✨ Bed Distance Sensor (#24554)

.github/workflows/test-builds.yml

@@ -45,6 +45,7 @@ jobs:
         - teensy35
         - teensy41
         - SAMD51_grandcentral_m4
+        - PANDA_PI_V29
 
         # Extended AVR Environments
 

Marlin/Configuration.h

@@ -1886,6 +1886,15 @@
   #define LEVELING_BED_TEMP     50
 #endif
 
+/**
+ * Bed Distance Sensor
+ *
+ * Measures the distance from bed to nozzle with accuracy of 0.01mm.
+ * For information about this sensor https://github.com/markniu/Bed_Distance_sensor
+ * Uses I2C port, so it requires I2C library markyue/Panda_SoftMasterI2C.
+ */
+//#define BD_SENSOR
+
 /**
  * Enable detailed logging of G28, G29, M48, etc.
  * Turn on with the command 'M111 S32'.

Marlin/src/MarlinCore.cpp

@@ -121,6 +121,10 @@
   #include "feature/bltouch.h"
 #endif
 
+#if ENABLED(BD_SENSOR)
+  #include "feature/bedlevel/bdl/bdl.h"
+#endif
+
 #if ENABLED(POLL_JOG)
   #include "feature/joystick.h"
 #endif
@@ -779,6 +783,9 @@ void idle(bool no_stepper_sleep/*=false*/) {
     if (++idle_depth > 5) SERIAL_ECHOLNPGM("idle() call depth: ", idle_depth);
   #endif
 
+  // Bed Distance Sensor task
+  TERN_(BD_SENSOR, bdl.process());
+
   // Core Marlin activities
   manage_inactivity(no_stepper_sleep);
 
@@ -1632,6 +1639,10 @@ void setup() {
     SETUP_RUN(test_tmc_connection());
   #endif
 
+  #if ENABLED(BD_SENSOR)
+    SETUP_RUN(bdl.init(I2C_BD_SDA_PIN, I2C_BD_SCL_PIN, I2C_BD_DELAY));
+  #endif
+
   marlin_state = MF_RUNNING;
 
   SETUP_LOG("setup() completed.");

Marlin/src/core/utility.cpp

@@ -70,6 +70,7 @@ void safe_delay(millis_t ms) {
       TERN_(NOZZLE_AS_PROBE, "NOZZLE_AS_PROBE")
       TERN_(FIX_MOUNTED_PROBE, "FIX_MOUNTED_PROBE")
       TERN_(HAS_Z_SERVO_PROBE, TERN(BLTOUCH, "BLTOUCH", "SERVO PROBE"))
+      TERN_(BD_SENSOR, "BD_SENSOR")
       TERN_(TOUCH_MI_PROBE, "TOUCH_MI_PROBE")
       TERN_(Z_PROBE_SLED, "Z_PROBE_SLED")
       TERN_(Z_PROBE_ALLEN_KEY, "Z_PROBE_ALLEN_KEY")

Marlin/src/feature/babystep.cpp

@@ -54,6 +54,18 @@ void Babystep::add_mm(const AxisEnum axis, const_float_t mm) {
   add_steps(axis, mm * planner.settings.axis_steps_per_mm[axis]);
 }
 
+#if ENABLED(BD_SENSOR)
+  void Babystep::set_mm(const AxisEnum axis, const_float_t mm) {
+    //if (DISABLED(BABYSTEP_WITHOUT_HOMING) && axes_should_home(_BV(axis))) return;
+    const int16_t distance = mm * planner.settings.axis_steps_per_mm[axis];
+    accum = distance; // Count up babysteps for the UI
+    steps[BS_AXIS_IND(axis)] = distance;
+    TERN_(BABYSTEP_DISPLAY_TOTAL, axis_total[BS_TOTAL_IND(axis)] = distance);
+    TERN_(BABYSTEP_ALWAYS_AVAILABLE, gcode.reset_stepper_timeout());
+    TERN_(INTEGRATED_BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping());
+  }
+#endif
+
 void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
   if (DISABLED(BABYSTEP_WITHOUT_HOMING) && axes_should_home(_BV(axis))) return;
 

Marlin/src/feature/babystep.h

@@ -63,6 +63,10 @@ public:
   static void add_steps(const AxisEnum axis, const int16_t distance);
   static void add_mm(const AxisEnum axis, const_float_t mm);
 
+  #if ENABLED(BD_SENSOR)
+    static void set_mm(const AxisEnum axis, const_float_t mm);
+  #endif
+
   static bool has_steps() {
     return steps[BS_AXIS_IND(X_AXIS)] || steps[BS_AXIS_IND(Y_AXIS)] || steps[BS_AXIS_IND(Z_AXIS)];
   }

Marlin/src/feature/bedlevel/bdl/bdl.cpp

@@ -0,0 +1,195 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../../inc/MarlinConfig.h"
+
+#if ENABLED(BD_SENSOR)
+
+#include "../../../MarlinCore.h"
+#include "../../../gcode/gcode.h"
+#include "../../../module/settings.h"
+#include "../../../module/motion.h"
+#include "../../../module/planner.h"
+#include "../../../module/stepper.h"
+#include "../../../module/probe.h"
+#include "../../../module/temperature.h"
+#include "../../../module/endstops.h"
+#include "../../babystep.h"
+
+// I2C software Master library for segment bed heating and bed distance sensor
+#include <Panda_segmentBed_I2C.h>
+
+#include "bdl.h"
+BDS_Leveling bdl;
+
+//#define DEBUG_OUT_BD
+
+// M102 S-5   Read raw Calibrate data
+// M102 S-6   Start Calibrate
+// M102 S4    Set the adjustable Z height value (e.g., 'M102 S4' means it will do adjusting while the Z height <= 0.4mm , disable with 'M102 S0'.)
+// M102 S-1   Read sensor information
+
+#define MAX_BD_HEIGHT                 4.0f
+#define CMD_START_READ_CALIBRATE_DATA 1017
+#define CMD_END_READ_CALIBRATE_DATA   1018
+#define CMD_START_CALIBRATE           1019
+#define CMD_END_CALIBRATE             1021
+#define CMD_READ_VERSION  1016
+
+I2C_SegmentBED BD_I2C_SENSOR;
+
+#define BD_SENSOR_I2C_ADDR            0x3C
+
+int8_t BDS_Leveling::config_state;
+uint8_t BDS_Leveling::homing;
+
+void BDS_Leveling::echo_name() { SERIAL_ECHOPGM("Bed Distance Leveling"); }
+
+void BDS_Leveling::init(uint8_t _sda, uint8_t _scl, uint16_t delay_s) {
+  int ret = BD_I2C_SENSOR.i2c_init(_sda, _scl, BD_SENSOR_I2C_ADDR, delay_s);
+  if (ret != 1) SERIAL_ECHOLNPGM("BD_I2C_SENSOR Init Fail return code:", ret);
+  config_state = 0;
+}
+
+float BDS_Leveling::read() {
+  const uint16_t tmp = BD_I2C_SENSOR.BD_i2c_read();
+  float BD_z = NAN;
+  if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && (tmp & 0x3FF) < 1020)
+    BD_z = (tmp & 0x3FF) / 100.0f;
+  return BD_z;
+}
+
+void BDS_Leveling::process() {
+ //if (config_state == 0) return;
+ static millis_t next_check_ms = 0; // starting at T=0
+ static float z_pose = 0.0f;
+ const millis_t ms = millis();
+ if (ELAPSED(ms, next_check_ms)) { // timed out (or first run)
+    next_check_ms = ms + (config_state < 0 ? 1000 : 100);   // check at 1Hz or 10Hz
+
+    unsigned short tmp = 0;
+    const float cur_z = planner.get_axis_position_mm(Z_AXIS); //current_position.z
+    static float old_cur_z = cur_z,
+                 old_buf_z = current_position.z;
+
+    tmp = BD_I2C_SENSOR.BD_i2c_read();
+    if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && (tmp & 0x3FF) < 1020) {
+      const float z_sensor = (tmp & 0x3FF) / 100.0f;
+      if (cur_z < 0) config_state = 0;
+      //float abs_z = current_position.z > cur_z ? (current_position.z - cur_z) : (cur_z - current_position.z);
+      if ( cur_z < config_state * 0.1f
+        && config_state > 0
+        && old_cur_z == cur_z
+        && old_buf_z == current_position.z
+        && z_sensor < (MAX_BD_HEIGHT)
+      ) {
+        babystep.set_mm(Z_AXIS, cur_z - z_sensor);
+        #if ENABLED(DEBUG_OUT_BD)
+          SERIAL_ECHOLNPGM("BD:", z_sensor, ", Z:", cur_z, "|", current_position.z);
+        #endif
+      }
+      else {
+        babystep.set_mm(Z_AXIS, 0);
+        //if (old_cur_z <= cur_z) Z_DIR_WRITE(!INVERT_Z_DIR);
+        stepper.set_directions();
+      }
+      old_cur_z = cur_z;
+      old_buf_z = current_position.z;
+      endstops.bdp_state_update(z_sensor <= 0.01f);
+      //endstops.update();
+    }
+    else
+      stepper.set_directions();
+
+    #if ENABLED(DEBUG_OUT_BD)
+      SERIAL_ECHOLNPGM("BD:", tmp & 0x3FF, ", Z:", cur_z, "|", current_position.z);
+      if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) == 0) SERIAL_ECHOLNPGM("errorCRC");
+    #endif
+
+    if ((tmp & 0x3FF) > 1020) {
+      BD_I2C_SENSOR.BD_i2c_stop();
+      safe_delay(10);
+    }
+
+    // read raw calibrate data
+    if (config_state == -5) {
+      BD_I2C_SENSOR.BD_i2c_write(CMD_START_READ_CALIBRATE_DATA);
+      safe_delay(1000);
+
+      for (int i = 0; i < MAX_BD_HEIGHT * 10; i++) {
+        tmp = BD_I2C_SENSOR.BD_i2c_read();
+        SERIAL_ECHOLNPGM("Calibrate data:", i, ",", tmp & 0x3FF, ", check:", BD_I2C_SENSOR.BD_Check_OddEven(tmp));
+        safe_delay(500);
+      }
+      config_state = 0;
+      BD_I2C_SENSOR.BD_i2c_write(CMD_END_READ_CALIBRATE_DATA);
+      safe_delay(500);
+    }
+    else if (config_state <= -6) {   // Start Calibrate
+      safe_delay(100);
+      if (config_state == -6) {
+        //BD_I2C_SENSOR.BD_i2c_write(1019); // begin calibrate
+        //delay(1000);
+        gcode.stepper_inactive_time = SEC_TO_MS(60 * 5);
+        gcode.process_subcommands_now(F("M17 Z"));
+        gcode.process_subcommands_now(F("G1 Z0.0"));
+        z_pose = 0;
+        safe_delay(1000);
+        BD_I2C_SENSOR.BD_i2c_write(CMD_START_CALIBRATE); // Begin calibrate
+        SERIAL_ECHOLNPGM("Begin calibrate");
+        safe_delay(2000);
+        config_state = -7;
+      }
+      else if (planner.get_axis_position_mm(Z_AXIS) < 10.0f) {
+        if (z_pose >= MAX_BD_HEIGHT) {
+          BD_I2C_SENSOR.BD_i2c_write(CMD_END_CALIBRATE); // End calibrate
+          SERIAL_ECHOLNPGM("End calibrate data");
+          z_pose = 7;
+          config_state = 0;
+          safe_delay(1000);
+        }
+        else {
+          float tmp_k = 0;
+          char tmp_1[30];
+          sprintf_P(tmp_1, PSTR("G1 Z%d.%d"), int(z_pose), int(int(z_pose * 10) % 10));
+          gcode.process_subcommands_now(tmp_1);
+
+          SERIAL_ECHO(tmp_1);
+          SERIAL_ECHOLNPGM(" ,Z:", current_position.z);
+
+          while (tmp_k < (z_pose - 0.1f)) {
+            tmp_k = planner.get_axis_position_mm(Z_AXIS);
+            safe_delay(1);
+          }
+          safe_delay(800);
+          tmp = (z_pose + 0.0001f) * 10;
+          BD_I2C_SENSOR.BD_i2c_write(tmp);
+          SERIAL_ECHOLNPGM("w:", tmp, ",Zpose:", z_pose);
+          z_pose += 0.1001f;
+          //queue.enqueue_now_P(PSTR("G90"));
+        }
+      }
+    }
+  }
+}
+
+#endif // BD_SENSOR

Marlin/src/feature/bedlevel/bdl/bdl.h

@@ -0,0 +1,36 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#include <stdint.h>
+
+class BDS_Leveling {
+public:
+  static int8_t config_state;
+  static uint8_t homing;
+  static void echo_name();
+  static void init(uint8_t _sda, uint8_t _scl, uint16_t delay_s);
+  static void process();
+  static float read();
+};
+
+extern BDS_Leveling bdl;

Marlin/src/gcode/calibrate/G28.cpp

@@ -36,6 +36,10 @@
   #include "../../feature/bedlevel/bedlevel.h"
 #endif
 
+#if ENABLED(BD_SENSOR)
+  #include "../../feature/bedlevel/bdl/bdl.h"
+#endif
+
 #if ENABLED(SENSORLESS_HOMING)
   #include "../../feature/tmc_util.h"
 #endif
@@ -202,7 +206,9 @@ void GcodeSuite::G28() {
   DEBUG_SECTION(log_G28, "G28", DEBUGGING(LEVELING));
   if (DEBUGGING(LEVELING)) log_machine_info();
 
-  /*
+  TERN_(BD_SENSOR, bdl.config_state = 0);
+
+  /**
    * Set the laser power to false to stop the planner from processing the current power setting.
    */
   #if ENABLED(LASER_FEATURE)

Marlin/src/gcode/gcode.cpp

@@ -577,6 +577,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 100: M100(); break;                                  // M100: Free Memory Report
       #endif
 
+      #if ENABLED(BD_SENSOR)
+        case 102: M102(); break;                                  // M102: Configure Bed Distance Sensor
+      #endif
+
       #if HAS_EXTRUDERS
         case 104: M104(); break;                                  // M104: Set hot end temperature
         case 109: M109(); break;                                  // M109: Wait for hotend temperature to reach target

Marlin/src/gcode/gcode.h

@@ -132,6 +132,8 @@
  *
  * M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER)
  *
+ * M102 - Configure Bed Distance Sensor. (Requires BD_SENSOR)
+ *
  * M104 - Set extruder target temp.
  * M105 - Report current temperatures.
  * M106 - Set print fan speed.
@@ -705,6 +707,11 @@ private:
     static void M100();
   #endif
 
+  #if ENABLED(BD_SENSOR)
+    static void M102();
+    static void M102_report(const bool forReplay=true);
+  #endif
+
   #if HAS_EXTRUDERS
     static void M104_M109(const bool isM109);
     FORCE_INLINE static void M104() { M104_M109(false); }

Marlin/src/gcode/probe/M102.cpp

@@ -0,0 +1,57 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M102.cpp - Configure Bed Distance Sensor
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(BD_SENSOR)
+
+#include "../gcode.h"
+#include "../../feature/bedlevel/bdl/bdl.h"
+
+/**
+ * M102: Configure the Bed Distance Sensor
+ *
+ *   M102 S<10ths> : Set adjustable Z height in 10ths of a mm (e.g., 'M102 S4' enables adjusting for Z <= 0.4mm.)
+ *   M102 S0       : Disable adjustable Z height.
+ *
+ * Negative S values are commands:
+ *   M102 S-1       : Read sensor information
+ *   M102 S-5       : Read raw Calibration data
+ *   M102 S-6       : Start Calibration
+ */
+void GcodeSuite::M102() {
+  if (parser.seenval('S'))
+    bdl.config_state = parser.value_int();
+  else
+    M102_report();
+}
+
+void GcodeSuite::M102_report(const bool forReplay/*=true*/) {
+  report_heading(forReplay, F("Bed Distance Sensor"));
+  SERIAL_ECHOLNPGM("  M102 S", bdl.config_state);
+}
+
+#endif // BD_SENSOR

Marlin/src/inc/Conditionals_LCD.h

@@ -1103,7 +1103,7 @@
 #if ANY(TOUCH_MI_PROBE, Z_PROBE_ALLEN_KEY, SOLENOID_PROBE, Z_PROBE_SLED, RACK_AND_PINION_PROBE, SENSORLESS_PROBING, MAGLEV4, MAG_MOUNTED_PROBE)
   #define HAS_STOWABLE_PROBE 1
 #endif
-#if ANY(HAS_STOWABLE_PROBE, HAS_Z_SERVO_PROBE, FIX_MOUNTED_PROBE, NOZZLE_AS_PROBE)
+#if ANY(HAS_STOWABLE_PROBE, HAS_Z_SERVO_PROBE, FIX_MOUNTED_PROBE, BD_SENSOR, NOZZLE_AS_PROBE)
   #define HAS_BED_PROBE 1
 #endif
 

Marlin/src/inc/SanityCheck.h

@@ -1660,8 +1660,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
  */
 #if 1 < 0 \
   + (DISABLED(BLTOUCH) && HAS_Z_SERVO_PROBE) \
-  + COUNT_ENABLED(PROBE_MANUALLY, BLTOUCH, FIX_MOUNTED_PROBE, NOZZLE_AS_PROBE, TOUCH_MI_PROBE, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, RACK_AND_PINION_PROBE, SENSORLESS_PROBING, MAGLEV4, MAG_MOUNTED_PROBE)
+  + COUNT_ENABLED(PROBE_MANUALLY, BLTOUCH, BD_SENSOR, FIX_MOUNTED_PROBE, NOZZLE_AS_PROBE, TOUCH_MI_PROBE, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, RACK_AND_PINION_PROBE, SENSORLESS_PROBING, MAGLEV4, MAG_MOUNTED_PROBE)
-  #error "Please enable only one probe option: PROBE_MANUALLY, SENSORLESS_PROBING, BLTOUCH, FIX_MOUNTED_PROBE, NOZZLE_AS_PROBE, TOUCH_MI_PROBE, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, MAGLEV4, MAG_MOUNTED_PROBE or Z Servo."
+  #error "Please enable only one probe option: PROBE_MANUALLY, SENSORLESS_PROBING, BLTOUCH, BD_SENSOR, FIX_MOUNTED_PROBE, NOZZLE_AS_PROBE, TOUCH_MI_PROBE, SOLENOID_PROBE, Z_PROBE_ALLEN_KEY, Z_PROBE_SLED, MAGLEV4, MAG_MOUNTED_PROBE or Z Servo."
 #endif
 
 #if HAS_BED_PROBE

Marlin/src/inc/Warnings.cpp

@@ -773,3 +773,10 @@
 #if MB(BTT_BTT002_V1_0, EINSY_RAMBO) && DISABLED(NO_MK3_FAN_PINS_WARNING)
   #warning "Define MK3_FAN_PINS to swap hotend and part cooling fan pins. (Define NO_MK3_FAN_PINS_WARNING to suppress this warning.)"
 #endif
+
+/**
+ * BD Sensor should always include BABYSTEPPING
+ */
+#if ENABLED(BD_SENSOR) && DISABLED(BABYSTEPPING)
+  #warning "BABYSTEPPING is recommended with BD_SENSOR."
+#endif

Marlin/src/module/endstops.cpp

@@ -63,6 +63,13 @@ bool Endstops::enabled, Endstops::enabled_globally; // Initialized by settings.l
 volatile Endstops::endstop_mask_t Endstops::hit_state;
 Endstops::endstop_mask_t Endstops::live_state = 0;
 
+#if ENABLED(BD_SENSOR)
+  bool Endstops::bdp_state; // = false
+  #define READ_ENDSTOP(P) ((P == Z_MIN_PIN) ? bdp_state : READ(P))
+#else
+  #define READ_ENDSTOP(P) READ(P)
+#endif
+
 #if ENDSTOP_NOISE_THRESHOLD
   Endstops::endstop_mask_t Endstops::validated_live_state;
   uint8_t Endstops::endstop_poll_count;
@@ -566,7 +573,7 @@ static void print_es_state(const bool is_hit, FSTR_P const flabel=nullptr) {
 void __O2 Endstops::report_states() {
   TERN_(BLTOUCH, bltouch._set_SW_mode());
   SERIAL_ECHOLNPGM(STR_M119_REPORT);
-  #define ES_REPORT(S) print_es_state(READ(S##_PIN) != S##_ENDSTOP_INVERTING, F(STR_##S))
+  #define ES_REPORT(S) print_es_state(READ_ENDSTOP(S##_PIN) != S##_ENDSTOP_INVERTING, F(STR_##S))
   #if HAS_X_MIN
     ES_REPORT(X_MIN);
   #endif
@@ -703,7 +710,7 @@ void Endstops::update() {
   #endif
 
   // Macros to update / copy the live_state
-  #define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT_TO(live_state, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
+  #define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT_TO(live_state, _ENDSTOP(AXIS, MINMAX), (READ_ENDSTOP(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
   #define COPY_LIVE_STATE(SRC_BIT, DST_BIT) SET_BIT_TO(live_state, DST_BIT, TEST(live_state, SRC_BIT))
 
   #if ENABLED(G38_PROBE_TARGET) && NONE(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX)
@@ -1434,7 +1441,7 @@ void Endstops::update() {
     static uint8_t local_LED_status = 0;
     uint16_t live_state_local = 0;
 
-    #define ES_GET_STATE(S) if (READ(S##_PIN)) SBI(live_state_local, S)
+    #define ES_GET_STATE(S) if (READ_ENDSTOP(S##_PIN)) SBI(live_state_local, S)
 
     #if HAS_X_MIN
       ES_GET_STATE(X_MIN);

Marlin/src/module/endstops.h

@@ -166,6 +166,11 @@ class Endstops {
      */
     static void update();
 
+    #if ENABLED(BD_SENSOR)
+      static bool bdp_state;
+      static void bdp_state_update(const bool z_state) { bdp_state = z_state; }
+    #endif
+
     /**
      * Get Endstop hit state.
      */

Marlin/src/module/probe.cpp

@@ -44,6 +44,10 @@
   #include "../feature/bedlevel/bedlevel.h"
 #endif
 
+#if ENABLED(BD_SENSOR)
+  #include "../feature/bedlevel/bdl/bdl.h"
+#endif
+
 #if ENABLED(DELTA)
   #include "delta.h"
 #endif
@@ -878,6 +882,8 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
   // Move the probe to the starting XYZ
   do_blocking_move_to(npos, feedRate_t(XY_PROBE_FEEDRATE_MM_S));
 
+  TERN_(BD_SENSOR, return bdl.read());
+
   float measured_z = NAN;
   if (!deploy()) {
     measured_z = run_z_probe(sanity_check) + offset.z;

Marlin/src/module/stepper.cpp

@@ -97,6 +97,10 @@ Stepper stepper; // Singleton
 #include "../MarlinCore.h"
 #include "../HAL/shared/Delay.h"
 
+#if ENABLED(BD_SENSOR)
+  #include "../feature/bedlevel/bdl/bdl.h"
+#endif
+
 #if ENABLED(INTEGRATED_BABYSTEPPING)
   #include "../feature/babystep.h"
 #endif

Marlin/src/module/stepper/indirection.h

@@ -981,7 +981,7 @@ void reset_stepper_drivers();    // Called by settings.load / settings.reset
 
 #if HAS_Z_AXIS
   #define  ENABLE_AXIS_Z() if (SHOULD_ENABLE(z))  {  ENABLE_STEPPER_Z();  ENABLE_STEPPER_Z2();  ENABLE_STEPPER_Z3();  ENABLE_STEPPER_Z4(); AFTER_CHANGE(z, true); }
-  #define DISABLE_AXIS_Z() if (SHOULD_DISABLE(z)) { DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); DISABLE_STEPPER_Z4(); AFTER_CHANGE(z, false); set_axis_untrusted(Z_AXIS); Z_RESET(); }
+  #define DISABLE_AXIS_Z() if (SHOULD_DISABLE(z)) { DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); DISABLE_STEPPER_Z4(); AFTER_CHANGE(z, false); set_axis_untrusted(Z_AXIS); Z_RESET(); TERN_(BD_SENSOR, bdl.config_state = 0); }
 #else
   #define  ENABLE_AXIS_Z() NOOP
   #define DISABLE_AXIS_Z() NOOP

Marlin/src/pins/stm32f1/pins_PANDA_PI_V29.h

@@ -38,6 +38,12 @@
   #define MARLIN_EEPROM_SIZE    EEPROM_PAGE_SIZE  // 2K
 #endif
 
+#if ENABLED(BD_SENSOR)
+  #define I2C_BD_SDA_PIN                    PC6
+  #define I2C_BD_SCL_PIN                    PB2
+  #define I2C_BD_DELAY 10                         // (seconds)
+#endif
+
 //
 // Servos
 //

buildroot/tests/PANDA_PI_V29

@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+#
+# Build tests for PANDA_PI_V29
+#
+
+# exit on first failure
+set -e
+
+#
+# Build with the default configurations
+#
+restore_configs
+opt_set MOTHERBOARD BOARD_PANDA_PI_V29 SERIAL_PORT -1 \
+        Z_CLEARANCE_DEPLOY_PROBE 0 Z_CLEARANCE_BETWEEN_PROBES 1 Z_CLEARANCE_MULTI_PROBE 1
+opt_enable BD_SENSOR AUTO_BED_LEVELING_BILINEAR Z_SAFE_HOMING BABYSTEPPING
+exec_test $1 $2 "Panda Pi V29 | BD Sensor | ABL-B" "$3"
+
+# clean up
+restore_configs

ini/features.ini

@@ -99,6 +99,8 @@ HAS_MCP3426_ADC                        = src_filter=+<src/feature/adc> +<src/gco
 AUTO_BED_LEVELING_BILINEAR             = src_filter=+<src/feature/bedlevel/abl>
 AUTO_BED_LEVELING_(3POINT|(BI)?LINEAR) = src_filter=+<src/gcode/bedlevel/abl>
 X_AXIS_TWIST_COMPENSATION              = src_filter=+<src/feature/x_twist.cpp> +<src/lcd/menu/menu_x_twist.cpp> +<src/gcode/probe/M423.cpp>
+BD_SENSOR                              = markyue/Panda_SoftMasterI2C
+                                         src_filter=+<src/feature/bedlevel/bdl> +<src/gcode/probe/M102.cpp>
 MESH_BED_LEVELING                      = src_filter=+<src/feature/bedlevel/mbl> +<src/gcode/bedlevel/mbl>
 AUTO_BED_LEVELING_UBL                  = src_filter=+<src/feature/bedlevel/ubl> +<src/gcode/bedlevel/ubl>
 UBL_HILBERT_CURVE                      = src_filter=+<src/feature/bedlevel/hilbert_curve.cpp>

ini/stm32f1.ini

@@ -83,7 +83,8 @@ build_flags                 = ${common_STM32F103RC_variant.build_flags}
                               -DTIMER_SERVO=TIM1
 board_build.offset          = 0x5000
 board_upload.offset_address = 0x08005000
-
+lib_deps =
+  markyue/Panda_SoftMasterI2C@1.0.3
 #
 # MKS Robin (STM32F103ZET6)
 # Uses HAL STM32 to support Marlin UI for TFT screen with optional touch panel

platformio.ini

@@ -103,6 +103,7 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared> -<src/t
   -<src/feature/backlash.cpp>
   -<src/feature/baricuda.cpp> -<src/gcode/feature/baricuda>
   -<src/feature/bedlevel/abl> -<src/gcode/bedlevel/abl>
+  -<src/feature/bedlevel/bdl> -<src/gcode/probe/M102.cpp>
   -<src/feature/bedlevel/mbl> -<src/gcode/bedlevel/mbl>
   -<src/feature/bedlevel/ubl> -<src/gcode/bedlevel/ubl>
   -<src/feature/bedlevel/hilbert_curve.cpp>