1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
|
# BLTouch support
#
# Copyright (C) 2018-2019 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 = 0.020
MIN_CMD_TIME = 5 * SIGNAL_PERIOD
TEST_TIME = 5 * 60.
RETRY_RESET_TIME = 1.
ENDSTOP_REST_TIME = .001
ENDSTOP_SAMPLE_TIME = .000015
ENDSTOP_SAMPLE_COUNT = 4
Commands = {
None: 0.0, 'pin_down': 0.000650, 'touch_mode': 0.001165,
'pin_up': 0.001475, 'self_test': 0.001780, 'reset': 0.002190,
'set_5V_output_mode' : 0.001988, 'set_OD_output_mode' : 0.002091,
'output_mode_store' : 0.001884,
}
# BLTouch "endstop" wrapper
class BLTouchEndstopWrapper:
def __init__(self, config):
self.printer = config.get_printer()
self.printer.register_event_handler("klippy:connect",
self.handle_connect)
self.position_endstop = config.getfloat('z_offset')
self.stow_on_each_sample = config.getboolean('stow_on_each_sample',
True)
# 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)
self.next_cmd_time = 0.
# 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)
# output mode
self.output_mode = config.getchoice('set_output_mode',
{'5V': '5V', 'OD': 'OD',
None: None}, None)
# Setup for sensor test
self.next_test_time = 0.
self.pin_up_not_triggered = config.getboolean(
'pin_up_reports_not_triggered', True)
self.pin_up_touch_triggered = config.getboolean(
'pin_up_touch_mode_reports_triggered', True)
self.start_mcu_pos = []
# Calculate pin move time
pmt = max(config.getfloat('pin_move_time', 0.675), 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
# 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)
self.gcode.register_command("BLTOUCH_STORE", self.cmd_BLTOUCH_STORE,
desc=self.cmd_BLTOUCH_STORE_help)
# multi probes state
self.multi = 'OFF'
def _build_config(self):
kin = self.printer.lookup_object('toolhead').get_kinematics()
for stepper in kin.get_steppers():
if stepper.is_active_axis('z'):
self.add_stepper(stepper)
def handle_connect(self):
self.set_output_mode(self.output_mode)
try:
self.raise_probe()
except homing.CommandError as e:
logging.warning("BLTouch raise probe error: %s", str(e))
def sync_mcu_print_time(self):
curtime = self.printer.get_reactor().monotonic()
est_time = self.mcu_pwm.get_mcu().estimated_print_time(curtime)
self.next_cmd_time = max(self.next_cmd_time, est_time + MIN_CMD_TIME)
def sync_print_time(self):
toolhead = self.printer.lookup_object('toolhead')
print_time = toolhead.get_last_move_time()
if self.next_cmd_time > print_time:
toolhead.dwell(self.next_cmd_time - print_time)
else:
self.next_cmd_time = print_time
def send_cmd(self, cmd, duration=MIN_CMD_TIME):
self.mcu_pwm.set_pwm(self.next_cmd_time, Commands[cmd] / SIGNAL_PERIOD)
# Translate duration to ticks to avoid any secondary mcu clock skew
mcu = self.mcu_pwm.get_mcu()
cmd_clock = mcu.print_time_to_clock(self.next_cmd_time)
cmd_clock += mcu.seconds_to_clock(max(duration, MIN_CMD_TIME))
self.next_cmd_time = mcu.clock_to_print_time(cmd_clock)
return self.next_cmd_time
def verify_state(self, check_start_time, check_end_time, triggered):
# Perform endstop check to verify bltouch reports desired state
self.mcu_endstop.home_start(check_start_time, ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME,
triggered=triggered)
return self.mcu_endstop.home_wait(check_end_time)
def raise_probe(self):
self.sync_mcu_print_time()
if not self.pin_up_not_triggered:
# No way to verify raise attempt - just issue commands
self.send_cmd('reset')
self.send_cmd('pin_up', duration=self.pin_move_time)
self.send_cmd(None)
return
for retry in range(3):
check_start_time = self.send_cmd('pin_up',
duration=self.pin_move_time)
check_end_time = self.send_cmd(None)
success = self.verify_state(check_start_time, check_end_time, False)
if success:
# The "probe raised" test completed successfully
break
if retry >= 2:
raise homing.EndstopError("BLTouch failed to raise probe")
msg = "Failed to verify BLTouch probe is raised; retrying."
self.gcode.respond_info(msg)
self.sync_mcu_print_time()
self.send_cmd('reset', duration=RETRY_RESET_TIME)
def lower_probe(self):
self.test_sensor()
self.sync_print_time()
duration = max(MIN_CMD_TIME, self.pin_move_time - MIN_CMD_TIME)
self.send_cmd('pin_down', duration=duration)
self.send_cmd(None)
def test_sensor(self):
if not self.pin_up_touch_triggered:
# Nothing to test
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.sync_print_time()
check_start_time = self.send_cmd('reset', duration=self.pin_move_time)
check_end_time = self.send_cmd('touch_mode')
self.send_cmd(None)
success = self.verify_state(check_start_time, check_end_time, True)
if not success:
raise homing.EndstopError("BLTouch failed to verify sensor state")
# Test was successful
self.next_test_time = check_end_time + TEST_TIME
self.sync_print_time()
def multi_probe_begin(self):
if self.stow_on_each_sample:
return
self.multi = 'FIRST'
def multi_probe_end(self):
if self.stow_on_each_sample:
return
self.raise_probe()
self.multi = 'OFF'
def probe_prepare(self):
if self.multi == 'OFF' or self.multi == 'FIRST':
self.lower_probe()
if self.multi == 'FIRST':
self.multi = 'ON'
self.sync_print_time()
toolhead = self.printer.lookup_object('toolhead')
toolhead.flush_step_generation()
self.start_mcu_pos = [(s, s.get_mcu_position())
for s in self.mcu_endstop.get_steppers()]
def probe_finalize(self):
if self.multi == 'OFF':
self.raise_probe()
self.sync_print_time()
# Verify the probe actually deployed during the attempt
for s, mcu_pos in self.start_mcu_pos:
if s.get_mcu_position() == mcu_pos:
raise homing.EndstopError("BLTouch failed to deploy")
def home_start(self, print_time, sample_time, sample_count, rest_time):
rest_time = min(rest_time, ENDSTOP_REST_TIME)
return self.mcu_endstop.home_start(print_time, sample_time,
sample_count, rest_time)
def get_position_endstop(self):
return self.position_endstop
def set_output_mode(self, mode):
# If this is inadvertently/purposely issued for a
# BLTOUCH pre V3.0 and clones:
# No reaction at all.
# BLTOUCH V3.0 and V3.1:
# This will set the mode.
if mode is None:
return
logging.info("BLTouch set output mode: %s", mode)
self.sync_mcu_print_time()
if mode == '5V':
self.send_cmd('set_5V_output_mode')
if mode == 'OD':
self.send_cmd('set_OD_output_mode')
def store_output_mode(self, mode):
# If this command is inadvertently/purposely issued for a
# BLTOUCH pre V3.0 and clones:
# No reaction at all to this sequence apart from a pin-down/pin-up
# BLTOUCH V3.0:
# This will set the mode (twice) and sadly, a pin-up is needed at
# the end, because of the pin-down
# BLTOUCH V3.1:
# This will set the mode and store it in the eeprom.
# The pin-up is not needed but does not hurt
logging.info("BLTouch store output mode: %s", mode)
self.sync_print_time()
self.send_cmd('pin_down')
if mode == '5V':
self.send_cmd('set_5V_output_mode')
else:
self.send_cmd('set_OD_output_mode')
self.send_cmd('output_mode_store')
if mode == '5V':
self.send_cmd('set_5V_output_mode')
else:
self.send_cmd('set_OD_output_mode')
self.send_cmd('pin_up')
self.send_cmd(None)
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
self.gcode.respond_info("Sending BLTOUCH_DEBUG COMMAND=%s" % (cmd,))
self.sync_print_time()
self.send_cmd(cmd, duration=self.pin_move_time)
self.send_cmd(None)
self.sync_print_time()
cmd_BLTOUCH_STORE_help = "Store an output mode in the BLTouch EEPROM"
def cmd_BLTOUCH_STORE(self, params):
cmd = self.gcode.get_str('MODE', params, None)
if cmd is None or cmd not in ['5V', 'OD']:
self.gcode.respond_info("BLTouch output modes: 5V, OD")
return
self.gcode.respond_info("Storing BLTouch output mode: %s" % (cmd,))
self.sync_print_time()
self.store_output_mode(cmd)
self.sync_print_time()
def load_config(config):
blt = BLTouchEndstopWrapper(config)
config.get_printer().add_object('probe', probe.PrinterProbe(config, blt))
return blt
|
