✨ MAG_MOUNTED_PROBE_SERVO_NR (#27551)

Co-authored-by: gjdodd <graham.dodd@airintake.co.uk>

Author: ellensp

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

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

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)

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
 

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);

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)

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 \