bltouch: Attempt to verify that the probe raises after each probe attempt

Query the bltouch state during the pin_up command to try and verify
that the probe does actually retract.  This may be useful to detect if
the bltouch enters into an "error" state.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2019-01-04 20:20:02 -05:00
parent 99f96f2832
commit e36122797b
3 changed files with 31 additions and 15 deletions

View File

@ -58,6 +58,11 @@
#pin_move_time: 0.200 #pin_move_time: 0.200
# The amount of time (in seconds) that it takes the BLTouch pin to # The amount of time (in seconds) that it takes the BLTouch pin to
# move up or down. The default is 0.200 seconds. # move up or down. The default is 0.200 seconds.
#pin_up_reports_not_triggered: True
# Set if the BLTouch consistently reports the probe in a "not
# triggered" state after a successful "pin_up" command. This should
# be True for a genuine BLTouch; some BLTouch clones may require
# False. The default is True.
#x_offset: #x_offset:
#y_offset: #y_offset:
#z_offset: #z_offset:

View File

@ -38,6 +38,8 @@ class BLTouchEndstopWrapper:
self.mcu_endstop = mcu.setup_pin('endstop', pin_params) self.mcu_endstop = mcu.setup_pin('endstop', pin_params)
# Setup for sensor test # Setup for sensor test
self.next_test_time = 0. self.next_test_time = 0.
self.pin_up_not_triggered = config.getboolean(
'pin_up_reports_not_triggered', True)
self.test_sensor_pin = config.getboolean('test_sensor_pin', True) self.test_sensor_pin = config.getboolean('test_sensor_pin', True)
self.start_mcu_pos = [] self.start_mcu_pos = []
# Calculate pin move time # Calculate pin move time
@ -74,6 +76,19 @@ class BLTouchEndstopWrapper:
self.mcu_pwm.set_pwm(self.next_cmd_time, Commands[cmd] / SIGNAL_PERIOD) self.mcu_pwm.set_pwm(self.next_cmd_time, Commands[cmd] / SIGNAL_PERIOD)
self.next_cmd_time += max(duration, MIN_CMD_TIME) self.next_cmd_time += max(duration, MIN_CMD_TIME)
return self.next_cmd_time return self.next_cmd_time
def verify_state(self, check_start_time, check_end_time, triggered, msg):
# Perform endstop check to verify bltouch reports desired state
prev_positions = [s.get_commanded_position()
for s in self.mcu_endstop.get_steppers()]
self.mcu_endstop.home_start(check_start_time, ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME,
triggered=triggered)
try:
self.mcu_endstop.home_wait(check_end_time)
except self.mcu_endstop.TimeoutError as e:
raise homing.EndstopError("BLTouch failed to %s" % (msg,))
for s, pos in zip(self.mcu_endstop.get_steppers(), prev_positions):
s.set_commanded_position(pos)
def test_sensor(self): def test_sensor(self):
if not self.test_sensor_pin: if not self.test_sensor_pin:
return return
@ -87,17 +102,8 @@ class BLTouchEndstopWrapper:
check_start_time = self.send_cmd('reset', duration=self.pin_move_time) check_start_time = self.send_cmd('reset', duration=self.pin_move_time)
check_end_time = self.send_cmd('touch_mode') check_end_time = self.send_cmd('touch_mode')
self.send_cmd(None) self.send_cmd(None)
# Perform endstop check to verify bltouch reports probe raised self.verify_state(check_start_time, check_end_time, True,
prev_positions = [s.get_commanded_position() "verify sensor state")
for s in self.mcu_endstop.get_steppers()]
self.mcu_endstop.home_start(check_start_time, ENDSTOP_SAMPLE_TIME,
ENDSTOP_SAMPLE_COUNT, ENDSTOP_REST_TIME)
try:
self.mcu_endstop.home_wait(check_end_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 # Test was successful
self.next_test_time = check_end_time + TEST_TIME self.next_test_time = check_end_time + TEST_TIME
self.sync_print_time() self.sync_print_time()
@ -113,8 +119,11 @@ class BLTouchEndstopWrapper:
def home_finalize(self): def home_finalize(self):
self.sync_mcu_print_time() self.sync_mcu_print_time()
self.send_cmd('reset') self.send_cmd('reset')
self.send_cmd('pin_up', duration=self.pin_move_time - MIN_CMD_TIME) check_start_time = self.send_cmd('pin_up', duration=self.pin_move_time)
self.send_cmd(None) check_end_time = self.send_cmd(None)
if self.pin_up_not_triggered:
self.verify_state(check_start_time, check_end_time,
False, "raise probe")
self.sync_print_time() self.sync_print_time()
# Verify the probe actually deployed during the attempt # Verify the probe actually deployed during the attempt
for s, mcu_pos in self.start_mcu_pos: for s, mcu_pos in self.start_mcu_pos:

View File

@ -181,7 +181,8 @@ class MCU_endstop:
, self._oid) , self._oid)
def home_prepare(self): def home_prepare(self):
pass pass
def home_start(self, print_time, sample_time, sample_count, rest_time): def home_start(self, print_time, sample_time, sample_count, rest_time,
triggered=True):
clock = self._mcu.print_time_to_clock(print_time) clock = self._mcu.print_time_to_clock(print_time)
rest_ticks = int(rest_time * self._mcu.get_adjusted_freq()) rest_ticks = int(rest_time * self._mcu.get_adjusted_freq())
self._homing = True self._homing = True
@ -189,7 +190,8 @@ class MCU_endstop:
self._next_query_print_time = print_time + self.RETRY_QUERY self._next_query_print_time = print_time + self.RETRY_QUERY
self._home_cmd.send( self._home_cmd.send(
[self._oid, clock, self._mcu.seconds_to_clock(sample_time), [self._oid, clock, self._mcu.seconds_to_clock(sample_time),
sample_count, rest_ticks, 1 ^ self._invert], reqclock=clock) sample_count, rest_ticks, triggered ^ self._invert],
reqclock=clock)
for s in self._steppers: for s in self._steppers:
s.note_homing_start(clock) s.note_homing_start(clock)
def home_wait(self, home_end_time): def home_wait(self, home_end_time):