BLTouch V3.0 support (#13406)

Marlin/src/feature/bltouch.cpp

@@ -0,0 +1,93 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../inc/MarlinConfig.h"
+
+#if ENABLED(BLTOUCH)
+
+#include "bltouch.h"
+
+BLTouch bltouch;
+
+#include "../module/servo.h"
+
+void stop();
+
+#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
+#include "../core/debug_out.h"
+
+void BLTouch::command(const BLTCommand cmd) {
+  MOVE_SERVO(Z_PROBE_SERVO_NR, cmd);
+  safe_delay(BLTOUCH_DELAY);
+}
+
+void BLTouch::init() {
+  reset();                            // Clear all BLTouch error conditions
+  stow();
+}
+
+bool BLTouch::triggered() {
+  return (
+    #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
+      READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING
+    #else
+      READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING
+    #endif
+  );
+}
+
+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;
+    }
+  }
+
+  #if ENABLED(BLTOUCH_V3)
+    #if ENABLED(BLTOUCH_FORCE_5V_MODE)
+      set_5V_mode();                  // Assume 5V DC logic level if endstop pullup resistors are enabled
+    #else
+      set_OD_mode();
+    #endif
+  #endif
+
+  if (in_deploy) {
+    _deploy();
+    #if ENABLED(BLTOUCH_V3)
+      set_SW_mode();                  // Ensure Switch mode is activated for BLTouch V3. Ignored on V2.
+    #endif
+  }
+  else _stow();
+
+  if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("bltouch.set_deployed(", in_deploy, ")");
+
+  return false;
+}
+
+#endif // BLTOUCH

Marlin/src/feature/bltouch.h

@@ -0,0 +1,59 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include "../inc/MarlinConfigPre.h"
+
+// 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
+
+class BLTouch {
+public:
+  static void init();
+  static void command(const BLTCommand cmd);
+  static bool triggered();
+
+  FORCE_INLINE static void reset()       { command(BLTOUCH_RESET); }
+  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); }
+
+  FORCE_INLINE static bool deploy() { return set_deployed(true); }
+  FORCE_INLINE static bool stow()   { return set_deployed(false); }
+
+private:
+  FORCE_INLINE static void _deploy()     { command(BLTOUCH_DEPLOY); }
+  FORCE_INLINE static void _stow()       { command(BLTOUCH_STOW); }
+  static bool set_deployed(const bool deploy);
+};
+
+#define BLTOUCH_ANGLES { BLTOUCH_DEPLOY, BLTOUCH_STOW }
+
+extern BLTouch bltouch;