CMS/Marlin
3
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
Marlin/src/feature/bltouch.cpp
View File

@ -146,19 +146,16 @@ bool BLTouch::status_proc() {
/**
* Return a TRUE for "YES, it is DEPLOYED"
* This function will ensure switch state is reset after execution
* This may change pin position in some scenarios, specifically
* if the pin has been triggered but not yet stowed.
*/
if (DEBUGGING(LEVELING)) DEBUG_ECHOLN("BLTouch STATUS requested");
_set_SW_mode();
_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);
_reset(); // turn off the SW Mode
if (tr) _stow(); else _deploy(); // and reset any triggered signal, restore state
if (tr) _stow(); else _deploy(); // Turn off SW mode, reset any trigger, honor pin state
return !tr;
}

7
Marlin/src/feature/bltouch.h
View File

@ -30,6 +30,7 @@ typedef unsigned char BLTCommand;
#define BLTOUCH_SW_MODE 60
#define BLTOUCH_STOW 90
#define BLTOUCH_SELFTEST 120
#define BLTOUCH_MODE_STORE 130
#define BLTOUCH_5V_MODE 140
#define BLTOUCH_OD_MODE 150
#define BLTOUCH_RESET 160
@ -51,6 +52,9 @@ typedef unsigned char BLTCommand;
#ifndef BLTOUCH_SETOD_DELAY
#define BLTOUCH_SETOD_DELAY BLTOUCH_DELAY
#endif
#ifndef BLTOUCH_MODE_STORE_DELAY
#define BLTOUCH_MODE_STORE_DELAY BLTOUCH_DELAY
#endif
#ifndef BLTOUCH_DEPLOY_DELAY
#define BLTOUCH_DEPLOY_DELAY 750
#endif
@ -77,8 +81,11 @@ public:
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); }

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

20
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)
#if HAS_LEVELING && ENABLED(RESTORE_LEVELING_AFTER_G34)
set_bed_leveling_enabled(leveling_was_active);
#endif
#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);

177
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
@ -91,62 +95,86 @@ 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
#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);
// 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;
}
}
}
#endif
// 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.
// 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;
bool deploy_state, stow_state;
SERIAL_ECHOLNPGM(". Deploy & stow 4 times");
do {
MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy
safe_delay(500);
@ -155,58 +183,64 @@ inline void servo_probe_test() {
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 (probe_inverting != deploy_state) SERIAL_ECHOLNPGM("WARNING: INVERTING setting probably backwards.");
if (deploy_state != stow_state) {
SERIAL_ECHOLNPGM("BLTouch clone detected");
SERIAL_ECHOLNPGM("= Mechanical Switch detected");
if (deploy_state) {
SERIAL_ECHOLNPGM(". DEPLOYED state: HIGH (logic 1)");
SERIAL_ECHOLNPGM(". STOWED (triggered) state: LOW (logic 0)");
SERIAL_ECHOLNPAIR(" DEPLOYED state: HIGH (logic 1)",
" STOWED (triggered) state: LOW (logic 0)");
}
else {
SERIAL_ECHOLNPGM(". DEPLOYED state: LOW (logic 0)");
SERIAL_ECHOLNPGM(". STOWED (triggered) state: HIGH (logic 1)");
SERIAL_ECHOLNPAIR(" DEPLOYED state: LOW (logic 0)",
" 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.");
SERIAL_ECHOLNPGM("FAIL: BLTOUCH enabled - Set up this device as a Servo Probe with INVERTING set to 'true'.");
#endif
return;
}
else { // measure active signal length
}
// 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");
SERIAL_ECHOLNPGM("** Please trigger probe within 30 sec **");
uint16_t probe_counter = 0;
// Allow 30 seconds max for operator to trigger probe
// Wait 30 seconds for user to trigger probe
for (uint16_t j = 0; j < 500 * 30 && probe_counter == 0 ; j++) {
safe_delay(2);
if (0 == j % (500 * 1)) gcode.reset_stepper_timeout(); // Keep steppers powered
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 (probe_counter = 1; probe_counter < 50 && deploy_state != READ(PROBE_TEST_PIN); ++probe_counter)
safe_delay(2);
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
if (probe_counter = 15)
SERIAL_ECHOLNPGM(". Pulse width: 30ms or more");
else
SERIAL_ECHOLNPGM("noise detected - please re-run test"); // less than 2mS pulse
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");
MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); // Stow
return;
}
}
} // pulse detected
if (!probe_counter) SERIAL_ECHOLNPGM("FAIL: Trigger not detected");
} // for loop waiting for trigger
if (probe_counter == 0) SERIAL_ECHOLNPGM("trigger not detected");
} // measure active signal length
#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++) {
@ -315,22 +345,19 @@ 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;
}
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);
}
}
}
#endif // PINS_DEBUGGING

3
Marlin/src/lcd/language/language_en.h
View File

@ -918,6 +918,9 @@
#ifndef MSG_BLTOUCH_OD_MODE
#define MSG_BLTOUCH_OD_MODE _UxGT("BLTouch OD Mode")
#endif
#ifndef MSG_BLTOUCH_MODE_STORE
#define MSG_BLTOUCH_MODE_STORE _UxGT("BLTouch Mode Store")
#endif
#ifndef MSG_BLTOUCH_STOW
#define MSG_BLTOUCH_STOW _UxGT("Stow BLTouch")
#endif

1
Marlin/src/lcd/menu/menu_configuration.cpp
View File

@ -181,6 +181,7 @@ static void lcd_factory_settings() {
MENU_ITEM(function, MSG_BLTOUCH_SW_MODE, bltouch._set_SW_mode);
MENU_ITEM(function, MSG_BLTOUCH_5V_MODE, bltouch._set_5V_mode);
MENU_ITEM(function, MSG_BLTOUCH_OD_MODE, bltouch._set_OD_mode);
MENU_ITEM(function, MSG_BLTOUCH_MODE_STORE, bltouch._mode_store);
END_MENU();
}

3
Marlin/src/module/endstops.cpp
View File

@ -465,8 +465,7 @@ void _O2 Endstops::M119() {
#endif
#endif
#if ENABLED(BLTOUCH)
bltouch._reset();
if (enabled_globally) bltouch._stow();
bltouch._reset_SW_mode();
#endif
} // Endstops::M119

16
Marlin/src/module/motion.cpp
View File

@ -1422,8 +1422,7 @@ void homeaxis(const AxisEnum axis) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Home 1 Fast:");
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
// BLTOUCH needs to be deployed every time
if (axis == Z_AXIS && bltouch.deploy()) return;
if (axis == Z_AXIS && bltouch.deploy()) return; // The initial DEPLOY
#endif
do_homing_move(axis, 1.5f * max_length(
@ -1435,9 +1434,8 @@ void homeaxis(const AxisEnum axis) {
) * axis_home_dir
);
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
// BLTOUCH needs to be stowed after trigger to rearm itself
if (axis == Z_AXIS) bltouch.stow();
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH) && DISABLED(BLTOUCH_HS_MODE)
if (axis == Z_AXIS) bltouch.stow(); // Intermediate STOW (in LOW SPEED MODE)
#endif
// When homing Z with probe respect probe clearance
@ -1461,16 +1459,14 @@ void homeaxis(const AxisEnum axis) {
// Slow move towards endstop until triggered
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Home 2 Slow:");
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
// BLTOUCH needs to be deployed every time
if (axis == Z_AXIS && bltouch.deploy()) return;
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH) && DISABLED(BLTOUCH_HS_MODE)
if (axis == Z_AXIS && bltouch.deploy()) return; // Intermediate DEPLOY (in LOW SPEED MODE)
#endif
do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
// BLTOUCH needs to be stowed after trigger to rearm itself
if (axis == Z_AXIS) bltouch.stow();
if (axis == Z_AXIS) bltouch.stow(); // The final STOW
#endif
}

18
Marlin/src/module/probe.cpp
View File

@ -356,9 +356,15 @@ FORCE_INLINE void probe_specific_action(const bool deploy) {
dock_sled(!deploy);
#elif HAS_Z_SERVO_PROBE && DISABLED(BLTOUCH)
#elif HAS_Z_SERVO_PROBE
#if DISABLED(BLTOUCH)
MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][deploy ? 0 : 1]);
#elif ENABLED(BLTOUCH_HS_MODE)
// In HIGH SPEED MODE, use the normal retractable probe logic in this code
// i.e. no intermediate STOWs and DEPLOYs in between individual probe actions
if (deploy) bltouch.deploy(); else bltouch.stow();
#endif
#elif ENABLED(Z_PROBE_ALLEN_KEY)
@ -492,9 +498,8 @@ static bool do_probe_move(const float z, const float fr_mm_s) {
}
#endif
// Deploy BLTouch at the start of any probe
#if ENABLED(BLTOUCH)
if (bltouch.deploy()) return true;
#if ENABLED(BLTOUCH) && DISABLED(BLTOUCH_HS_MODE)
if (bltouch.deploy()) return true; // DEPLOY in LOW SPEED MODE on every probe action
#endif
// Disable stealthChop if used. Enable diag1 pin on driver.
@ -544,9 +549,8 @@ static bool do_probe_move(const float z, const float fr_mm_s) {
tmc_disable_stallguard(stepperZ, stealth_states.z);
#endif
// Retract BLTouch immediately after a probe if it was triggered
#if ENABLED(BLTOUCH)
if (probe_triggered && bltouch.stow()) return true;
#if ENABLED(BLTOUCH) && DISABLED(BLTOUCH_HS_MODE)
if (probe_triggered && bltouch.stow()) return true; // STOW in LOW SPEED MODE on trigger on every probe action
#endif
// Clear endstop flags