update code base to Marlin 2.0.9.2

Marlin/src/gcode/control/M280.cpp

@@ -16,7 +16,7 @@
  * 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/>.
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
  */
 
@@ -26,30 +26,51 @@
 
 #include "../gcode.h"
 #include "../../module/servo.h"
+#include "../../module/planner.h"
 
 /**
- * M280: Get or set servo position. P<index> [S<angle>]
+ * M280: Get or set servo position.
+ *  P<index> - Servo index
+ *  S<angle> - Angle to set, omit to read current angle, or use -1 to detach
+ *
+ * With POLARGRAPH:
+ *  T<ms>    - Duration of servo move
  */
 void GcodeSuite::M280() {
-  if (!parser.seen('P')) return;
+
+  if (!parser.seenval('P')) return;
+
+  TERN_(POLARGRAPH, planner.synchronize());
+
   const int servo_index = parser.value_int();
   if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
-    if (parser.seen('S')) {
-      const int a = parser.value_int();
-      if (a == -1)
-        servo[servo_index].detach();
+    if (parser.seenval('S')) {
+      const int anew = parser.value_int();
+      if (anew >= 0) {
+        #if ENABLED(POLARGRAPH)
+          if (parser.seen('T')) { // (ms) Total duration of servo move
+            const int16_t t = constrain(parser.value_int(), 0, 10000);
+            const int aold = servo[servo_index].read();
+            millis_t now = millis();
+            const millis_t start = now, end = start + t;
+            while (PENDING(now, end)) {
+              safe_delay(50);
+              now = _MIN(millis(), end);
+              MOVE_SERVO(servo_index, LROUND(aold + (anew - aold) * (float(now - start) / t)));
+            }
+          }
+        #endif // POLARGRAPH
+        MOVE_SERVO(servo_index, anew);
+      }
       else
-        MOVE_SERVO(servo_index, a);
-    }
-    else {
-      SERIAL_ECHO_START();
-      SERIAL_ECHOLNPAIR(" Servo ", servo_index, ": ", servo[servo_index].read());
+        DETACH_SERVO(servo_index);
     }
+    else
+      SERIAL_ECHO_MSG(" Servo ", servo_index, ": ", servo[servo_index].read());
   }
-  else {
-    SERIAL_ERROR_START();
-    SERIAL_ECHOLNPAIR("Servo ", servo_index, " out of range");
-  }
+  else
+    SERIAL_ERROR_MSG("Servo ", servo_index, " out of range");
+
 }
 
 #endif // HAS_SERVOS