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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;
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