deploy() { command(BLTOUCH_DEPLOY); }
FORCE_INLINE static void _stow() { command(BLTOUCH_STOW); }
FORCE_INLINE static void _set_SW_mode() { command(BLTOUCH_SW_MODE, BLTOUCH_DELAY); }
FORCE_INLINE static void _set_5V_mode() { command(BLTOUCH_5V_MODE, BLTOUCH_SET5V_DELAY); }
FORCE_INLINE static void _set_OD_mode() { command(BLTOUCH_OD_MODE, BLTOUCH_SETOD_DELAY); }
FORCE_INLINE static void _deploy() { command(BLTOUCH_DEPLOY, BLTOUCH_DEPLOY_DELAY); }
FORCE_INLINE static void _stow() { command(BLTOUCH_STOW, BLTOUCH_STOW_DELAY); }
private:
static bool set_deployed(const bool deploy);
FORCE_INLINE static bool _deploy_query_alarm() { return command(BLTOUCH_DEPLOY, BLTOUCH_DEPLOY_DELAY); }
FORCE_INLINE static bool _stow_query_alarm() { return command(BLTOUCH_STOW, BLTOUCH_STOW_DELAY); }
static void clear();
static bool command(const BLTCommand cmd, const millis_t &ms);
static bool deploy_proc();
static bool stow_proc();
static bool status_proc();
};
// Deploy/stow angles for use by servo.cpp / servo.h
#define BLTOUCH_ANGLES { BLTOUCH_DEPLOY, BLTOUCH_STOW }
extern BLTouch bltouch;