add servo support to MAG_MOUNTED_PROBE

MarlinFirmware · Jan 8, 2025 · 1e36254 · 1e36254
1 parent 4eb8a87
commit 1e36254
Show file tree

Hide file tree

Showing 4 changed files with 35 additions and 2 deletions.
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
@@ -1534,6 +1534,17 @@
 #if ENABLED(MAG_MOUNTED_PROBE)
   #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 is on a servo
+   * On both deploy and stow the folloing sequence is followed:
+   *  1) The servo is set to deploy position
+   *  2) The apropriate X,Y,Z moves are executed for a deploy or stow operation
+   *  3) The servo is set to the stowed position
+   */
+  #define MAG_MOUNTED_PROBE_SERVO_NR 0              // Set to servo number to use
+  #ifdef MAG_MOUNTED_PROBE_SERVO_NR
+    #define MAG_MOUNTED_PROBE_SERVO_ANGLES { 90, 0 } // Mag servo Deploy and Stow angles
+  #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

diff --git 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/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 +272,9 @@ 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() {
+    #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 +295,15 @@ 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() {
+    #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 +324,9 @@ 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

diff --git 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)