bltouch: Add a BLTOUCH_DEBUG command

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

docs/G-Codes.md

@@ -153,6 +153,14 @@ enabled:
 - `QUERY_PROBE`: Report the current status of the probe ("triggered"
   or "open").
 
+## BLTouch
+
+The following command is available when a "bltouch" config section is
+enabled:
+- `BLTOUCH_DEBUG COMMAND=<command>`: This sends a command to the
+  BLTouch. It may be useful for debugging. Available commands are:
+  pin_down, touch_mode, pin_up, self_test, reset.
+
 ## Delta Calibration
 
 The following commands are available when the "delta_calibrate" config

klippy/extras/bltouch.py

@@ -3,6 +3,7 @@
 # Copyright (C) 2018  Kevin O'Connor <kevin@koconnor.net>
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
+import logging
 import homing, probe
 
 SIGNAL_PERIOD = 0.025600
@@ -13,11 +14,10 @@ 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
+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:
@@ -45,12 +45,16 @@ class BLTouchEndstopWrapper:
         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, cmd / SIGNAL_PERIOD)
+        self.mcu_pwm.set_pwm(print_time, Commands[cmd] / SIGNAL_PERIOD)
     def test_sensor(self):
         toolhead = self.printer.lookup_object('toolhead')
         print_time = toolhead.get_last_move_time()
@@ -58,10 +62,10 @@ class BLTouchEndstopWrapper:
             self.next_test_time = print_time + TEST_TIME
             return
         # Raise the bltouch probe and test if probe is raised
-        self.send_cmd(print_time, CMD_RESET)
+        self.send_cmd(print_time, '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.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()]
@@ -80,19 +84,34 @@ class BLTouchEndstopWrapper:
         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)
+        self.send_cmd(print_time, 'pin_down')
+        self.send_cmd(print_time + PIN_MOVE_TIME, '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.)
+        self.send_cmd(print_time, 'reset')
+        self.send_cmd(print_time + PIN_MOVE_TIME, None)
         toolhead.dwell(PIN_MOVE_TIME + MIN_CMD_TIME)
         self.mcu_endstop.home_finalize()
     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 + PIN_MOVE_TIME, None)
+        toolhead.dwell(PIN_MOVE_TIME + MIN_CMD_TIME)
 
 def load_config(config):
     blt = BLTouchEndstopWrapper(config)

test/klippy/bltouch.test

@@ -11,6 +11,10 @@ G1 Z1
 G1 X1
 G1 Y1
 
+# Run BLTOUCH_DEBUG
+BLTOUCH_DEBUG
+BLTOUCH_DEBUG COMMAND=reset
+
 # Run bed_mesh_calibrate
 BED_MESH_CALIBRATE