From 0a7e7a6fa59172f61d3d6ed94d9ccf055c85bf27 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 26 Feb 2020 06:26:54 -0600 Subject: [PATCH] Allow servo features in combination (#16960) --- Marlin/src/feature/bltouch.h | 3 - Marlin/src/gcode/config/M281.cpp | 6 ++ Marlin/src/inc/Conditionals_LCD.h | 4 ++ Marlin/src/inc/Conditionals_post.h | 10 ---- Marlin/src/module/configuration_store.cpp | 4 +- Marlin/src/module/servo.h | 69 +++++++++++++++-------- 6 files changed, 56 insertions(+), 40 deletions(-) diff --git a/Marlin/src/feature/bltouch.h b/Marlin/src/feature/bltouch.h index 58c5b9ad36..af75fb8b29 100644 --- a/Marlin/src/feature/bltouch.h +++ b/Marlin/src/feature/bltouch.h @@ -105,7 +105,4 @@ private: static void mode_conv_proc(const bool M5V); }; -// Deploy/stow angles for use by servo.cpp / servo.h -#define BLTOUCH_ANGLES { BLTOUCH_DEPLOY, BLTOUCH_STOW } - extern BLTouch bltouch; diff --git a/Marlin/src/gcode/config/M281.cpp b/Marlin/src/gcode/config/M281.cpp index 3a07807f37..e925cd5b12 100644 --- a/Marlin/src/gcode/config/M281.cpp +++ b/Marlin/src/gcode/config/M281.cpp @@ -30,6 +30,12 @@ void GcodeSuite::M281() { if (!parser.seenval('P')) return; const int servo_index = parser.value_int(); if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) { + #if ENABLED(BLTOUCH) + if (servo_index == Z_PROBE_SERVO_NR) { + SERIAL_ERROR_MSG("BLTouch angles can't be changed."); + return; + } + #endif bool angle_change = false; if (parser.seen('L')) { servo_angles[servo_index][0] = parser.value_int(); diff --git a/Marlin/src/inc/Conditionals_LCD.h b/Marlin/src/inc/Conditionals_LCD.h index 7373e65d67..9227f2c81a 100644 --- a/Marlin/src/inc/Conditionals_LCD.h +++ b/Marlin/src/inc/Conditionals_LCD.h @@ -502,6 +502,10 @@ * Set a flag for a servo probe (or BLTouch) */ #define HAS_Z_SERVO_PROBE (defined(Z_PROBE_SERVO_NR) && Z_PROBE_SERVO_NR >= 0) +#define HAS_SERVO_ANGLES (HAS_Z_SERVO_PROBE || EITHER(SWITCHING_EXTRUDER, SWITCHING_NOZZLE)) +#if !HAS_SERVO_ANGLES + #undef EDITABLE_SERVO_ANGLES +#endif /** * Set flags for enabled probes diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h index 31497c9e8a..159aefa5d5 100644 --- a/Marlin/src/inc/Conditionals_post.h +++ b/Marlin/src/inc/Conditionals_post.h @@ -1546,16 +1546,6 @@ #define HAS_SERVO_3 (PIN_EXISTS(SERVO3) && NUM_SERVOS > 3) #define HAS_SERVOS (NUM_SERVOS > 0) -#if HAS_SERVOS && !defined(Z_PROBE_SERVO_NR) - #define Z_PROBE_SERVO_NR -1 -#endif - -#define HAS_SERVO_ANGLES (EITHER(SWITCHING_EXTRUDER, SWITCHING_NOZZLE) || (HAS_Z_SERVO_PROBE && defined(Z_PROBE_SERVO_NR))) - -#if !HAS_SERVO_ANGLES || ENABLED(BLTOUCH) - #undef EDITABLE_SERVO_ANGLES -#endif - // Sensors #define HAS_FILAMENT_WIDTH_SENSOR (PIN_EXISTS(FILWIDTH)) diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp index 906038638f..3fe38d4ade 100644 --- a/Marlin/src/module/configuration_store.cpp +++ b/Marlin/src/module/configuration_store.cpp @@ -2541,7 +2541,7 @@ void MarlinSettings::reset() { // #if ENABLED(EDITABLE_SERVO_ANGLES) - COPY(servo_angles, base_servo_angles); + COPY(servo_angles, base_servo_angles); // When not editable only one copy of servo angles exists #endif // @@ -3091,7 +3091,7 @@ void MarlinSettings::reset() { #endif #elif ENABLED(SWITCHING_NOZZLE) case SWITCHING_NOZZLE_SERVO_NR: - #elif (ENABLED(BLTOUCH) && defined(BLTOUCH_ANGLES)) || (defined(Z_SERVO_ANGLES) && defined(Z_PROBE_SERVO_NR)) + #elif ENABLED(BLTOUCH) || (HAS_Z_SERVO_PROBE && defined(Z_SERVO_ANGLES)) case Z_PROBE_SERVO_NR: #endif CONFIG_ECHO_START(); diff --git a/Marlin/src/module/servo.h b/Marlin/src/module/servo.h index 5f9291e97d..335ce698e0 100644 --- a/Marlin/src/module/servo.h +++ b/Marlin/src/module/servo.h @@ -31,46 +31,65 @@ #if HAS_SERVO_ANGLES #if ENABLED(SWITCHING_EXTRUDER) - #ifndef SWITCHING_EXTRUDER_E23_SERVO_NR - #define SWITCHING_EXTRUDER_E23_SERVO_NR -1 - #endif + // Switching extruder can have 2 or 4 angles #if EXTRUDERS > 3 #define REQ_ANGLES 4 #else #define REQ_ANGLES 2 #endif - #define SADATA SWITCHING_EXTRUDER_SERVO_ANGLES - #define ASRC(N,E) (SWITCHING_EXTRUDER_SERVO_NR == N ? asrc[E] : SWITCHING_EXTRUDER_E23_SERVO_NR == N ? asrc[E+2] : 0) - #elif ENABLED(SWITCHING_NOZZLE) - #define SADATA SWITCHING_NOZZLE_SERVO_ANGLES - #define ASRC(N,E) (SWITCHING_NOZZLE_SERVO_NR == N ? asrc[E] : 0) - #elif defined(Z_PROBE_SERVO_NR) - #define ASRC(N,E) (Z_PROBE_SERVO_NR == N ? asrc[E] : 0) + constexpr uint16_t sase[] = SWITCHING_EXTRUDER_SERVO_ANGLES; + static_assert(COUNT(sase) == REQ_ANGLES, "SWITCHING_EXTRUDER_SERVO_ANGLES needs " STRINGIFY(REQ_ANGLES) " angles."); + #else + constexpr uint16_t sase[4] = { 0 }; + #endif + + #if ENABLED(SWITCHING_NOZZLE) + constexpr uint16_t sasn[] = SWITCHING_NOZZLE_SERVO_ANGLES; + static_assert(COUNT(sasn) == 2, "SWITCHING_NOZZLE_SERVO_ANGLES needs 2 angles."); + #else + constexpr uint16_t sasn[2] = { 0 }; + #endif + + #ifdef Z_PROBE_SERVO_NR #if ENABLED(BLTOUCH) #include "../feature/bltouch.h" + #undef Z_SERVO_ANGLES + #define Z_SERVO_ANGLES { BLTOUCH_DEPLOY, BLTOUCH_STOW } #endif - #ifdef BLTOUCH_ANGLES - #define SADATA BLTOUCH_ANGLES - #elif defined(Z_SERVO_ANGLES) - #define SADATA Z_SERVO_ANGLES - #else - #error "Servo angles are needed!" - #endif + constexpr uint16_t sazp[] = Z_SERVO_ANGLES; + static_assert(COUNT(sazp) == 2, "Z_SERVO_ANGLES needs 2 angles."); + #else + constexpr uint16_t sazp[2] = { 0 }; #endif + #ifndef SWITCHING_EXTRUDER_SERVO_NR + #define SWITCHING_EXTRUDER_SERVO_NR -1 + #endif + #ifndef SWITCHING_EXTRUDER_E23_SERVO_NR + #define SWITCHING_EXTRUDER_E23_SERVO_NR -1 + #endif + #ifndef SWITCHING_NOZZLE_SERVO_NR + #define SWITCHING_NOZZLE_SERVO_NR -1 + #endif + #ifndef Z_PROBE_SERVO_NR + #define Z_PROBE_SERVO_NR -1 + #endif + + #define ASRC(N,I) ( \ + N == SWITCHING_EXTRUDER_SERVO_NR ? sase[I] \ + : N == SWITCHING_EXTRUDER_E23_SERVO_NR ? sase[I+2] \ + : N == SWITCHING_NOZZLE_SERVO_NR ? sasn[I] \ + : N == Z_PROBE_SERVO_NR ? sazp[I] \ + : 0 ) + #if ENABLED(EDITABLE_SERVO_ANGLES) extern uint16_t servo_angles[NUM_SERVOS][2]; - #define BASE_SERVO_ANGLES base_servo_angles + #define CONST_SERVO_ANGLES base_servo_angles #else - #define BASE_SERVO_ANGLES servo_angles + #define CONST_SERVO_ANGLES servo_angles #endif - constexpr uint16_t asrc[] = SADATA; - #if REQ_ANGLES - static_assert(COUNT(asrc) == REQ_ANGLES, "SWITCHING_EXTRUDER_SERVO_ANGLES needs " STRINGIFY(REQ_ANGLES) " angles."); - #endif - - constexpr uint16_t BASE_SERVO_ANGLES [NUM_SERVOS][2] = { + constexpr uint16_t CONST_SERVO_ANGLES [NUM_SERVOS][2] = { { ASRC(0,0), ASRC(0,1) } #if NUM_SERVOS > 1 , { ASRC(1,0), ASRC(1,1) }