From ea22640d78a11ae11d7caef894898532d5c5ffd8 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 9 Jun 2022 00:51:08 -0500 Subject: [PATCH] =?UTF-8?q?=F0=9F=A7=91=E2=80=8D=F0=9F=92=BB=20Remove=20se?= =?UTF-8?q?rvo=20macros?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Marlin/src/feature/bltouch.cpp | 2 +- Marlin/src/feature/spindle_laser.cpp | 4 ++-- Marlin/src/gcode/config/M43.cpp | 8 ++++---- Marlin/src/gcode/control/M280.cpp | 6 +++--- Marlin/src/gcode/control/M282.cpp | 2 +- Marlin/src/module/probe.cpp | 2 +- Marlin/src/module/servo.cpp | 8 ++++---- Marlin/src/module/servo.h | 7 ++----- Marlin/src/module/temperature.cpp | 6 +++--- Marlin/src/module/tool_change.cpp | 8 ++++---- 10 files changed, 25 insertions(+), 28 deletions(-) diff --git a/Marlin/src/feature/bltouch.cpp b/Marlin/src/feature/bltouch.cpp index d911fae6ae..10d3131aed 100644 --- a/Marlin/src/feature/bltouch.cpp +++ b/Marlin/src/feature/bltouch.cpp @@ -45,7 +45,7 @@ void stop(); bool BLTouch::command(const BLTCommand cmd, const millis_t &ms) { if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("BLTouch Command :", cmd); - MOVE_SERVO(Z_PROBE_SERVO_NR, cmd); + servo[Z_PROBE_SERVO_NR].move(cmd); safe_delay(_MAX(ms, (uint32_t)BLTOUCH_DELAY)); // BLTOUCH_DELAY is also the *minimum* delay return triggered(); } diff --git a/Marlin/src/feature/spindle_laser.cpp b/Marlin/src/feature/spindle_laser.cpp index 8f70816c99..4f8f4d49dc 100644 --- a/Marlin/src/feature/spindle_laser.cpp +++ b/Marlin/src/feature/spindle_laser.cpp @@ -58,7 +58,7 @@ cutter_power_t SpindleLaser::menuPower, // Power s */ void SpindleLaser::init() { #if ENABLED(SPINDLE_SERVO) - MOVE_SERVO(SPINDLE_SERVO_NR, SPINDLE_SERVO_MIN); + servo[SPINDLE_SERVO_NR].move(SPINDLE_SERVO_MIN); #else OUT_WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Init spindle to off #endif @@ -131,7 +131,7 @@ void SpindleLaser::apply_power(const uint8_t opwr) { isReady = false; } #elif ENABLED(SPINDLE_SERVO) - MOVE_SERVO(SPINDLE_SERVO_NR, power); + servo[SPINDLE_SERVO_NR].move(power); #else WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE); isReady = true; diff --git a/Marlin/src/gcode/config/M43.cpp b/Marlin/src/gcode/config/M43.cpp index de76b8e979..688b94c9bf 100644 --- a/Marlin/src/gcode/config/M43.cpp +++ b/Marlin/src/gcode/config/M43.cpp @@ -198,10 +198,10 @@ inline void servo_probe_test() { uint8_t i = 0; SERIAL_ECHOLNPGM(". Deploy & stow 4 times"); do { - MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy + servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy safe_delay(500); deploy_state = READ(PROBE_TEST_PIN); - MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); // Stow + servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][1]); // Stow safe_delay(500); stow_state = READ(PROBE_TEST_PIN); } while (++i < 4); @@ -226,7 +226,7 @@ inline void servo_probe_test() { } // Ask the user for a trigger event and measure the pulse width. - MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy + servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy safe_delay(500); SERIAL_ECHOLNPGM("** Please trigger probe within 30 sec **"); uint16_t probe_counter = 0; @@ -256,7 +256,7 @@ inline void servo_probe_test() { } else SERIAL_ECHOLNPGM("FAIL: Noise detected - please re-run test"); - MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); // Stow + servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][1]); // Stow return; } } diff --git a/Marlin/src/gcode/control/M280.cpp b/Marlin/src/gcode/control/M280.cpp index ed156e16e9..82981e44bc 100644 --- a/Marlin/src/gcode/control/M280.cpp +++ b/Marlin/src/gcode/control/M280.cpp @@ -56,14 +56,14 @@ void GcodeSuite::M280() { while (PENDING(now, end)) { safe_delay(50); now = _MIN(millis(), end); - MOVE_SERVO(servo_index, LROUND(aold + (anew - aold) * (float(now - start) / t))); + servo[servo_index].move(LROUND(aold + (anew - aold) * (float(now - start) / t))); } } #endif // POLARGRAPH - MOVE_SERVO(servo_index, anew); + servo[servo_index].move(anew); } else - DETACH_SERVO(servo_index); + servo[servo_index].detach(); } else SERIAL_ECHO_MSG(" Servo ", servo_index, ": ", servo[servo_index].read()); diff --git a/Marlin/src/gcode/control/M282.cpp b/Marlin/src/gcode/control/M282.cpp index e6f5ce7dcc..3ac5ac9f5b 100644 --- a/Marlin/src/gcode/control/M282.cpp +++ b/Marlin/src/gcode/control/M282.cpp @@ -36,7 +36,7 @@ void GcodeSuite::M282() { const int servo_index = parser.value_int(); if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) - DETACH_SERVO(servo_index); + servo[servo_index].detach(); else SERIAL_ECHO_MSG("Servo ", servo_index, " out of range"); diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp index 66e1c85028..2649aa41b6 100644 --- a/Marlin/src/module/probe.cpp +++ b/Marlin/src/module/probe.cpp @@ -343,7 +343,7 @@ FORCE_INLINE void probe_specific_action(const bool deploy) { #elif HAS_Z_SERVO_PROBE - MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][deploy ? 0 : 1]); + servo[Z_PROBE_SERVO_NR].move(servo_angles[Z_PROBE_SERVO_NR][deploy ? 0 : 1]); #elif EITHER(TOUCH_MI_PROBE, Z_PROBE_ALLEN_KEY) diff --git a/Marlin/src/module/servo.cpp b/Marlin/src/module/servo.cpp index 96d5ba9da8..2782be1f2b 100644 --- a/Marlin/src/module/servo.cpp +++ b/Marlin/src/module/servo.cpp @@ -39,19 +39,19 @@ hal_servo_t servo[NUM_SERVOS]; void servo_init() { #if NUM_SERVOS >= 1 && HAS_SERVO_0 servo[0].attach(SERVO0_PIN); - DETACH_SERVO(0); // Just set up the pin. We don't have a position yet. Don't move to a random position. + servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position. #endif #if NUM_SERVOS >= 2 && HAS_SERVO_1 servo[1].attach(SERVO1_PIN); - DETACH_SERVO(1); + servo[1].detach(); #endif #if NUM_SERVOS >= 3 && HAS_SERVO_2 servo[2].attach(SERVO2_PIN); - DETACH_SERVO(2); + servo[2].detach(); #endif #if NUM_SERVOS >= 4 && HAS_SERVO_3 servo[3].attach(SERVO3_PIN); - DETACH_SERVO(3); + servo[3].detach(); #endif } diff --git a/Marlin/src/module/servo.h b/Marlin/src/module/servo.h index cd55a317a2..2ed992aa03 100644 --- a/Marlin/src/module/servo.h +++ b/Marlin/src/module/servo.h @@ -103,14 +103,11 @@ }; #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]) + #define DEPLOY_Z_SERVO() servo[Z_PROBE_SERVO_NR].move(servo_angles[Z_PROBE_SERVO_NR][0]) + #define STOW_Z_SERVO() servo[Z_PROBE_SERVO_NR].move(servo_angles[Z_PROBE_SERVO_NR][1]) #endif #endif // HAS_SERVO_ANGLES -#define MOVE_SERVO(I, P) servo[I].move(P) -#define DETACH_SERVO(I) servo[I].detach() - extern hal_servo_t servo[NUM_SERVOS]; void servo_init(); diff --git a/Marlin/src/module/temperature.cpp b/Marlin/src/module/temperature.cpp index 531c52c09d..17ab08d4c2 100644 --- a/Marlin/src/module/temperature.cpp +++ b/Marlin/src/module/temperature.cpp @@ -1881,7 +1881,7 @@ void Temperature::manage_heater() { #endif #if ENABLED(CHAMBER_VENT) flag_chamber_excess_heat = false; - MOVE_SERVO(CHAMBER_VENT_SERVO_NR, 90); + servo[CHAMBER_VENT_SERVO_NR].move(90); #endif } #endif @@ -1897,7 +1897,7 @@ void Temperature::manage_heater() { if (flag_chamber_excess_heat) { temp_chamber.soft_pwm_amount = 0; #if ENABLED(CHAMBER_VENT) - if (!flag_chamber_off) MOVE_SERVO(CHAMBER_VENT_SERVO_NR, temp_chamber.celsius <= temp_chamber.target ? 0 : 90); + if (!flag_chamber_off) servo[CHAMBER_VENT_SERVO_NR].move(temp_chamber.celsius <= temp_chamber.target ? 0 : 90); #endif } else { @@ -1910,7 +1910,7 @@ void Temperature::manage_heater() { temp_chamber.soft_pwm_amount = temp_chamber.celsius < temp_chamber.target ? (MAX_CHAMBER_POWER) >> 1 : 0; #endif #if ENABLED(CHAMBER_VENT) - if (!flag_chamber_off) MOVE_SERVO(CHAMBER_VENT_SERVO_NR, 0); + if (!flag_chamber_off) servo[CHAMBER_VENT_SERVO_NR].move(0); #endif } } diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp index e2f1443048..4b292c92f9 100644 --- a/Marlin/src/module/tool_change.cpp +++ b/Marlin/src/module/tool_change.cpp @@ -116,7 +116,7 @@ void move_extruder_servo(const uint8_t e) { planner.synchronize(); if ((EXTRUDERS & 1) && e < EXTRUDERS - 1) { - MOVE_SERVO(_SERVO_NR(e), servo_angles[_SERVO_NR(e)][e & 1]); + servo[_SERVO_NR(e)].move(servo_angles[_SERVO_NR(e)][e & 1]); safe_delay(500); } } @@ -131,7 +131,7 @@ constexpr int8_t sns_index[2] = { SWITCHING_NOZZLE_SERVO_NR, SWITCHING_NOZZLE_E1_SERVO_NR }; constexpr int16_t sns_angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES; planner.synchronize(); - MOVE_SERVO(sns_index[e], sns_angles[angle_index]); + servo[sns_index[e]].move(sns_angles[angle_index]); safe_delay(500); } @@ -142,7 +142,7 @@ void move_nozzle_servo(const uint8_t angle_index) { planner.synchronize(); - MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, servo_angles[SWITCHING_NOZZLE_SERVO_NR][angle_index]); + servo[SWITCHING_NOZZLE_SERVO_NR].move(servo_angles[SWITCHING_NOZZLE_SERVO_NR][angle_index]); safe_delay(500); } @@ -443,7 +443,7 @@ void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0. inline void switching_toolhead_lock(const bool locked) { #ifdef SWITCHING_TOOLHEAD_SERVO_ANGLES const uint16_t swt_angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES; - MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, swt_angles[locked ? 0 : 1]); + servo[SWITCHING_TOOLHEAD_SERVO_NR].move(swt_angles[locked ? 0 : 1]); #elif PIN_EXISTS(SWT_SOLENOID) OUT_WRITE(SWT_SOLENOID_PIN, locked); gcode.dwell(10);