zaubentrucker/muele-marlin
1
0
Fork 0
Code Issues Pull requests Actions Packages Projects Releases Wiki Activity

🎨 Various multi-axis patches (#22823)

Browse source
This commit is contained in:
Scott Lahteine 2021-09-23 10:01:37 -05:00 committed by Scott Lahteine
parent 3deb54d0fd
commit 2c30b75268
20 changed files with 174 additions and 127 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

24
Marlin/Configuration.h
View file

@ -794,18 +794,18 @@
#define ENDSTOPPULLUPS #define ENDSTOPPULLUPS
#if DISABLED(ENDSTOPPULLUPS) #if DISABLED(ENDSTOPPULLUPS)
// Disable ENDSTOPPULLUPS to set pullups individually // Disable ENDSTOPPULLUPS to set pullups individually
//#define ENDSTOPPULLUP_XMAX
//#define ENDSTOPPULLUP_YMAX
//#define ENDSTOPPULLUP_ZMAX
//#define ENDSTOPPULLUP_IMAX
//#define ENDSTOPPULLUP_JMAX
//#define ENDSTOPPULLUP_KMAX
//#define ENDSTOPPULLUP_XMIN //#define ENDSTOPPULLUP_XMIN
//#define ENDSTOPPULLUP_YMIN //#define ENDSTOPPULLUP_YMIN
//#define ENDSTOPPULLUP_ZMIN //#define ENDSTOPPULLUP_ZMIN
//#define ENDSTOPPULLUP_IMIN //#define ENDSTOPPULLUP_IMIN
//#define ENDSTOPPULLUP_JMIN //#define ENDSTOPPULLUP_JMIN
//#define ENDSTOPPULLUP_KMIN //#define ENDSTOPPULLUP_KMIN
//#define ENDSTOPPULLUP_XMAX
//#define ENDSTOPPULLUP_YMAX
//#define ENDSTOPPULLUP_ZMAX
//#define ENDSTOPPULLUP_IMAX
//#define ENDSTOPPULLUP_JMAX
//#define ENDSTOPPULLUP_KMAX
//#define ENDSTOPPULLUP_ZMIN_PROBE //#define ENDSTOPPULLUP_ZMIN_PROBE
#endif #endif
@ -813,18 +813,18 @@
//#define ENDSTOPPULLDOWNS //#define ENDSTOPPULLDOWNS
#if DISABLED(ENDSTOPPULLDOWNS) #if DISABLED(ENDSTOPPULLDOWNS)
// Disable ENDSTOPPULLDOWNS to set pulldowns individually // Disable ENDSTOPPULLDOWNS to set pulldowns individually
//#define ENDSTOPPULLDOWN_XMAX
//#define ENDSTOPPULLDOWN_YMAX
//#define ENDSTOPPULLDOWN_ZMAX
//#define ENDSTOPPULLDOWN_IMAX
//#define ENDSTOPPULLDOWN_JMAX
//#define ENDSTOPPULLDOWN_KMAX
//#define ENDSTOPPULLDOWN_XMIN //#define ENDSTOPPULLDOWN_XMIN
//#define ENDSTOPPULLDOWN_YMIN //#define ENDSTOPPULLDOWN_YMIN
//#define ENDSTOPPULLDOWN_ZMIN //#define ENDSTOPPULLDOWN_ZMIN
//#define ENDSTOPPULLDOWN_IMIN //#define ENDSTOPPULLDOWN_IMIN
//#define ENDSTOPPULLDOWN_JMIN //#define ENDSTOPPULLDOWN_JMIN
//#define ENDSTOPPULLDOWN_KMIN //#define ENDSTOPPULLDOWN_KMIN
//#define ENDSTOPPULLDOWN_XMAX
//#define ENDSTOPPULLDOWN_YMAX
//#define ENDSTOPPULLDOWN_ZMAX
//#define ENDSTOPPULLDOWN_IMAX
//#define ENDSTOPPULLDOWN_JMAX
//#define ENDSTOPPULLDOWN_KMAX
//#define ENDSTOPPULLDOWN_ZMIN_PROBE //#define ENDSTOPPULLDOWN_ZMIN_PROBE
#endif #endif

12
Marlin/src/HAL/SAMD51/endstop_interrupts.h
View file

@ -162,12 +162,14 @@ void setup_endstop_interrupts() {
#error "Z_MIN_PROBE_PIN has no EXTINT line available." #error "Z_MIN_PROBE_PIN has no EXTINT line available."
#endif #endif
_ATTACH(Z_MIN_PROBE_PIN); _ATTACH(Z_MIN_PROBE_PIN);
#elif HAS_I_MAX #endif
#if HAS_I_MAX
#if !AVAILABLE_EILINE(I_MAX_PIN) #if !AVAILABLE_EILINE(I_MAX_PIN)
#error "I_MAX_PIN has no EXTINT line available." #error "I_MAX_PIN has no EXTINT line available."
#endif #endif
attachInterrupt(I_MAX_PIN, endstop_ISR, CHANGE); attachInterrupt(I_MAX_PIN, endstop_ISR, CHANGE);
#elif HAS_I_MIN #endif
#if HAS_I_MIN
#if !AVAILABLE_EILINE(I_MIN_PIN) #if !AVAILABLE_EILINE(I_MIN_PIN)
#error "I_MIN_PIN has no EXTINT line available." #error "I_MIN_PIN has no EXTINT line available."
#endif #endif
@ -178,7 +180,8 @@ void setup_endstop_interrupts() {
#error "J_MAX_PIN has no EXTINT line available." #error "J_MAX_PIN has no EXTINT line available."
#endif #endif
attachInterrupt(J_MAX_PIN, endstop_ISR, CHANGE); attachInterrupt(J_MAX_PIN, endstop_ISR, CHANGE);
#elif HAS_J_MIN #endif
#if HAS_J_MIN
#if !AVAILABLE_EILINE(J_MIN_PIN) #if !AVAILABLE_EILINE(J_MIN_PIN)
#error "J_MIN_PIN has no EXTINT line available." #error "J_MIN_PIN has no EXTINT line available."
#endif #endif
@ -189,7 +192,8 @@ void setup_endstop_interrupts() {
#error "K_MAX_PIN has no EXTINT line available." #error "K_MAX_PIN has no EXTINT line available."
#endif #endif
attachInterrupt(K_MAX_PIN, endstop_ISR, CHANGE); attachInterrupt(K_MAX_PIN, endstop_ISR, CHANGE);
#elif HAS_K_MIN #endif
#if HAS_K_MIN
#if !AVAILABLE_EILINE(K_MIN_PIN) #if !AVAILABLE_EILINE(K_MIN_PIN)
#error "K_MIN_PIN has no EXTINT line available." #error "K_MIN_PIN has no EXTINT line available."
#endif #endif

63
Marlin/src/core/macros.h
View file

@ -33,32 +33,32 @@
#define _AXIS(A) (A##_AXIS) #define _AXIS(A) (A##_AXIS)
#define _XMIN_ 100 #define _XMIN_ 0x11
#define _YMIN_ 200 #define _YMIN_ 0x12
#define _ZMIN_ 300 #define _ZMIN_ 0x13
#define _IMIN_ 500 #define _IMIN_ 0x14
#define _JMIN_ 600 #define _JMIN_ 0x15
#define _KMIN_ 700 #define _KMIN_ 0x16
#define _XMAX_ 101 #define _XMAX_ 0x21
#define _YMAX_ 201 #define _YMAX_ 0x22
#define _ZMAX_ 301 #define _ZMAX_ 0x23
#define _IMAX_ 501 #define _IMAX_ 0x24
#define _JMAX_ 601 #define _JMAX_ 0x25
#define _KMAX_ 701 #define _KMAX_ 0x26
#define _XDIAG_ 102 #define _XDIAG_ 0x31
#define _YDIAG_ 202 #define _YDIAG_ 0x32
#define _ZDIAG_ 302 #define _ZDIAG_ 0x33
#define _IDIAG_ 502 #define _IDIAG_ 0x34
#define _JDIAG_ 602 #define _JDIAG_ 0x35
#define _KDIAG_ 702 #define _KDIAG_ 0x36
#define _E0DIAG_ 400 #define _E0DIAG_ 0xE0
#define _E1DIAG_ 401 #define _E1DIAG_ 0xE1
#define _E2DIAG_ 402 #define _E2DIAG_ 0xE2
#define _E3DIAG_ 403 #define _E3DIAG_ 0xE3
#define _E4DIAG_ 404 #define _E4DIAG_ 0xE4
#define _E5DIAG_ 405 #define _E5DIAG_ 0xE5
#define _E6DIAG_ 406 #define _E6DIAG_ 0xE6
#define _E7DIAG_ 407 #define _E7DIAG_ 0xE7
#define _FORCE_INLINE_ __attribute__((__always_inline__)) __inline__ #define _FORCE_INLINE_ __attribute__((__always_inline__)) __inline__
#define FORCE_INLINE __attribute__((always_inline)) inline #define FORCE_INLINE __attribute__((always_inline)) inline
@ -251,6 +251,8 @@
memcpy(&a[0],&b[0],_MIN(sizeof(a),sizeof(b))); \ memcpy(&a[0],&b[0],_MIN(sizeof(a),sizeof(b))); \
}while(0) }while(0)
#define CODE_11( A,B,C,D,E,F,G,H,I,J,K,...) A; B; C; D; E; F; G; H; I; J; K
#define CODE_10( A,B,C,D,E,F,G,H,I,J,...) A; B; C; D; E; F; G; H; I; J
#define CODE_9( A,B,C,D,E,F,G,H,I,...) A; B; C; D; E; F; G; H; I #define CODE_9( A,B,C,D,E,F,G,H,I,...) A; B; C; D; E; F; G; H; I
#define CODE_8( A,B,C,D,E,F,G,H,...) A; B; C; D; E; F; G; H #define CODE_8( A,B,C,D,E,F,G,H,...) A; B; C; D; E; F; G; H
#define CODE_7( A,B,C,D,E,F,G,...) A; B; C; D; E; F; G #define CODE_7( A,B,C,D,E,F,G,...) A; B; C; D; E; F; G
@ -286,6 +288,10 @@
#define GANG_N_1(N,K) _GANG_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K) #define GANG_N_1(N,K) _GANG_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K)
// Macros for initializing arrays // Macros for initializing arrays
#define LIST_20(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T
#define LIST_19(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S
#define LIST_18(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R
#define LIST_17(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q
#define LIST_16(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P #define LIST_16(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P
#define LIST_15(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O #define LIST_15(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O
#define LIST_14(A,B,C,D,E,F,G,H,I,J,K,L,M,N,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N #define LIST_14(A,B,C,D,E,F,G,H,I,J,K,L,M,N,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N
@ -502,6 +508,11 @@
#define INC_13 14 #define INC_13 14
#define INC_14 15 #define INC_14 15
#define INC_15 16 #define INC_15 16
#define INC_16 17
#define INC_17 18
#define INC_18 19
#define INC_19 20
#define INC_20 21
#define INCREMENT_(n) INC_##n #define INCREMENT_(n) INC_##n
#define INCREMENT(n) INCREMENT_(n) #define INCREMENT(n) INCREMENT_(n)

6
Marlin/src/feature/backlash.cpp
View file

@ -60,9 +60,9 @@ Backlash backlash;
* spread over multiple segments, smoothing out artifacts even more. * spread over multiple segments, smoothing out artifacts even more.
*/ */
void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const uint8_t dm, block_t * const block) { void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const axis_bits_t dm, block_t * const block) {
static uint8_t last_direction_bits; static axis_bits_t last_direction_bits;
uint8_t changed_dir = last_direction_bits ^ dm; axis_bits_t changed_dir = last_direction_bits ^ dm;
// Ignore direction change unless steps are taken in that direction // Ignore direction change unless steps are taken in that direction
#if DISABLED(CORE_BACKLASH) || ENABLED(MARKFORGED_XY) #if DISABLED(CORE_BACKLASH) || ENABLED(MARKFORGED_XY)
if (!da) CBI(changed_dir, X_AXIS); if (!da) CBI(changed_dir, X_AXIS);

2
Marlin/src/feature/backlash.h
View file

@ -71,7 +71,7 @@ public:
return has_measurement(X_AXIS) || has_measurement(Y_AXIS) || has_measurement(Z_AXIS); return has_measurement(X_AXIS) || has_measurement(Y_AXIS) || has_measurement(Z_AXIS);
} }
void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const uint8_t dm, block_t * const block); void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const axis_bits_t dm, block_t * const block);
}; };
extern Backlash backlash; extern Backlash backlash;

6
Marlin/src/gcode/config/M217.cpp
View file

@ -141,9 +141,9 @@ void GcodeSuite::M217_report(const bool forReplay/*=true*/) {
SP_E_STR, LINEAR_UNIT(toolchange_settings.extra_prime), SP_E_STR, LINEAR_UNIT(toolchange_settings.extra_prime),
SP_P_STR, LINEAR_UNIT(toolchange_settings.prime_speed)); SP_P_STR, LINEAR_UNIT(toolchange_settings.prime_speed));
SERIAL_ECHOPGM(" R", LINEAR_UNIT(toolchange_settings.retract_speed), SERIAL_ECHOPGM(" R", LINEAR_UNIT(toolchange_settings.retract_speed),
" U", LINEAR_UNIT(toolchange_settings.unretract_speed), " U", LINEAR_UNIT(toolchange_settings.unretract_speed),
" F", toolchange_settings.fan_speed, " F", toolchange_settings.fan_speed,
" G", toolchange_settings.fan_time); " G", toolchange_settings.fan_time);
#if ENABLED(TOOLCHANGE_MIGRATION_FEATURE) #if ENABLED(TOOLCHANGE_MIGRATION_FEATURE)
SERIAL_ECHOPGM(" A", migration.automode); SERIAL_ECHOPGM(" A", migration.automode);

26
Marlin/src/gcode/feature/trinamic/M906.cpp
View file

@ -206,7 +206,8 @@ void GcodeSuite::M906_report(const bool forReplay/*=true*/) {
SERIAL_ECHOPGM(" M906"); SERIAL_ECHOPGM(" M906");
}; };
#if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z) #if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z) \
|| AXIS_IS_TMC(I) || AXIS_IS_TMC(J) || AXIS_IS_TMC(K)
say_M906(forReplay); say_M906(forReplay);
#if AXIS_IS_TMC(X) #if AXIS_IS_TMC(X)
SERIAL_ECHOPGM_P(SP_X_STR, stepperX.getMilliamps()); SERIAL_ECHOPGM_P(SP_X_STR, stepperX.getMilliamps());
@ -217,6 +218,15 @@ void GcodeSuite::M906_report(const bool forReplay/*=true*/) {
#if AXIS_IS_TMC(Z) #if AXIS_IS_TMC(Z)
SERIAL_ECHOPGM_P(SP_Z_STR, stepperZ.getMilliamps()); SERIAL_ECHOPGM_P(SP_Z_STR, stepperZ.getMilliamps());
#endif #endif
#if AXIS_IS_TMC(I)
SERIAL_ECHOPGM_P(SP_I_STR, stepperI.getMilliamps());
#endif
#if AXIS_IS_TMC(J)
SERIAL_ECHOPGM_P(SP_J_STR, stepperJ.getMilliamps());
#endif
#if AXIS_IS_TMC(K)
SERIAL_ECHOPGM_P(SP_K_STR, stepperK.getMilliamps());
#endif
SERIAL_EOL(); SERIAL_EOL();
#endif #endif
@ -239,25 +249,11 @@ void GcodeSuite::M906_report(const bool forReplay/*=true*/) {
say_M906(forReplay); say_M906(forReplay);
SERIAL_ECHOLNPGM(" I2 Z", stepperZ3.getMilliamps()); SERIAL_ECHOLNPGM(" I2 Z", stepperZ3.getMilliamps());
#endif #endif
#if AXIS_IS_TMC(Z4) #if AXIS_IS_TMC(Z4)
say_M906(forReplay); say_M906(forReplay);
SERIAL_ECHOLNPGM(" I3 Z", stepperZ4.getMilliamps()); SERIAL_ECHOLNPGM(" I3 Z", stepperZ4.getMilliamps());
#endif #endif
#if AXIS_IS_TMC(I)
say_M906(forReplay);
SERIAL_ECHOLNPGM_P(SP_I_STR, stepperI.getMilliamps());
#endif
#if AXIS_IS_TMC(J)
say_M906(forReplay);
SERIAL_ECHOLNPGM_P(SP_J_STR, stepperJ.getMilliamps());
#endif
#if AXIS_IS_TMC(K)
say_M906(forReplay);
SERIAL_ECHOLNPGM_P(SP_K_STR, stepperK.getMilliamps());
#endif
#if AXIS_IS_TMC(E0) #if AXIS_IS_TMC(E0)
say_M906(forReplay); say_M906(forReplay);
SERIAL_ECHOLNPGM(" T0 E", stepperE0.getMilliamps()); SERIAL_ECHOLNPGM(" T0 E", stepperE0.getMilliamps());

2
Marlin/src/gcode/gcode.cpp
View file

@ -74,7 +74,7 @@ millis_t GcodeSuite::previous_move_ms = 0,
// Relative motion mode for each logical axis // Relative motion mode for each logical axis
static constexpr xyze_bool_t ar_init = AXIS_RELATIVE_MODES; static constexpr xyze_bool_t ar_init = AXIS_RELATIVE_MODES;
uint8_t GcodeSuite::axis_relative = 0 LOGICAL_AXIS_GANG( axis_bits_t GcodeSuite::axis_relative = 0 LOGICAL_AXIS_GANG(
| (ar_init.e << REL_E), | (ar_init.e << REL_E),
| (ar_init.x << REL_X), | (ar_init.x << REL_X),
| (ar_init.y << REL_Y), | (ar_init.y << REL_Y),

2
Marlin/src/gcode/gcode.h
View file

@ -327,7 +327,7 @@ extern const char G28_STR[];
class GcodeSuite { class GcodeSuite {
public: public:
static uint8_t axis_relative; static axis_bits_t axis_relative;
static inline bool axis_is_relative(const AxisEnum a) { static inline bool axis_is_relative(const AxisEnum a) {
#if HAS_EXTRUDERS #if HAS_EXTRUDERS

3
Marlin/src/gcode/queue.cpp
View file

@ -260,8 +260,7 @@ void GCodeQueue::RingBuffer::ok_to_send() {
while (NUMERIC_SIGNED(*p)) while (NUMERIC_SIGNED(*p))
SERIAL_CHAR(*p++); SERIAL_CHAR(*p++);
} }
SERIAL_ECHOPGM_P(SP_P_STR, planner.moves_free(), SERIAL_ECHOPGM_P(SP_P_STR, planner.moves_free(), SP_B_STR, BUFSIZE - length);
SP_B_STR, BUFSIZE - length);
#endif #endif
SERIAL_EOL(); SERIAL_EOL();
} }

26
Marlin/src/inc/Conditionals_post.h
View file

@ -1922,20 +1922,14 @@
#ifndef Z4_INTERPOLATE #ifndef Z4_INTERPOLATE
#define Z4_INTERPOLATE INTERPOLATE #define Z4_INTERPOLATE INTERPOLATE
#endif #endif
#if LINEAR_AXES >= 4 #if LINEAR_AXES >= 4 && !defined(I_INTERPOLATE)
#ifndef I_INTERPOLATE #define I_INTERPOLATE INTERPOLATE
#define I_INTERPOLATE INTERPOLATE
#endif
#endif #endif
#if LINEAR_AXES >= 5 #if LINEAR_AXES >= 5 && !defined(J_INTERPOLATE)
#ifndef J_INTERPOLATE #define J_INTERPOLATE INTERPOLATE
#define J_INTERPOLATE INTERPOLATE
#endif
#endif #endif
#if LINEAR_AXES >= 6 #if LINEAR_AXES >= 6 && !defined(K_INTERPOLATE)
#ifndef K_INTERPOLATE #define K_INTERPOLATE INTERPOLATE
#define K_INTERPOLATE INTERPOLATE
#endif
#endif #endif
#ifndef E0_INTERPOLATE #ifndef E0_INTERPOLATE
#define E0_INTERPOLATE INTERPOLATE #define E0_INTERPOLATE INTERPOLATE
@ -1962,13 +1956,13 @@
#define E7_INTERPOLATE INTERPOLATE #define E7_INTERPOLATE INTERPOLATE
#endif #endif
#ifndef X_SLAVE_ADDRESS #ifndef X_SLAVE_ADDRESS
#define X_SLAVE_ADDRESS 0 #define X_SLAVE_ADDRESS 0
#endif #endif
#ifndef Y_SLAVE_ADDRESS #ifndef Y_SLAVE_ADDRESS
#define Y_SLAVE_ADDRESS 0 #define Y_SLAVE_ADDRESS 0
#endif #endif
#ifndef Z_SLAVE_ADDRESS #ifndef Z_SLAVE_ADDRESS
#define Z_SLAVE_ADDRESS 0 #define Z_SLAVE_ADDRESS 0
#endif #endif
#ifndef I_SLAVE_ADDRESS #ifndef I_SLAVE_ADDRESS
#define I_SLAVE_ADDRESS 0 #define I_SLAVE_ADDRESS 0
@ -2660,7 +2654,7 @@
#if HAS_EXTRUDERS && PIN_EXISTS(MOTOR_CURRENT_PWM_E) #if HAS_EXTRUDERS && PIN_EXISTS(MOTOR_CURRENT_PWM_E)
#define HAS_MOTOR_CURRENT_PWM_E 1 #define HAS_MOTOR_CURRENT_PWM_E 1
#endif #endif
#if HAS_MOTOR_CURRENT_PWM_E || ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_Z) #if HAS_MOTOR_CURRENT_PWM_E || ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_Z, MOTOR_CURRENT_PWM_I, MOTOR_CURRENT_PWM_J, MOTOR_CURRENT_PWM_K)
#define HAS_MOTOR_CURRENT_PWM 1 #define HAS_MOTOR_CURRENT_PWM 1
#endif #endif

12
Marlin/src/inc/SanityCheck.h
View file

@ -1404,8 +1404,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
#endif #endif
#endif #endif
#if LINEAR_AXES >= 5 #if LINEAR_AXES >= 5
#if AXIS5_NAME == AXIS4_NAME || AXIS5_NAME == AXIS6_NAME #if AXIS5_NAME == AXIS4_NAME
#error "AXIS5_NAME must be different from AXIS4_NAME and AXIS6_NAME" #error "AXIS5_NAME must be unique."
#elif AXIS5_NAME != 'A' && AXIS5_NAME != 'B' && AXIS5_NAME != 'C' && AXIS5_NAME != 'U' && AXIS5_NAME != 'V' && AXIS5_NAME != 'W' #elif AXIS5_NAME != 'A' && AXIS5_NAME != 'B' && AXIS5_NAME != 'C' && AXIS5_NAME != 'U' && AXIS5_NAME != 'V' && AXIS5_NAME != 'W'
#error "AXIS5_NAME can only be one of 'A', 'B', 'C', 'U', 'V', or 'W'." #error "AXIS5_NAME can only be one of 'A', 'B', 'C', 'U', 'V', or 'W'."
#elif !defined(J_MIN_POS) || !defined(J_MAX_POS) #elif !defined(J_MIN_POS) || !defined(J_MAX_POS)
@ -1418,7 +1418,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
#endif #endif
#if LINEAR_AXES >= 6 #if LINEAR_AXES >= 6
#if AXIS6_NAME == AXIS5_NAME || AXIS6_NAME == AXIS4_NAME #if AXIS6_NAME == AXIS5_NAME || AXIS6_NAME == AXIS4_NAME
#error "AXIS6_NAME must be different from AXIS5_NAME and AXIS4_NAME." #error "AXIS6_NAME must be unique."
#elif AXIS6_NAME != 'A' && AXIS6_NAME != 'B' && AXIS6_NAME != 'C' && AXIS6_NAME != 'U' && AXIS6_NAME != 'V' && AXIS6_NAME != 'W' #elif AXIS6_NAME != 'A' && AXIS6_NAME != 'B' && AXIS6_NAME != 'C' && AXIS6_NAME != 'U' && AXIS6_NAME != 'V' && AXIS6_NAME != 'W'
#error "AXIS6_NAME can only be one of 'A', 'B', 'C', 'U', 'V', or 'W'." #error "AXIS6_NAME can only be one of 'A', 'B', 'C', 'U', 'V', or 'W'."
#elif !defined(K_MIN_POS) || !defined(K_MAX_POS) #elif !defined(K_MIN_POS) || !defined(K_MAX_POS)
@ -3040,10 +3040,16 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
#error "SENSORLESS_HOMING requires ENDSTOPPULLUP_ZMIN (or ENDSTOPPULLUPS) when homing to Z_MIN." #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_ZMIN (or ENDSTOPPULLUPS) when homing to Z_MIN."
#elif Z_SENSORLESS && Z_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_ZMAX) #elif Z_SENSORLESS && Z_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_ZMAX)
#error "SENSORLESS_HOMING requires ENDSTOPPULLUP_ZMAX (or ENDSTOPPULLUPS) when homing to Z_MAX." #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_ZMAX (or ENDSTOPPULLUPS) when homing to Z_MAX."
#elif LINEAR_AXES >= 4 && I_SENSORLESS && I_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_IMIN)
#error "SENSORLESS_HOMING requires ENDSTOPPULLUP_IMIN (or ENDSTOPPULLUPS) when homing to I_MIN."
#elif LINEAR_AXES >= 4 && I_SENSORLESS && I_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_IMAX) #elif LINEAR_AXES >= 4 && I_SENSORLESS && I_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_IMAX)
#error "SENSORLESS_HOMING requires ENDSTOPPULLUP_IMAX (or ENDSTOPPULLUPS) when homing to I_MAX." #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_IMAX (or ENDSTOPPULLUPS) when homing to I_MAX."
#elif LINEAR_AXES >= 5 && J_SENSORLESS && J_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_JMIN)
#error "SENSORLESS_HOMING requires ENDSTOPPULLUP_JMIN (or ENDSTOPPULLUPS) when homing to J_MIN."
#elif LINEAR_AXES >= 5 && J_SENSORLESS && J_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_JMAX) #elif LINEAR_AXES >= 5 && J_SENSORLESS && J_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_JMAX)
#error "SENSORLESS_HOMING requires ENDSTOPPULLUP_JMAX (or ENDSTOPPULLUPS) when homing to J_MAX." #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_JMAX (or ENDSTOPPULLUPS) when homing to J_MAX."
#elif LINEAR_AXES >= 6 && K_SENSORLESS && K_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_KMIN)
#error "SENSORLESS_HOMING requires ENDSTOPPULLUP_KMIN (or ENDSTOPPULLUPS) when homing to K_MIN."
#elif LINEAR_AXES >= 6 && K_SENSORLESS && K_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_KMAX) #elif LINEAR_AXES >= 6 && K_SENSORLESS && K_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_KMAX)
#error "SENSORLESS_HOMING requires ENDSTOPPULLUP_KMAX (or ENDSTOPPULLUPS) when homing to K_MAX." #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_KMAX (or ENDSTOPPULLUPS) when homing to K_MAX."
#endif #endif

12
Marlin/src/lcd/extui/ui_api.cpp
View file

@ -423,6 +423,12 @@ namespace ExtUI {
#if AXIS_IS_TMC(Z2) #if AXIS_IS_TMC(Z2)
case Z2: return stepperZ2.getMilliamps(); case Z2: return stepperZ2.getMilliamps();
#endif #endif
#if AXIS_IS_TMC(Z3)
case Z3: return stepperZ3.getMilliamps();
#endif
#if AXIS_IS_TMC(Z4)
case Z4: return stepperZ4.getMilliamps();
#endif
default: return NAN; default: return NAN;
}; };
} }
@ -486,6 +492,12 @@ namespace ExtUI {
#if AXIS_IS_TMC(Z2) #if AXIS_IS_TMC(Z2)
case Z2: stepperZ2.rms_current(constrain(mA, 400, 1500)); break; case Z2: stepperZ2.rms_current(constrain(mA, 400, 1500)); break;
#endif #endif
#if AXIS_IS_TMC(Z3)
case Z3: stepperZ3.rms_current(constrain(mA, 400, 1500)); break;
#endif
#if AXIS_IS_TMC(Z4)
case Z4: stepperZ4.rms_current(constrain(mA, 400, 1500)); break;
#endif
default: break; default: break;
}; };
} }

8
Marlin/src/module/planner.cpp
View file

@ -1310,7 +1310,7 @@ void Planner::recalculate() {
*/ */
void Planner::check_axes_activity() { void Planner::check_axes_activity() {
#if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z , DISABLE_I , DISABLE_J , DISABLE_K, DISABLE_E) #if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z, DISABLE_I, DISABLE_J, DISABLE_K, DISABLE_E)
xyze_bool_t axis_active = { false }; xyze_bool_t axis_active = { false };
#endif #endif
@ -1913,7 +1913,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#endif // PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE #endif // PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE
// Compute direction bit-mask for this block // Compute direction bit-mask for this block
uint8_t dm = 0; axis_bits_t dm = 0;
#if CORE_IS_XY #if CORE_IS_XY
if (da < 0) SBI(dm, X_HEAD); // Save the toolhead's true direction in X if (da < 0) SBI(dm, X_HEAD); // Save the toolhead's true direction in X
if (db < 0) SBI(dm, Y_HEAD); // ...and Y if (db < 0) SBI(dm, Y_HEAD); // ...and Y
@ -2345,11 +2345,11 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#ifdef XY_FREQUENCY_LIMIT #ifdef XY_FREQUENCY_LIMIT
static uint8_t old_direction_bits; // = 0 static axis_bits_t old_direction_bits; // = 0
if (xy_freq_limit_hz) { if (xy_freq_limit_hz) {
// Check and limit the xy direction change frequency // Check and limit the xy direction change frequency
const uint8_t direction_change = block->direction_bits ^ old_direction_bits; const axis_bits_t direction_change = block->direction_bits ^ old_direction_bits;
old_direction_bits = block->direction_bits; old_direction_bits = block->direction_bits;
segment_time_us = LROUND(float(segment_time_us) / speed_factor); segment_time_us = LROUND(float(segment_time_us) / speed_factor);

2
Marlin/src/module/planner.h
View file

@ -202,7 +202,7 @@ typedef struct block_t {
uint32_t acceleration_rate; // The acceleration rate used for acceleration calculation uint32_t acceleration_rate; // The acceleration rate used for acceleration calculation
#endif #endif
uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h) axis_bits_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
// Advance extrusion // Advance extrusion
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)

30
Marlin/src/module/stepper.cpp
View file

@ -149,8 +149,8 @@ Stepper stepper; // Singleton
block_t* Stepper::current_block; // (= nullptr) A pointer to the block currently being traced block_t* Stepper::current_block; // (= nullptr) A pointer to the block currently being traced
uint8_t Stepper::last_direction_bits, // = 0 axis_bits_t Stepper::last_direction_bits, // = 0
Stepper::axis_did_move; // = 0 Stepper::axis_did_move; // = 0
bool Stepper::abort_current_block; bool Stepper::abort_current_block;
@ -503,17 +503,14 @@ void Stepper::set_directions() {
#if HAS_Z_DIR #if HAS_Z_DIR
SET_STEP_DIR(Z); // C SET_STEP_DIR(Z); // C
#endif #endif
#if HAS_I_DIR #if HAS_I_DIR
SET_STEP_DIR(I); // I SET_STEP_DIR(I);
#endif #endif
#if HAS_J_DIR #if HAS_J_DIR
SET_STEP_DIR(J); // J SET_STEP_DIR(J);
#endif #endif
#if HAS_K_DIR #if HAS_K_DIR
SET_STEP_DIR(K); // K SET_STEP_DIR(K);
#endif #endif
#if DISABLED(LIN_ADVANCE) #if DISABLED(LIN_ADVANCE)
@ -1635,7 +1632,7 @@ void Stepper::pulse_phase_isr() {
case 0: { case 0: {
const uint8_t low = page_step_state.page[page_step_state.segment_idx], const uint8_t low = page_step_state.page[page_step_state.segment_idx],
high = page_step_state.page[page_step_state.segment_idx + 1]; high = page_step_state.page[page_step_state.segment_idx + 1];
uint8_t dm = last_direction_bits; axis_bits_t dm = last_direction_bits;
PAGE_SEGMENT_UPDATE(X, low >> 4); PAGE_SEGMENT_UPDATE(X, low >> 4);
PAGE_SEGMENT_UPDATE(Y, low & 0xF); PAGE_SEGMENT_UPDATE(Y, low & 0xF);
@ -2156,7 +2153,7 @@ uint32_t Stepper::block_phase_isr() {
#define Z_MOVE_TEST !!current_block->steps.c #define Z_MOVE_TEST !!current_block->steps.c
#endif #endif
uint8_t axis_bits = 0; axis_bits_t axis_bits = 0;
LINEAR_AXIS_CODE( LINEAR_AXIS_CODE(
if (X_MOVE_TEST) SBI(axis_bits, A_AXIS), if (X_MOVE_TEST) SBI(axis_bits, A_AXIS),
if (Y_MOVE_TEST) SBI(axis_bits, B_AXIS), if (Y_MOVE_TEST) SBI(axis_bits, B_AXIS),
@ -3003,16 +3000,15 @@ void Stepper::report_positions() {
const bool z_direction = direction ^ BABYSTEP_INVERT_Z; const bool z_direction = direction ^ BABYSTEP_INVERT_Z;
ENABLE_AXIS_X(); ENABLE_AXIS_X(); ENABLE_AXIS_Y(); ENABLE_AXIS_Z();
ENABLE_AXIS_Y(); ENABLE_AXIS_I(); ENABLE_AXIS_J(); ENABLE_AXIS_K();
ENABLE_AXIS_Z();
ENABLE_AXIS_I();
ENABLE_AXIS_J();
ENABLE_AXIS_K();
DIR_WAIT_BEFORE(); DIR_WAIT_BEFORE();
const xyz_byte_t old_dir = LINEAR_AXIS_ARRAY(X_DIR_READ(), Y_DIR_READ(), Z_DIR_READ(), I_DIR_READ(), J_DIR_READ(), K_DIR_READ()); const xyz_byte_t old_dir = LINEAR_AXIS_ARRAY(
X_DIR_READ(), Y_DIR_READ(), Z_DIR_READ(),
I_DIR_READ(), J_DIR_READ(), K_DIR_READ()
);
X_DIR_WRITE(INVERT_X_DIR ^ z_direction); X_DIR_WRITE(INVERT_X_DIR ^ z_direction);
#ifdef Y_DIR_WRITE #ifdef Y_DIR_WRITE

6
Marlin/src/module/stepper.h
View file

@ -276,8 +276,8 @@ class Stepper {
static block_t* current_block; // A pointer to the block currently being traced static block_t* current_block; // A pointer to the block currently being traced
static uint8_t last_direction_bits, // The next stepping-bits to be output static axis_bits_t last_direction_bits, // The next stepping-bits to be output
axis_did_move; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner axis_did_move; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
static bool abort_current_block; // Signals to the stepper that current block should be aborted static bool abort_current_block; // Signals to the stepper that current block should be aborted
@ -523,7 +523,7 @@ class Stepper {
static void set_directions(); static void set_directions();
// Set direction bits and update all stepper DIR states // Set direction bits and update all stepper DIR states
static void set_directions(const uint8_t bits) { static void set_directions(const axis_bits_t bits) {
last_direction_bits = bits; last_direction_bits = bits;
set_directions(); set_directions();
} }

6
Marlin/src/module/stepper/indirection.h
View file

@ -896,21 +896,21 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#endif #endif
#if LINEAR_AXES >= 4 #if LINEAR_AXES >= 4
#define ENABLE_AXIS_I() if (SHOULD_ENABLE(i)) { ENABLE_STEPPER_I(); AFTER_CHANGE(i, true); } #define ENABLE_AXIS_I() if (SHOULD_ENABLE(i)) { ENABLE_STEPPER_I(); AFTER_CHANGE(i, true); }
#define DISABLE_AXIS_I() if (SHOULD_DISABLE(i)) { DISABLE_STEPPER_I(); AFTER_CHANGE(i, false); set_axis_untrusted(I_AXIS); } #define DISABLE_AXIS_I() if (SHOULD_DISABLE(i)) { DISABLE_STEPPER_I(); AFTER_CHANGE(i, false); set_axis_untrusted(I_AXIS); }
#else #else
#define ENABLE_AXIS_I() NOOP #define ENABLE_AXIS_I() NOOP
#define DISABLE_AXIS_I() NOOP #define DISABLE_AXIS_I() NOOP
#endif #endif
#if LINEAR_AXES >= 5 #if LINEAR_AXES >= 5
#define ENABLE_AXIS_J() if (SHOULD_ENABLE(j)) { ENABLE_STEPPER_J(); AFTER_CHANGE(j, true); } #define ENABLE_AXIS_J() if (SHOULD_ENABLE(j)) { ENABLE_STEPPER_J(); AFTER_CHANGE(j, true); }
#define DISABLE_AXIS_J() if (SHOULD_DISABLE(j)) { DISABLE_STEPPER_J(); AFTER_CHANGE(j, false); set_axis_untrusted(J_AXIS); } #define DISABLE_AXIS_J() if (SHOULD_DISABLE(j)) { DISABLE_STEPPER_J(); AFTER_CHANGE(j, false); set_axis_untrusted(J_AXIS); }
#else #else
#define ENABLE_AXIS_J() NOOP #define ENABLE_AXIS_J() NOOP
#define DISABLE_AXIS_J() NOOP #define DISABLE_AXIS_J() NOOP
#endif #endif
#if LINEAR_AXES >= 6 #if LINEAR_AXES >= 6
#define ENABLE_AXIS_K() if (SHOULD_ENABLE(k)) { ENABLE_STEPPER_K(); AFTER_CHANGE(k, true); } #define ENABLE_AXIS_K() if (SHOULD_ENABLE(k)) { ENABLE_STEPPER_K(); AFTER_CHANGE(k, true); }
#define DISABLE_AXIS_K() if (SHOULD_DISABLE(k)) { DISABLE_STEPPER_K(); AFTER_CHANGE(k, false); set_axis_untrusted(K_AXIS); } #define DISABLE_AXIS_K() if (SHOULD_DISABLE(k)) { DISABLE_STEPPER_K(); AFTER_CHANGE(k, false); set_axis_untrusted(K_AXIS); }
#else #else
#define ENABLE_AXIS_K() NOOP #define ENABLE_AXIS_K() NOOP

17
Marlin/src/module/stepper/trinamic.cpp
View file

@ -164,6 +164,15 @@ enum StealthIndex : uint8_t {
#ifndef TMC_Z4_BAUD_RATE #ifndef TMC_Z4_BAUD_RATE
#define TMC_Z4_BAUD_RATE TMC_BAUD_RATE #define TMC_Z4_BAUD_RATE TMC_BAUD_RATE
#endif #endif
#ifndef TMC_I_BAUD_RATE
#define TMC_I_BAUD_RATE TMC_BAUD_RATE
#endif
#ifndef TMC_J_BAUD_RATE
#define TMC_J_BAUD_RATE TMC_BAUD_RATE
#endif
#ifndef TMC_K_BAUD_RATE
#define TMC_K_BAUD_RATE TMC_BAUD_RATE
#endif
#ifndef TMC_E0_BAUD_RATE #ifndef TMC_E0_BAUD_RATE
#define TMC_E0_BAUD_RATE TMC_BAUD_RATE #define TMC_E0_BAUD_RATE TMC_BAUD_RATE
#endif #endif
@ -834,12 +843,8 @@ void restore_trinamic_drivers() {
void reset_trinamic_drivers() { void reset_trinamic_drivers() {
static constexpr bool stealthchop_by_axis[] = LOGICAL_AXIS_ARRAY( static constexpr bool stealthchop_by_axis[] = LOGICAL_AXIS_ARRAY(
ENABLED(STEALTHCHOP_E), ENABLED(STEALTHCHOP_E),
ENABLED(STEALTHCHOP_XY), ENABLED(STEALTHCHOP_XY), ENABLED(STEALTHCHOP_XY), ENABLED(STEALTHCHOP_Z),
ENABLED(STEALTHCHOP_XY), ENABLED(STEALTHCHOP_I), ENABLED(STEALTHCHOP_J), ENABLED(STEALTHCHOP_K)
ENABLED(STEALTHCHOP_Z),
ENABLED(STEALTHCHOP_I),
ENABLED(STEALTHCHOP_J),
ENABLED(STEALTHCHOP_K)
); );
#if AXIS_IS_TMC(X) #if AXIS_IS_TMC(X)

36
Marlin/src/pins/pins_postprocess.h
View file

@ -464,11 +464,19 @@
#ifdef I_STOP_PIN #ifdef I_STOP_PIN
#if I_HOME_TO_MIN #if I_HOME_TO_MIN
#define I_MIN_PIN I_STOP_PIN #define I_MIN_PIN I_STOP_PIN
#define I_MAX_PIN -1 #ifndef I_MAX_PIN
#define I_MAX_PIN -1
#endif
#else #else
#define I_MIN_PIN -1
#define I_MAX_PIN I_STOP_PIN #define I_MAX_PIN I_STOP_PIN
#ifndef I_MIN_PIN
#define I_MIN_PIN -1
#endif
#endif #endif
#elif I_HOME_TO_MIN
#define I_STOP_PIN I_MIN_PIN
#else
#define I_STOP_PIN I_MAX_PIN
#endif #endif
#else #else
#undef I_MIN_PIN #undef I_MIN_PIN
@ -479,11 +487,19 @@
#ifdef J_STOP_PIN #ifdef J_STOP_PIN
#if J_HOME_TO_MIN #if J_HOME_TO_MIN
#define J_MIN_PIN J_STOP_PIN #define J_MIN_PIN J_STOP_PIN
#define J_MAX_PIN -1 #ifndef J_MAX_PIN
#define J_MAX_PIN -1
#endif
#else #else
#define J_MIN_PIN -1
#define J_MAX_PIN J_STOP_PIN #define J_MAX_PIN J_STOP_PIN
#ifndef J_MIN_PIN
#define J_MIN_PIN -1
#endif
#endif #endif
#elif J_HOME_TO_MIN
#define J_STOP_PIN J_MIN_PIN
#else
#define J_STOP_PIN J_MAX_PIN
#endif #endif
#else #else
#undef J_MIN_PIN #undef J_MIN_PIN
@ -494,11 +510,19 @@
#ifdef K_STOP_PIN #ifdef K_STOP_PIN
#if K_HOME_TO_MIN #if K_HOME_TO_MIN
#define K_MIN_PIN K_STOP_PIN #define K_MIN_PIN K_STOP_PIN
#define K_MAX_PIN -1 #ifndef K_MAX_PIN
#define K_MAX_PIN -1
#endif
#else #else
#define K_MIN_PIN -1
#define K_MAX_PIN K_STOP_PIN #define K_MAX_PIN K_STOP_PIN
#ifndef K_MIN_PIN
#define K_MIN_PIN -1
#endif
#endif #endif
#elif K_HOME_TO_MIN
#define K_STOP_PIN K_MIN_PIN
#else
#define K_STOP_PIN K_MAX_PIN
#endif #endif
#else #else
#undef K_MIN_PIN #undef K_MIN_PIN