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MarlinFirmware/Marlin/src/feature/bltouch.cpp

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2019 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 <http://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(BLTOUCH)
#include "bltouch.h"
BLTouch bltouch;
#include "../module/servo.h"
void stop();
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../core/debug_out.h"
void BLTouch::command(const BLTCommand cmd) {
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//SERIAL_ECHOLNPAIR("BLTouch Command :", cmd);
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MOVE_SERVO(Z_PROBE_SERVO_NR, cmd);
safe_delay(BLTOUCH_DELAY);
}
void BLTouch::init() {
reset(); // Clear all BLTouch error conditions
stow();
}
bool BLTouch::triggered() {
return (
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING
#else
READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING
#endif
);
}
bool BLTouch::set_deployed(const bool in_deploy) {
if (in_deploy && triggered()) { // If BLTouch says it's triggered
reset(); // try to reset it.
_deploy(); _stow(); // Deploy and stow to clear the "triggered" condition.
safe_delay(1500); // Wait for internal self-test to complete.
// (Measured completion time was 0.65 seconds
// after reset, deploy, and stow sequence)
if (triggered()) { // If it still claims to be triggered...
SERIAL_ERROR_MSG(MSG_STOP_BLTOUCH);
stop(); // punt!
return true;
}
}
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#if ENABLED(BLTOUCH_FORCE_5V_MODE)
set_5V_mode();
#elif ENABLED(BLTOUCH_FORCE_OPEN_DRAIN_MODE)
set_OD_mode();
#elif ENABLED(ENDSTOPPULLUPS) || ALL(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, ENDSTOPPULLUP_ZMIN) || (USES_Z_MIN_PROBE_ENDSTOP && ENABLED(ENDSTOPPULLUP_ZMIN_PROBE))
set_5V_mode(); // Assume 5V DC logic level if endstop pullup resistors are enabled
#else
set_OD_mode();
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#endif
if (in_deploy) {
_deploy();
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set_SW_mode(); // Ensure Switch mode is activated for BLTouch V3. Ignored on V2.
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}
else _stow();
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("bltouch.set_deployed(", in_deploy, ")");
return false;
}
#endif // BLTOUCH