Duet Smart Effector support (#16641)

Marlin/Configuration.h

@@ -915,6 +915,13 @@
   #define Z_PROBE_RETRACT_X X_MAX_POS
 #endif
 
+// Duet Smart Effector (for delta printers) - https://bit.ly/2ul5U7J
+// When the pin is defined you can use M672 to set/reset the probe sensivity.
+//#define DUET_SMART_EFFECTOR
+#if ENABLED(DUET_SMART_EFFECTOR)
+  #define SMART_EFFECTOR_MOD_PIN  -1  // Connect a GPIO pin to the Smart Effector MOD pin
+#endif
+
 //
 // For Z_PROBE_ALLEN_KEY see the Delta example configurations.
 //

Marlin/src/MarlinCore.cpp

@@ -827,6 +827,10 @@ void setup() {
     L64xxManager.init();  // Set up SPI, init drivers
   #endif
 
+  #if ENABLED(SMART_EFFECTOR) && PIN_EXISTS(SMART_EFFECTOR_MOD)
+    OUT_WRITE(SMART_EFFECTOR_MOD_PIN, LOW);   // Put Smart Effector into NORMAL mode
+  #endif
+
   #if ENABLED(MAX7219_DEBUG)
     max7219.init();
   #endif

Marlin/src/gcode/config/M672.cpp

@@ -0,0 +1,99 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(SMART_EFFECTOR) && PIN_EXISTS(SMART_EFFECTOR_MOD)
+
+#include "../gcode.h"
+#include "../../HAL/shared/Delay.h"
+#include "../parser.h"
+
+/**
+ * M672 - Set/reset Duet Smart Effector sensitivity
+ *
+ *  One of these is required:
+ *    S<sensitivity> - 0-255
+ *    R              - Flag to reset sensitivity to default
+ */
+
+/**
+ * The Marlin format for the M672 command is different than shown in the Duet Smart Effector
+ * documentation https://duet3d.dozuki.com/Wiki/Smart_effector_and_carriage_adapters_for_delta_printer
+ *
+ * To set custom sensitivity:
+ *   Duet:   M672 S105:aaa:bbb
+ *   Marlin: M672 Saaa
+ *
+ *   (where aaa is the desired sensitivity and bbb is 255 - aaa).
+ *
+ * Revert sensitivity to factory settings:
+ *   Duet:   M672 S105:131:131
+ *   Marlin: M672 R
+ */
+
+#define M672_PROGBYTE    105								// magic byte to start programming custom sensitivity
+#define M672_ERASEBYTE   131								// magic byte to clear custom sensitivity
+
+//
+// Smart Effector byte send protocol:
+//
+//  0  0  1  0       ... always 0010
+//  b7 b6 b5 b4 ~b4  ... hi bits, NOT last bit
+//  b3 b2 b1 b0 ~b0  ... lo bits, NOT last bit
+//
+void M672_send(uint8_t b) {    // bit rate requirement: 1KHz +/- 30%
+  for (uint8_t bits = 0; bits < 14; bits++) {
+    switch (bits) {
+      default: { OUT_WRITE(SMART_EFFECTOR_MOD_PIN, !!(b & 0x80)); b <<= 1; break; } // send bit, shift next into place
+      case  7:
+      case 12: { OUT_WRITE(SMART_EFFECTOR_MOD_PIN, !!(b & 0x80));          break; } // send bit. no shift
+      case  8:
+      case 13: { OUT_WRITE(SMART_EFFECTOR_MOD_PIN,  !(b & 0x80)); b <<= 1; break; } // send inverted previous bit
+      case  0: case  1:                                   // 00
+      case  3: { OUT_WRITE(SMART_EFFECTOR_MOD_PIN, LOW); break; }   // 0010
+      case  2: { OUT_WRITE(SMART_EFFECTOR_MOD_PIN, HIGH); break; }  // 001
+    }
+    DELAY_US(1000);
+  }
+}
+
+void GcodeSuite::M672() {
+  if (parser.seen('R')) {
+    M672_send(M672_ERASEBYTE);
+    M672_send(M672_ERASEBYTE);
+  }
+  else if (parser.seenval('S')) {
+    const int8_t M672_sensitivity = parser.value_byte();
+    M672_send(M672_PROGBYTE);
+    M672_send(M672_sensitivity);
+    M672_send(255 - M672_sensitivity);
+  }
+  else {
+    SERIAL_ECHO_MSG("!'S' or 'R' parameter required.");
+    return;
+  }
+
+  OUT_WRITE(SMART_EFFECTOR_MOD_PIN, LOW);  // Keep Smart Effector in NORMAL mode
+}
+
+#endif // SMART_EFFECTOR && SMART_EFFECTOR_MOD_PIN

Marlin/src/gcode/gcode.cpp

@@ -562,14 +562,6 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 206: M206(); break;                                  // M206: Set home offsets
       #endif
 
-      #if ENABLED(DELTA)
-        case 665: M665(); break;                                  // M665: Set delta configurations
-      #endif
-
-      #if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS
-        case 666: M666(); break;                                  // M666: Set delta or multiple endstop adjustment
-      #endif
-
       #if ENABLED(FWRETRACT)
         case 207: M207(); break;                                  // M207: Set Retract Length, Feedrate, and Z lift
         case 208: M208(); break;                                  // M208: Set Recover (unretract) Additional Length and Feedrate
@@ -714,7 +706,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
       #endif
 
       #if ENABLED(SDSUPPORT)
-        case 524: M524(); break;                                   // M524: Abort the current SD print job
+        case 524: M524(); break;                                  // M524: Abort the current SD print job
       #endif
 
       #if ENABLED(SD_ABORT_ON_ENDSTOP_HIT)
@@ -725,14 +717,6 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 575: M575(); break;                                  // M575: Set serial baudrate
       #endif
 
-      #if HAS_BED_PROBE
-        case 851: M851(); break;                                  // M851: Set Z Probe Z Offset
-      #endif
-
-      #if ENABLED(SKEW_CORRECTION_GCODE)
-        case 852: M852(); break;                                  // M852: Set Skew factors
-      #endif
-
       #if ENABLED(ADVANCED_PAUSE_FEATURE)
         case 600: M600(); break;                                  // M600: Pause for Filament Change
         case 603: M603(); break;                                  // M603: Configure Filament Change
@@ -742,21 +726,37 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 605: M605(); break;                                  // M605: Set Dual X Carriage movement mode
       #endif
 
+      #if ENABLED(DELTA)
+        case 665: M665(); break;                                  // M665: Set delta configurations
+      #endif
+
+      #if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS
+        case 666: M666(); break;                                  // M666: Set delta or multiple endstop adjustment
+      #endif
+
+      #if ENABLED(SMART_EFFECTOR) && PIN_EXISTS(SMART_EFFECTOR_MOD)
+        case 672: M672(); break;                                  // M672: Set/clear Duet Smart Effector sensitivity
+      #endif
+
       #if ENABLED(FILAMENT_LOAD_UNLOAD_GCODES)
         case 701: M701(); break;                                  // M701: Load Filament
         case 702: M702(); break;                                  // M702: Unload Filament
       #endif
 
-      #if ENABLED(MAX7219_GCODE)
-        case 7219: M7219(); break;                                // M7219: Set LEDs, columns, and rows
-      #endif
-
       #if ENABLED(GCODE_MACROS)
         case 810: case 811: case 812: case 813: case 814:
         case 815: case 816: case 817: case 818: case 819:
         M810_819(); break;                                        // M810-M819: Define/execute G-code macro
       #endif
 
+      #if HAS_BED_PROBE
+        case 851: M851(); break;                                  // M851: Set Z Probe Z Offset
+      #endif
+
+      #if ENABLED(SKEW_CORRECTION_GCODE)
+        case 852: M852(); break;                                  // M852: Set Skew factors
+      #endif
+
       #if ENABLED(PROBE_TEMP_COMPENSATION)
         case 871: M871(); break;                                  // M871: Print/reset/clear first layer temperature offset values
       #endif
@@ -847,6 +847,10 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         case 1000: M1000(); break;                                // M1000: Resume from power-loss
       #endif
 
+      #if ENABLED(MAX7219_GCODE)
+        case 7219: M7219(); break;                                // M7219: Set LEDs, columns, and rows
+      #endif
+
       default: parser.unknown_command_error(); break;
     }
     break;

Marlin/src/gcode/gcode.h

@@ -228,7 +228,8 @@
  * M603 - Configure filament change: "M603 T<tool> U<unload_length> L<load_length>". (Requires ADVANCED_PAUSE_FEATURE)
  * M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
  * M665 - Set delta configurations: "M665 H<delta height> L<diagonal rod> R<delta radius> S<segments/s> B<calibration radius> X<Alpha angle trim> Y<Beta angle trim> Z<Gamma angle trim> (Requires DELTA)
- * M666 - Set/get offsets for delta (Requires DELTA) or dual endstops (Requires [XYZ]_DUAL_ENDSTOPS).
+ * M666 - Set/get offsets for delta (Requires DELTA) or dual endstops. (Requires [XYZ]_DUAL_ENDSTOPS)
+ * M672 - Set/Reset Duet Smart Effector's sensitivity. (Requires SMART_EFFECTOR and SMART_EFFECTOR_MOD_PIN)
  * M701 - Load filament (Requires FILAMENT_LOAD_UNLOAD_GCODES)
  * M702 - Unload filament (Requires FILAMENT_LOAD_UNLOAD_GCODES)
  * M810-M819 - Define/execute a G-code macro (Requires GCODE_MACROS)
@@ -850,6 +851,10 @@ private:
     static void M666();
   #endif
 
+  #if ENABLED(SMART_EFFECTOR) && PIN_EXISTS(SMART_EFFECTOR_MOD)
+    static void M672();
+  #endif
+
   #if ENABLED(FILAMENT_LOAD_UNLOAD_GCODES)
     static void M701();
     static void M702();

Marlin/src/pins/pinsDebug_list.h

@@ -1488,3 +1488,6 @@
 #if PIN_EXISTS(TOUCH_INT)
   REPORT_NAME_DIGITAL(__LINE__, TOUCH_INT_PIN)
 #endif
+#if PIN_EXISTS(SMART_EFFECTOR_MOD)
+  REPORT_NAME_DIGITAL(__LINE__, SMART_EFFECTOR_MOD_PIN)
+#endif