andrey
/
Marlin_FB4S
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Fix angles for disabled EDITABLE_SERVO_ANGLES (#12559)

pull/1/head
Scott Lahteine 6 years ago
committed by GitHub
parent
c986239837
commit
aaf862aef2
No known key found for this signature in database GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 149 additions and 83 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      Marlin/src/gcode/config/M281.cpp
  2. 6
      Marlin/src/inc/Conditionals_post.h
  3. 156
      Marlin/src/module/configuration_store.cpp
  4. 5
      Marlin/src/module/servo.cpp
  5. 61
      Marlin/src/module/servo.h

4
Marlin/src/gcode/config/M281.cpp
View File

@ -21,7 +21,7 @@
*/
#include "../../inc/MarlinConfig.h"
#if HAS_SERVOS && ENABLED(EDITABLE_SERVO_ANGLES)
#if ENABLED(EDITABLE_SERVO_ANGLES)
#include "../gcode.h"
#include "../../module/servo.h"
@ -53,4 +53,4 @@ void GcodeSuite::M281() {
}
}
#endif // HAS_SERVOS && EDITABLE_SERVO_ANGLES
#endif // EDITABLE_SERVO_ANGLES

6
Marlin/src/inc/Conditionals_post.h
View File

@ -974,6 +974,12 @@
#define Z_PROBE_SERVO_NR -1
#endif
#define HAS_SERVO_ANGLES (ENABLED(SWITCHING_EXTRUDER) || ENABLED(SWITCHING_NOZZLE) || (HAS_Z_SERVO_PROBE && defined(Z_PROBE_SERVO_NR)))
#if !HAS_SERVO_ANGLES
#undef EDITABLE_SERVO_ANGLES
#endif
// Sensors
#define HAS_FILAMENT_WIDTH_SENSOR (PIN_EXISTS(FILWIDTH))

156
Marlin/src/module/configuration_store.cpp
View File

@ -76,9 +76,9 @@
#if HAS_SERVOS
#include "servo.h"
#define EEPROM_NUM_SERVOS NUM_SERVOS
#else
#undef NUM_SERVOS
#define NUM_SERVOS NUM_SERVO_PLUGS
#define EEPROM_NUM_SERVOS NUM_SERVO_PLUGS
#endif
#if HAS_BED_PROBE
@ -187,7 +187,7 @@ typedef struct SettingsDataStruct {
//
// SERVO_ANGLES
//
uint16_t servo_angles[NUM_SERVOS][2]; // M281 P L U
uint16_t servo_angles[EEPROM_NUM_SERVOS][2]; // M281 P L U
//
// DELTA / [XYZ]_DUAL_ENDSTOPS
@ -632,36 +632,11 @@ void MarlinSettings::postprocess() {
// Servo Angles
//
{
#if !(HAS_SERVOS && ENABLED(EDITABLE_SERVO_ANGLES))
uint16_t servo_angles[NUM_SERVOS][2] = { { 0, 0 } };
#if ENABLED(SWITCHING_EXTRUDER)
constexpr uint16_t sesa[][2] = SWITCHING_EXTRUDER_SERVO_ANGLES;
servo_angles[SWITCHING_EXTRUDER_SERVO_NR][0] = sesa[0][0];
servo_angles[SWITCHING_EXTRUDER_SERVO_NR][1] = sesa[0][1];
#if EXTRUDERS > 3
servo_angles[SWITCHING_EXTRUDER_E23_SERVO_NR][0] = sesa[1][0];
servo_angles[SWITCHING_EXTRUDER_E23_SERVO_NR][1] = sesa[1][1];
#endif
#elif ENABLED(SWITCHING_NOZZLE)
constexpr uint16_t snsa[] = SWITCHING_NOZZLE_SERVO_ANGLES;
servo_angles[SWITCHING_NOZZLE_SERVO_NR][0] = snsa[0];
servo_angles[SWITCHING_NOZZLE_SERVO_NR][1] = snsa[1];
#elif defined(Z_SERVO_ANGLES) && defined(Z_PROBE_SERVO_NR)
constexpr uint16_t zsa[] = Z_SERVO_ANGLES;
servo_angles[Z_PROBE_SERVO_NR][0] = zsa[0];
servo_angles[Z_PROBE_SERVO_NR][1] = zsa[1];
#endif
#endif // !HAS_SERVOS || !EDITABLE_SERVO_ANGLES
_FIELD_TEST(servo_angles);
#if !HAS_SERVOS
uint16_t servo_angles[NUM_SERVO_PLUGS][2] = { { 0, 0 } };
#endif
EEPROM_WRITE(servo_angles);
}
@ -1311,10 +1286,14 @@ void MarlinSettings::postprocess() {
// SERVO_ANGLES
//
{
#if !(HAS_SERVOS && ENABLED(EDITABLE_SERVO_ANGLES))
uint16_t servo_angles[NUM_SERVOS][2];
_FIELD_TEST(servo_angles);
#if ENABLED(EDITABLE_SERVO_ANGLES)
uint16_t (&servo_angles_arr)[EEPROM_NUM_SERVOS][2] = servo_angles;
#else
uint16_t servo_angles_arr[EEPROM_NUM_SERVOS][2];
#endif
EEPROM_READ(servo_angles);
EEPROM_READ(servo_angles_arr);
}
//
@ -1992,39 +1971,13 @@ void MarlinSettings::reset(PORTARG_SOLO) {
// Servo Angles
//
#if HAS_SERVOS && ENABLED(EDITABLE_SERVO_ANGLES)
#if ENABLED(SWITCHING_EXTRUDER)
#if EXTRUDERS > 3
#define REQ_ANGLES 4
#else
#define REQ_ANGLES 2
#endif
constexpr uint16_t sesa[] = SWITCHING_EXTRUDER_SERVO_ANGLES;
static_assert(COUNT(sesa) == REQ_ANGLES, "SWITCHING_EXTRUDER_SERVO_ANGLES needs " STRINGIFY(REQ_ANGLES) " angles.");
servo_angles[SWITCHING_EXTRUDER_SERVO_NR][0] = sesa[0];
servo_angles[SWITCHING_EXTRUDER_SERVO_NR][1] = sesa[1];
#if EXTRUDERS > 3
servo_angles[SWITCHING_EXTRUDER_E23_SERVO_NR][0] = sesa[2];
servo_angles[SWITCHING_EXTRUDER_E23_SERVO_NR][1] = sesa[3];
#endif
#elif ENABLED(SWITCHING_NOZZLE)
constexpr uint16_t snsa[2] = SWITCHING_NOZZLE_SERVO_ANGLES;
servo_angles[SWITCHING_NOZZLE_SERVO_NR][0] = snsa[0];
servo_angles[SWITCHING_NOZZLE_SERVO_NR][1] = snsa[1];
#elif defined(Z_SERVO_ANGLES) && defined(Z_PROBE_SERVO_NR)
constexpr uint16_t zsa[2] = Z_SERVO_ANGLES;
servo_angles[Z_PROBE_SERVO_NR][0] = zsa[0];
servo_angles[Z_PROBE_SERVO_NR][1] = zsa[1];
#endif
#if ENABLED(EDITABLE_SERVO_ANGLES)
COPY(servo_angles, base_servo_angles);
#endif
#endif // HAS_SERVOS && EDITABLE_SERVO_ANGLES
//
// Endstop Adjustments
//
#if ENABLED(DELTA)
const float adj[ABC] = DELTA_ENDSTOP_ADJ, dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
@ -2083,6 +2036,10 @@ void MarlinSettings::reset(PORTARG_SOLO) {
#endif
//
// Preheat parameters
//
#if HAS_LCD_MENU
ui.preheat_hotend_temp[0] = PREHEAT_1_TEMP_HOTEND;
ui.preheat_hotend_temp[1] = PREHEAT_2_TEMP_HOTEND;
@ -2092,6 +2049,10 @@ void MarlinSettings::reset(PORTARG_SOLO) {
ui.preheat_fan_speed[1] = PREHEAT_2_FAN_SPEED;
#endif
//
// Hotend PID
//
#if ENABLED(PIDTEMP)
HOTEND_LOOP() {
PID_PARAM(Kp, e) = float(DEFAULT_Kp);
@ -2101,10 +2062,19 @@ void MarlinSettings::reset(PORTARG_SOLO) {
PID_PARAM(Kc, e) = DEFAULT_Kc;
#endif
}
#if ENABLED(PID_EXTRUSION_SCALING)
thermalManager.lpq_len = 20; // default last-position-queue size
#endif
#endif // PIDTEMP
#endif
//
// PID Extrusion Scaling
//
#if ENABLED(PID_EXTRUSION_SCALING)
thermalManager.lpq_len = 20; // Default last-position-queue size
#endif
//
// Heated Bed PID
//
#if ENABLED(PIDTEMPBED)
thermalManager.bed_pid.Kp = DEFAULT_bedKp;
@ -2112,18 +2082,34 @@ void MarlinSettings::reset(PORTARG_SOLO) {
thermalManager.bed_pid.Kd = scalePID_d(DEFAULT_bedKd);
#endif
//
// LCD Contrast
//
#if HAS_LCD_CONTRAST
ui.set_contrast(DEFAULT_LCD_CONTRAST);
#endif
//
// Power-Loss Recovery
//
#if ENABLED(POWER_LOSS_RECOVERY)
recovery.enable(true);
#endif
//
// Firmware Retraction
//
#if ENABLED(FWRETRACT)
fwretract.reset();
#endif
//
// Volumetric & Filament Size
//
#if DISABLED(NO_VOLUMETRICS)
parser.volumetric_enabled =
@ -2148,16 +2134,36 @@ void MarlinSettings::reset(PORTARG_SOLO) {
reset_stepper_drivers();
//
// Linear Advance
//
#if ENABLED(LIN_ADVANCE)
LOOP_L_N(i, EXTRUDERS) planner.extruder_advance_K[i] = LIN_ADVANCE_K;
#endif
//
// Motor Current PWM
//
#if HAS_MOTOR_CURRENT_PWM
uint32_t tmp_motor_current_setting[3] = PWM_MOTOR_CURRENT;
for (uint8_t q = 3; q--;)
stepper.digipot_current(q, (stepper.motor_current_setting[q] = tmp_motor_current_setting[q]));
#endif
//
// CNC Coordinate System
//
#if ENABLED(CNC_COORDINATE_SYSTEMS)
(void)gcode.select_coordinate_system(-1); // Go back to machine space
#endif
//
// Skew Correction
//
#if ENABLED(SKEW_CORRECTION_GCODE)
planner.skew_factor.xy = XY_SKEW_FACTOR;
#if ENABLED(SKEW_CORRECTION_FOR_Z)
@ -2166,6 +2172,10 @@ void MarlinSettings::reset(PORTARG_SOLO) {
#endif
#endif
//
// Advanced Pause filament load & unload lengths
//
#if ENABLED(ADVANCED_PAUSE_FEATURE)
for (uint8_t e = 0; e < EXTRUDERS; e++) {
fc_settings[e].unload_length = FILAMENT_CHANGE_UNLOAD_LENGTH;
@ -2491,7 +2501,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
#endif // HAS_LEVELING
#if HAS_SERVOS && ENABLED(EDITABLE_SERVO_ANGLES)
#if ENABLED(EDITABLE_SERVO_ANGLES)
CONFIG_ECHO_HEADING("Servo Angles:");
for (uint8_t i = 0; i < NUM_SERVOS; i++) {
@ -2515,7 +2525,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
}
}
#endif // HAS_SERVOS && EDITABLE_SERVO_ANGLES
#endif // EDITABLE_SERVO_ANGLES
#if HAS_SCARA_OFFSET

5
Marlin/src/module/servo.cpp
View File

@ -31,7 +31,10 @@
#include "servo.h"
HAL_SERVO_LIB servo[NUM_SERVOS];
uint16_t servo_angles[NUM_SERVOS][2];
#if ENABLED(EDITABLE_SERVO_ANGLES)
uint16_t servo_angles[NUM_SERVOS][2];
#endif
void servo_init() {
#if NUM_SERVOS >= 1 && HAS_SERVO_0

61
Marlin/src/module/servo.h
View File

@ -28,13 +28,60 @@
#include "../inc/MarlinConfig.h"
#include "../HAL/shared/servo.h"
extern HAL_SERVO_LIB servo[NUM_SERVOS];
extern uint16_t servo_angles[NUM_SERVOS][2];
extern void servo_init();
#if HAS_SERVO_ANGLES
#if ENABLED(SWITCHING_EXTRUDER)
#ifndef SWITCHING_EXTRUDER_E23_SERVO_NR
#define SWITCHING_EXTRUDER_E23_SERVO_NR -1
#endif
#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_SERVO_ANGLES) && defined(Z_PROBE_SERVO_NR)
#define SADATA Z_SERVO_ANGLES
#define ASRC(N,E) (Z_PROBE_SERVO_NR == N ? asrc[E] : 0)
#endif
#if ENABLED(EDITABLE_SERVO_ANGLES)
extern uint16_t servo_angles[NUM_SERVOS][2];
#define BASE_SERVO_ANGLES base_servo_angles
#else
#define BASE_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] = {
{ ASRC(0,0), ASRC(0,1) }
#if NUM_SERVOS > 1
, { ASRC(1,0), ASRC(1,1) }
#if NUM_SERVOS > 2
, { ASRC(2,0), ASRC(2,1) }
#if NUM_SERVOS > 3
, { ASRC(3,0), ASRC(3,1) }
#endif
#endif
#endif
};
#if HAS_Z_SERVO_PROBE
#define DEPLOY_Z_SERVO() MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][0])
#define STOW_Z_SERVO() MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][1])
#endif
#endif // HAS_SERVO_ANGLES
#define MOVE_SERVO(I, P) servo[I].move(P)
#if HAS_Z_SERVO_PROBE
#define DEPLOY_Z_SERVO() MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][0])
#define STOW_Z_SERVO() MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][1])
#endif
extern HAL_SERVO_LIB servo[NUM_SERVOS];
extern void servo_init();

Write Preview
Loading…
Cancel
Save