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Distinct servo angles for switching nozzle #26303

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merged 9 commits into from
Oct 9, 2023
Merged

Distinct servo angles for switching nozzle #26303

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dd7de07
implements distinct angles for switching nozzle servos
rubienr Sep 23, 2023
fc57659
fixes wrong servo angle-index
rubienr Sep 23, 2023
5565190
sanity check if either one or two SWITCHING_NOZZLE servos are defined
rubienr Sep 23, 2023
896a196
M281 report angle of second switching nozzle servo
rubienr Sep 23, 2023
4ff4b4e
tool_change.cpp reads angles from servo_angles instead of SWITCHING_N…
rubienr Sep 23, 2023
008dff3
allow for old config style
thinkyhead Oct 8, 2023
4f2b897
allow for 5th servo
thinkyhead Oct 8, 2023
0c9d0b0
Merge branch 'bugfix-2.1.x' into pr/26303
thinkyhead Oct 8, 2023
decb4a7
fix test/check
thinkyhead Oct 8, 2023
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3 changes: 2 additions & 1 deletion Marlin/Configuration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -244,7 +244,8 @@
#if ENABLED(SWITCHING_NOZZLE)
#define SWITCHING_NOZZLE_SERVO_NR 0
//#define SWITCHING_NOZZLE_E1_SERVO_NR 1 // If two servos are used, the index of the second
#define SWITCHING_NOZZLE_SERVO_ANGLES { 0, 90 } // Angles for E0, E1 (single servo) or lowered/raised (dual servo)
#define SWITCHING_NOZZLE_SERVO_ANGLES { 0, 90 } // A pair of angles for { E0, E1 }.
// For Dual Servo use two pairs: { { lower, raise }, { lower, raise } }
#define SWITCHING_NOZZLE_SERVO_DWELL 2500 // Dwell time to wait for servo to make physical move
#endif

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3 changes: 3 additions & 0 deletions Marlin/src/gcode/config/M281.cpp
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Expand Up @@ -66,6 +66,9 @@ void GcodeSuite::M281_report(const bool forReplay/*=true*/) {
#endif
#elif ENABLED(SWITCHING_NOZZLE)
case SWITCHING_NOZZLE_SERVO_NR:
#if ENABLED(SWITCHING_NOZZLE_TWO_SERVOS)
case SWITCHING_NOZZLE_E1_SERVO_NR:
#endif
#elif ENABLED(BLTOUCH) || (HAS_Z_SERVO_PROBE && defined(Z_SERVO_ANGLES))
case Z_PROBE_SERVO_NR:
#endif
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27 changes: 19 additions & 8 deletions Marlin/src/module/servo.h
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Expand Up @@ -44,8 +44,13 @@
#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.");
#if SWITCHING_NOZZLE_TWO_SERVOS
constexpr uint16_t sasn[][2] = SWITCHING_NOZZLE_SERVO_ANGLES;
static_assert(COUNT(sasn) == 2, "SWITCHING_NOZZLE_SERVO_ANGLES (with SWITCHING_NOZZLE_E1_SERVO_NR) needs 2 sets of angles: { { lower, raise }, { lower, raise } }.");
#else
constexpr uint16_t sasn[] = SWITCHING_NOZZLE_SERVO_ANGLES;
static_assert(COUNT(sasn) == 2, "SWITCHING_NOZZLE_SERVO_ANGLES needs two angles: { E0, E1 }.");
#endif
#else
constexpr uint16_t sasn[2] = { 0 };
#endif
Expand Down Expand Up @@ -75,12 +80,15 @@
#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 )
#define SASN(J,I) TERN(SWITCHING_NOZZLE_TWO_SERVOS, sasn[J][I], sasn[I])

#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(0,I) \
TERN_(SWITCHING_NOZZLE_TWO_SERVOS, : N == SWITCHING_NOZZLE_E1_SERVO_NR ? SASN(1,I)) \
: N == Z_PROBE_SERVO_NR ? sazp[I] \
: 0 )

#if ENABLED(EDITABLE_SERVO_ANGLES)
extern uint16_t servo_angles[NUM_SERVOS][2];
Expand All @@ -97,6 +105,9 @@
, { ASRC(2,0), ASRC(2,1) }
#if NUM_SERVOS > 3
, { ASRC(3,0), ASRC(3,1) }
#if NUM_SERVOS > 4
, { ASRC(4,0), ASRC(4,1) }
#endif
#endif
#endif
#endif
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3 changes: 1 addition & 2 deletions Marlin/src/module/tool_change.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -127,9 +127,8 @@

inline void _move_nozzle_servo(const uint8_t e, const uint8_t angle_index) {
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();
servo[sns_index[e]].move(sns_angles[angle_index]);
servo[sns_index[e]].move(servo_angles[sns_index[e]][angle_index]);
safe_delay(SWITCHING_NOZZLE_SERVO_DWELL);
}

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2 changes: 1 addition & 1 deletion buildroot/tests/LPC1768
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Expand Up @@ -27,7 +27,7 @@ exec_test $1 $2 "ReARM EFB VIKI2, SDSUPPORT, 2 Serial ports (USB CDC + UART0), N
restore_configs
opt_set MOTHERBOARD BOARD_MKS_SBASE \
EXTRUDERS 2 TEMP_SENSOR_1 1 \
NUM_SERVOS 2 SERVO_DELAY '{ 300, 300 }'
NUM_SERVOS 2 SERVO_DELAY '{ 300, 300 }' SWITCHING_NOZZLE_SERVO_ANGLES '{ { 0, 90 }, { 90, 0 } }'
opt_enable SWITCHING_NOZZLE SWITCHING_NOZZLE_E1_SERVO_NR EDITABLE_SERVO_ANGLES SERVO_DETACH_GCODE \
ULTIMAKERCONTROLLER REALTIME_REPORTING_COMMANDS FULL_REPORT_TO_HOST_FEATURE
exec_test $1 $2 "MKS SBASE with SWITCHING_NOZZLE, Grbl Realtime Report" "$3"
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