✨ BLTouch High Speed mode runtime configuration (#22916)

Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>

Marlin/Configuration_adv.h

   //#define BLTOUCH_FORCE_MODE_SET
 
   /**
-   * Use "HIGH SPEED" mode for probing.
+   * Enable "HIGH SPEED" option for probing.
    * Danger: Disable if your probe sometimes fails. Only suitable for stable well-adjusted systems.
    * This feature was designed for Deltabots with very fast Z moves; however, higher speed Cartesians
    * might be able to use it. If the machine can't raise Z fast enough the BLTouch may go into ALARM.
+   *
+   * Set the default state here, change with 'M401 S' or UI, use M500 to save, M502 to reset.
    */
-  //#define BLTOUCH_HS_MODE
+  //#define BLTOUCH_HS_MODE true
 
   // Safety: Enable voltage mode settings in the LCD menu.
   //#define BLTOUCH_LCD_VOLTAGE_MENU

Marlin/src/feature/bltouch.cpp

 
 BLTouch bltouch;
 
-bool BLTouch::last_written_mode; // Initialized by settings.load, 0 = Open Drain; 1 = 5V Drain
+bool BLTouch::od_5v_mode;         // Initialized by settings.load, 0 = Open Drain; 1 = 5V Drain
+#ifdef BLTOUCH_HS_MODE
+  bool BLTouch::high_speed_mode;  // Initialized by settings.load, 0 = Low Speed; 1 = High Speed
+#else
+  constexpr bool BLTouch::high_speed_mode;
+#endif
 
 #include "../module/servo.h"
 #include "../module/probe.h"
   #else
 
     if (DEBUGGING(LEVELING)) {
-      DEBUG_ECHOLNPGM("last_written_mode - ", last_written_mode);
-      DEBUG_ECHOLNPGM("config mode - "
-        #if ENABLED(BLTOUCH_SET_5V_MODE)
-          "BLTOUCH_SET_5V_MODE"
-        #else
-          "OD"
-        #endif
-      );
+      PGMSTR(mode0, "OD");
+      PGMSTR(mode1, "5V");
+      DEBUG_ECHOPGM("BLTouch Mode: ");
+      DEBUG_ECHOPGM_P(bltouch.od_5v_mode ? mode1 : mode0);
+      DEBUG_ECHOLNPGM(" (Default " TERN(BLTOUCH_SET_5V_MODE, "5V", "OD") ")");
     }
 
-    const bool should_set = last_written_mode != ENABLED(BLTOUCH_SET_5V_MODE);
+    const bool should_set = od_5v_mode != ENABLED(BLTOUCH_SET_5V_MODE);
 
   #endif
 
   _mode_store();
   if (M5V) _set_5V_mode(); else _set_OD_mode();
   _stow();
-  last_written_mode = M5V;
+  od_5v_mode = M5V;
 }
 
 #endif // BLTOUCH

Marlin/src/feature/bltouch.h

 
 #include "../inc/MarlinConfigPre.h"
 
-#if DISABLED(BLTOUCH_HS_MODE)
-  #define BLTOUCH_SLOW_MODE 1
-#endif
-
 // BLTouch commands are sent as servo angles
 typedef unsigned char BLTCommand;
 
 
 class BLTouch {
 public:
+
   static void init(const bool set_voltage=false);
-  static bool last_written_mode; // Initialized by settings.load, 0 = Open Drain; 1 = 5V Drain
+  static bool od_5v_mode;         // Initialized by settings.load, 0 = Open Drain; 1 = 5V Drain
+
+  #ifdef BLTOUCH_HS_MODE
+    static bool high_speed_mode;  // Initialized by settings.load, 0 = Low Speed; 1 = High Speed
+  #else
+    static constexpr bool high_speed_mode = false;
+  #endif
+
+  static inline float z_extra_clearance() { return high_speed_mode ? 7 : 0; }
 
   // DEPLOY and STOW are wrapped for error handling - these are used by homing and by probing
   static bool deploy()              { return deploy_proc(); }

Marlin/src/gcode/bedlevel/G35.cpp

   #include "../../module/tool_change.h"
 #endif
 
+#if ENABLED(BLTOUCH)
+  #include "../../feature/bltouch.h"
+#endif
+
 #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
 #include "../../core/debug_out.h"
 
     // In BLTOUCH HS mode, the probe travels in a deployed state.
     // Users of G35 might have a badly misaligned bed, so raise Z by the
     // length of the deployed pin (BLTOUCH stroke < 7mm)
-    do_blocking_move_to_z(SUM_TERN(BLTOUCH_HS_MODE, Z_CLEARANCE_BETWEEN_PROBES, 7));
+    do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES + TERN0(BLTOUCH, bltouch.z_extra_clearance()));
     const float z_probed_height = probe.probe_at_point(tramming_points[i], PROBE_PT_RAISE, 0, true);
 
     if (isnan(z_probed_height)) {

Marlin/src/gcode/calibrate/G34_M422.cpp

   #include "../../libs/least_squares_fit.h"
 #endif
 
+#if ENABLED(BLTOUCH)
+  #include "../../feature/bltouch.h"
+#endif
+
 #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
 #include "../../core/debug_out.h"
 
       // In BLTOUCH HS mode, the probe travels in a deployed state.
       // Users of G34 might have a badly misaligned bed, so raise Z by the
       // length of the deployed pin (BLTOUCH stroke < 7mm)
-      #define Z_BASIC_CLEARANCE (Z_CLEARANCE_BETWEEN_PROBES + 7.0f * BOTH(BLTOUCH, BLTOUCH_HS_MODE))
+      #define Z_BASIC_CLEARANCE (Z_CLEARANCE_BETWEEN_PROBES + TERN0(BLTOUCH, bltouch.z_extra_clearance()))
 
       // Compute a worst-case clearance height to probe from. After the first
       // iteration this will be re-calculated based on the actual bed position

Marlin/src/gcode/probe/M401_M402.cpp

 #include "../../module/motion.h"
 #include "../../module/probe.h"
 
+#ifdef BLTOUCH_HS_MODE
+  #include "../../feature/bltouch.h"
+#endif
+
 /**
  * M401: Deploy and activate the Z probe
+ *
+ * With BLTOUCH_HS_MODE:
+ *  S<bool> Set High Speed (HS) Mode and exit without deploy
  */
 void GcodeSuite::M401() {
-  probe.deploy();
-  TERN_(PROBE_TARE, probe.tare());
-  report_current_position();
+  if (parser.seen('S')) {
+    #ifdef BLTOUCH_HS_MODE
+      bltouch.high_speed_mode = parser.value_bool();
+    #endif
+  }
+  else {
+    probe.deploy();
+    TERN_(PROBE_TARE, probe.tare());
+    report_current_position();
+  }
 }
 
 /**

Marlin/src/inc/SanityCheck.h

       #endif
     #endif
 
+    #if ENABLED(BLTOUCH_HS_MODE) && BLTOUCH_HS_MODE == 0
+      #error "BLTOUCH_HS_MODE must now be defined as true or false, indicating the default state."
+    #endif
     #if BLTOUCH_DELAY < 200
       #error "BLTOUCH_DELAY less than 200 is unsafe and is not supported."
     #endif

Marlin/src/lcd/language/language_en.h

   LSTR MSG_BLTOUCH_STOW                   = _UxGT("Stow");
   LSTR MSG_BLTOUCH_DEPLOY                 = _UxGT("Deploy");
   LSTR MSG_BLTOUCH_SW_MODE                = _UxGT("SW-Mode");
+  LSTR MSG_BLTOUCH_SPEED_MODE             = _UxGT("High Speed");
   LSTR MSG_BLTOUCH_5V_MODE                = _UxGT("5V-Mode");
   LSTR MSG_BLTOUCH_OD_MODE                = _UxGT("OD-Mode");
   LSTR MSG_BLTOUCH_MODE_STORE             = _UxGT("Mode-Store");

Marlin/src/lcd/menu/menu_bed_corners.cpp

 
   bool _lcd_level_bed_corners_probe(bool verify=false) {
     if (verify) do_blocking_move_to_z(current_position.z + LEVEL_CORNERS_Z_HOP); // do clearance if needed
-    TERN_(BLTOUCH_SLOW_MODE, bltouch.deploy()); // Deploy in LOW SPEED MODE on every probe action
+    TERN_(BLTOUCH, if (!bltouch.high_speed_mode) bltouch.deploy()); // Deploy in LOW SPEED MODE on every probe action
     do_blocking_move_to_z(last_z - LEVEL_CORNERS_PROBE_TOLERANCE, MMM_TO_MMS(Z_PROBE_FEEDRATE_SLOW)); // Move down to lower tolerance
     if (TEST(endstops.trigger_state(), Z_MIN_PROBE)) { // check if probe triggered
       endstops.hit_on_purpose();
       set_current_from_steppers_for_axis(Z_AXIS);
       sync_plan_position();
-      TERN_(BLTOUCH_SLOW_MODE, bltouch.stow()); // Stow in LOW SPEED MODE on every trigger
+      TERN_(BLTOUCH, if (!bltouch.high_speed_mode) bltouch.stow()); // Stow in LOW SPEED MODE on every trigger
       // Triggered outside tolerance range?
       if (ABS(current_position.z - last_z) > LEVEL_CORNERS_PROBE_TOLERANCE) {
         last_z = current_position.z; // Above tolerance. Set a new Z for subsequent corners.
       }
       idle();
     }
-    TERN_(BLTOUCH_SLOW_MODE, bltouch.stow());
+    TERN_(BLTOUCH, if (!bltouch.high_speed_mode) bltouch.stow());
     ui.goto_screen(_lcd_draw_probing);
     return (probe_triggered);
   }
     do {
       ui.refresh(LCDVIEW_REDRAW_NOW);
       _lcd_draw_probing();                                // update screen with # of good points
-      do_blocking_move_to_z(SUM_TERN(BLTOUCH_HS_MODE, current_position.z + LEVEL_CORNERS_Z_HOP, 7)); // clearance
+
+      do_blocking_move_to_z(current_position.z + LEVEL_CORNERS_Z_HOP + TERN0(BLTOUCH, bltouch.z_extra_clearance())); // clearance
 
       _lcd_level_bed_corners_get_next_position();         // Select next corner coordinates
       current_position -= probe.offset_xy;                // Account for probe offsets
       do_blocking_move_to_xy(current_position);           // Goto corner
 
-      TERN_(BLTOUCH_HS_MODE, bltouch.deploy());           // Deploy in HIGH SPEED MODE
+      TERN_(BLTOUCH, if (bltouch.high_speed_mode) bltouch.deploy()); // Deploy in HIGH SPEED MODE
       if (!_lcd_level_bed_corners_probe()) {              // Probe down to tolerance
         if (_lcd_level_bed_corners_raise()) {             // Prompt user to raise bed if needed
           #if ENABLED(LEVEL_CORNERS_VERIFY_RAISED)        // Verify
 
     } while (good_points < nr_edge_points); // loop until all points within tolerance
 
-    #if ENABLED(BLTOUCH_HS_MODE)
-      // In HIGH SPEED MODE do clearance and stow at the very end
-      do_blocking_move_to_z(current_position.z + LEVEL_CORNERS_Z_HOP);
-      bltouch.stow();
+    #if ENABLED(BLTOUCH)
+      if (bltouch.high_speed_mode)
+        // In HIGH SPEED MODE do clearance and stow at the very end
+        do_blocking_move_to_z(current_position.z + LEVEL_CORNERS_Z_HOP);
+        bltouch.stow();
+      }
     #endif
 
     ui.goto_screen(_lcd_draw_level_prompt); // prompt for bed leveling

Marlin/src/lcd/menu/menu_configuration.cpp

 
   #if ENABLED(BLTOUCH_LCD_VOLTAGE_MENU)
     void bltouch_report() {
-      SERIAL_ECHOLNPGM("EEPROM Last BLTouch Mode - ", bltouch.last_written_mode);
-      SERIAL_ECHOLNPGM("Configuration BLTouch Mode - " TERN(BLTOUCH_SET_5V_MODE, "5V", "OD"));
+      PGMSTR(mode0, "OD");
+      PGMSTR(mode1, "5V");
+      SERIAL_ECHOPGM("BLTouch Mode: ");
+      SERIAL_ECHOPGM_P(bltouch.od_5v_mode ? mode1 : mode0);
+      SERIAL_ECHOLNPGM(" (Default " TERN(BLTOUCH_SET_5V_MODE, "5V", "OD") ")");
       char mess[21];
-      strcpy_P(mess, PSTR("BLTouch Mode - "));
-      strcpy_P(&mess[15], bltouch.last_written_mode ? PSTR("5V") : PSTR("OD"));
+      strcpy_P(mess, PSTR("BLTouch Mode: "));
+      strcpy_P(&mess[15], bltouch.od_5v_mode ? mode1 : mode0);
       ui.set_status(mess);
       ui.return_to_status();
     }
     ACTION_ITEM(MSG_BLTOUCH_DEPLOY, bltouch._deploy);
     ACTION_ITEM(MSG_BLTOUCH_STOW, bltouch._stow);
     ACTION_ITEM(MSG_BLTOUCH_SW_MODE, bltouch._set_SW_mode);
+    #ifdef BLTOUCH_HS_MODE
+      EDIT_ITEM(bool, MSG_BLTOUCH_SPEED_MODE, &bltouch.high_speed_mode);
+    #endif
     #if ENABLED(BLTOUCH_LCD_VOLTAGE_MENU)
       CONFIRM_ITEM(MSG_BLTOUCH_5V_MODE, MSG_BLTOUCH_5V_MODE, MSG_BUTTON_CANCEL, bltouch._set_5V_mode, nullptr, GET_TEXT(MSG_BLTOUCH_MODE_CHANGE));
       CONFIRM_ITEM(MSG_BLTOUCH_OD_MODE, MSG_BLTOUCH_OD_MODE, MSG_BUTTON_CANCEL, bltouch._set_OD_mode, nullptr, GET_TEXT(MSG_BLTOUCH_MODE_CHANGE));

Marlin/src/lcd/menu/menu_tramming.cpp

 #include "../../module/probe.h"
 #include "../../gcode/queue.h"
 
+#if ENABLED(BLTOUCH)
+  #include "../../feature/bltouch.h"
+#endif
+
 //#define DEBUG_OUT 1
 #include "../../core/debug_out.h"
 
 static bool probe_single_point() {
   do_blocking_move_to_z(TERN(BLTOUCH, Z_CLEARANCE_DEPLOY_PROBE, Z_CLEARANCE_BETWEEN_PROBES));
   // Stow after each point with BLTouch "HIGH SPEED" mode for push-pin safety
-  const float z_probed_height = probe.probe_at_point(tramming_points[tram_index], TERN(BLTOUCH_HS_MODE, PROBE_PT_STOW, PROBE_PT_RAISE), 0, true);
+  const float z_probed_height = probe.probe_at_point(tramming_points[tram_index], TERN0(BLTOUCH, bltouch.high_speed_mode) ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, true);
   z_measured[tram_index] = z_probed_height;
   if (reference_index < 0) reference_index = tram_index;
   move_to_tramming_wait_pos();

Marlin/src/module/motion.cpp

     if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Home Fast: ", move_length, "mm");
     do_homing_move(axis, move_length, 0.0, !use_probe_bump);
 
-    #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH_SLOW_MODE)
-      if (axis == Z_AXIS) bltouch.stow(); // Intermediate STOW (in LOW SPEED MODE)
+    #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH)
+      if (axis == Z_AXIS && !bltouch.high_speed_mode) bltouch.stow(); // Intermediate STOW (in LOW SPEED MODE)
     #endif
 
     // If a second homing move is configured...
         }
       #endif
 
-      #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH_SLOW_MODE)
-        if (axis == Z_AXIS && bltouch.deploy()) return; // Intermediate DEPLOY (in LOW SPEED MODE)
+      #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH)
+        if (axis == Z_AXIS && !bltouch.high_speed_mode && bltouch.deploy())
+          return; // Intermediate DEPLOY (in LOW SPEED MODE)
       #endif
 
       // Slow move towards endstop until triggered

Marlin/src/module/probe.cpp

   #if BOTH(HAS_TEMP_HOTEND, WAIT_FOR_HOTEND)
     thermalManager.wait_for_hotend_heating(active_extruder);
   #endif
-
-  if (TERN0(BLTOUCH_SLOW_MODE, bltouch.deploy())) return true; // Deploy in LOW SPEED MODE on every probe action
+  #if ENABLED(BLTOUCH)
+    if (!bltouch.high_speed_mode && bltouch.deploy())
+      return true; // Deploy in LOW SPEED MODE on every probe action
+  #endif
 
   // Disable stealthChop if used. Enable diag1 pin on driver.
   #if ENABLED(SENSORLESS_PROBING)
     set_homing_current(false);
   #endif
 
-  if (probe_triggered && TERN0(BLTOUCH_SLOW_MODE, bltouch.stow())) // Stow in LOW SPEED MODE on every trigger
-    return true;
+  #if ENABLED(BLTOUCH)
+    if (probe_triggered && !bltouch.high_speed_mode && bltouch.stow())
+      return true; // Stow in LOW SPEED MODE on every trigger
+  #endif
 
   // Clear endstop flags
   endstops.hit_on_purpose();
     DEBUG_POS("", current_position);
   }
 
-  #if BOTH(BLTOUCH, BLTOUCH_HS_MODE)
-    if (bltouch.triggered()) bltouch._reset();
+  #if ENABLED(BLTOUCH)
+    if (bltouch.high_speed_mode && bltouch.triggered())
+      bltouch._reset();
   #endif
 
   // On delta keep Z below clip height or do_blocking_move_to will abort

Marlin/src/module/settings.cpp

   //
   // BLTOUCH
   //
-  bool bltouch_last_written_mode;
+  bool bltouch_od_5v_mode;
+  #ifdef BLTOUCH_HS_MODE
+    bool bltouch_high_speed_mode;                       // M401 S
+  #endif
 
   //
   // Kinematic Settings
     // BLTOUCH
     //
     {
-      _FIELD_TEST(bltouch_last_written_mode);
-      const bool bltouch_last_written_mode = TERN(BLTOUCH, bltouch.last_written_mode, false);
-      EEPROM_WRITE(bltouch_last_written_mode);
+      _FIELD_TEST(bltouch_od_5v_mode);
+      const bool bltouch_od_5v_mode = TERN0(BLTOUCH, bltouch.od_5v_mode);
+      EEPROM_WRITE(bltouch_od_5v_mode);
+
+      #ifdef BLTOUCH_HS_MODE
+        _FIELD_TEST(bltouch_high_speed_mode);
+        const bool bltouch_high_speed_mode = TERN0(BLTOUCH, bltouch.high_speed_mode);
+        EEPROM_WRITE(bltouch_high_speed_mode);
+      #endif
     }
 
     //
       // BLTOUCH
       //
       {
-        _FIELD_TEST(bltouch_last_written_mode);
+        _FIELD_TEST(bltouch_od_5v_mode);
         #if ENABLED(BLTOUCH)
-          const bool &bltouch_last_written_mode = bltouch.last_written_mode;
+          const bool &bltouch_od_5v_mode = bltouch.od_5v_mode;
         #else
-          bool bltouch_last_written_mode;
+          bool bltouch_od_5v_mode;
+        #endif
+        EEPROM_READ(bltouch_od_5v_mode);
+
+        #ifdef BLTOUCH_HS_MODE
+          _FIELD_TEST(bltouch_high_speed_mode);
+          #if ENABLED(BLTOUCH)
+            const bool &bltouch_high_speed_mode = bltouch.high_speed_mode;
+          #else
+            bool bltouch_high_speed_mode;
+          #endif
+          EEPROM_READ(bltouch_high_speed_mode);
         #endif
-        EEPROM_READ(bltouch_last_written_mode);
       }
 
       //
   TERN_(HAS_PTC, ptc.reset());
 
   //
-  // BLTOUCH
+  // BLTouch
   //
-  //#if ENABLED(BLTOUCH)
-  //  bltouch.last_written_mode;
-  //#endif
+  #ifdef BLTOUCH_HS_MODE
+    bltouch.high_speed_mode = ENABLED(BLTOUCH_HS_MODE);
+  #endif
 
   //
   // Kinematic settings