116 lines
3.5 KiB
C++
116 lines
3.5 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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/**
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* module/servo.h
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*/
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#include "../inc/MarlinConfig.h"
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#include "../HAL/shared/servo.h"
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#if HAS_SERVO_ANGLES
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#if ENABLED(SWITCHING_EXTRUDER)
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// Switching extruder can have 2 or 4 angles
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#if EXTRUDERS > 3
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#define REQ_ANGLES 4
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#else
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#define REQ_ANGLES 2
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#endif
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constexpr uint16_t sase[] = SWITCHING_EXTRUDER_SERVO_ANGLES;
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static_assert(COUNT(sase) == REQ_ANGLES, "SWITCHING_EXTRUDER_SERVO_ANGLES needs " STRINGIFY(REQ_ANGLES) " angles.");
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#else
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constexpr uint16_t sase[4] = { 0 };
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#endif
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#if ENABLED(SWITCHING_NOZZLE)
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constexpr uint16_t sasn[] = SWITCHING_NOZZLE_SERVO_ANGLES;
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static_assert(COUNT(sasn) == 2, "SWITCHING_NOZZLE_SERVO_ANGLES needs 2 angles.");
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#else
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constexpr uint16_t sasn[2] = { 0 };
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#endif
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#ifdef Z_PROBE_SERVO_NR
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#if ENABLED(BLTOUCH)
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#include "../feature/bltouch.h"
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#undef Z_SERVO_ANGLES
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#define Z_SERVO_ANGLES { BLTOUCH_DEPLOY, BLTOUCH_STOW }
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#endif
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constexpr uint16_t sazp[] = Z_SERVO_ANGLES;
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static_assert(COUNT(sazp) == 2, "Z_SERVO_ANGLES needs 2 angles.");
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#else
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constexpr uint16_t sazp[2] = { 0 };
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#endif
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#ifndef SWITCHING_EXTRUDER_SERVO_NR
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#define SWITCHING_EXTRUDER_SERVO_NR -1
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#endif
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#ifndef SWITCHING_EXTRUDER_E23_SERVO_NR
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#define SWITCHING_EXTRUDER_E23_SERVO_NR -1
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#endif
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#ifndef SWITCHING_NOZZLE_SERVO_NR
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#define SWITCHING_NOZZLE_SERVO_NR -1
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#endif
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#ifndef Z_PROBE_SERVO_NR
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#define Z_PROBE_SERVO_NR -1
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#endif
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#define ASRC(N,I) ( \
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N == SWITCHING_EXTRUDER_SERVO_NR ? sase[I] \
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: N == SWITCHING_EXTRUDER_E23_SERVO_NR ? sase[I+2] \
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: N == SWITCHING_NOZZLE_SERVO_NR ? sasn[I] \
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: N == Z_PROBE_SERVO_NR ? sazp[I] \
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: 0 )
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#if ENABLED(EDITABLE_SERVO_ANGLES)
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extern uint16_t servo_angles[NUM_SERVOS][2];
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#define CONST_SERVO_ANGLES base_servo_angles
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#else
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#define CONST_SERVO_ANGLES servo_angles
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#endif
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constexpr uint16_t CONST_SERVO_ANGLES [NUM_SERVOS][2] = {
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{ ASRC(0,0), ASRC(0,1) }
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#if NUM_SERVOS > 1
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, { ASRC(1,0), ASRC(1,1) }
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#if NUM_SERVOS > 2
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, { ASRC(2,0), ASRC(2,1) }
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#if NUM_SERVOS > 3
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, { ASRC(3,0), ASRC(3,1) }
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#endif
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#endif
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#endif
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};
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#if HAS_Z_SERVO_PROBE
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#define DEPLOY_Z_SERVO() MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][0])
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#define STOW_Z_SERVO() MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][1])
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#endif
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#endif // HAS_SERVO_ANGLES
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#define MOVE_SERVO(I, P) servo[I].move(P)
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extern HAL_SERVO_LIB servo[NUM_SERVOS];
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void servo_init();
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