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# 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 math, logging
import homing, probe
SIGNAL_PERIOD = 0.025600
MIN_CMD_TIME = 4 * SIGNAL_PERIOD
TEST_TIME = 5 * 60.
ENDSTOP_REST_TIME = .001
ENDSTOP_SAMPLE_TIME = .000015
ENDSTOP_SAMPLE_COUNT = 4
Commands = {
None: 0.0, 'pin_down': 0.000700, 'touch_mode': 0.001200,
'pin_up': 0.001500, 'self_test': 0.001800, 'reset': 0.002200,
}
# BLTouch "endstop" wrapper
class BLTouchEndstopWrapper:
def __init__(self, config):
self.printer = config.get_printer()
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)
# Setup for sensor test
self.next_test_time = 0.
self.test_sensor_pin = config.getboolean('test_sensor_pin', True)
# Calculate pin move time
pmt = max(config.getfloat('pin_move_time', 0.200), MIN_CMD_TIME)
self.pin_move_time = math.ceil(pmt / SIGNAL_PERIOD) * SIGNAL_PERIOD
# 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_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
# Register BLTOUCH_DEBUG command
self.gcode = self.printer.lookup_object('gcode')
self.gcode.register_command("BLTOUCH_DEBUG", self.cmd_BLTOUCH_DEBUG,
desc=self.cmd_BLTOUCH_DEBUG_help)
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, Commands[cmd] / SIGNAL_PERIOD)
def test_sensor(self):
if not self.test_sensor_pin:
return
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
# Raise the bltouch probe and test if probe is raised
self.send_cmd(print_time, 'reset')
home_time = print_time + self.pin_move_time
self.send_cmd(home_time, 'touch_mode')
self.send_cmd(home_time + MIN_CMD_TIME, None)
# Perform endstop check to verify bltouch reports probe raised
prev_positions = [s.get_commanded_position()
for s in self.mcu_endstop.get_steppers()]
self.mcu_endstop.home_start(home_time, ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME)
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")
for s, pos in zip(self.mcu_endstop.get_steppers(), prev_positions):
s.set_commanded_position(pos)
# Test was successful
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, 'pin_down')
self.send_cmd(print_time + self.pin_move_time, 'touch_mode')
toolhead.dwell(self.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, 'reset')
self.send_cmd(print_time + MIN_CMD_TIME, 'pin_up')
self.send_cmd(print_time + MIN_CMD_TIME + self.pin_move_time, None)
toolhead.dwell(self.pin_move_time + MIN_CMD_TIME)
self.mcu_endstop.home_finalize()
def home_start(self, print_time, sample_time, sample_count, rest_time):
rest_time = min(rest_time, ENDSTOP_REST_TIME)
self.mcu_endstop.home_start(
print_time, sample_time, sample_count, rest_time)
def get_position_endstop(self):
return self.position_endstop
cmd_BLTOUCH_DEBUG_help = "Send a command to the bltouch for debugging"
def cmd_BLTOUCH_DEBUG(self, params):
cmd = self.gcode.get_str('COMMAND', params, None)
if cmd is None or cmd not in Commands:
self.gcode.respond_info("BLTouch commands: %s" % (
", ".join(sorted([c for c in Commands if c is not None]))))
return
toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time()
msg = "Sending BLTOUCH_DEBUG COMMAND=%s" % (cmd,)
self.gcode.respond_info(msg)
logging.info(msg)
self.send_cmd(print_time, cmd)
self.send_cmd(print_time + self.pin_move_time, None)
toolhead.dwell(self.pin_move_time + MIN_CMD_TIME)
def load_config(config):
blt = BLTouchEndstopWrapper(config)
config.get_printer().add_object('probe', probe.PrinterProbe(config, blt))
return blt
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