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Store servo angles in EEPROM

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This commit is contained in:
Jan
2018-08-07 17:04:46 +02:00
committed by Scott Lahteine
parent 9953213513
commit aa80e448e2
10 changed files with 141 additions and 19 deletions
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70
Marlin/src/module/configuration_store.cpp
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@ -37,7 +37,7 @@
*/
// Change EEPROM version if the structure changes
#define EEPROM_VERSION "V55"
#define EEPROM_VERSION "V56"
#define EEPROM_OFFSET 100
// Check the integrity of data offsets.
@ -70,6 +70,10 @@
#include "../feature/bedlevel/bedlevel.h"
#endif
#if HAS_SERVOS
#include "servo.h"
#endif
#if HAS_BED_PROBE
#include "../module/probe.h"
#endif
@ -174,6 +178,13 @@ typedef struct SettingsDataStruct {
bool planner_leveling_active; // M420 S planner.leveling_active
int8_t ubl_storage_slot; // ubl.storage_slot
//
// SERVO_ANGLES
//
#if HAS_SERVOS
uint8_t servo_angles[NUM_SERVOS][2];
#endif
//
// DELTA / [XYZ]_DUAL_ENDSTOPS
//
@ -532,6 +543,10 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(storage_slot);
#endif // AUTO_BED_LEVELING_UBL
#if HAS_SERVOS
EEPROM_WRITE(servo_angles);
#endif
// 11 floats for DELTA / [XYZ]_DUAL_ENDSTOPS
#if ENABLED(DELTA)
@ -1135,6 +1150,14 @@ void MarlinSettings::postprocess() {
EEPROM_READ(dummyui8);
#endif // AUTO_BED_LEVELING_UBL
//
// SERVO_ANGLES
//
#if HAS_SERVOS
EEPROM_READ(servo_angles);
#endif
//
// DELTA Geometry or Dual Endstops offsets
//
@ -1774,6 +1797,37 @@ void MarlinSettings::reset(PORTARG_SOLO) {
zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
#endif
//
// Servo Angles
//
#if HAS_SERVOS
#if ENABLED(SWITCHING_EXTRUDER)
#if EXTRUDERS > 3
#define REQ_ANGLES 4
#else
#define REQ_ANGLES 2
#endif
const uint8_t extruder_angles[2] = SWITCHING_EXTRUDER_SERVO_ANGLES;
static_assert(COUNT(extruder_angles) == REQ_ANGLES, "SWITCHING_EXTRUDER_SERVO_ANGLES needs " STRINGIFY(REQ_ANGLES) " angles.");
servo_angles[SWITCHING_EXTRUDER_SERVO_NR][0] = extruder_angles[0];
servo_angles[SWITCHING_EXTRUDER_SERVO_NR][1] = extruder_angles[1];
#endif
#if ENABLED(SWITCHING_NOZZLE)
const uint8_t nozzel_angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES;
servo_angles[SWITCHING_NOZZLE_SERVO_NR][0] = nozzel_angles[0];
servo_angles[SWITCHING_NOZZLE_SERVO_NR][1] = nozzel_angles[1];
#endif
#if defined(Z_SERVO_ANGLES) && defined(Z_PROBE_SERVO_NR)
const uint8_t z_probe_angles[2] = Z_SERVO_ANGLES;
servo_angles[Z_PROBE_SERVO_NR][0] = z_probe_angles[0];
servo_angles[Z_PROBE_SERVO_NR][1] = z_probe_angles[1];
#endif
#endif
#if ENABLED(DELTA)
const float adj[ABC] = DELTA_ENDSTOP_ADJ,
dta[ABC] = DELTA_TOWER_ANGLE_TRIM;
@ -2252,6 +2306,20 @@ void MarlinSettings::reset(PORTARG_SOLO) {
#endif // HAS_LEVELING
#if HAS_SERVOS
if (!forReplay) {
CONFIG_ECHO_START;
SERIAL_ECHOLNPGM_P(port, "Servo Angles:");
}
for (uint8_t i = 0; i < NUM_SERVOS; i++) {
CONFIG_ECHO_START;
SERIAL_ECHOPAIR_P(port, " M281 P", i);
SERIAL_ECHOPAIR_P(port, " L",servo_angles[i][0]);
SERIAL_ECHOPAIR_P(port, " U",servo_angles[i][1]);
SERIAL_EOL_P(port);
}
#endif
#if ENABLED(DELTA)
if (!forReplay) {