From 15ee0d0e081fd42cf00a5b26b289a2ea14ddd9f5 Mon Sep 17 00:00:00 2001 From: ellensp <530024+ellensp@users.noreply.github.com> Date: Wed, 19 Mar 2025 14:39:24 +1300 Subject: [PATCH] =?UTF-8?q?=E2=9C=A8=20MAG=5FMOUNTED=5FPROBE=5FSERVO=5FNR?= =?UTF-8?q?=20(#27551)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: gjdodd --- Marlin/Configuration.h | 14 ++++++++++++++ Marlin/src/inc/Conditionals-3-etc.h | 5 ++++- Marlin/src/inc/Conditionals-4-adv.h | 4 ++++ Marlin/src/inc/SanityCheck.h | 2 +- Marlin/src/module/probe.cpp | 24 ++++++++++++++++++++++-- Marlin/src/module/servo.h | 7 +++++++ buildroot/tests/LPC1769 | 2 +- 7 files changed, 53 insertions(+), 5 deletions(-) diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 6e16dc5caf..1202bc1e53 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -1540,6 +1540,20 @@ #define PROBE_DEPLOY_FEEDRATE (133*60) // (mm/min) Probe deploy speed #define PROBE_STOW_FEEDRATE (133*60) // (mm/min) Probe stow speed + /** + * Magnetically Mounted Probe with a Servo mechanism + * Probe Deploy and Stow both follow the same basic sequence: + * - Rotate the SERVO to its Deployed angle + * - Perform XYZ moves to deploy or stow the PROBE + * - Rotate the SERVO to its Stowed angle + */ + //#define MAG_MOUNTED_PROBE_SERVO_NR 0 // Servo Number for this probe + #ifdef MAG_MOUNTED_PROBE_SERVO_NR + #define MAG_MOUNTED_PROBE_SERVO_ANGLES { 90, 0 } // Servo Angles for Deployed, Stowed + #define MAG_MOUNTED_PRE_DEPLOY { PROBE_DEPLOY_FEEDRATE, { 15, 160, 30 } } // Safe position for servo activation + #define MAG_MOUNTED_PRE_STOW { PROBE_DEPLOY_FEEDRATE, { 15, 160, 30 } } // Safe position for servo deactivation + #endif + #define MAG_MOUNTED_DEPLOY_1 { PROBE_DEPLOY_FEEDRATE, { 245, 114, 30 } } // Move to side Dock & Attach probe #define MAG_MOUNTED_DEPLOY_2 { PROBE_DEPLOY_FEEDRATE, { 210, 114, 30 } } // Move probe off dock #define MAG_MOUNTED_DEPLOY_3 { PROBE_DEPLOY_FEEDRATE, { 0, 0, 0 } } // Extra move if needed diff --git a/Marlin/src/inc/Conditionals-3-etc.h b/Marlin/src/inc/Conditionals-3-etc.h index 7f005c3539..e4dcdda58f 100644 --- a/Marlin/src/inc/Conditionals-3-etc.h +++ b/Marlin/src/inc/Conditionals-3-etc.h @@ -135,7 +135,10 @@ #ifdef Z_PROBE_SERVO_NR #define HAS_Z_SERVO_PROBE 1 #endif -#if ANY(HAS_Z_SERVO_PROBE, SWITCHING_EXTRUDER, SWITCHING_NOZZLE) +#ifdef MAG_MOUNTED_PROBE_SERVO_NR + #define HAS_MAG_MOUNTED_SERVO_PROBE 1 +#endif +#if ANY(HAS_Z_SERVO_PROBE, HAS_MAG_MOUNTED_SERVO_PROBE, SWITCHING_EXTRUDER, SWITCHING_NOZZLE) #define HAS_SERVO_ANGLES 1 #endif #if !HAS_SERVO_ANGLES diff --git a/Marlin/src/inc/Conditionals-4-adv.h b/Marlin/src/inc/Conditionals-4-adv.h index 103de78865..b697f22a20 100644 --- a/Marlin/src/inc/Conditionals-4-adv.h +++ b/Marlin/src/inc/Conditionals-4-adv.h @@ -53,6 +53,10 @@ #undef NUM_SERVOS #define NUM_SERVOS INCREMENT(Z_PROBE_SERVO_NR) #endif + #if HAS_MAG_MOUNTED_SERVO_PROBE && NUM_SERVOS <= MAG_MOUNTED_PROBE_SERVO_NR + #undef NUM_SERVOS + #define NUM_SERVOS INCREMENT(MAG_MOUNTED_PROBE_SERVO_NR) + #endif #if ENABLED(CHAMBER_VENT) && NUM_SERVOS <= CHAMBER_VENT_SERVO_NR #undef NUM_SERVOS #define NUM_SERVOS INCREMENT(CHAMBER_VENT_SERVO_NR) diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h index e07fa78173..0029980ada 100644 --- a/Marlin/src/inc/SanityCheck.h +++ b/Marlin/src/inc/SanityCheck.h @@ -982,7 +982,7 @@ static_assert(NUM_SERVOS <= NUM_SERVO_PLUGS, "NUM_SERVOS (or some servo index) i /** * Servo deactivation depends on servo endstops, switching nozzle, or switching extruder */ -#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) && NONE(HAS_Z_SERVO_PROBE, POLARGRAPH) && !defined(SWITCHING_NOZZLE_SERVO_NR) && !defined(SWITCHING_EXTRUDER_SERVO_NR) && !defined(SWITCHING_TOOLHEAD_SERVO_NR) +#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) && NONE(HAS_Z_SERVO_PROBE, POLARGRAPH) && !defined(SWITCHING_NOZZLE_SERVO_NR) && !defined(SWITCHING_EXTRUDER_SERVO_NR) && !defined(SWITCHING_TOOLHEAD_SERVO_NR) && !defined(MAG_MOUNTED_PROBE_SERVO_NR) #error "Z_PROBE_SERVO_NR, switching nozzle, switching toolhead, switching extruder, or POLARGRAPH is required for DEACTIVATE_SERVOS_AFTER_MOVE." #endif diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp index a66c11a782..e121bca812 100644 --- a/Marlin/src/module/probe.cpp +++ b/Marlin/src/module/probe.cpp @@ -82,7 +82,7 @@ #include "../feature/host_actions.h" // for PROMPT_USER_CONTINUE #endif -#if HAS_Z_SERVO_PROBE +#if HAS_Z_SERVO_PROBE || HAS_MAG_MOUNTED_SERVO_PROBE #include "servo.h" #endif @@ -272,6 +272,13 @@ xyz_pos_t Probe::offset; // Initialized by settings.load typedef struct { float fr_mm_min; xyz_pos_t where; } mag_probe_move_t; inline void run_deploy_moves() { + #ifdef MAG_MOUNTED_PRE_DEPLOY + constexpr mag_probe_move_t pre_deploy = MAG_MOUNTED_PRE_DEPLOY; + do_blocking_move_to(pre_deploy.where, MMM_TO_MMS(pre_deploy.fr_mm_min)); + #endif + #if HAS_MAG_MOUNTED_SERVO_PROBE + servo[MAG_MOUNTED_PROBE_SERVO_NR].move(servo_angles[MAG_MOUNTED_PROBE_SERVO_NR][0]); + #endif #ifdef MAG_MOUNTED_DEPLOY_1 constexpr mag_probe_move_t deploy_1 = MAG_MOUNTED_DEPLOY_1; do_blocking_move_to(deploy_1.where, MMM_TO_MMS(deploy_1.fr_mm_min)); @@ -292,9 +299,19 @@ xyz_pos_t Probe::offset; // Initialized by settings.load constexpr mag_probe_move_t deploy_5 = MAG_MOUNTED_DEPLOY_5; do_blocking_move_to(deploy_5.where, MMM_TO_MMS(deploy_5.fr_mm_min)); #endif + #if HAS_MAG_MOUNTED_SERVO_PROBE + servo[MAG_MOUNTED_PROBE_SERVO_NR].move(servo_angles[MAG_MOUNTED_PROBE_SERVO_NR][1]); + #endif } inline void run_stow_moves() { + #ifdef MAG_MOUNTED_PRE_STOW + constexpr mag_probe_move_t pre_stow = MAG_MOUNTED_PRE_STOW; + do_blocking_move_to(pre_stow.where, MMM_TO_MMS(pre_stow.fr_mm_min)); + #endif + #if HAS_MAG_MOUNTED_SERVO_PROBE + servo[MAG_MOUNTED_PROBE_SERVO_NR].move(servo_angles[MAG_MOUNTED_PROBE_SERVO_NR][0]); + #endif #ifdef MAG_MOUNTED_STOW_1 constexpr mag_probe_move_t stow_1 = MAG_MOUNTED_STOW_1; do_blocking_move_to(stow_1.where, MMM_TO_MMS(stow_1.fr_mm_min)); @@ -315,6 +332,9 @@ xyz_pos_t Probe::offset; // Initialized by settings.load constexpr mag_probe_move_t stow_5 = MAG_MOUNTED_STOW_5; do_blocking_move_to(stow_5.where, MMM_TO_MMS(stow_5.fr_mm_min)); #endif + #if HAS_MAG_MOUNTED_SERVO_PROBE + servo[MAG_MOUNTED_PROBE_SERVO_NR].move(servo_angles[MAG_MOUNTED_PROBE_SERVO_NR][1]); + #endif } #endif // MAG_MOUNTED_PROBE @@ -541,7 +561,7 @@ bool Probe::set_deployed(const bool deploy, const bool no_return/*=false*/) { #if ENABLED(PROBE_TRIGGERED_WHEN_STOWED_TEST) // Only deploy/stow if needed - if (PROBE_TRIGGERED() == deploy) { + if (PROBE_TRIGGERED() == deploy || !deploy) { if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early // otherwise an Allen-Key probe can't be stowed. probe_specific_action(deploy); diff --git a/Marlin/src/module/servo.h b/Marlin/src/module/servo.h index 3b6c33a8f7..f35a8c3930 100644 --- a/Marlin/src/module/servo.h +++ b/Marlin/src/module/servo.h @@ -63,6 +63,9 @@ #endif constexpr uint16_t sazp[] = Z_SERVO_ANGLES; static_assert(COUNT(sazp) == 2, "Z_SERVO_ANGLES needs 2 angles."); + #elif defined(MAG_MOUNTED_PROBE_SERVO_ANGLES) + constexpr uint16_t sazp[] = MAG_MOUNTED_PROBE_SERVO_ANGLES; + static_assert(COUNT(sazp) == 2, "MAG_MOUNTED_PROBE_SERVO_ANGLES needs 2 angles."); #else constexpr uint16_t sazp[2] = { 0 }; #endif @@ -82,6 +85,9 @@ #ifndef Z_PROBE_SERVO_NR #define Z_PROBE_SERVO_NR -1 #endif + #ifndef MAG_MOUNTED_PROBE_SERVO_NR + #define MAG_MOUNTED_PROBE_SERVO_NR -1 + #endif #define SASN(J,I) TERN(SWITCHING_NOZZLE_TWO_SERVOS, sasn[J][I], sasn[I]) @@ -91,6 +97,7 @@ : N == SWITCHING_NOZZLE_SERVO_NR ? SASN(0,I) \ : N == SWITCHING_NOZZLE_E1_SERVO_NR ? SASN(1,I) \ : N == Z_PROBE_SERVO_NR ? sazp[I] \ + : N == MAG_MOUNTED_PROBE_SERVO_NR ? sazp[I] \ : 0 ) #if ENABLED(EDITABLE_SERVO_ANGLES) diff --git a/buildroot/tests/LPC1769 b/buildroot/tests/LPC1769 index ad14e3353d..a97790e988 100755 --- a/buildroot/tests/LPC1769 +++ b/buildroot/tests/LPC1769 @@ -15,7 +15,7 @@ exec_test $1 $2 "Azteeg X5GT Example Configuration" "$3" restore_configs opt_set MOTHERBOARD BOARD_SMOOTHIEBOARD \ EXTRUDERS 2 TEMP_SENSOR_0 -5 TEMP_SENSOR_1 -4 TEMP_SENSOR_BED 5 TEMP_0_CS_PIN P1_29 \ - GRID_MAX_POINTS_X 16 \ + MAG_MOUNTED_PROBE_SERVO_NR 0 GRID_MAX_POINTS_X 16 \ NOZZLE_CLEAN_START_POINT "{ { 10, 10, 3 }, { 10, 10, 3 } }" \ NOZZLE_CLEAN_END_POINT "{ { 10, 20, 3 }, { 10, 20, 3 } }" opt_enable TFTGLCD_PANEL_SPI SDSUPPORT ADAPTIVE_FAN_SLOWING REPORT_ADAPTIVE_FAN_SLOWING TEMP_TUNING_MAINTAIN_FAN \