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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();
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