Collision sensing in Marlin

[Carontes]

Hi, I'm wondering why the collision sensing feature is not available in the Marlin code. I'm talking about this part:

#define BD_SENSOR_CONTACT_PROBE // it uses nozzle collision sensing to probe while homing`

I can't see it in the bugfix-2.1.x version and it's a useful feature to have. I'm waiting for it. Thank you

[markniu]

Hi, you can find it here: https://github.com/markniu/MarlinPULL/blob/bugfix-2.1.x/Marlin/src/feature/bedlevel/bdl/bdl.cpp

[Carontes]

I see that also Marlin bugfix code has it but with much less lines of code

https://github.com/MarlinFirmware/Marlin/blob/bugfix-2.1.x/Marlin/src/feature/bedlevel/bdl/bdl.cpp

So my question is; which one works better for collision sensing? Is the one in Marlin bugfix a more simplified version (with missing parts) or does it can work properly? And if it works do I have to only add #define BD_SENSOR_CONTACT_PROBE // it uses nozzle collision sensing to probe while homing in configuration.h or is there something else to do?
Thank you for your support.

[markniu]

The official Marlin repo's version may not work properly for the contact probe. The code in my GitHub has been tested and as shown in this video: https://www.youtube.com/watch?v=DzmGyJNS9bY

[Carontes]

So I only have to replace the bdl.cpp with your version and the collsion sensing should work properly? Or do I have to modify something else in the official Marlin repo?

[Carontes]

I've copied your bdl.cpp file into Marlin bugfix-2.1.x and when I try to build it this is the error it gives me:
Marlin\src\feature\bedlevel\bdl\bdl.cpp:70:5:` error: conflicting declaration 'int BDS_Leveling::config_state'
70 | int BDS_Leveling::config_state;
| ^~~~~~~~~~~~
In file included from Marlin\src\feature\bedlevel\bdl\bdl.cpp:42:
Marlin\src\feature\bedlevel\bdl\bdl.h:42:17: note: previous declaration as 'int8_t BDS_Leveling::config_state'
42 | static int8_t config_state;
| ^~~~~~~~~~~~
Marlin\src\feature\bedlevel\bdl\bdl.cpp:71:5: error: 'int BDS_Leveling::sw_mode' is not a static data member of 'class BDS_Leveling'
71 | int BDS_Leveling::sw_mode;
| ^~~~~~~~~~~~
Marlin\src\feature\bedlevel\bdl\bdl.cpp:72:6: error: 'bool BDS_Leveling::bd_triggered' is not a static data member of 'class BDS_Leveling'
72 | bool BDS_Leveling::bd_triggered;
| ^~~~~~~~~~~~
Marlin\src\feature\bedlevel\bdl\bdl.cpp: In static member function 'static void BDS_Leveling::init(uint8_t, uint8_t, uint16_t)':
Marlin\src\feature\bedlevel\bdl\bdl.cpp:76:3: error: 'sw_mode' was not declared in this scope; did you mean 'pause_mode'?
76 | sw_mode = -1;
| ^~~~~~~
| pause_mode
Marlin\src\feature\bedlevel\bdl\bdl.cpp:79:3: error: 'sync_plan_position' was not declared in this scope
79 | sync_plan_position();
| ^~~~~~~~~~~~~~~~~~
compilation terminated due to -fmax-errors=5.
*** [.pio\build\mks_robin_nano_v1v2\src\src\feature\bedlevel\bdl\bdl.cpp.o] Error 1
=========================================================================================== [FAILED] Took 42.52 seconds ===========================================================================================

Environment Status Duration

---

mks_robin_nano_v1v2 FAILED 00:00:42.519