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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
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