From 2c30b75268a0cb7791c00b91579db6ab42b3dd28 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 23 Sep 2021 10:01:37 -0500 Subject: [PATCH] =?UTF-8?q?=F0=9F=8E=A8=20Various=20multi-axis=20patches?= =?UTF-8?q?=20(#22823)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Marlin/Configuration.h | 24 ++++----- Marlin/src/HAL/SAMD51/endstop_interrupts.h | 12 +++-- Marlin/src/core/macros.h | 63 +++++++++++++--------- Marlin/src/feature/backlash.cpp | 6 +-- Marlin/src/feature/backlash.h | 2 +- Marlin/src/gcode/config/M217.cpp | 6 +-- Marlin/src/gcode/feature/trinamic/M906.cpp | 26 ++++----- Marlin/src/gcode/gcode.cpp | 2 +- Marlin/src/gcode/gcode.h | 2 +- Marlin/src/gcode/queue.cpp | 3 +- Marlin/src/inc/Conditionals_post.h | 26 ++++----- Marlin/src/inc/SanityCheck.h | 12 +++-- Marlin/src/lcd/extui/ui_api.cpp | 12 +++++ Marlin/src/module/planner.cpp | 8 +-- Marlin/src/module/planner.h | 2 +- Marlin/src/module/stepper.cpp | 30 +++++------ Marlin/src/module/stepper.h | 6 +-- Marlin/src/module/stepper/indirection.h | 6 +-- Marlin/src/module/stepper/trinamic.cpp | 17 +++--- Marlin/src/pins/pins_postprocess.h | 36 ++++++++++--- 20 files changed, 174 insertions(+), 127 deletions(-) diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 7afb86dac7..c50af25e63 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -794,18 +794,18 @@ #define ENDSTOPPULLUPS #if DISABLED(ENDSTOPPULLUPS) // 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_YMIN //#define ENDSTOPPULLUP_ZMIN //#define ENDSTOPPULLUP_IMIN //#define ENDSTOPPULLUP_JMIN //#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 #endif @@ -813,18 +813,18 @@ //#define ENDSTOPPULLDOWNS #if DISABLED(ENDSTOPPULLDOWNS) // 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_YMIN //#define ENDSTOPPULLDOWN_ZMIN //#define ENDSTOPPULLDOWN_IMIN //#define ENDSTOPPULLDOWN_JMIN //#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 #endif diff --git a/Marlin/src/HAL/SAMD51/endstop_interrupts.h b/Marlin/src/HAL/SAMD51/endstop_interrupts.h index c46b6e072f..61a06c0d4b 100644 --- a/Marlin/src/HAL/SAMD51/endstop_interrupts.h +++ b/Marlin/src/HAL/SAMD51/endstop_interrupts.h @@ -162,12 +162,14 @@ void setup_endstop_interrupts() { #error "Z_MIN_PROBE_PIN has no EXTINT line available." #endif _ATTACH(Z_MIN_PROBE_PIN); - #elif HAS_I_MAX + #endif + #if HAS_I_MAX #if !AVAILABLE_EILINE(I_MAX_PIN) #error "I_MAX_PIN has no EXTINT line available." #endif attachInterrupt(I_MAX_PIN, endstop_ISR, CHANGE); - #elif HAS_I_MIN + #endif + #if HAS_I_MIN #if !AVAILABLE_EILINE(I_MIN_PIN) #error "I_MIN_PIN has no EXTINT line available." #endif @@ -178,7 +180,8 @@ void setup_endstop_interrupts() { #error "J_MAX_PIN has no EXTINT line available." #endif attachInterrupt(J_MAX_PIN, endstop_ISR, CHANGE); - #elif HAS_J_MIN + #endif + #if HAS_J_MIN #if !AVAILABLE_EILINE(J_MIN_PIN) #error "J_MIN_PIN has no EXTINT line available." #endif @@ -189,7 +192,8 @@ void setup_endstop_interrupts() { #error "K_MAX_PIN has no EXTINT line available." #endif attachInterrupt(K_MAX_PIN, endstop_ISR, CHANGE); - #elif HAS_K_MIN + #endif + #if HAS_K_MIN #if !AVAILABLE_EILINE(K_MIN_PIN) #error "K_MIN_PIN has no EXTINT line available." #endif diff --git a/Marlin/src/core/macros.h b/Marlin/src/core/macros.h index 0174e21add..22c3767e1d 100644 --- a/Marlin/src/core/macros.h +++ b/Marlin/src/core/macros.h @@ -33,32 +33,32 @@ #define _AXIS(A) (A##_AXIS) -#define _XMIN_ 100 -#define _YMIN_ 200 -#define _ZMIN_ 300 -#define _IMIN_ 500 -#define _JMIN_ 600 -#define _KMIN_ 700 -#define _XMAX_ 101 -#define _YMAX_ 201 -#define _ZMAX_ 301 -#define _IMAX_ 501 -#define _JMAX_ 601 -#define _KMAX_ 701 -#define _XDIAG_ 102 -#define _YDIAG_ 202 -#define _ZDIAG_ 302 -#define _IDIAG_ 502 -#define _JDIAG_ 602 -#define _KDIAG_ 702 -#define _E0DIAG_ 400 -#define _E1DIAG_ 401 -#define _E2DIAG_ 402 -#define _E3DIAG_ 403 -#define _E4DIAG_ 404 -#define _E5DIAG_ 405 -#define _E6DIAG_ 406 -#define _E7DIAG_ 407 +#define _XMIN_ 0x11 +#define _YMIN_ 0x12 +#define _ZMIN_ 0x13 +#define _IMIN_ 0x14 +#define _JMIN_ 0x15 +#define _KMIN_ 0x16 +#define _XMAX_ 0x21 +#define _YMAX_ 0x22 +#define _ZMAX_ 0x23 +#define _IMAX_ 0x24 +#define _JMAX_ 0x25 +#define _KMAX_ 0x26 +#define _XDIAG_ 0x31 +#define _YDIAG_ 0x32 +#define _ZDIAG_ 0x33 +#define _IDIAG_ 0x34 +#define _JDIAG_ 0x35 +#define _KDIAG_ 0x36 +#define _E0DIAG_ 0xE0 +#define _E1DIAG_ 0xE1 +#define _E2DIAG_ 0xE2 +#define _E3DIAG_ 0xE3 +#define _E4DIAG_ 0xE4 +#define _E5DIAG_ 0xE5 +#define _E6DIAG_ 0xE6 +#define _E7DIAG_ 0xE7 #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))); \ }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_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 @@ -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) // 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_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 @@ -502,6 +508,11 @@ #define INC_13 14 #define INC_14 15 #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) INCREMENT_(n) diff --git a/Marlin/src/feature/backlash.cpp b/Marlin/src/feature/backlash.cpp index 23dc973049..b646e19f15 100644 --- a/Marlin/src/feature/backlash.cpp +++ b/Marlin/src/feature/backlash.cpp @@ -60,9 +60,9 @@ Backlash backlash; * 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) { - static uint8_t last_direction_bits; - uint8_t changed_dir = last_direction_bits ^ dm; +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 axis_bits_t last_direction_bits; + axis_bits_t changed_dir = last_direction_bits ^ dm; // Ignore direction change unless steps are taken in that direction #if DISABLED(CORE_BACKLASH) || ENABLED(MARKFORGED_XY) if (!da) CBI(changed_dir, X_AXIS); diff --git a/Marlin/src/feature/backlash.h b/Marlin/src/feature/backlash.h index 500168b380..4d4e294038 100644 --- a/Marlin/src/feature/backlash.h +++ b/Marlin/src/feature/backlash.h @@ -71,7 +71,7 @@ public: 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; diff --git a/Marlin/src/gcode/config/M217.cpp b/Marlin/src/gcode/config/M217.cpp index 11d8c43ef0..923a27d7df 100644 --- a/Marlin/src/gcode/config/M217.cpp +++ b/Marlin/src/gcode/config/M217.cpp @@ -141,9 +141,9 @@ void GcodeSuite::M217_report(const bool forReplay/*=true*/) { SP_E_STR, LINEAR_UNIT(toolchange_settings.extra_prime), SP_P_STR, LINEAR_UNIT(toolchange_settings.prime_speed)); SERIAL_ECHOPGM(" R", LINEAR_UNIT(toolchange_settings.retract_speed), - " U", LINEAR_UNIT(toolchange_settings.unretract_speed), - " F", toolchange_settings.fan_speed, - " G", toolchange_settings.fan_time); + " U", LINEAR_UNIT(toolchange_settings.unretract_speed), + " F", toolchange_settings.fan_speed, + " G", toolchange_settings.fan_time); #if ENABLED(TOOLCHANGE_MIGRATION_FEATURE) SERIAL_ECHOPGM(" A", migration.automode); diff --git a/Marlin/src/gcode/feature/trinamic/M906.cpp b/Marlin/src/gcode/feature/trinamic/M906.cpp index 8877603c3a..48db266c72 100644 --- a/Marlin/src/gcode/feature/trinamic/M906.cpp +++ b/Marlin/src/gcode/feature/trinamic/M906.cpp @@ -206,7 +206,8 @@ void GcodeSuite::M906_report(const bool forReplay/*=true*/) { 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); #if AXIS_IS_TMC(X) 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) SERIAL_ECHOPGM_P(SP_Z_STR, stepperZ.getMilliamps()); #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(); #endif @@ -239,25 +249,11 @@ void GcodeSuite::M906_report(const bool forReplay/*=true*/) { say_M906(forReplay); SERIAL_ECHOLNPGM(" I2 Z", stepperZ3.getMilliamps()); #endif - #if AXIS_IS_TMC(Z4) say_M906(forReplay); SERIAL_ECHOLNPGM(" I3 Z", stepperZ4.getMilliamps()); #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) say_M906(forReplay); SERIAL_ECHOLNPGM(" T0 E", stepperE0.getMilliamps()); diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp index 0fc6db07d6..888dbe7027 100644 --- a/Marlin/src/gcode/gcode.cpp +++ b/Marlin/src/gcode/gcode.cpp @@ -74,7 +74,7 @@ millis_t GcodeSuite::previous_move_ms = 0, // Relative motion mode for each logical axis 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.x << REL_X), | (ar_init.y << REL_Y), diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h index b10f0bf06a..a7fc7ff990 100644 --- a/Marlin/src/gcode/gcode.h +++ b/Marlin/src/gcode/gcode.h @@ -327,7 +327,7 @@ extern const char G28_STR[]; class GcodeSuite { public: - static uint8_t axis_relative; + static axis_bits_t axis_relative; static inline bool axis_is_relative(const AxisEnum a) { #if HAS_EXTRUDERS diff --git a/Marlin/src/gcode/queue.cpp b/Marlin/src/gcode/queue.cpp index 07d7c536a6..d11b2823f2 100644 --- a/Marlin/src/gcode/queue.cpp +++ b/Marlin/src/gcode/queue.cpp @@ -260,8 +260,7 @@ void GCodeQueue::RingBuffer::ok_to_send() { while (NUMERIC_SIGNED(*p)) SERIAL_CHAR(*p++); } - SERIAL_ECHOPGM_P(SP_P_STR, planner.moves_free(), - SP_B_STR, BUFSIZE - length); + SERIAL_ECHOPGM_P(SP_P_STR, planner.moves_free(), SP_B_STR, BUFSIZE - length); #endif SERIAL_EOL(); } diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h index 97abe43230..1db4208a1f 100644 --- a/Marlin/src/inc/Conditionals_post.h +++ b/Marlin/src/inc/Conditionals_post.h @@ -1922,20 +1922,14 @@ #ifndef Z4_INTERPOLATE #define Z4_INTERPOLATE INTERPOLATE #endif - #if LINEAR_AXES >= 4 - #ifndef I_INTERPOLATE - #define I_INTERPOLATE INTERPOLATE - #endif + #if LINEAR_AXES >= 4 && !defined(I_INTERPOLATE) + #define I_INTERPOLATE INTERPOLATE #endif - #if LINEAR_AXES >= 5 - #ifndef J_INTERPOLATE - #define J_INTERPOLATE INTERPOLATE - #endif + #if LINEAR_AXES >= 5 && !defined(J_INTERPOLATE) + #define J_INTERPOLATE INTERPOLATE #endif - #if LINEAR_AXES >= 6 - #ifndef K_INTERPOLATE - #define K_INTERPOLATE INTERPOLATE - #endif + #if LINEAR_AXES >= 6 && !defined(K_INTERPOLATE) + #define K_INTERPOLATE INTERPOLATE #endif #ifndef E0_INTERPOLATE #define E0_INTERPOLATE INTERPOLATE @@ -1962,13 +1956,13 @@ #define E7_INTERPOLATE INTERPOLATE #endif #ifndef X_SLAVE_ADDRESS - #define X_SLAVE_ADDRESS 0 + #define X_SLAVE_ADDRESS 0 #endif #ifndef Y_SLAVE_ADDRESS - #define Y_SLAVE_ADDRESS 0 + #define Y_SLAVE_ADDRESS 0 #endif #ifndef Z_SLAVE_ADDRESS - #define Z_SLAVE_ADDRESS 0 + #define Z_SLAVE_ADDRESS 0 #endif #ifndef I_SLAVE_ADDRESS #define I_SLAVE_ADDRESS 0 @@ -2660,7 +2654,7 @@ #if HAS_EXTRUDERS && PIN_EXISTS(MOTOR_CURRENT_PWM_E) #define HAS_MOTOR_CURRENT_PWM_E 1 #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 #endif diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h index 720a04c502..5408f25f38 100644 --- a/Marlin/src/inc/SanityCheck.h +++ b/Marlin/src/inc/SanityCheck.h @@ -1404,8 +1404,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS #endif #endif #if LINEAR_AXES >= 5 - #if AXIS5_NAME == AXIS4_NAME || AXIS5_NAME == AXIS6_NAME - #error "AXIS5_NAME must be different from AXIS4_NAME and AXIS6_NAME" + #if AXIS5_NAME == AXIS4_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' #error "AXIS5_NAME can only be one of 'A', 'B', 'C', 'U', 'V', or 'W'." #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 #if LINEAR_AXES >= 6 #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' #error "AXIS6_NAME can only be one of 'A', 'B', 'C', 'U', 'V', or 'W'." #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." #elif Z_SENSORLESS && Z_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_ZMAX) #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) #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) #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) #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_KMAX (or ENDSTOPPULLUPS) when homing to K_MAX." #endif diff --git a/Marlin/src/lcd/extui/ui_api.cpp b/Marlin/src/lcd/extui/ui_api.cpp index b838299b18..97b1ab885b 100644 --- a/Marlin/src/lcd/extui/ui_api.cpp +++ b/Marlin/src/lcd/extui/ui_api.cpp @@ -423,6 +423,12 @@ namespace ExtUI { #if AXIS_IS_TMC(Z2) case Z2: return stepperZ2.getMilliamps(); #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; }; } @@ -486,6 +492,12 @@ namespace ExtUI { #if AXIS_IS_TMC(Z2) case Z2: stepperZ2.rms_current(constrain(mA, 400, 1500)); break; #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; }; } diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index 04fabd2df7..511c3b3f43 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -1310,7 +1310,7 @@ void Planner::recalculate() { */ 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 }; #endif @@ -1913,7 +1913,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move, #endif // PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE // Compute direction bit-mask for this block - uint8_t dm = 0; + axis_bits_t dm = 0; #if CORE_IS_XY if (da < 0) SBI(dm, X_HEAD); // Save the toolhead's true direction in X 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 - static uint8_t old_direction_bits; // = 0 + static axis_bits_t old_direction_bits; // = 0 if (xy_freq_limit_hz) { // 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; segment_time_us = LROUND(float(segment_time_us) / speed_factor); diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h index ea63f862e0..15744c3f9a 100644 --- a/Marlin/src/module/planner.h +++ b/Marlin/src/module/planner.h @@ -202,7 +202,7 @@ typedef struct block_t { uint32_t acceleration_rate; // The acceleration rate used for acceleration calculation #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 #if ENABLED(LIN_ADVANCE) diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp index 83aa15063b..aa68ccd4ec 100644 --- a/Marlin/src/module/stepper.cpp +++ b/Marlin/src/module/stepper.cpp @@ -149,8 +149,8 @@ Stepper stepper; // Singleton block_t* Stepper::current_block; // (= nullptr) A pointer to the block currently being traced -uint8_t Stepper::last_direction_bits, // = 0 - Stepper::axis_did_move; // = 0 +axis_bits_t Stepper::last_direction_bits, // = 0 + Stepper::axis_did_move; // = 0 bool Stepper::abort_current_block; @@ -503,17 +503,14 @@ void Stepper::set_directions() { #if HAS_Z_DIR SET_STEP_DIR(Z); // C #endif - #if HAS_I_DIR - SET_STEP_DIR(I); // I + SET_STEP_DIR(I); #endif - #if HAS_J_DIR - SET_STEP_DIR(J); // J + SET_STEP_DIR(J); #endif - #if HAS_K_DIR - SET_STEP_DIR(K); // K + SET_STEP_DIR(K); #endif #if DISABLED(LIN_ADVANCE) @@ -1635,7 +1632,7 @@ void Stepper::pulse_phase_isr() { case 0: { const uint8_t low = page_step_state.page[page_step_state.segment_idx], 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(Y, low & 0xF); @@ -2156,7 +2153,7 @@ uint32_t Stepper::block_phase_isr() { #define Z_MOVE_TEST !!current_block->steps.c #endif - uint8_t axis_bits = 0; + axis_bits_t axis_bits = 0; LINEAR_AXIS_CODE( if (X_MOVE_TEST) SBI(axis_bits, A_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; - ENABLE_AXIS_X(); - ENABLE_AXIS_Y(); - ENABLE_AXIS_Z(); - ENABLE_AXIS_I(); - ENABLE_AXIS_J(); - ENABLE_AXIS_K(); + ENABLE_AXIS_X(); ENABLE_AXIS_Y(); ENABLE_AXIS_Z(); + ENABLE_AXIS_I(); ENABLE_AXIS_J(); ENABLE_AXIS_K(); 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); #ifdef Y_DIR_WRITE diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h index d2f42b63fc..ca88d6b6b1 100644 --- a/Marlin/src/module/stepper.h +++ b/Marlin/src/module/stepper.h @@ -276,8 +276,8 @@ class Stepper { 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 - axis_did_move; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner + 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 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(); // 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; set_directions(); } diff --git a/Marlin/src/module/stepper/indirection.h b/Marlin/src/module/stepper/indirection.h index 312a09f716..3e3ebd411f 100644 --- a/Marlin/src/module/stepper/indirection.h +++ b/Marlin/src/module/stepper/indirection.h @@ -896,21 +896,21 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset #endif #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); } #else #define ENABLE_AXIS_I() NOOP #define DISABLE_AXIS_I() NOOP #endif #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); } #else #define ENABLE_AXIS_J() NOOP #define DISABLE_AXIS_J() NOOP #endif #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); } #else #define ENABLE_AXIS_K() NOOP diff --git a/Marlin/src/module/stepper/trinamic.cpp b/Marlin/src/module/stepper/trinamic.cpp index fd63027974..e8ecbf1c76 100644 --- a/Marlin/src/module/stepper/trinamic.cpp +++ b/Marlin/src/module/stepper/trinamic.cpp @@ -164,6 +164,15 @@ enum StealthIndex : uint8_t { #ifndef TMC_Z4_BAUD_RATE #define TMC_Z4_BAUD_RATE TMC_BAUD_RATE #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 #define TMC_E0_BAUD_RATE TMC_BAUD_RATE #endif @@ -834,12 +843,8 @@ void restore_trinamic_drivers() { void reset_trinamic_drivers() { static constexpr bool stealthchop_by_axis[] = LOGICAL_AXIS_ARRAY( ENABLED(STEALTHCHOP_E), - ENABLED(STEALTHCHOP_XY), - ENABLED(STEALTHCHOP_XY), - ENABLED(STEALTHCHOP_Z), - ENABLED(STEALTHCHOP_I), - ENABLED(STEALTHCHOP_J), - ENABLED(STEALTHCHOP_K) + ENABLED(STEALTHCHOP_XY), ENABLED(STEALTHCHOP_XY), ENABLED(STEALTHCHOP_Z), + ENABLED(STEALTHCHOP_I), ENABLED(STEALTHCHOP_J), ENABLED(STEALTHCHOP_K) ); #if AXIS_IS_TMC(X) diff --git a/Marlin/src/pins/pins_postprocess.h b/Marlin/src/pins/pins_postprocess.h index 72313cf3e6..4860e2d800 100644 --- a/Marlin/src/pins/pins_postprocess.h +++ b/Marlin/src/pins/pins_postprocess.h @@ -464,11 +464,19 @@ #ifdef I_STOP_PIN #if I_HOME_TO_MIN #define I_MIN_PIN I_STOP_PIN - #define I_MAX_PIN -1 + #ifndef I_MAX_PIN + #define I_MAX_PIN -1 + #endif #else - #define I_MIN_PIN -1 #define I_MAX_PIN I_STOP_PIN + #ifndef I_MIN_PIN + #define I_MIN_PIN -1 + #endif #endif + #elif I_HOME_TO_MIN + #define I_STOP_PIN I_MIN_PIN + #else + #define I_STOP_PIN I_MAX_PIN #endif #else #undef I_MIN_PIN @@ -479,11 +487,19 @@ #ifdef J_STOP_PIN #if J_HOME_TO_MIN #define J_MIN_PIN J_STOP_PIN - #define J_MAX_PIN -1 + #ifndef J_MAX_PIN + #define J_MAX_PIN -1 + #endif #else - #define J_MIN_PIN -1 #define J_MAX_PIN J_STOP_PIN + #ifndef J_MIN_PIN + #define J_MIN_PIN -1 + #endif #endif + #elif J_HOME_TO_MIN + #define J_STOP_PIN J_MIN_PIN + #else + #define J_STOP_PIN J_MAX_PIN #endif #else #undef J_MIN_PIN @@ -494,11 +510,19 @@ #ifdef K_STOP_PIN #if K_HOME_TO_MIN #define K_MIN_PIN K_STOP_PIN - #define K_MAX_PIN -1 + #ifndef K_MAX_PIN + #define K_MAX_PIN -1 + #endif #else - #define K_MIN_PIN -1 #define K_MAX_PIN K_STOP_PIN + #ifndef K_MIN_PIN + #define K_MIN_PIN -1 + #endif #endif + #elif K_HOME_TO_MIN + #define K_STOP_PIN K_MIN_PIN + #else + #define K_STOP_PIN K_MAX_PIN #endif #else #undef K_MIN_PIN