1 files changed, 115 insertions, 0 deletions
diff --git a/Marlin/src/module/servo.h b/Marlin/src/module/servo.h
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+++ b/Marlin/src/module/servo.h
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 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 <https://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)
+    // Switching extruder can have 2 or 4 angles
+    #if EXTRUDERS > 3
+      #define REQ_ANGLES 4
+    #else
+      #define REQ_ANGLES 2
+    #endif
+    constexpr uint16_t sase[] = SWITCHING_EXTRUDER_SERVO_ANGLES;
+    static_assert(COUNT(sase) == REQ_ANGLES, "SWITCHING_EXTRUDER_SERVO_ANGLES needs " STRINGIFY(REQ_ANGLES) " angles.");
+  #else
+    constexpr uint16_t sase[4] = { 0 };
+  #endif
+
+  #if ENABLED(SWITCHING_NOZZLE)
+    constexpr uint16_t sasn[] = SWITCHING_NOZZLE_SERVO_ANGLES;
+    static_assert(COUNT(sasn) == 2, "SWITCHING_NOZZLE_SERVO_ANGLES needs 2 angles.");
+  #else
+    constexpr uint16_t sasn[2] = { 0 };
+  #endif
+
+  #ifdef Z_PROBE_SERVO_NR
+    #if ENABLED(BLTOUCH)
+      #include "../feature/bltouch.h"
+      #undef Z_SERVO_ANGLES
+      #define Z_SERVO_ANGLES { BLTOUCH_DEPLOY, BLTOUCH_STOW }
+    #endif
+    constexpr uint16_t sazp[] = Z_SERVO_ANGLES;
+    static_assert(COUNT(sazp) == 2, "Z_SERVO_ANGLES needs 2 angles.");
+  #else
+    constexpr uint16_t sazp[2] = { 0 };
+  #endif
+
+  #ifndef SWITCHING_EXTRUDER_SERVO_NR
+    #define SWITCHING_EXTRUDER_SERVO_NR -1
+  #endif
+  #ifndef SWITCHING_EXTRUDER_E23_SERVO_NR
+    #define SWITCHING_EXTRUDER_E23_SERVO_NR -1
+  #endif
+  #ifndef SWITCHING_NOZZLE_SERVO_NR
+    #define SWITCHING_NOZZLE_SERVO_NR -1
+  #endif
+  #ifndef Z_PROBE_SERVO_NR
+    #define Z_PROBE_SERVO_NR -1
+  #endif
+
+  #define ASRC(N,I) (                                  \
+      N == SWITCHING_EXTRUDER_SERVO_NR     ? sase[I]   \
+    : N == SWITCHING_EXTRUDER_E23_SERVO_NR ? sase[I+2] \
+    : N == SWITCHING_NOZZLE_SERVO_NR       ? sasn[I]   \
+    : N == Z_PROBE_SERVO_NR                ? sazp[I]   \
+    : 0                                                )
+
+  #if ENABLED(EDITABLE_SERVO_ANGLES)
+    extern uint16_t servo_angles[NUM_SERVOS][2];
+    #define CONST_SERVO_ANGLES base_servo_angles
+  #else
+    #define CONST_SERVO_ANGLES servo_angles
+  #endif
+
+  constexpr uint16_t CONST_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();