From 441416728cd7f0e9b6ebf94f895d1d27fe59d25a Mon Sep 17 00:00:00 2001
From: Mark <niujl123@sina.com>
Date: Sun, 18 Jun 2023 17:18:08 +0800
Subject: [PATCH] =?UTF-8?q?=F0=9F=9A=B8=20Bed=20distance=20sensor=20improv?=
=?UTF-8?q?ements=20(#25847)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
Marlin/src/feature/bedlevel/bdl/bdl.cpp | 235 ++++++++++++-------
Marlin/src/feature/bedlevel/bdl/bdl.h | 16 +-
Marlin/src/gcode/bedlevel/abl/G29.cpp | 64 ++++-
Marlin/src/gcode/calibrate/G28.cpp | 6 -
Marlin/src/gcode/config/M43.cpp | 12 +-
Marlin/src/gcode/gcode.h | 1 -
Marlin/src/gcode/probe/M102.cpp | 26 +-
Marlin/src/lcd/extui/nextion/nextion_tft.cpp | 2 +-
Marlin/src/module/endstops.cpp | 6 +-
Marlin/src/module/motion.cpp | 10 +
Marlin/src/module/probe.h | 14 +-
Marlin/src/module/stepper/indirection.h | 2 +-
12 files changed, 271 insertions(+), 123 deletions(-)
diff --git a/Marlin/src/feature/bedlevel/bdl/bdl.cpp b/Marlin/src/feature/bedlevel/bdl/bdl.cpp
index 064a8ffbd21..14989a07d34 100644
--- a/Marlin/src/feature/bedlevel/bdl/bdl.cpp
+++ b/Marlin/src/feature/bedlevel/bdl/bdl.cpp
@@ -34,6 +34,7 @@
#include "../../../module/temperature.h"
#include "../../../module/endstops.h"
#include "../../babystep.h"
+#include "../../../lcd/marlinui.h"
// I2C software Master library for segment bed heating and bed distance sensor
#include <Panda_segmentBed_I2C.h>
@@ -42,6 +43,8 @@
BDS_Leveling bdl;
//#define DEBUG_OUT_BD
+#define DEBUG_OUT ENABLED(DEBUG_OUT_BD)
+#include "../../../core/debug_out.h"
// M102 S-5 Read raw Calibrate data
// M102 S-6 Start Calibrate
@@ -49,144 +52,196 @@ BDS_Leveling bdl;
// M102 S-1 Read sensor information
#define MAX_BD_HEIGHT 4.0f
+#define CMD_READ_VERSION 1016
#define CMD_START_READ_CALIBRATE_DATA 1017
#define CMD_END_READ_CALIBRATE_DATA 1018
#define CMD_START_CALIBRATE 1019
#define CMD_END_CALIBRATE 1021
-#define CMD_READ_VERSION 1016
-
-I2C_SegmentBED BD_I2C_SENSOR;
-
#define BD_SENSOR_I2C_ADDR 0x3C
+I2C_SegmentBED BD_I2C_SENSOR;
+float BDS_Leveling::pos_zero_offset;
int8_t BDS_Leveling::config_state;
-uint8_t BDS_Leveling::homing;
-
-void BDS_Leveling::echo_name() { SERIAL_ECHOPGM("Bed Distance Leveling"); }
void BDS_Leveling::init(uint8_t _sda, uint8_t _scl, uint16_t delay_s) {
- int ret = BD_I2C_SENSOR.i2c_init(_sda, _scl, BD_SENSOR_I2C_ADDR, delay_s);
- if (ret != 1) SERIAL_ECHOLNPGM("BD_I2C_SENSOR Init Fail return code:", ret);
- config_state = 0;
+ config_state = BDS_IDLE;
+ const int ret = BD_I2C_SENSOR.i2c_init(_sda, _scl, BD_SENSOR_I2C_ADDR, delay_s);
+ if (ret != 1) SERIAL_ECHOLNPGM("BD Sensor Init Fail (", ret, ")");
+ sync_plan_position();
+ pos_zero_offset = planner.get_axis_position_mm(Z_AXIS) - current_position.z;
+ SERIAL_ECHOLNPGM("BD Sensor Zero Offset:", pos_zero_offset);
+}
+
+bool BDS_Leveling::check(const uint16_t data, const bool raw_data/*=false*/, const bool hicheck/*=false*/) {
+ if (BD_I2C_SENSOR.BD_Check_OddEven(data) == 0) {
+ SERIAL_ECHOLNPGM("Read Error.");
+ return true; // error
+ }
+ if (raw_data == true) {
+ if (hicheck && (data & 0x3FF) > 550)
+ SERIAL_ECHOLNPGM("BD Sensor mounted too high!");
+ else if (!good_data(data))
+ SERIAL_ECHOLNPGM("Invalid data, please calibrate.");
+ else
+ return false;
+ }
+ else {
+ if ((data & 0x3FF) >= (MAX_BD_HEIGHT) * 100 - 10)
+ SERIAL_ECHOLNPGM("Out of Range.");
+ else
+ return false;
+ }
+ return true; // error
+}
+
+float BDS_Leveling::interpret(const uint16_t data) {
+ return (data & 0x3FF) / 100.0f;
}
float BDS_Leveling::read() {
- const uint16_t tmp = BD_I2C_SENSOR.BD_i2c_read();
- float BD_z = NAN;
- if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && (tmp & 0x3FF) < 1020)
- BD_z = (tmp & 0x3FF) / 100.0f;
- return BD_z;
+ const uint16_t data = BD_I2C_SENSOR.BD_i2c_read();
+ return check(data) ? NAN : interpret(data);
}
void BDS_Leveling::process() {
- //if (config_state == 0) return;
- static millis_t next_check_ms = 0; // starting at T=0
- static float z_pose = 0.0f;
- const millis_t ms = millis();
- if (ELAPSED(ms, next_check_ms)) { // timed out (or first run)
- next_check_ms = ms + (config_state < 0 ? 1000 : 100); // check at 1Hz or 10Hz
-
- unsigned short tmp = 0;
- const float cur_z = planner.get_axis_position_mm(Z_AXIS); //current_position.z
- static float old_cur_z = cur_z,
- old_buf_z = current_position.z;
+ if (config_state == BDS_IDLE && printingIsActive()) return;
+ static millis_t next_check_ms = 0; // starting at T=0
+ static float zpos = 0.0f;
+ const millis_t ms = millis();
+ if (ELAPSED(ms, next_check_ms)) { // timed out (or first run)
+ next_check_ms = ms + (config_state < BDS_IDLE ? 200 : 50); // check at 5Hz or 20Hz
+ uint16_t tmp = 0;
+ const float cur_z = planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset;
+ static float old_cur_z = cur_z, old_buf_z = current_position.z;
tmp = BD_I2C_SENSOR.BD_i2c_read();
- if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && (tmp & 0x3FF) < 1020) {
- const float z_sensor = (tmp & 0x3FF) / 100.0f;
- if (cur_z < 0) config_state = 0;
- //float abs_z = current_position.z > cur_z ? (current_position.z - cur_z) : (cur_z - current_position.z);
+ if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && good_data(tmp)) {
+ const float z_sensor = interpret(tmp);
#if ENABLED(BABYSTEPPING)
- if (cur_z < config_state * 0.1f
- && config_state > 0
- && old_cur_z == cur_z
- && old_buf_z == current_position.z
- && z_sensor < (MAX_BD_HEIGHT)
- ) {
- babystep.set_mm(Z_AXIS, cur_z - z_sensor);
- #if ENABLED(DEBUG_OUT_BD)
- SERIAL_ECHOLNPGM("BD:", z_sensor, ", Z:", cur_z, "|", current_position.z);
- #endif
- }
- else {
- babystep.set_mm(Z_AXIS, 0); //if (old_cur_z <= cur_z) Z_DIR_WRITE(HIGH);
- stepper.apply_directions();
+ if (config_state > 0) {
+ if (cur_z < config_state * 0.1f
+ && old_cur_z == cur_z
+ && old_buf_z == current_position.z
+ && z_sensor < (MAX_BD_HEIGHT) - 0.1f
+ ) {
+ babystep.set_mm(Z_AXIS, cur_z - z_sensor);
+ DEBUG_ECHOLNPGM("BD:", z_sensor, ", Z:", cur_z, "|", current_position.z);
+ }
+ else {
+ babystep.set_mm(Z_AXIS, 0); //if (old_cur_z <= cur_z) Z_DIR_WRITE(HIGH);
+ //stepper.apply_directions(); // TODO: Remove this line as probably not needed
+ }
}
#endif
+
old_cur_z = cur_z;
old_buf_z = current_position.z;
endstops.bdp_state_update(z_sensor <= 0.01f);
- //endstops.update();
+
+ #if HAS_STATUS_MESSAGE
+ static float old_z_sensor = 0;
+ if (old_z_sensor != z_sensor) {
+ old_z_sensor = z_sensor;
+ char tmp_1[32];
+ sprintf_P(tmp_1, PSTR("BD:%d.%02dmm"), int(z_sensor), int(z_sensor * 100) % 100);
+ //SERIAL_ECHOLNPGM("Bed Dis:", z_sensor, "mm");
+ ui.set_status(tmp_1, true);
+ }
+ #endif
}
else
stepper.apply_directions();
- #if ENABLED(DEBUG_OUT_BD)
- SERIAL_ECHOLNPGM("BD:", tmp & 0x3FF, ", Z:", cur_z, "|", current_position.z);
- if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) == 0) SERIAL_ECHOLNPGM("errorCRC");
- #endif
+ DEBUG_ECHOLNPGM("BD:", tmp & 0x3FF, " Z:", cur_z, "|", current_position.z);
+ if (TERN0(DEBUG_OUT_BD, BD_I2C_SENSOR.BD_Check_OddEven(tmp) == 0)) DEBUG_ECHOLNPGM("CRC error");
- if ((tmp & 0x3FF) > 1020) {
+ if (!good_data(tmp)) {
BD_I2C_SENSOR.BD_i2c_stop();
safe_delay(10);
}
+ // Read version. Usually used as a connection check
+ if (config_state == BDS_VERSION) {
+ config_state = BDS_IDLE;
+ BD_I2C_SENSOR.BD_i2c_write(CMD_READ_VERSION);
+ safe_delay(100);
+ char tmp_1[21];
+ for (int i = 0; i < 19; i++) {
+ tmp_1[i] = BD_I2C_SENSOR.BD_i2c_read() & 0xFF;
+ safe_delay(50);
+ }
+ BD_I2C_SENSOR.BD_i2c_write(CMD_END_READ_CALIBRATE_DATA);
+ SERIAL_ECHOLNPGM("BD Sensor version:", tmp_1);
+ if (tmp_1[0] != 'V') SERIAL_ECHOLNPGM("Read Error. Check connection and delay.");
+ safe_delay(50);
+ }
// read raw calibrate data
- if (config_state == -5) {
+ else if (config_state == BDS_READ_RAW) {
BD_I2C_SENSOR.BD_i2c_write(CMD_START_READ_CALIBRATE_DATA);
- safe_delay(1000);
+ safe_delay(100);
for (int i = 0; i < MAX_BD_HEIGHT * 10; i++) {
tmp = BD_I2C_SENSOR.BD_i2c_read();
- SERIAL_ECHOLNPGM("Calibrate data:", i, ",", tmp & 0x3FF, ", check:", BD_I2C_SENSOR.BD_Check_OddEven(tmp));
- safe_delay(500);
+ SERIAL_ECHOLNPGM("Calibrate data:", i, ",", tmp & 0x3FF);
+ (void)check(tmp, true, i == 0);
+ safe_delay(50);
}
- config_state = 0;
BD_I2C_SENSOR.BD_i2c_write(CMD_END_READ_CALIBRATE_DATA);
- safe_delay(500);
+ safe_delay(50);
+ config_state = BDS_IDLE;
}
- else if (config_state <= -6) { // Start Calibrate
- safe_delay(100);
- if (config_state == -6) {
- //BD_I2C_SENSOR.BD_i2c_write(1019); // begin calibrate
- //delay(1000);
- gcode.stepper_inactive_time = SEC_TO_MS(60 * 5);
- gcode.process_subcommands_now(F("M17 Z"));
- gcode.process_subcommands_now(F("G1 Z0.0"));
- z_pose = 0;
- safe_delay(1000);
+ else if (config_state <= BDS_CALIBRATE_START) { // Start Calibrate
+ safe_delay(10);
+ if (config_state == BDS_CALIBRATE_START) {
+ config_state = BDS_CALIBRATING;
+ REMEMBER(gsit, gcode.stepper_inactive_time, SEC_TO_MS(60 * 5));
+ SERIAL_ECHOLNPGM("c_z0:", planner.get_axis_position_mm(Z_AXIS), "-", pos_zero_offset);
+
+ // Move the z axis instead of enabling the Z axis with M17
+ // TODO: Use do_blocking_move_to_z for synchronized move.
+ current_position.z = 0;
+ sync_plan_position();
+ gcode.process_subcommands_now(F("G1Z0.05"));
+ safe_delay(300);
+ gcode.process_subcommands_now(F("G1Z0.00"));
+ safe_delay(300);
+ current_position.z = 0;
+ sync_plan_position();
+ //safe_delay(1000);
+
+ while ((planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset) > 0.00001f) {
+ safe_delay(200);
+ SERIAL_ECHOLNPGM("waiting cur_z:", planner.get_axis_position_mm(Z_AXIS));
+ }
+ zpos = 0.00001f;
+ safe_delay(100);
BD_I2C_SENSOR.BD_i2c_write(CMD_START_CALIBRATE); // Begin calibrate
- SERIAL_ECHOLNPGM("Begin calibrate");
- safe_delay(2000);
- config_state = -7;
+ SERIAL_ECHOLNPGM("BD Sensor Calibrating...");
+ safe_delay(200);
}
- else if (planner.get_axis_position_mm(Z_AXIS) < 10.0f) {
- if (z_pose >= MAX_BD_HEIGHT) {
+ else if ((planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset) < 10.0f) {
+ if (zpos >= MAX_BD_HEIGHT) {
+ config_state = BDS_IDLE;
BD_I2C_SENSOR.BD_i2c_write(CMD_END_CALIBRATE); // End calibrate
- SERIAL_ECHOLNPGM("End calibrate data");
- z_pose = 7;
- config_state = 0;
- safe_delay(1000);
+ SERIAL_ECHOLNPGM("BD Sensor calibrated.");
+ zpos = 7.0f;
+ safe_delay(500);
}
else {
- float tmp_k = 0;
- char tmp_1[30];
- sprintf_P(tmp_1, PSTR("G1 Z%d.%d"), int(z_pose), int(int(z_pose * 10) % 10));
+ char tmp_1[32];
+ // TODO: Use prepare_internal_move_to_destination to guarantee machine space
+ sprintf_P(tmp_1, PSTR("G1Z%d.%d"), int(zpos), int(zpos * 10) % 10);
gcode.process_subcommands_now(tmp_1);
-
- SERIAL_ECHO(tmp_1);
- SERIAL_ECHOLNPGM(" ,Z:", current_position.z);
-
- while (tmp_k < (z_pose - 0.1f)) {
- tmp_k = planner.get_axis_position_mm(Z_AXIS);
- safe_delay(1);
+ SERIAL_ECHO(tmp_1); SERIAL_ECHOLNPGM(", Z:", current_position.z);
+ for (float tmp_k = 0; abs(zpos - tmp_k) > 0.004f;) {
+ tmp_k = planner.get_axis_position_mm(Z_AXIS) - pos_zero_offset;
+ safe_delay(10);
}
- safe_delay(800);
- tmp = (z_pose + 0.0001f) * 10;
+ safe_delay(zpos <= 0.4f ? 600 : 100);
+ tmp = uint16_t((zpos + 0.00001f) * 10);
BD_I2C_SENSOR.BD_i2c_write(tmp);
- SERIAL_ECHOLNPGM("w:", tmp, ",Zpose:", z_pose);
- z_pose += 0.1001f;
- //queue.enqueue_now_P(PSTR("G90"));
+ SERIAL_ECHOLNPGM("w:", tmp, ", Z:", zpos);
+ zpos += 0.1001f;
}
}
}
diff --git a/Marlin/src/feature/bedlevel/bdl/bdl.h b/Marlin/src/feature/bedlevel/bdl/bdl.h
index 6307b1ab28f..b3037bc1c27 100644
--- a/Marlin/src/feature/bedlevel/bdl/bdl.h
+++ b/Marlin/src/feature/bedlevel/bdl/bdl.h
@@ -23,14 +23,26 @@
#include <stdint.h>
+enum BDS_State : int8_t {
+ BDS_IDLE,
+ BDS_VERSION = -1,
+ BDS_READ_MM = -2,
+ BDS_HOMING_Z = -3,
+ BDS_READ_RAW = -5,
+ BDS_CALIBRATE_START = -6,
+ BDS_CALIBRATING = -7
+};
+
class BDS_Leveling {
public:
static int8_t config_state;
- static uint8_t homing;
- static void echo_name();
+ static float pos_zero_offset;
static void init(uint8_t _sda, uint8_t _scl, uint16_t delay_s);
static void process();
static float read();
+ static float interpret(const uint16_t data);
+ static float good_data(const uint16_t data) { return (data & 0x3FF) < 1016; }
+ static bool check(const uint16_t data, const bool raw_data=false, const bool hicheck=false);
};
extern BDS_Leveling bdl;
diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp
index 4b2d21bc81b..5632c6e4672 100644
--- a/Marlin/src/gcode/bedlevel/abl/G29.cpp
+++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp
@@ -42,6 +42,9 @@
#if ABL_PLANAR
#include "../../../libs/vector_3.h"
#endif
+#if ENABLED(BD_SENSOR_PROBE_NO_STOP)
+ #include "../../../feature/bedlevel/bdl/bdl.h"
+#endif
#include "../../../lcd/marlinui.h"
#if ENABLED(EXTENSIBLE_UI)
@@ -693,7 +696,66 @@ G29_TYPE GcodeSuite::G29() {
if (abl.verbose_level) SERIAL_ECHOLNPGM("Probing mesh point ", pt_index, "/", abl.abl_points, ".");
TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_POINT), int(pt_index), int(abl.abl_points)));
- abl.measured_z = faux ? 0.001f * random(-100, 101) : probe.probe_at_point(abl.probePos, raise_after, abl.verbose_level);
+ #if ENABLED(BD_SENSOR_PROBE_NO_STOP)
+ if (PR_INNER_VAR == inStart) {
+ char tmp_1[32];
+
+ // move to the start point of new line
+ abl.measured_z = faux ? 0.001f * random(-100, 101) : probe.probe_at_point(abl.probePos, raise_after, abl.verbose_level);
+ // Go to the end of the row/column ... and back up by one
+ // TODO: Why not just use... PR_INNER_VAR = inStop - inInc
+ for (PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc);
+ PR_INNER_VAR -= inInc;
+
+ // Get the coordinate of the resulting grid point
+ abl.probePos = abl.probe_position_lf + abl.gridSpacing * abl.meshCount.asFloat();
+
+ // Coordinate that puts the probe at the grid point
+ abl.probePos -= probe.offset_xy;
+
+ // Put a G1 move into the buffer
+ // TODO: Instead of G1, we can just add the move directly to the planner...
+ // {
+ // destination = current_position; destination = abl.probePos;
+ // REMEMBER(fr, feedrate_mm_s, XY_PROBE_FEEDRATE_MM_S);
+ // prepare_line_to_destination();
+ // }
+ sprintf_P(tmp_1, PSTR("G1X%d.%d Y%d.%d F%d"),
+ int(abl.probePos.x), int(abl.probePos.x * 10) % 10,
+ int(abl.probePos.y), int(abl.probePos.y * 10) % 10,
+ XY_PROBE_FEEDRATE
+ );
+ gcode.process_subcommands_now(tmp_1);
+
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("destX: ", abl.probePos.x, " Y:", abl.probePos.y);
+
+ // Reset the inner counter back to the start
+ PR_INNER_VAR = inStart;
+
+ // Get the coordinate of the start of the row/column
+ abl.probePos = abl.probe_position_lf + abl.gridSpacing * abl.meshCount.asFloat();
+ }
+
+ // Wait around until the real axis position reaches the comparison point
+ // TODO: Use NEAR() because float is imprecise
+ constexpr AxisEnum axis = TERN(PROBE_Y_FIRST, Y_AXIS, X_AXIS);
+ const float cmp = abl.probePos[axis] - probe.offset_xy[axis];
+ float pos;
+ for (;;) {
+ pos = planner.get_axis_position_mm(axis);
+ if (inInc > 0 ? (pos >= cmp) : (pos <= cmp)) break;
+ idle_no_sleep();
+ }
+ //if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM_P(axis == Y_AXIS ? PSTR("Y=") : PSTR("X=", pos);
+
+ abl.measured_z = current_position.z - bdl.read();
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("x_cur ", planner.get_axis_position_mm(X_AXIS), " z ", abl.measured_z);
+
+ #else // !BD_SENSOR_PROBE_NO_STOP
+
+ abl.measured_z = faux ? 0.001f * random(-100, 101) : probe.probe_at_point(abl.probePos, raise_after, abl.verbose_level);
+
+ #endif
if (isnan(abl.measured_z)) {
set_bed_leveling_enabled(abl.reenable);
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index cb4f80618de..6fb062c1700 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/Marlin/src/gcode/calibrate/G28.cpp
@@ -36,10 +36,6 @@
#include "../../feature/bedlevel/bedlevel.h"
#endif
-#if ENABLED(BD_SENSOR)
- #include "../../feature/bedlevel/bdl/bdl.h"
-#endif
-
#if ENABLED(SENSORLESS_HOMING)
#include "../../feature/tmc_util.h"
#endif
@@ -229,8 +225,6 @@ void GcodeSuite::G28() {
return;
}
- TERN_(BD_SENSOR, bdl.config_state = 0);
-
#if ENABLED(FULL_REPORT_TO_HOST_FEATURE)
const M_StateEnum old_grblstate = M_State_grbl;
set_and_report_grblstate(M_HOMING);
diff --git a/Marlin/src/gcode/config/M43.cpp b/Marlin/src/gcode/config/M43.cpp
index 7657aadc6d8..5ea89b71363 100644
--- a/Marlin/src/gcode/config/M43.cpp
+++ b/Marlin/src/gcode/config/M43.cpp
@@ -139,17 +139,15 @@ inline void servo_probe_test() {
bool deploy_state = false, stow_state;
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
- constexpr bool probe_hit_state = Z_MIN_ENDSTOP_HIT_STATE;
#define PROBE_TEST_PIN Z_MIN_PIN
#define _PROBE_PREF "Z_MIN"
#else
- constexpr bool probe_hit_state = Z_MIN_PROBE_ENDSTOP_HIT_STATE;
#define PROBE_TEST_PIN Z_MIN_PROBE_PIN
#define _PROBE_PREF "Z_MIN_PROBE"
#endif
SERIAL_ECHOLNPGM(". Probe " _PROBE_PREF "_PIN: ", PROBE_TEST_PIN);
- serial_ternary(F(". " _PROBE_PREF "_ENDSTOP_HIT_STATE: "), probe_hit_state, F("HIGH"), F("LOW"));
+ serial_ternary(F(". " _PROBE_PREF "_ENDSTOP_HIT_STATE: "), PROBE_HIT_STATE, F("HIGH"), F("LOW"));
SERIAL_EOL();
SET_INPUT_PULLUP(PROBE_TEST_PIN);
@@ -166,11 +164,11 @@ inline void servo_probe_test() {
SERIAL_ECHOLNPGM(". Check for BLTOUCH");
bltouch._reset();
bltouch._stow();
- if (READ(PROBE_TEST_PIN) != probe_hit_state) {
+ if (!PROBE_TRIGGERED()) {
bltouch._set_SW_mode();
- if (READ(PROBE_TEST_PIN) == probe_hit_state) {
+ if (PROBE_TRIGGERED()) {
bltouch._deploy();
- if (READ(PROBE_TEST_PIN) != probe_hit_state) {
+ if (!PROBE_TRIGGERED()) {
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
@@ -198,7 +196,7 @@ inline void servo_probe_test() {
stow_state = READ(PROBE_TEST_PIN);
}
- if (probe_hit_state == deploy_state) SERIAL_ECHOLNPGM("WARNING: " _PROBE_PREF "_ENDSTOP_HIT_STATE is probably wrong.");
+ if (PROBE_HIT_STATE == deploy_state) SERIAL_ECHOLNPGM("WARNING: " _PROBE_PREF "_ENDSTOP_HIT_STATE is probably wrong.");
if (deploy_state != stow_state) {
SERIAL_ECHOLNPGM("= Mechanical Switch detected");
diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h
index 73729491ada..4bd0ec2fec8 100644
--- a/Marlin/src/gcode/gcode.h
+++ b/Marlin/src/gcode/gcode.h
@@ -720,7 +720,6 @@ private:
#if ENABLED(BD_SENSOR)
static void M102();
- static void M102_report(const bool forReplay=true);
#endif
#if HAS_HOTEND
diff --git a/Marlin/src/gcode/probe/M102.cpp b/Marlin/src/gcode/probe/M102.cpp
index b70c9aed183..f24a723ed79 100644
--- a/Marlin/src/gcode/probe/M102.cpp
+++ b/Marlin/src/gcode/probe/M102.cpp
@@ -30,6 +30,7 @@
#include "../gcode.h"
#include "../../feature/bedlevel/bdl/bdl.h"
+#include "../../MarlinCore.h" // for printingIsActive
/**
* M102: Configure the Bed Distance Sensor
@@ -38,20 +39,25 @@
* M102 S0 : Disable adjustable Z height.
*
* Negative S values are commands:
- * M102 S-1 : Read sensor information
+ * M102 S-1 : Read BDsensor version
+ * M102 S-2 : Read BDsensor distance value
* M102 S-5 : Read raw Calibration data
* M102 S-6 : Start Calibration
*/
void GcodeSuite::M102() {
- if (parser.seenval('S'))
- bdl.config_state = parser.value_int();
- else
- M102_report();
-}
-
-void GcodeSuite::M102_report(const bool forReplay/*=true*/) {
- report_heading(forReplay, F("Bed Distance Sensor"));
- SERIAL_ECHOLNPGM(" M102 S", bdl.config_state);
+ if (bdl.config_state < BDS_IDLE) {
+ SERIAL_ECHOLNPGM("BDsensor is busy:", bdl.config_state);
+ return;
+ }
+ if (parser.seenval('S')) {
+ const int8_t command = parser.value_int();
+ if (command == BDS_READ_MM)
+ SERIAL_ECHOLNPGM("Bed Distance:", bdl.read(), "mm");
+ else if ((command < BDS_IDLE) && printingIsActive())
+ return;
+ else
+ bdl.config_state = command;
+ }
}
#endif // BD_SENSOR
diff --git a/Marlin/src/lcd/extui/nextion/nextion_tft.cpp b/Marlin/src/lcd/extui/nextion/nextion_tft.cpp
index 0327a2f137c..87a6544e5ef 100644
--- a/Marlin/src/lcd/extui/nextion/nextion_tft.cpp
+++ b/Marlin/src/lcd/extui/nextion/nextion_tft.cpp
@@ -451,7 +451,7 @@ void NextionTFT::panelInfo(uint8_t req) {
SEND_VALasTXT("z2", READ(Z2_MAX_PIN) == Z2_MAX_ENDSTOP_HIT_STATE ? "triggered" : "open");
#endif
#if HAS_BED_PROBE
- //SEND_VALasTXT("bltouch", READ(Z_MIN_PROBE_PIN) == Z_MIN_PROBE_ENDSTOP_HIT_STATE ? "triggered" : "open");
+ //SEND_VALasTXT("bltouch", PROBE_TRIGGERED() ? "triggered" : "open");
#else
SEND_NA("bltouch");
#endif
diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp
index 63689bf7ca0..3c1fcc72a9a 100644
--- a/Marlin/src/module/endstops.cpp
+++ b/Marlin/src/module/endstops.cpp
@@ -65,7 +65,11 @@ Endstops::endstop_mask_t Endstops::live_state = 0;
#if ENABLED(BD_SENSOR)
bool Endstops::bdp_state; // = false
- #define READ_ENDSTOP(P) ((P == Z_MIN_PIN) ? bdp_state : READ(P))
+ #if HOMING_Z_WITH_PROBE
+ #define READ_ENDSTOP(P) ((P == TERN(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, Z_MIN_PIN, Z_MIN_PROBE_PIN)) ? bdp_state : READ(P))
+ #else
+ #define READ_ENDSTOP(P) READ(P)
+ #endif
#else
#define READ_ENDSTOP(P) READ(P)
#endif
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index d7b6d76fae8..dd761a56bbb 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -73,6 +73,11 @@
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../core/debug_out.h"
+
+#if ENABLED(BD_SENSOR)
+ #include "../feature/bedlevel/bdl/bdl.h"
+#endif
+
// Relative Mode. Enable with G91, disable with G90.
bool relative_mode; // = false;
@@ -2131,6 +2136,7 @@ void prepare_line_to_destination() {
if (axis == Z_AXIS) {
if (TERN0(BLTOUCH, bltouch.deploy())) return; // BLTouch was deployed above, but get the alarm state.
if (TERN0(PROBE_TARE, probe.tare())) return;
+ TERN_(BD_SENSOR, bdl.config_state = BDS_HOMING_Z);
}
#endif
@@ -2381,6 +2387,10 @@ void prepare_line_to_destination() {
#endif
+ #if ALL(BD_SENSOR, HOMING_Z_WITH_PROBE)
+ if (axis == Z_AXIS) bdl.config_state = BDS_IDLE;
+ #endif
+
// Put away the Z probe
if (TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS && probe.stow())) return;
diff --git a/Marlin/src/module/probe.h b/Marlin/src/module/probe.h
index 05a97d94702..028a7589cc1 100644
--- a/Marlin/src/module/probe.h
+++ b/Marlin/src/module/probe.h
@@ -45,11 +45,19 @@
};
#endif
-#if USE_Z_MIN_PROBE
- #define PROBE_TRIGGERED() (READ(Z_MIN_PROBE_PIN) == Z_MIN_PROBE_ENDSTOP_HIT_STATE)
+#if ENABLED(BD_SENSOR)
+ #define PROBE_READ() bdp_state
+#elif USE_Z_MIN_PROBE
+ #define PROBE_READ() READ(Z_MIN_PROBE_PIN)
#else
- #define PROBE_TRIGGERED() (READ(Z_MIN_PIN) == Z_MIN_ENDSTOP_HIT_STATE)
+ #define PROBE_READ() READ(Z_MIN_PIN)
#endif
+#if USE_Z_MIN_PROBE
+ #define PROBE_HIT_STATE Z_MIN_PROBE_ENDSTOP_HIT_STATE
+#else
+ #define PROBE_HIT_STATE Z_MIN_ENDSTOP_HIT_STATE
+#endif
+#define PROBE_TRIGGERED() (PROBE_READ() == PROBE_HIT_STATE)
// In BLTOUCH HS mode, the probe travels in a deployed state.
#define Z_TWEEN_SAFE_CLEARANCE SUM_TERN(BLTOUCH, Z_CLEARANCE_BETWEEN_PROBES, bltouch.z_extra_clearance())
diff --git a/Marlin/src/module/stepper/indirection.h b/Marlin/src/module/stepper/indirection.h
index 99a677c81fe..d48ff8ae93b 100644
--- a/Marlin/src/module/stepper/indirection.h
+++ b/Marlin/src/module/stepper/indirection.h
@@ -997,7 +997,7 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#if HAS_Z_AXIS
#define ENABLE_AXIS_Z() if (SHOULD_ENABLE(z)) { ENABLE_STEPPER_Z(); ENABLE_STEPPER_Z2(); ENABLE_STEPPER_Z3(); ENABLE_STEPPER_Z4(); AFTER_CHANGE(z, true); }
- #define DISABLE_AXIS_Z() if (SHOULD_DISABLE(z)) { DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); DISABLE_STEPPER_Z4(); AFTER_CHANGE(z, false); set_axis_untrusted(Z_AXIS); Z_RESET(); TERN_(BD_SENSOR, bdl.config_state = 0); }
+ #define DISABLE_AXIS_Z() if (SHOULD_DISABLE(z)) { DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); DISABLE_STEPPER_Z4(); AFTER_CHANGE(z, false); set_axis_untrusted(Z_AXIS); Z_RESET(); TERN_(BD_SENSOR, bdl.config_state = BDS_IDLE); }
#else
#define ENABLE_AXIS_Z() NOOP
#define DISABLE_AXIS_Z() NOOP