Store servo angles in EEPROM

Marlin/src/gcode/config/M281.cpp

@@ -0,0 +1,56 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_SERVOS
+
+#include "../gcode.h"
+#include "../../module/servo.h"
+
+void GcodeSuite::M281() {
+    if (!parser.seen('P')) return;
+  const int servo_index = parser.value_int();
+  if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
+    bool angle_change = false;
+    if (parser.seen('L')) {
+      servo_angles[servo_index][0] = parser.value_int();
+      angle_change = true;
+    }
+    if (parser.seen('U')) {
+      servo_angles[servo_index][1] = parser.value_int();
+      angle_change = true;
+    }
+    if (!angle_change) {
+      SERIAL_ECHO_START();
+      SERIAL_ECHOPAIR(" Servo ", servo_index);
+      SERIAL_ECHOPAIR(" L", servo_angles[servo_index][0]);
+      SERIAL_ECHOLNPAIR(" U", servo_angles[servo_index][1]);
+    }
+  }
+  else {
+    SERIAL_ERROR_START();
+    SERIAL_ECHOPAIR("Servo ", servo_index);
+    SERIAL_ECHOLNPGM(" out of range");
+  }
+}
+
+#endif

Marlin/src/gcode/config/M43.cpp

@@ -103,8 +103,8 @@ inline void servo_probe_test() {
 
     SERIAL_PROTOCOLLNPGM("Servo probe test");
     SERIAL_PROTOCOLLNPAIR(".  using index:  ", probe_index);
-    SERIAL_PROTOCOLLNPAIR(".  deploy angle: ", z_servo_angle[0]);
-    SERIAL_PROTOCOLLNPAIR(".  stow angle:   ", z_servo_angle[1]);
+    SERIAL_PROTOCOLLNPAIR(".  deploy angle: ", servo_angles[probe_index][0]);
+    SERIAL_PROTOCOLLNPAIR(".  stow angle:   ", servo_angles[probe_index][1]);
 
     bool probe_inverting;
 
@@ -146,10 +146,10 @@ inline void servo_probe_test() {
     uint8_t i = 0;
     bool deploy_state, stow_state;
     do {
-      MOVE_SERVO(probe_index, z_servo_angle[0]); //deploy
+      MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]); //deploy
       safe_delay(500);
       deploy_state = READ(PROBE_TEST_PIN);
-      MOVE_SERVO(probe_index, z_servo_angle[1]); //stow
+      MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); //stow
       safe_delay(500);
       stow_state = READ(PROBE_TEST_PIN);
     } while (++i < 4);
@@ -170,7 +170,7 @@ inline void servo_probe_test() {
       #endif
     }
     else {                                           // measure active signal length
-      MOVE_SERVO(probe_index, z_servo_angle[0]);     // deploy
+      MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]);     // deploy
       safe_delay(500);
       SERIAL_PROTOCOLLNPGM("please trigger probe");
       uint16_t probe_counter = 0;
@@ -194,7 +194,7 @@ inline void servo_probe_test() {
           else
             SERIAL_PROTOCOLLNPGM("noise detected - please re-run test"); // less than 2mS pulse
 
-          MOVE_SERVO(probe_index, z_servo_angle[1]); //stow
+          MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); //stow
 
         }  // pulse detected
 

Marlin/src/gcode/gcode.cpp

@@ -487,6 +487,7 @@ void GcodeSuite::process_parsed_command(
 
       #if HAS_SERVOS
         case 280: M280(); break;                                  // M280: Set servo position absolute
+        case 281: M281(); break;
       #endif
 
       #if ENABLED(BABYSTEPPING)

Marlin/src/gcode/gcode.h

@@ -172,6 +172,7 @@
  * M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS)
  * M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS)
  * M280 - Set servo position absolute: "M280 P<index> S<angle|µs>". (Requires servos)
+ * M281 - Set servo min|max position: "M281 P<index> L<min> U<max>". (Requires servos)
  * M290 - Babystepping (Requires BABYSTEPPING)
  * M300 - Play beep sound S<frequency Hz> P<duration ms>
  * M301 - Set PID parameters P I and D. (Requires PIDTEMP)
@@ -627,6 +628,7 @@ private:
 
   #if HAS_SERVOS
     static void M280();
+    static void M281();
   #endif
 
   #if ENABLED(BABYSTEPPING)