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BLTouch v3 / 3DTouch Interoperability & performance (#13814)

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This commit is contained in:
InsanityAutomation
2019-05-07 22:25:54 -04:00
committed by Scott Lahteine
parent 40aff7e1f2
commit 6811e2921b
107 changed files with 383 additions and 629 deletions
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78
Marlin/src/feature/bltouch.h
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@@ -26,37 +26,75 @@
// BLTouch commands are sent as servo angles
typedef unsigned char BLTCommand;
#define BLTOUCH_DEPLOY 10
#define BLTOUCH_SW_MODE 60
#define BLTOUCH_STOW 90
#define BLTOUCH_SELFTEST 120
#define BLTOUCH_5V_MODE 140
#define BLTOUCH_OD_MODE 150
#define BLTOUCH_RESET 160
#define BLTOUCH_DEPLOY 10
#define BLTOUCH_SW_MODE 60
#define BLTOUCH_STOW 90
#define BLTOUCH_SELFTEST 120
#define BLTOUCH_5V_MODE 140
#define BLTOUCH_OD_MODE 150
#define BLTOUCH_RESET 160
/**
* The following commands may require different delays.
*
* ANTClabs recommends 2000ms for 5V/OD commands. However it is
* not common for other commands to immediately follow these,
* and testing has shown that these complete in 500ms reliably.
*
* AntClabs recommends 750ms for Deploy/Stow, otherwise you will
* not catch an alarm state until the following move command.
*/
#ifndef BLTOUCH_SET5V_DELAY
#define BLTOUCH_SET5V_DELAY BLTOUCH_DELAY
#endif
#ifndef BLTOUCH_SETOD_DELAY
#define BLTOUCH_SETOD_DELAY BLTOUCH_DELAY
#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 BLTOUCH_DELAY
#endif
class BLTouch {
public:
static void init();
static void command(const BLTCommand cmd);
static bool triggered();
static bool triggered(); // used by menu_advanced.cpp
static void init(); // used by main.cpp
FORCE_INLINE static void reset() { command(BLTOUCH_RESET); }
FORCE_INLINE static void selftest() { command(BLTOUCH_SELFTEST); }
// 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(); }
FORCE_INLINE static void set_5V_mode() { command(BLTOUCH_5V_MODE); }
FORCE_INLINE static void set_OD_mode() { command(BLTOUCH_OD_MODE); }
FORCE_INLINE static void set_SW_mode() { command(BLTOUCH_SW_MODE); }
// Native BLTouch commands ("Underscore"...), used in lcd menus and internally
FORCE_INLINE static void _reset() { command(BLTOUCH_RESET, BLTOUCH_RESET_DELAY); }
FORCE_INLINE static bool deploy() { return set_deployed(true); }
FORCE_INLINE static bool stow() { return set_deployed(false); }
FORCE_INLINE static void _selftest() { command(BLTOUCH_SELFTEST, BLTOUCH_DELAY); }
FORCE_INLINE static void _deploy() { command(BLTOUCH_DEPLOY); }
FORCE_INLINE static void _stow() { command(BLTOUCH_STOW); }
FORCE_INLINE static void _set_SW_mode() { command(BLTOUCH_SW_MODE, BLTOUCH_DELAY); }
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 _deploy() { command(BLTOUCH_DEPLOY, BLTOUCH_DEPLOY_DELAY); }
FORCE_INLINE static void _stow() { command(BLTOUCH_STOW, BLTOUCH_STOW_DELAY); }
private:
static bool set_deployed(const bool deploy);
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); }
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();
};
// Deploy/stow angles for use by servo.cpp / servo.h
#define BLTOUCH_ANGLES { BLTOUCH_DEPLOY, BLTOUCH_STOW }
extern BLTouch bltouch;