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BLTOUCH tweaks, new v3.1 command (#14015)

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This commit is contained in:
FanDjango
2019-05-18 02:10:18 +02:00
committed by Scott Lahteine
parent 62ef54cb81
commit 85fb33a060
11 changed files with 184 additions and 139 deletions
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7
Marlin/src/gcode/calibrate/G28.cpp
View File

@ -237,10 +237,6 @@ void GcodeSuite::G28(const bool always_home_all) {
workspace_plane = PLANE_XY;
#endif
#if ENABLED(BLTOUCH)
bltouch.init();
#endif
// Always home with tool 0 active
#if HOTENDS > 1
#if DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE)
@ -353,6 +349,9 @@ void GcodeSuite::G28(const bool always_home_all) {
// Home Z last if homing towards the bed
#if Z_HOME_DIR < 0
if (doZ) {
#if ENABLED(BLTOUCH)
bltouch.init();
#endif
#if ENABLED(Z_SAFE_HOMING)
home_z_safely();
#else

22
Marlin/src/gcode/calibrate/G34_M422.cpp
View File

@ -74,7 +74,7 @@ void GcodeSuite::G34() {
do { // break out on error
if (!TEST(axis_known_position, X_AXIS) || !TEST(axis_known_position, Y_AXIS)) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> XY homing required.");
SERIAL_ECHOLNPGM("Home XY first");
break;
}
@ -142,6 +142,14 @@ void GcodeSuite::G34() {
float z_measured_min = 100000.0f;
// For each iteration go through all probe positions (one per Z-Stepper)
for (uint8_t zstepper = 0; zstepper < Z_STEPPER_COUNT; ++zstepper) {
#if BOTH(BLTOUCH, BLTOUCH_HS_MODE)
// In BLTOUCH HS mode, the probe travels in a deployed state.
// Users of G34 might have a badly misaligned bed, so raise Z by the
// length of the deployed pin (BLTOUCH stroke < 7mm)
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES + 7);
#endif
// Probe a Z height for each stepper
z_measured[zstepper] = probe_pt(z_auto_align_xpos[zstepper], z_auto_align_ypos[zstepper], PROBE_PT_RAISE, false);
@ -229,15 +237,19 @@ void GcodeSuite::G34() {
));
#endif
#if HAS_LEVELING
#if ENABLED(RESTORE_LEVELING_AFTER_G34)
set_bed_leveling_enabled(leveling_was_active);
#endif
#if HAS_LEVELING && ENABLED(RESTORE_LEVELING_AFTER_G34)
set_bed_leveling_enabled(leveling_was_active);
#endif
// After this operation the z position needs correction
set_axis_is_not_at_home(Z_AXIS);
#if BOTH(BLTOUCH, BLTOUCH_HS_MODE)
// In BLTOUCH HS mode, the pin is still deployed at this point.
// The upcoming G28 means travel, so it is better to stow the pin.
bltouch._stow();
#endif
gcode.G28(false);
} while(0);

235
Marlin/src/gcode/config/M43.cpp
View File

@ -34,6 +34,10 @@
#include "../../module/servo.h"
#endif
#if ENABLED(BLTOUCH)
#include "../../feature/bltouch.h"
#endif
#if ENABLED(HOST_PROMPT_SUPPORT)
#include "../../feature/host_actions.h"
#endif
@ -91,122 +95,152 @@ inline void toggle_pins() {
} // toggle_pins
inline void servo_probe_test() {
#if !(NUM_SERVOS > 0 && HAS_SERVO_0)
SERIAL_ERROR_MSG("SERVO not setup");
SERIAL_ERROR_MSG("SERVO not set up.");
#elif !HAS_Z_SERVO_PROBE
SERIAL_ERROR_MSG("Z_PROBE_SERVO_NR not setup");
SERIAL_ERROR_MSG("Z_PROBE_SERVO_NR not set up.");
#else // HAS_Z_SERVO_PROBE
const uint8_t probe_index = parser.byteval('P', Z_PROBE_SERVO_NR);
SERIAL_ECHOLNPGM("Servo probe test");
SERIAL_ECHOLNPAIR(". using index: ", probe_index);
SERIAL_ECHOLNPAIR(". deploy angle: ", servo_angles[probe_index][0]);
SERIAL_ECHOLNPAIR(". stow angle: ", servo_angles[probe_index][1]);
SERIAL_ECHOLNPAIR("Servo probe test\n"
". using index: ", int(probe_index),
", deploy angle: ", servo_angles[probe_index][0],
", stow angle: ", servo_angles[probe_index][1]
);
bool probe_inverting;
bool deploy_state, stow_state;
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
#define PROBE_TEST_PIN Z_MIN_PIN
constexpr bool probe_inverting = Z_MIN_ENDSTOP_INVERTING;
SERIAL_ECHOLNPAIR(". probe uses Z_MIN pin: ", PROBE_TEST_PIN);
SERIAL_ECHOLNPGM(". uses Z_MIN_ENDSTOP_INVERTING (ignores Z_MIN_PROBE_ENDSTOP_INVERTING)");
SERIAL_ECHOLNPAIR(". Probe Z_MIN_PIN: ", int(PROBE_TEST_PIN));
SERIAL_ECHOPGM(". Z_MIN_ENDSTOP_INVERTING: ");
#if Z_MIN_ENDSTOP_INVERTING
SERIAL_ECHOLNPGM("true");
#else
SERIAL_ECHOLNPGM("false");
#endif
probe_inverting = Z_MIN_ENDSTOP_INVERTING;
#elif USES_Z_MIN_PROBE_ENDSTOP
#else
#define PROBE_TEST_PIN Z_MIN_PROBE_PIN
SERIAL_ECHOLNPAIR(". probe uses Z_MIN_PROBE_PIN: ", PROBE_TEST_PIN);
SERIAL_ECHOLNPGM(". uses Z_MIN_PROBE_ENDSTOP_INVERTING (ignores Z_MIN_ENDSTOP_INVERTING)");
SERIAL_ECHOPGM(". Z_MIN_PROBE_ENDSTOP_INVERTING: ");
constexpr bool probe_inverting = Z_MIN_PROBE_ENDSTOP_INVERTING;
#if Z_MIN_PROBE_ENDSTOP_INVERTING
SERIAL_ECHOLNPGM("true");
#else
SERIAL_ECHOLNPGM("false");
#endif
probe_inverting = Z_MIN_PROBE_ENDSTOP_INVERTING;
SERIAL_ECHOLNPAIR(". Probe Z_MIN_PROBE_PIN: ", int(PROBE_TEST_PIN));
SERIAL_ECHOPGM( ". Z_MIN_PROBE_ENDSTOP_INVERTING: ");
#endif
SERIAL_ECHOLNPGM(". deploy & stow 4 times");
serialprint_truefalse(probe_inverting);
SERIAL_EOL();
SET_INPUT_PULLUP(PROBE_TEST_PIN);
uint8_t i = 0;
bool deploy_state, stow_state;
do {
MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy
safe_delay(500);
deploy_state = READ(PROBE_TEST_PIN);
MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); // Stow
safe_delay(500);
stow_state = READ(PROBE_TEST_PIN);
} while (++i < 4);
if (probe_inverting != deploy_state) SERIAL_ECHOLNPGM("WARNING - INVERTING setting probably backwards");
if (deploy_state != stow_state) {
SERIAL_ECHOLNPGM("BLTouch clone detected");
if (deploy_state) {
SERIAL_ECHOLNPGM(". DEPLOYED state: HIGH (logic 1)");
SERIAL_ECHOLNPGM(". STOWED (triggered) state: LOW (logic 0)");
// First, check for a probe that recognizes an advanced BLTouch sequence.
// In addition to STOW and DEPLOY, it uses SW MODE (and RESET in the beginning)
// to see if this is one of the following: BLTOUCH Classic 1.2, 1.3, or
// BLTouch Smart 1.0, 2.0, 2.2, 3.0, 3.1. But only if the user has actually
// configured a BLTouch as being present. If the user has not configured this,
// the BLTouch will be detected in the last phase of these tests (see further on).
bool blt = false;
// This code will try to detect a BLTouch probe or clone
#if ENABLED(BLTOUCH)
SERIAL_ECHOLNPGM(". Check for BLTOUCH");
bltouch._reset();
bltouch._stow();
if (probe_inverting == READ(PROBE_TEST_PIN)) {
bltouch._set_SW_mode();
if (probe_inverting != READ(PROBE_TEST_PIN)) {
bltouch._deploy();
if (probe_inverting == READ(PROBE_TEST_PIN)) {
bltouch._stow();
SERIAL_ECHOLNPGM("= BLTouch Classic 1.2, 1.3, Smart 1.0, 2.0, 2.2, 3.0, 3.1 detected.");
// Check for a 3.1 by letting the user trigger it, later
blt = true;
}
}
else {
SERIAL_ECHOLNPGM(". DEPLOYED state: LOW (logic 0)");
SERIAL_ECHOLNPGM(". STOWED (triggered) state: HIGH (logic 1)");
}
#if ENABLED(BLTOUCH)
SERIAL_ECHOLNPGM("ERROR: BLTOUCH enabled - set this device up as a Z Servo Probe with inverting as true.");
#endif
}
else { // measure active signal length
MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy
safe_delay(500);
SERIAL_ECHOLNPGM("please trigger probe");
uint16_t probe_counter = 0;
#endif
// Allow 30 seconds max for operator to trigger probe
for (uint16_t j = 0; j < 500 * 30 && probe_counter == 0 ; j++) {
// The following code is common to all kinds of servo probes.
// Since it could be a real servo or a BLTouch (any kind) or a clone,
// use only "common" functions - i.e. SERVO_MOVE. No bltouch.xxxx stuff.
safe_delay(2);
// If it is already recognised as a being a BLTouch, no need for this test
if (!blt) {
// DEPLOY and STOW 4 times and see if the signal follows
// Then it is a mechanical switch
uint8_t i = 0;
SERIAL_ECHOLNPGM(". Deploy & stow 4 times");
do {
MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy
safe_delay(500);
deploy_state = READ(PROBE_TEST_PIN);
MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); // Stow
safe_delay(500);
stow_state = READ(PROBE_TEST_PIN);
} while (++i < 4);
if (0 == j % (500 * 1)) gcode.reset_stepper_timeout(); // Keep steppers powered
if (probe_inverting != deploy_state) SERIAL_ECHOLNPGM("WARNING: INVERTING setting probably backwards.");
if (deploy_state != READ(PROBE_TEST_PIN)) { // probe triggered
if (deploy_state != stow_state) {
SERIAL_ECHOLNPGM("= Mechanical Switch detected");
if (deploy_state) {
SERIAL_ECHOLNPAIR(" DEPLOYED state: HIGH (logic 1)",
" STOWED (triggered) state: LOW (logic 0)");
}
else {
SERIAL_ECHOLNPAIR(" DEPLOYED state: LOW (logic 0)",
" STOWED (triggered) state: HIGH (logic 1)");
}
#if ENABLED(BLTOUCH)
SERIAL_ECHOLNPGM("FAIL: BLTOUCH enabled - Set up this device as a Servo Probe with INVERTING set to 'true'.");
#endif
return;
}
}
for (probe_counter = 1; probe_counter < 50 && deploy_state != READ(PROBE_TEST_PIN); ++probe_counter)
safe_delay(2);
// Ask the user for a trigger event and measure the pulse width.
MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy
safe_delay(500);
SERIAL_ECHOLNPGM("** Please trigger probe within 30 sec **");
uint16_t probe_counter = 0;
if (probe_counter == 50)
SERIAL_ECHOLNPGM("Z Servo Probe detected"); // >= 100mS active time
else if (probe_counter >= 2)
SERIAL_ECHOLNPAIR("BLTouch compatible probe detected - pulse width (+/- 4mS): ", probe_counter * 2); // allow 4 - 100mS pulse
else
SERIAL_ECHOLNPGM("noise detected - please re-run test"); // less than 2mS pulse
// Wait 30 seconds for user to trigger probe
for (uint16_t j = 0; j < 500 * 30 && probe_counter == 0 ; j++) {
safe_delay(2);
MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); // Stow
if (0 == j % (500 * 1)) gcode.reset_stepper_timeout(); // Keep steppers powered
} // pulse detected
if (deploy_state != READ(PROBE_TEST_PIN)) { // probe triggered
for (probe_counter = 0; probe_counter < 15 && deploy_state != READ(PROBE_TEST_PIN); ++probe_counter) safe_delay(2);
} // for loop waiting for trigger
if (probe_counter = 15)
SERIAL_ECHOLNPGM(". Pulse width: 30ms or more");
else
SERIAL_ECHOLNPAIR(". Pulse width (+/- 4ms): ", probe_counter * 2);
if (probe_counter >= 4) {
if (probe_counter == 15) {
if (blt) SERIAL_ECHOPGM("= BLTouch V3.1");
else SERIAL_ECHOPGM("= Z Servo Probe");
}
else SERIAL_ECHOPGM("= BLTouch pre V3.1 or compatible probe");
SERIAL_ECHOLNPGM(" detected.");
}
else SERIAL_ECHOLNPGM("FAIL: Noise detected - please re-run test");
if (probe_counter == 0) SERIAL_ECHOLNPGM("trigger not detected");
MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); // Stow
return;
}
}
} // measure active signal length
if (!probe_counter) SERIAL_ECHOLNPGM("FAIL: Trigger not detected");
#endif
#endif // HAS_Z_SERVO_PROBE
} // servo_probe_test
@ -239,12 +273,10 @@ inline void servo_probe_test() {
*/
void GcodeSuite::M43() {
if (parser.seen('T')) { // must be first or else its "S" and "E" parameters will execute endstop or servo test
toggle_pins();
return;
}
// 'T' must be first. It uses 'S' and 'E' differently.
if (parser.seen('T')) return toggle_pins();
// Enable or disable endstop monitoring
// 'E' Enable or disable endstop monitoring and return
if (parser.seen('E')) {
endstops.monitor_flag = parser.value_bool();
SERIAL_ECHOPGM("endstop monitor ");
@ -253,25 +285,23 @@ void GcodeSuite::M43() {
return;
}
if (parser.seen('S')) {
servo_probe_test();
return;
}
// 'S' Run servo probe test and return
if (parser.seen('S')) return servo_probe_test();
// Get the range of pins to test or watch
// 'P' Get the range of pins to test or watch
uint8_t first_pin = PARSED_PIN_INDEX('P', 0),
last_pin = parser.seenval('P') ? first_pin : NUMBER_PINS_TOTAL - 1;
if (first_pin > last_pin) return;
// 'I' to ignore protected pins
const bool ignore_protection = parser.boolval('I');
// Watch until click, M108, or reset
// 'W' Watch until click, M108, or reset
if (parser.boolval('W')) {
SERIAL_ECHOLNPGM("Watching pins");
#ifdef ARDUINO_ARCH_SAM
NOLESS(first_pin, 2); // don't hijack the UART pins
NOLESS(first_pin, 2); // Don't hijack the UART pins
#endif
uint8_t pin_state[last_pin - first_pin + 1];
for (uint8_t i = first_pin; i <= last_pin; i++) {
@ -280,11 +310,11 @@ void GcodeSuite::M43() {
if (M43_NEVER_TOUCH(i) || (!ignore_protection && pin_is_protected(pin))) continue;
pinMode(pin, INPUT_PULLUP);
delay(1);
/*
/*
if (IS_ANALOG(pin))
pin_state[pin - first_pin] = analogRead(DIGITAL_PIN_TO_ANALOG_PIN(pin)); // int16_t pin_state[...]
else
//*/
//*/
pin_state[i - first_pin] = extDigitalRead(pin);
}
@ -303,9 +333,9 @@ void GcodeSuite::M43() {
if (M43_NEVER_TOUCH(i) || (!ignore_protection && pin_is_protected(pin))) continue;
const byte val =
/*
IS_ANALOG(pin)
? analogRead(DIGITAL_PIN_TO_ANALOG_PIN(pin)) : // int16_t val
:
IS_ANALOG(pin)
? analogRead(DIGITAL_PIN_TO_ANALOG_PIN(pin)) : // int16_t val
:
//*/
extDigitalRead(pin);
if (val != pin_state[i - first_pin]) {
@ -315,21 +345,18 @@ void GcodeSuite::M43() {
}
#if HAS_RESUME_CONTINUE
if (!wait_for_user) {
KEEPALIVE_STATE(IN_HANDLER);
break;
}
if (!wait_for_user) { KEEPALIVE_STATE(IN_HANDLER); break; }
#endif
safe_delay(200);
}
return;
}
// Report current state of selected pin(s)
for (uint8_t i = first_pin; i <= last_pin; i++) {
pin_t pin = GET_PIN_MAP_PIN(i);
if (VALID_PIN(pin)) report_pin_state_extended(pin, ignore_protection, true);
else {
// Report current state of selected pin(s)
for (uint8_t i = first_pin; i <= last_pin; i++) {
pin_t pin = GET_PIN_MAP_PIN(i);
if (VALID_PIN(pin)) report_pin_state_extended(pin, ignore_protection, true);
}
}
}