131 lines
5.8 KiB
Python
131 lines
5.8 KiB
Python
# BLTouch support
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#
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# Copyright (C) 2018 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 = 0.025600
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MIN_CMD_TIME = 4 * SIGNAL_PERIOD
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TEST_TIME = 5 * 60.
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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': 0.000700, 'touch_mode': 0.001200,
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'pin_up': 0.001500, 'self_test': 0.001800, 'reset': 0.002200,
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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.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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# 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.test_sensor_pin = config.getboolean('test_sensor_pin', True)
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# Calculate pin move time
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pmt = max(config.getfloat('pin_move_time', 0.200), 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.query_endstop_wait = self.mcu_endstop.query_endstop_wait
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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 send_cmd(self, print_time, cmd):
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self.mcu_pwm.set_pwm(print_time, Commands[cmd] / SIGNAL_PERIOD)
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def test_sensor(self):
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if not self.test_sensor_pin:
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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.send_cmd(print_time, 'reset')
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home_time = print_time + self.pin_move_time
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self.send_cmd(home_time, 'touch_mode')
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self.send_cmd(home_time + MIN_CMD_TIME, None)
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# Perform endstop check to verify bltouch reports probe raised
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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(home_time, ENDSTOP_SAMPLE_TIME,
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ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME)
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try:
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self.mcu_endstop.home_wait(home_time + MIN_CMD_TIME)
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except self.mcu_endstop.TimeoutError as e:
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raise homing.EndstopError("BLTouch sensor test failed")
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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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# Test was successful
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self.next_test_time = home_time + TEST_TIME
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toolhead.reset_print_time(home_time + 2. * MIN_CMD_TIME)
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def home_prepare(self):
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self.test_sensor()
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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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self.send_cmd(print_time, 'pin_down')
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self.send_cmd(print_time + self.pin_move_time, 'touch_mode')
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toolhead.dwell(self.pin_move_time + MIN_CMD_TIME)
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self.mcu_endstop.home_prepare()
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def home_finalize(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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self.send_cmd(print_time, 'reset')
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self.send_cmd(print_time + MIN_CMD_TIME, 'pin_up')
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self.send_cmd(print_time + MIN_CMD_TIME + self.pin_move_time, None)
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toolhead.dwell(self.pin_move_time + MIN_CMD_TIME)
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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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toolhead = self.printer.lookup_object('toolhead')
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print_time = toolhead.get_last_move_time()
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msg = "Sending BLTOUCH_DEBUG COMMAND=%s" % (cmd,)
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self.gcode.respond_info(msg)
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logging.info(msg)
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self.send_cmd(print_time, cmd)
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self.send_cmd(print_time + self.pin_move_time, None)
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toolhead.dwell(self.pin_move_time + MIN_CMD_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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