From aaf862aef22caa136f4aa63d9fcc4e71c164ae33 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 30 Nov 2018 12:31:42 -0600 Subject: [PATCH] Fix angles for disabled EDITABLE_SERVO_ANGLES (#12559) --- Marlin/src/gcode/config/M281.cpp | 4 +- Marlin/src/inc/Conditionals_post.h | 6 + Marlin/src/module/configuration_store.cpp | 156 ++++++++++++---------- Marlin/src/module/servo.cpp | 5 +- Marlin/src/module/servo.h | 61 ++++++++- 5 files changed, 149 insertions(+), 83 deletions(-) diff --git a/Marlin/src/gcode/config/M281.cpp b/Marlin/src/gcode/config/M281.cpp index 08e6f5633..f06ab05fd 100644 --- a/Marlin/src/gcode/config/M281.cpp +++ b/Marlin/src/gcode/config/M281.cpp @@ -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 diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h index 02334fa1f..253503107 100644 --- a/Marlin/src/inc/Conditionals_post.h +++ b/Marlin/src/inc/Conditionals_post.h @@ -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)) diff --git a/Marlin/src/module/configuration_store.cpp b/Marlin/src/module/configuration_store.cpp index 03fa5a3da..796f5477c 100644 --- a/Marlin/src/module/configuration_store.cpp +++ b/Marlin/src/module/configuration_store.cpp @@ -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 diff --git a/Marlin/src/module/servo.cpp b/Marlin/src/module/servo.cpp index fbb3e6a76..fb17651b1 100644 --- a/Marlin/src/module/servo.cpp +++ b/Marlin/src/module/servo.cpp @@ -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 diff --git a/Marlin/src/module/servo.h b/Marlin/src/module/servo.h index 7dc70559c..54a4f0af0 100644 --- a/Marlin/src/module/servo.h +++ b/Marlin/src/module/servo.h @@ -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();