Multi-Z stepper inverting (#20678)

Co-authored-by: Scott Lahteine <github@thinkyhead.com>

Marlin/Configuration.h

@@ -1089,7 +1089,7 @@
 //#define PROBING_STEPPERS_OFF      // Turn steppers off (unless needed to hold position) when probing
 //#define DELAY_BEFORE_PROBING 200  // (ms) To prevent vibrations from triggering piezo sensors
 
-// Require minimum nozzle and/or bed temperature for probing.
+// Require minimum nozzle and/or bed temperature for probing
 //#define PREHEAT_BEFORE_PROBING
 #if ENABLED(PREHEAT_BEFORE_PROBING)
   #define PROBING_NOZZLE_TEMP 120   // (°C) Only applies to E0 at this time
@@ -2428,7 +2428,7 @@
   //#define TOUCH_CALIBRATION_Y -8981
   //#define TOUCH_OFFSET_X        -43
   //#define TOUCH_OFFSET_Y        257
-  //#define TOUCH_ORIENTATION   TOUCH_LANDSCAPE
+  //#define TOUCH_ORIENTATION TOUCH_LANDSCAPE
 
   #if ENABLED(TFT_COLOR_UI)
     //#define SINGLE_TOUCH_NAVIGATION

Marlin/Configuration_adv.h

@@ -552,7 +552,7 @@
 
 //#define X_DUAL_STEPPER_DRIVERS
 #if ENABLED(X_DUAL_STEPPER_DRIVERS)
-  #define INVERT_X2_VS_X_DIR true   // Set 'true' if X motors should rotate in opposite directions
+  //#define INVERT_X2_VS_X_DIR    // Enable if X2 direction signal is opposite to X
   //#define X_DUAL_ENDSTOPS
   #if ENABLED(X_DUAL_ENDSTOPS)
     #define X2_USE_ENDSTOP _XMAX_
@@ -562,7 +562,7 @@
 
 //#define Y_DUAL_STEPPER_DRIVERS
 #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
-  #define INVERT_Y2_VS_Y_DIR true   // Set 'true' if Y motors should rotate in opposite directions
+  //#define INVERT_Y2_VS_Y_DIR   // Enable if Y2 direction signal is opposite to Y
   //#define Y_DUAL_ENDSTOPS
   #if ENABLED(Y_DUAL_ENDSTOPS)
     #define Y2_USE_ENDSTOP _YMAX_
@@ -576,6 +576,11 @@
 #define NUM_Z_STEPPER_DRIVERS 1   // (1-4) Z options change based on how many
 
 #if NUM_Z_STEPPER_DRIVERS > 1
+  // Enable if Z motor direction signals are the opposite of Z1
+  //#define INVERT_Z2_VS_Z_DIR
+  //#define INVERT_Z3_VS_Z_DIR
+  //#define INVERT_Z4_VS_Z_DIR
+
   //#define Z_MULTI_ENDSTOPS
   #if ENABLED(Z_MULTI_ENDSTOPS)
     #define Z2_USE_ENDSTOP          _XMAX_

Marlin/src/inc/Conditionals_adv.h

@@ -211,14 +211,18 @@
 #if DISABLED(Y_DUAL_STEPPER_DRIVERS)
   #undef Y2_DRIVER_TYPE
 #endif
-#if NUM_Z_STEPPER_DRIVERS < 2
+
-  #undef Z2_DRIVER_TYPE
-#endif
-#if NUM_Z_STEPPER_DRIVERS < 3
-  #undef Z3_DRIVER_TYPE
-#endif
 #if NUM_Z_STEPPER_DRIVERS < 4
   #undef Z4_DRIVER_TYPE
+  #undef INVERT_Z4_VS_Z_DIR
+  #if NUM_Z_STEPPER_DRIVERS < 3
+    #undef Z3_DRIVER_TYPE
+    #undef INVERT_Z3_VS_Z_DIR
+    #if NUM_Z_STEPPER_DRIVERS < 2
+      #undef Z2_DRIVER_TYPE
+      #undef INVERT_Z2_VS_Z_DIR
+    #endif
+  #endif
 #endif
 
 //

Marlin/src/libs/L64XX/L64XX_Marlin.cpp

@@ -60,16 +60,11 @@ uint8_t L64XX_Marlin::dir_commands[MAX_L64XX];  // array to hold direction comma
 
 const uint8_t L64XX_Marlin::index_to_dir[MAX_L64XX] = {
   INVERT_X_DIR, INVERT_Y_DIR, INVERT_Z_DIR
-  , (INVERT_X_DIR)                            // X2
+  , (INVERT_X_DIR) ^ BOTH(X_DUAL_STEPPER_DRIVERS, INVERT_X2_VS_X_DIR) // X2
-    #if ENABLED(X_DUAL_STEPPER_DRIVERS)
+  , (INVERT_Y_DIR) ^ BOTH(Y_DUAL_STEPPER_DRIVERS, INVERT_Y2_VS_Y_DIR) // Y2
-      ^ ENABLED(INVERT_X2_VS_X_DIR)
+  , (INVERT_Z_DIR) ^ ENABLED(INVERT_Z2_VS_Z_DIR) // Z2
-    #endif
+  , (INVERT_Z_DIR) ^ ENABLED(INVERT_Z3_VS_Z_DIR) // Z3
-  , (INVERT_Y_DIR)                            // Y2
+  , (INVERT_Z_DIR) ^ ENABLED(INVERT_Z4_VS_Z_DIR) // Z4
-    #if ENABLED(Y_DUAL_STEPPER_DRIVERS)
-      ^ ENABLED(INVERT_Y2_VS_Y_DIR)
-    #endif
-  , INVERT_Z_DIR, INVERT_Z_DIR, INVERT_Z_DIR  // Z2,Z3,Z4
-
   , INVERT_E0_DIR, INVERT_E1_DIR, INVERT_E2_DIR, INVERT_E3_DIR
   , INVERT_E4_DIR, INVERT_E5_DIR, INVERT_E6_DIR, INVERT_E7_DIR
 };

Marlin/src/module/stepper.cpp

@@ -381,7 +381,10 @@ xyze_int8_t Stepper::count_direction{0};
 #endif
 
 #if NUM_Z_STEPPER_DRIVERS == 4
-  #define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE(v); Z3_DIR_WRITE(v); Z4_DIR_WRITE(v); }while(0)
+  #define Z_APPLY_DIR(v,Q) do{ \
+    Z_DIR_WRITE(v); Z2_DIR_WRITE((v) ^ ENABLED(INVERT_Z2_VS_Z_DIR)); \
+    Z3_DIR_WRITE((v) ^ ENABLED(INVERT_Z3_VS_Z_DIR)); Z4_DIR_WRITE((v) ^ ENABLED(INVERT_Z4_VS_Z_DIR)); \
+  }while(0)
   #if ENABLED(Z_MULTI_ENDSTOPS)
     #define Z_APPLY_STEP(v,Q) QUAD_ENDSTOP_APPLY_STEP(Z,v)
   #elif ENABLED(Z_STEPPER_AUTO_ALIGN)
@@ -390,7 +393,9 @@ xyze_int8_t Stepper::count_direction{0};
     #define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); Z3_STEP_WRITE(v); Z4_STEP_WRITE(v); }while(0)
   #endif
 #elif NUM_Z_STEPPER_DRIVERS == 3
-  #define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE(v); Z3_DIR_WRITE(v); }while(0)
+  #define Z_APPLY_DIR(v,Q) do{ \
+    Z_DIR_WRITE(v); Z2_DIR_WRITE((v) ^ ENABLED(INVERT_Z2_VS_Z_DIR)); Z3_DIR_WRITE((v) ^ ENABLED(INVERT_Z3_VS_Z_DIR)); \
+  }while(0)
   #if ENABLED(Z_MULTI_ENDSTOPS)
     #define Z_APPLY_STEP(v,Q) TRIPLE_ENDSTOP_APPLY_STEP(Z,v)
   #elif ENABLED(Z_STEPPER_AUTO_ALIGN)
@@ -399,7 +404,7 @@ xyze_int8_t Stepper::count_direction{0};
     #define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); Z3_STEP_WRITE(v); }while(0)
   #endif
 #elif NUM_Z_STEPPER_DRIVERS == 2
-  #define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE(v); }while(0)
+  #define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE((v) ^ ENABLED(INVERT_Z2_VS_Z_DIR)); }while(0)
   #if ENABLED(Z_MULTI_ENDSTOPS)
     #define Z_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Z,v)
   #elif ENABLED(Z_STEPPER_AUTO_ALIGN)