183 lines
8.1 KiB
Python
183 lines
8.1 KiB
Python
# BLTouch support
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#
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# Copyright (C) 2018-2019 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import math, logging
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import homing, probe
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SIGNAL_PERIOD = 0.020
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MIN_CMD_TIME = 5 * SIGNAL_PERIOD
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TEST_TIME = 5 * 60.
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RETRY_RESET_TIME = 1.
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ENDSTOP_REST_TIME = .001
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ENDSTOP_SAMPLE_TIME = .000015
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ENDSTOP_SAMPLE_COUNT = 4
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Commands = {
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None: 0.0, 'pin_down': 0.000650, 'touch_mode': 0.001165,
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'pin_up': 0.001475, 'self_test': 0.001780, 'reset': 0.002190,
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}
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# BLTouch "endstop" wrapper
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class BLTouchEndstopWrapper:
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def __init__(self, config):
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self.printer = config.get_printer()
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self.printer.register_event_handler("klippy:connect",
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self.handle_connect)
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self.position_endstop = config.getfloat('z_offset')
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# Create a pwm object to handle the control pin
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ppins = self.printer.lookup_object('pins')
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self.mcu_pwm = ppins.setup_pin('pwm', config.get('control_pin'))
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self.mcu_pwm.setup_max_duration(0.)
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self.mcu_pwm.setup_cycle_time(SIGNAL_PERIOD)
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self.next_cmd_time = 0.
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# Create an "endstop" object to handle the sensor pin
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pin = config.get('sensor_pin')
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pin_params = ppins.lookup_pin(pin, can_invert=True, can_pullup=True)
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mcu = pin_params['chip']
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mcu.register_config_callback(self._build_config)
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self.mcu_endstop = mcu.setup_pin('endstop', pin_params)
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# Setup for sensor test
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self.next_test_time = 0.
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self.pin_up_not_triggered = config.getboolean(
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'pin_up_reports_not_triggered', True)
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self.pin_up_touch_triggered = config.getboolean(
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'pin_up_touch_mode_reports_triggered', True)
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self.start_mcu_pos = []
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# Calculate pin move time
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pmt = max(config.getfloat('pin_move_time', 0.675), MIN_CMD_TIME)
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self.pin_move_time = math.ceil(pmt / SIGNAL_PERIOD) * SIGNAL_PERIOD
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# Wrappers
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self.get_mcu = self.mcu_endstop.get_mcu
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self.add_stepper = self.mcu_endstop.add_stepper
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self.get_steppers = self.mcu_endstop.get_steppers
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self.home_wait = self.mcu_endstop.home_wait
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self.query_endstop = self.mcu_endstop.query_endstop
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self.TimeoutError = self.mcu_endstop.TimeoutError
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# Register BLTOUCH_DEBUG command
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command("BLTOUCH_DEBUG", self.cmd_BLTOUCH_DEBUG,
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desc=self.cmd_BLTOUCH_DEBUG_help)
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def _build_config(self):
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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for stepper in kin.get_steppers('Z'):
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stepper.add_to_endstop(self)
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def handle_connect(self):
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try:
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self.raise_probe()
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except homing.CommandError as e:
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logging.warning("BLTouch raise probe error: %s", str(e))
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def sync_mcu_print_time(self):
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curtime = self.printer.get_reactor().monotonic()
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est_time = self.mcu_pwm.get_mcu().estimated_print_time(curtime)
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self.next_cmd_time = max(self.next_cmd_time, est_time + MIN_CMD_TIME)
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def sync_print_time(self):
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toolhead = self.printer.lookup_object('toolhead')
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print_time = toolhead.get_last_move_time()
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if self.next_cmd_time > print_time:
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toolhead.dwell(self.next_cmd_time - print_time)
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else:
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self.next_cmd_time = print_time
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def send_cmd(self, cmd, duration=MIN_CMD_TIME):
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self.mcu_pwm.set_pwm(self.next_cmd_time, Commands[cmd] / SIGNAL_PERIOD)
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# Translate duration to ticks to avoid any secondary mcu clock skew
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mcu = self.mcu_pwm.get_mcu()
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cmd_clock = mcu.print_time_to_clock(self.next_cmd_time)
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cmd_clock += mcu.seconds_to_clock(max(duration, MIN_CMD_TIME))
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self.next_cmd_time = mcu.clock_to_print_time(cmd_clock)
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return self.next_cmd_time
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def verify_state(self, check_start_time, check_end_time, triggered, msg):
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# Perform endstop check to verify bltouch reports desired state
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prev_positions = [s.get_commanded_position()
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for s in self.mcu_endstop.get_steppers()]
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self.mcu_endstop.home_start(check_start_time, ENDSTOP_SAMPLE_TIME,
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ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME,
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triggered=triggered)
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try:
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self.mcu_endstop.home_wait(check_end_time)
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except self.mcu_endstop.TimeoutError as e:
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raise homing.EndstopError("BLTouch failed to %s" % (msg,))
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for s, pos in zip(self.mcu_endstop.get_steppers(), prev_positions):
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s.set_commanded_position(pos)
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def raise_probe(self):
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for retry in range(3):
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self.sync_mcu_print_time()
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if retry or not self.pin_up_not_triggered:
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self.send_cmd('reset')
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check_start_time = self.send_cmd('pin_up',
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duration=self.pin_move_time)
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check_end_time = self.send_cmd(None)
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if self.pin_up_not_triggered:
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try:
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self.verify_state(check_start_time, check_end_time,
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False, "raise probe")
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except homing.CommandError as e:
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if retry >= 2:
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raise
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msg = "Failed to verify BLTouch probe is raised; retrying."
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self.gcode.respond_info(msg)
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self.next_cmd_time += RETRY_RESET_TIME
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continue
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break
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def test_sensor(self):
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if not self.pin_up_touch_triggered:
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# Nothing to test
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return
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toolhead = self.printer.lookup_object('toolhead')
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print_time = toolhead.get_last_move_time()
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if print_time < self.next_test_time:
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self.next_test_time = print_time + TEST_TIME
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return
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# Raise the bltouch probe and test if probe is raised
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self.sync_print_time()
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check_start_time = self.send_cmd('reset', duration=self.pin_move_time)
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check_end_time = self.send_cmd('touch_mode')
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self.send_cmd(None)
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self.verify_state(check_start_time, check_end_time, True,
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"verify sensor state")
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# Test was successful
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self.next_test_time = check_end_time + TEST_TIME
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self.sync_print_time()
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def home_prepare(self):
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self.test_sensor()
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self.sync_print_time()
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self.send_cmd('pin_down', duration=self.pin_move_time - MIN_CMD_TIME)
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self.send_cmd(None)
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self.sync_print_time()
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self.mcu_endstop.home_prepare()
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self.start_mcu_pos = [(s, s.get_mcu_position())
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for s in self.mcu_endstop.get_steppers()]
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def home_finalize(self):
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self.raise_probe()
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self.sync_print_time()
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# Verify the probe actually deployed during the attempt
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for s, mcu_pos in self.start_mcu_pos:
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if s.get_mcu_position() == mcu_pos:
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raise homing.EndstopError("BLTouch failed to deploy")
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self.mcu_endstop.home_finalize()
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def home_start(self, print_time, sample_time, sample_count, rest_time):
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rest_time = min(rest_time, ENDSTOP_REST_TIME)
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self.mcu_endstop.home_start(
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print_time, sample_time, sample_count, rest_time)
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def get_position_endstop(self):
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return self.position_endstop
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cmd_BLTOUCH_DEBUG_help = "Send a command to the bltouch for debugging"
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def cmd_BLTOUCH_DEBUG(self, params):
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cmd = self.gcode.get_str('COMMAND', params, None)
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if cmd is None or cmd not in Commands:
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self.gcode.respond_info("BLTouch commands: %s" % (
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", ".join(sorted([c for c in Commands if c is not None]))))
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return
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self.gcode.respond_info("Sending BLTOUCH_DEBUG COMMAND=%s" % (cmd,))
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self.sync_print_time()
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self.send_cmd(cmd, duration=self.pin_move_time)
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self.send_cmd(None)
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self.sync_print_time()
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def load_config(config):
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blt = BLTouchEndstopWrapper(config)
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config.get_printer().add_object('probe', probe.PrinterProbe(config, blt))
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return blt
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