mirror of
https://github.com/MarlinFirmware/Marlin.git
synced 2024-12-15 06:51:40 +00:00
97 lines
2.9 KiB
C++
97 lines
2.9 KiB
C++
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (c) 2019 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/>.
|
|
*
|
|
*/
|
|
#pragma once
|
|
|
|
/**
|
|
* module/servo.h
|
|
*/
|
|
|
|
#include "../inc/MarlinConfig.h"
|
|
#include "../HAL/shared/servo.h"
|
|
|
|
#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_PROBE_SERVO_NR)
|
|
#define ASRC(N,E) (Z_PROBE_SERVO_NR == N ? asrc[E] : 0)
|
|
#if ENABLED(BLTOUCH)
|
|
#include "../feature/bltouch.h"
|
|
#endif
|
|
#ifdef BLTOUCH_ANGLES
|
|
#define SADATA BLTOUCH_ANGLES
|
|
#elif defined(Z_SERVO_ANGLES)
|
|
#define SADATA Z_SERVO_ANGLES
|
|
#else
|
|
#error "Servo angles are needed!"
|
|
#endif
|
|
#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)
|
|
|
|
extern HAL_SERVO_LIB servo[NUM_SERVOS];
|
|
extern void servo_init();
|