smart_effector: Config and command reference

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>

2 files changed, 80 insertions, 0 deletions

diff --git a/docs/Config_Reference.md b/docs/Config_Reference.md
index 70807e7d..f297dbdc 100644
--- a/docs/Config_Reference.md
+++ b/docs/Config_Reference.md
@@ -1746,6 +1746,58 @@ control_pin:
 #   See the "probe" section for information on these parameters.
 ```
 
+### [smart_effector]
+Smart Effector. One may define this section instead of `[probe]` to enable
+the SmartEffector-specific features. This also enables
+[runtime commands](G-Codes.md#smart-effector) to adjust the parameters of
+the Smart Effector at run time.
+
+```
+[smart_effector]
+pin:
+#   Pin connected to the Smart Effector Z Probe output pin (pin 5). Note that
+#   pullup resistor on the board is generally not required. However, if the
+#   output pin is connected to the board pin with a pullup resistor, that
+#   resistor must be high value (e.g. 10K Ohm or more). Some boards have a low
+#   value pullup resistor on the Z probe input, which will likely result in an
+#   always-triggered probe state. In this case, connect the Smart Effector to
+#   a different pin on the board. This parameter is required.
+# control_pin:
+#   Pin connected to the Smart Effector control input pin (pin 7). If provided,
+#   Smart Effector sensitivity programming commands become available.
+# probe_accel:
+#   If set, limits the acceleration of the probing moves (in mm/sec^2).
+#   A sudden large acceleration at the beginning of the probing move may
+#   cause spurious probe triggering, especially if the hotend is heavy.
+#   To prevent that, it may be necessary to reduce the acceleration of
+#   the probing moves via this parameter.
+# recovery_time: 0.4
+#   A delay between the travel moves and the probing moves in seconds. A fast
+#   travel move prior to probing may result in a spurious probe triggering.
+#   This may cause 'Probe triggered prior to movement' errors if no delay
+#   is set. Value 0 disables the recovery delay.
+#   Default value is 0.4.
+#x_offset:
+#y_offset:
+#   Should be left unset (or set to 0).
+z_offset:
+#   Trigger height of the probe. Start with -0.1 (mm), and adjust later using
+#   `PROBE_CALIBRATE` command. This parameter must be provided.
+#speed:
+#   Speed (in mm/s) of the Z axis when probing. It is recommended to start
+#   with the probing speed of 20 mm/s and adjust it as necessary to improve
+#   the accuracy and repeatability of the probe triggering.
+#samples:
+#sample_retract_dist:
+#samples_result:
+#samples_tolerance:
+#samples_tolerance_retries:
+#activate_gcode:
+#deactivate_gcode:
+#deactivate_on_each_sample:
+#   See the "probe" section for more information on the parameters above.
+```
+
 ## Additional stepper motors and extruders
 
 ### [stepper_z1]
diff --git a/docs/G-Codes.md b/docs/G-Codes.md
index 80a99d3f..b617608c 100644
--- a/docs/G-Codes.md
+++ b/docs/G-Codes.md
@@ -1053,6 +1053,34 @@ profile matching the supplied name from persistent memory. Note that
 after SAVE or REMOVE operations have been run the SAVE_CONFIG gcode
 must be run to make the changes to persistent memory permanent.
 
+### [smart_effector]
+
+Several commands are available when a
+[smart_effector config section](Config_Reference.md#smart-effector) is enabled.
+Be sure to check the official documentation for the Smart Effector on the
+[Duet3D Wiki](https://duet3d.dozuki.com/Wiki/Smart_effector_and_carriage_adapters_for_delta_printer)
+before changing the Smart Effector parameters. Also check the
+[probe calibration guide](Probe_Calibrate.md).
+
+#### SET_SMART_EFFECTOR
+`SET_SMART_EFFECTOR [SENSITIVITY=<sensitivity>] [ACCEL=<accel>]
+[RECOVERY_TIME=<time>]`: Set the Smart Effector parameters. When `SENSITIVITY`
+is specified, the respective value is written to the SmartEffector EEPROM
+(requires `control_pin` to be provided). Acceptable <sensitivity> values are
+0..255, the default is 50. Lower values require less nozzle contact force to
+trigger (but there is a higher risk of false triggering due to vibrations
+during probing), and higher values reduce false triggering (but require larger
+contact force to trigger). Since the sensitivity is written to EEPROM, it is
+preserved after the shutdown, and so it does not need to be configured on
+every printer startup. `ACCEL` and `RECOVERY_TIME` allow to override the
+corresponding parameters at run-time, see the
+[config section](Config_Reference.md#smart-effector) of Smart Effector for
+more info on those parameters.
+
+#### RESET_SMART_EFFECTOR
+`RESET_SMART_EFFECTOR`: Resets Smart Effector sensitivity to its factory
+settings. Requires `control_pin` to be provided in the config section.
+
 ### [stepper_enable]
 
 The stepper_enable module is automatically loaded.