From c0000a0cdc68dc2c9b49e5fcb1a04275fadd49dd Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 19 Nov 2017 13:39:46 -0600 Subject: [PATCH] Move servo code to modules/servo.* --- Marlin/src/Marlin.cpp | 35 +++----------------- Marlin/src/Marlin.h | 10 ------ Marlin/src/gcode/config/M43.cpp | 1 + Marlin/src/gcode/control/M280.cpp | 2 +- Marlin/src/module/probe.cpp | 1 + Marlin/src/module/servo.cpp | 54 +++++++++++++++++++++++++++++++ Marlin/src/module/servo.h | 44 +++++++++++++++++++++++++ Marlin/src/module/tool_change.cpp | 4 +++ 8 files changed, 110 insertions(+), 41 deletions(-) create mode 100644 Marlin/src/module/servo.cpp create mode 100644 Marlin/src/module/servo.h diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp index 3f98c565b3..0045b93a4b 100644 --- a/Marlin/src/Marlin.cpp +++ b/Marlin/src/Marlin.cpp @@ -75,7 +75,7 @@ #endif #if HAS_SERVOS - #include "HAL/servo.h" + #include "module/servo.h" #endif #if HAS_DIGIPOTSS @@ -247,35 +247,6 @@ void setup_powerhold() { #endif } -#if HAS_SERVOS - - HAL_SERVO_LIB servo[NUM_SERVOS]; - - void servo_init() { - #if NUM_SERVOS >= 1 && HAS_SERVO_0 - servo[0].attach(SERVO0_PIN); - servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position. - #endif - #if NUM_SERVOS >= 2 && HAS_SERVO_1 - servo[1].attach(SERVO1_PIN); - servo[1].detach(); - #endif - #if NUM_SERVOS >= 3 && HAS_SERVO_2 - servo[2].attach(SERVO2_PIN); - servo[2].detach(); - #endif - #if NUM_SERVOS >= 4 && HAS_SERVO_3 - servo[3].attach(SERVO3_PIN); - servo[3].detach(); - #endif - - #if HAS_Z_SERVO_ENDSTOP - servo_probe_init(); - #endif - } - -#endif // HAS_SERVOS - /** * Stepper Reset (RigidBoard, et.al.) */ @@ -745,6 +716,10 @@ void setup() { servo_init(); #endif + #if HAS_Z_SERVO_ENDSTOP + servo_probe_init(); + #endif + #if HAS_PHOTOGRAPH OUT_WRITE(PHOTOGRAPH_PIN, LOW); #endif diff --git a/Marlin/src/Marlin.h b/Marlin/src/Marlin.h index 79dba4fcf0..9fa0fc964e 100644 --- a/Marlin/src/Marlin.h +++ b/Marlin/src/Marlin.h @@ -186,16 +186,6 @@ extern volatile bool wait_for_heatup; // Inactivity shutdown timer extern millis_t max_inactive_time, stepper_inactive_time; -#if HAS_SERVOS - #include "HAL/servo.h" - extern HAL_SERVO_LIB servo[NUM_SERVOS]; - #define MOVE_SERVO(I, P) servo[I].move(P) - #if HAS_Z_SERVO_ENDSTOP - #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0]) - #define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1]) - #endif -#endif - #if FAN_COUNT > 0 extern int16_t fanSpeeds[FAN_COUNT]; #if ENABLED(EXTRA_FAN_SPEED) diff --git a/Marlin/src/gcode/config/M43.cpp b/Marlin/src/gcode/config/M43.cpp index 9b7fc47538..b600e95459 100644 --- a/Marlin/src/gcode/config/M43.cpp +++ b/Marlin/src/gcode/config/M43.cpp @@ -31,6 +31,7 @@ #if HAS_Z_SERVO_ENDSTOP #include "../../module/probe.h" + #include "../../module/servo.h" #endif inline void toggle_pins() { diff --git a/Marlin/src/gcode/control/M280.cpp b/Marlin/src/gcode/control/M280.cpp index 9d0f5c4e7f..1cfb6c89fd 100644 --- a/Marlin/src/gcode/control/M280.cpp +++ b/Marlin/src/gcode/control/M280.cpp @@ -25,7 +25,7 @@ #if HAS_SERVOS #include "../gcode.h" -#include "../../Marlin.h" // for servo[] +#include "../../module/servo.h" /** * M280: Get or set servo position. P [S] diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp index 43ab0f9d98..127c6b0035 100644 --- a/Marlin/src/module/probe.cpp +++ b/Marlin/src/module/probe.cpp @@ -53,6 +53,7 @@ float zprobe_zoffset; // Initialized by settings.load() #if HAS_Z_SERVO_ENDSTOP + #include "../module/servo.h" const int z_servo_angle[2] = Z_SERVO_ANGLES; #endif diff --git a/Marlin/src/module/servo.cpp b/Marlin/src/module/servo.cpp new file mode 100644 index 0000000000..a1f9633f78 --- /dev/null +++ b/Marlin/src/module/servo.cpp @@ -0,0 +1,54 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 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 . + * + */ + +/** + * module/servo.cpp + */ + +#include "../inc/MarlinConfig.h" + +#if HAS_SERVOS + +#include "servo.h" + +HAL_SERVO_LIB servo[NUM_SERVOS]; + +void servo_init() { + #if NUM_SERVOS >= 1 && HAS_SERVO_0 + servo[0].attach(SERVO0_PIN); + servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position. + #endif + #if NUM_SERVOS >= 2 && HAS_SERVO_1 + servo[1].attach(SERVO1_PIN); + servo[1].detach(); + #endif + #if NUM_SERVOS >= 3 && HAS_SERVO_2 + servo[2].attach(SERVO2_PIN); + servo[2].detach(); + #endif + #if NUM_SERVOS >= 4 && HAS_SERVO_3 + servo[3].attach(SERVO3_PIN); + servo[3].detach(); + #endif +} + +#endif // HAS_SERVOS diff --git a/Marlin/src/module/servo.h b/Marlin/src/module/servo.h new file mode 100644 index 0000000000..cb5080e2b0 --- /dev/null +++ b/Marlin/src/module/servo.h @@ -0,0 +1,44 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 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 . + * + */ + +/** + * module/servo.h + */ + +#ifndef _SERVO_H_ +#define _SERVO_H_ + +#include "../HAL/servo.h" + +extern HAL_SERVO_LIB servo[NUM_SERVOS]; +extern void servo_init(); + +#define MOVE_SERVO(I, P) servo[I].move(P) + +#include "../inc/MarlinConfig.h" + +#if HAS_Z_SERVO_ENDSTOP + #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0]) + #define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1]) +#endif + +#endif // _SERVO_H_ diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp index 10210653e7..cb74c59137 100644 --- a/Marlin/src/module/tool_change.cpp +++ b/Marlin/src/module/tool_change.cpp @@ -34,6 +34,10 @@ #include "../gcode/gcode.h" // for dwell() #endif +#if ENABLED(SWITCHING_EXTRUDER) || ENABLED(SWITCHING_NOZZLE) + #include "../module/servo.h" +#endif + #if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER) #include "../feature/solenoid.h" #endif