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Diffstat (limited to 'klippy/extras/bltouch.py')
| -rw-r--r-- | klippy/extras/bltouch.py | 93 |
1 files changed, 93 insertions, 0 deletions
diff --git a/klippy/extras/bltouch.py b/klippy/extras/bltouch.py new file mode 100644 index 00000000..c3ce14db --- /dev/null +++ b/klippy/extras/bltouch.py @@ -0,0 +1,93 @@ +# BLTouch support +# +# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net> +# +# This file may be distributed under the terms of the GNU GPLv3 license. +import homing, probe + +SIGNAL_PERIOD = 0.025600 +PIN_MOVE_TIME = 8 * SIGNAL_PERIOD +MIN_CMD_TIME = 4 * SIGNAL_PERIOD + +TEST_TIME = 5 * 60. +ENDSTOP_SAMPLE_TIME = .000015 +ENDSTOP_SAMPLE_COUNT = 4 + +CMD_PIN_DOWN = 0.000700 +CMD_PIN_UP = 0.001500 +CMD_SELF_TEST = 0.001800 +CMD_RESET = 0.002200 +CMD_TOUCH_MODE = 0.001200 + +# BLTouch "endstop" wrapper +class BLTouchEndstopWrapper: + def __init__(self, config): + self.printer = config.get_printer() + self.next_test_time = 0. + self.position_endstop = config.getfloat('z_offset') + # Create a pwm object to handle the control pin + ppins = self.printer.lookup_object('pins') + self.mcu_pwm = ppins.setup_pin('pwm', config.get('control_pin')) + self.mcu_pwm.setup_max_duration(0.) + self.mcu_pwm.setup_cycle_time(SIGNAL_PERIOD) + # Create an "endstop" object to handle the sensor pin + pin = config.get('sensor_pin') + pin_params = ppins.lookup_pin(pin, can_invert=True, can_pullup=True) + mcu = pin_params['chip'] + mcu.register_config_callback(self._build_config) + self.mcu_endstop = mcu.setup_pin('endstop', pin_params) + # Wrappers + self.get_mcu = self.mcu_endstop.get_mcu + self.add_stepper = self.mcu_endstop.add_stepper + self.get_steppers = self.mcu_endstop.get_steppers + self.home_start = self.mcu_endstop.home_start + self.home_wait = self.mcu_endstop.home_wait + self.query_endstop = self.mcu_endstop.query_endstop + self.query_endstop_wait = self.mcu_endstop.query_endstop_wait + self.TimeoutError = self.mcu_endstop.TimeoutError + def _build_config(self): + kin = self.printer.lookup_object('toolhead').get_kinematics() + for stepper in kin.get_steppers('Z'): + stepper.add_to_endstop(self) + def send_cmd(self, print_time, cmd): + self.mcu_pwm.set_pwm(print_time, cmd / SIGNAL_PERIOD) + def test_sensor(self): + toolhead = self.printer.lookup_object('toolhead') + print_time = toolhead.get_last_move_time() + if print_time < self.next_test_time: + self.next_test_time = print_time + TEST_TIME + return + self.send_cmd(print_time, CMD_RESET) + home_time = print_time + PIN_MOVE_TIME + self.send_cmd(home_time, CMD_TOUCH_MODE) + self.send_cmd(home_time + MIN_CMD_TIME, 0.) + self.mcu_endstop.home_start( + home_time, ENDSTOP_SAMPLE_TIME, ENDSTOP_SAMPLE_COUNT, .001) + try: + self.mcu_endstop.home_wait(home_time + MIN_CMD_TIME) + except self.mcu_endstop.TimeoutError as e: + raise homing.EndstopError("BLTouch sensor test failed") + self.next_test_time = home_time + TEST_TIME + toolhead.reset_print_time(home_time + 2. * MIN_CMD_TIME) + def home_prepare(self): + self.test_sensor() + toolhead = self.printer.lookup_object('toolhead') + print_time = toolhead.get_last_move_time() + self.send_cmd(print_time, CMD_PIN_DOWN) + self.send_cmd(print_time + PIN_MOVE_TIME, CMD_TOUCH_MODE) + toolhead.dwell(PIN_MOVE_TIME + MIN_CMD_TIME) + self.mcu_endstop.home_prepare() + def home_finalize(self): + toolhead = self.printer.lookup_object('toolhead') + print_time = toolhead.get_last_move_time() + self.send_cmd(print_time, CMD_RESET) + self.send_cmd(print_time + PIN_MOVE_TIME, 0.) + toolhead.dwell(PIN_MOVE_TIME + MIN_CMD_TIME) + self.mcu_endstop.home_finalize() + def get_position_endstop(self): + return self.position_endstop + +def load_config(config): + blt = BLTouchEndstopWrapper(config) + config.get_printer().add_object('probe', probe.PrinterProbe(config, blt)) + return blt |