✨ M282 - Detach Servo (#22760)

Marlin/Configuration.h

@@ -2936,7 +2936,7 @@
  * Set this manually if there are extra servos needing manual control.
  * Set to 0 to turn off servo support.
  */
-//#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command
+//#define NUM_SERVOS 3 // Note: Servo index starts with 0 for M280-M282 commands
 
 // (ms) Delay before the next move will start, to give the servo time to reach its target angle.
 // 300ms is a good value but you can try less delay.
@@ -2948,3 +2948,6 @@
 
 // Edit servo angles with M281 and save to EEPROM with M500
 //#define EDITABLE_SERVO_ANGLES
+
+// Disable servo with M282 to reduce power consumption, noise, and heat when not in use
+//#define SERVO_DETACH_GCODE

Marlin/src/gcode/control/M280.cpp

@@ -39,7 +39,7 @@ void GcodeSuite::M280() {
     if (parser.seen('S')) {
       const int a = parser.value_int();
       if (a == -1)
-        servo[servo_index].detach();
+        DETACH_SERVO(servo_index);
       else
         MOVE_SERVO(servo_index, a);
     }

Marlin/src/gcode/control/M282.cpp

@@ -0,0 +1,45 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2021 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(SERVO_DETACH_GCODE)
+
+#include "../gcode.h"
+#include "../../module/servo.h"
+
+/**
+ * M282: Detach Servo. P<index>
+ */
+void GcodeSuite::M282() {
+
+  if (!parser.seen('P')) return;
+
+  const int servo_index = parser.value_int();
+  if (WITHIN(servo_index, 0, NUM_SERVOS - 1))
+    DETACH_SERVO(servo_index);
+  else
+    SERIAL_ECHO_MSG("Servo ", servo_index, " out of range");
+
+}
+
+#endif // SERVO_DETACH_GCODE

Marlin/src/gcode/gcode.cpp

@@ -717,6 +717,9 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
         #if ENABLED(EDITABLE_SERVO_ANGLES)
           case 281: M281(); break;                                // M281: Set servo angles
         #endif
+        #if ENABLED(SERVO_DETACH_GCODE)
+          case 282: M282(); break;                                // M282: Detach servo
+        #endif
       #endif
 
       #if ENABLED(BABYSTEPPING)

Marlin/src/gcode/gcode.h

@@ -192,6 +192,7 @@
  * M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS)
  * M280 - Set servo position absolute: "M280 P<index> S<angle|µs>". (Requires servos)
  * M281 - Set servo min|max position: "M281 P<index> L<min> U<max>". (Requires EDITABLE_SERVO_ANGLES)
+ * M282 - Detach servo: "M282 P<index>". (Requires SERVO_DETACH_GCODE)
  * M290 - Babystepping (Requires BABYSTEPPING)
  * M300 - Play beep sound S<frequency Hz> P<duration ms>
  * M301 - Set PID parameters P I and D. (Requires PIDTEMP)
@@ -862,6 +863,9 @@ private:
       static void M281();
       static void M281_report(const bool forReplay=true);
     #endif
+    #if ENABLED(SERVO_DETACH_GCODE)
+      static void M282();
+    #endif
   #endif
 
   #if ENABLED(BABYSTEPPING)

Marlin/src/inc/Conditionals_post.h

@@ -2593,9 +2593,14 @@
 #endif
 #if NUM_SERVOS > 0
   #define HAS_SERVOS 1
-#endif
+  #if defined(PAUSE_SERVO_OUTPUT) && defined(RESUME_SERVO_OUTPUT)
-#if HAS_SERVOS && defined(PAUSE_SERVO_OUTPUT) && defined(RESUME_SERVO_OUTPUT)
     #define HAS_PAUSE_SERVO_OUTPUT 1
+  #endif
+#else
+  #undef SERVO_DELAY
+  #undef DEACTIVATE_SERVOS_AFTER_MOVE
+  #undef EDITABLE_SERVO_ANGLES
+  #undef SERVO_DETACH_GCODE
 #endif
 
 // Sensors

Marlin/src/module/servo.cpp

@@ -39,19 +39,19 @@ 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.
+    DETACH_SERVO(0); // 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();
+    DETACH_SERVO(1);
   #endif
   #if NUM_SERVOS >= 3 && HAS_SERVO_2
     servo[2].attach(SERVO2_PIN);
-    servo[2].detach();
+    DETACH_SERVO(2);
   #endif
   #if NUM_SERVOS >= 4 && HAS_SERVO_3
     servo[3].attach(SERVO3_PIN);
-    servo[3].detach();
+    DETACH_SERVO(3);
   #endif
 }
 

Marlin/src/module/servo.h

@@ -110,6 +110,7 @@
 #endif // HAS_SERVO_ANGLES
 
 #define MOVE_SERVO(I, P) servo[I].move(P)
+#define DETACH_SERVO(I) servo[I].detach()
 
 extern HAL_SERVO_LIB servo[NUM_SERVOS];
 void servo_init();

buildroot/tests/LPC1768

@@ -28,7 +28,8 @@ restore_configs
 opt_set MOTHERBOARD BOARD_MKS_SBASE \
         EXTRUDERS 2 TEMP_SENSOR_1 1 \
         NUM_SERVOS 2 SERVO_DELAY '{ 300, 300 }'
-opt_enable SWITCHING_NOZZLE SWITCHING_NOZZLE_E1_SERVO_NR ULTIMAKERCONTROLLER REALTIME_REPORTING_COMMANDS FULL_REPORT_TO_HOST_FEATURE
+opt_enable SWITCHING_NOZZLE SWITCHING_NOZZLE_E1_SERVO_NR EDITABLE_SERVO_ANGLES SERVO_DETACH_GCODE \
+           ULTIMAKERCONTROLLER REALTIME_REPORTING_COMMANDS FULL_REPORT_TO_HOST_FEATURE
 exec_test $1 $2 "MKS SBASE with SWITCHING_NOZZLE, Grbl Realtime Report" "$3"
 
 restore_configs

ini/features.ini

@@ -173,6 +173,7 @@ HAS_SMART_EFF_MOD                      = src_filter=+<src/gcode/config/M672.cpp>
 COOLANT_CONTROL|AIR_ASSIST             = src_filter=+<src/gcode/control/M7-M9.cpp>
 AIR_EVACUATION                         = src_filter=+<src/gcode/control/M10-M11.cpp>
 HAS_SOFTWARE_ENDSTOPS                  = src_filter=+<src/gcode/control/M211.cpp>
+SERVO_DETACH_GCODE                     = src_filter=+<src/gcode/control/M282.cpp>
 HAS_DUPLICATION_MODE                   = src_filter=+<src/gcode/control/M605.cpp>
 LIN_ADVANCE                            = src_filter=+<src/gcode/feature/advance>
 PHOTO_GCODE                            = src_filter=+<src/gcode/feature/camera>

platformio.ini

@@ -87,7 +87,7 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
   -<src/lcd/touch/touch_buttons.cpp>
   -<src/sd/usb_flashdrive/lib-uhs2> -<src/sd/usb_flashdrive/lib-uhs3>
   -<src/sd/usb_flashdrive/Sd2Card_FlashDrive.cpp>
-  -<src/sd/cardreader.cpp> -<src/sd/Sd2Card.cpp> -<src/sd/SdBaseFile.cpp> -<src/sd/SdFatUtil.cpp> -<src/sd/SdFile.cpp> -<src/sd/SdVolume.cpp> -<src/gcode/sd>
+  -<src/sd/cardreader.cpp> -<src/sd/Sd2Card.cpp> -<src/sd/SdBaseFile.cpp> -<src/sd/SdFatUtil.cpp> -<src/sd/SdFile.cpp> -<src/sd/SdVolume.cpp>
   -<src/HAL/shared/backtrace>
   -<src/HAL/shared/cpu_exception>
   -<src/HAL/shared/eeprom_if_i2c.cpp>
@@ -166,7 +166,6 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
   -<src/gcode/config/M217.cpp>
   -<src/gcode/config/M218.cpp>
   -<src/gcode/config/M221.cpp>
-  -<src/gcode/config/M281.cpp>
   -<src/gcode/config/M301.cpp>
   -<src/gcode/config/M302.cpp>
   -<src/gcode/config/M304.cpp>
@@ -243,7 +242,7 @@ default_src_filter = +<src/*> -<src/config> -<src/HAL> +<src/HAL/shared>
   -<src/module/printcounter.cpp>
   -<src/module/probe.cpp>
   -<src/module/scara.cpp> -<src/gcode/calibrate/M665.cpp>
-  -<src/module/servo.cpp> -<src/gcode/control/M280.cpp>
+  -<src/module/servo.cpp> -<src/gcode/control/M280.cpp> -<src/gcode/config/M281.cpp> -<src/gcode/control/M282.cpp>
   -<src/module/stepper/TMC26X.cpp>
 
 #