1 files changed, 113 insertions, 0 deletions
diff --git a/Marlin/src/feature/bltouch.h b/Marlin/src/feature/bltouch.h
new file mode 100644
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+++ b/Marlin/src/feature/bltouch.h
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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/>.
+ *
+ */
+#pragma once
+
+#include "../inc/MarlinConfigPre.h"
+
+#if DISABLED(BLTOUCH_HS_MODE)
+  #define BLTOUCH_SLOW_MODE 1
+#endif
+
+// BLTouch commands are sent as servo angles
+typedef unsigned char BLTCommand;
+
+#define STOW_ALARM            true
+#define BLTOUCH_DEPLOY          10
+#define BLTOUCH_STOW            90
+#define BLTOUCH_SW_MODE         60
+#define BLTOUCH_SELFTEST       120
+#define BLTOUCH_MODE_STORE     130
+#define BLTOUCH_5V_MODE        140
+#define BLTOUCH_OD_MODE        150
+#define BLTOUCH_RESET          160
+
+/**
+ * The following commands require different minimum delays.
+ *
+ * 500ms required for a reliable Reset.
+ *
+ * 750ms required for Deploy/Stow, otherwise the alarm state
+ *       will not be seen until the following move command.
+ */
+
+#ifndef BLTOUCH_SET5V_DELAY
+  #define BLTOUCH_SET5V_DELAY   150
+#endif
+#ifndef BLTOUCH_SETOD_DELAY
+  #define BLTOUCH_SETOD_DELAY   150
+#endif
+#ifndef BLTOUCH_MODE_STORE_DELAY
+  #define BLTOUCH_MODE_STORE_DELAY 150
+#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    500
+#endif
+
+class BLTouch {
+public:
+  static void init(const bool set_voltage=false);
+  static bool last_written_mode; // Initialized by settings.load, 0 = Open Drain; 1 = 5V Drain
+
+  // 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(); }
+
+  // Native BLTouch commands ("Underscore"...), used in lcd menus and internally
+  FORCE_INLINE static void _reset()              { command(BLTOUCH_RESET, BLTOUCH_RESET_DELAY); }
+
+  FORCE_INLINE static void _selftest()           { command(BLTOUCH_SELFTEST, BLTOUCH_DELAY); }
+
+  FORCE_INLINE static void _set_SW_mode()        { command(BLTOUCH_SW_MODE, BLTOUCH_DELAY); }
+  FORCE_INLINE static void _reset_SW_mode()      { if (triggered()) _stow(); else _deploy(); }
+
+  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 _mode_store()         { command(BLTOUCH_MODE_STORE, BLTOUCH_MODE_STORE_DELAY); }
+
+  FORCE_INLINE static void _deploy()             { command(BLTOUCH_DEPLOY, BLTOUCH_DEPLOY_DELAY); }
+  FORCE_INLINE static void _stow()               { command(BLTOUCH_STOW, BLTOUCH_STOW_DELAY); }
+
+  FORCE_INLINE static void mode_conv_5V()        { mode_conv_proc(true); }
+  FORCE_INLINE static void mode_conv_OD()        { mode_conv_proc(false); }
+
+  static bool triggered();
+
+private:
+  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) == STOW_ALARM; }
+
+  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();
+  static void mode_conv_proc(const bool M5V);
+};
+
+extern BLTouch bltouch;