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diff --git a/Marlin/src/feature/bltouch.cpp b/Marlin/src/feature/bltouch.cpp
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../inc/MarlinConfig.h"
+
+#if ENABLED(BLTOUCH)
+
+#include "bltouch.h"
+
+BLTouch bltouch;
+
+bool BLTouch::last_written_mode; // Initialized by settings.load, 0 = Open Drain; 1 = 5V Drain
+
+#include "../module/servo.h"
+#include "../module/probe.h"
+
+void stop();
+
+#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
+#include "../core/debug_out.h"
+
+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(_MAX(ms, (uint32_t)BLTOUCH_DELAY)); // BLTOUCH_DELAY is also the *minimum* delay
+  return triggered();
+}
+
+// Init the class and device. Call from setup().
+void BLTouch::init(const bool set_voltage/*=false*/) {
+  // Voltage Setting (if enabled). At every Marlin initialization:
+  // BLTOUCH < V3.0 and clones: This will be ignored by the probe
+  // BLTOUCH V3.0: SET_5V_MODE or SET_OD_MODE (if enabled).
+  //               OD_MODE is the default on power on, but setting it does not hurt
+  //               This mode will stay active until manual SET_OD_MODE or power cycle
+  // BLTOUCH V3.1: SET_5V_MODE or SET_OD_MODE (if enabled).
+  //               At power on, the probe will default to the eeprom settings configured by the user
+  _reset();
+  _stow();
+
+  #if ENABLED(BLTOUCH_FORCE_MODE_SET)
+
+    constexpr bool should_set = true;
+
+  #else
+
+    if (DEBUGGING(LEVELING)) {
+      DEBUG_ECHOLNPAIR("last_written_mode - ", (int)last_written_mode);
+      DEBUG_ECHOLNPGM("config mode - "
+        #if ENABLED(BLTOUCH_SET_5V_MODE)
+          "BLTOUCH_SET_5V_MODE"
+        #else
+          "OD"
+        #endif
+      );
+    }
+
+    const bool should_set = last_written_mode != ENABLED(BLTOUCH_SET_5V_MODE);
+
+  #endif
+
+  if (should_set && set_voltage)
+    mode_conv_proc(ENABLED(BLTOUCH_SET_5V_MODE));
+}
+
+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() { return PROBE_TRIGGERED(); }
+
+bool BLTouch::deploy_proc() {
+  // Do a DEPLOY
+  if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("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_ECHOLNPGM("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_ECHOLNPGM("BLTouch Recovery Failed");
+
+      SERIAL_ERROR_MSG(STR_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
+    }
+  }
+
+  // One of the recommended ANTClabs ways to probe, using SW MODE
+  TERN_(BLTOUCH_FORCE_SW_MODE, _set_SW_mode());
+
+  // 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 (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("bltouch.deploy_proc() end");
+
+  return false; // report success to caller
+}
+
+bool BLTouch::stow_proc() {
+  // Do a STOW
+  if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("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 behavior maybe
+
+  // Attempt to STOW, wait for STOW_DELAY or ALARM
+  if (_stow_query_alarm()) {
+    // The stow might have failed
+    if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("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_ECHOLNPGM("BLTouch Recovery Failed");
+
+      SERIAL_ERROR_MSG(STR_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 (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("bltouch.stow_proc() end");
+
+  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
+   */
+
+  if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch STATUS requested");
+
+  _set_SW_mode();              // Incidentally, _set_SW_mode() will also RESET any active alarm
+  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);
+
+  if (tr) _stow(); else _deploy();  // Turn off SW mode, reset any trigger, honor pin state
+  return !tr;
+}
+
+void BLTouch::mode_conv_proc(const bool M5V) {
+  /**
+   * BLTOUCH pre V3.0 and clones: No reaction at all to this sequence apart from a DEPLOY -> STOW
+   * BLTOUCH V3.0: This will set the mode (twice) and sadly, a STOW is needed at the end, because of the deploy
+   * BLTOUCH V3.1: This will set the mode and store it in the eeprom. The STOW is not needed but does not hurt
+   */
+  if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("BLTouch Set Mode - ", (int)M5V);
+  _deploy();
+  if (M5V) _set_5V_mode(); else _set_OD_mode();
+  _mode_store();
+  if (M5V) _set_5V_mode(); else _set_OD_mode();
+  _stow();
+  last_written_mode = M5V;
+}
+
+#endif // BLTOUCH