diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index f724d8f34c..27307eb3be 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -35,7 +35,7 @@ * * Advanced settings can be found in Configuration_adv.h */ -#define CONFIGURATION_H_VERSION 02000801 +#define CONFIGURATION_H_VERSION 02000900 //=========================================================================== //============================= Getting Started ============================= @@ -66,6 +66,14 @@ // //=========================================================================== +//=========================================================================== +//=========================== FOAMCUTTER_XYUV ============================== +//=========================================================================== +// For a hot wire cutter with parallel horizontal axes X, I where the hights +// of the two wire ends are controlled by parallel axes Y, J. +// +//#define FOAMCUTTER_XYUV + // @section info // Author info of this build printed to the host during boot and M115 @@ -149,6 +157,45 @@ // Choose your own or use a service like https://www.uuidgenerator.net/version4 //#define MACHINE_UUID "00000000-0000-0000-0000-000000000000" +/** + * Define the number of coordinated linear axes. + * See https://github.com/DerAndere1/Marlin/wiki + * Each linear axis gets its own stepper control and endstop: + * + * Steppers: *_STEP_PIN, *_ENABLE_PIN, *_DIR_PIN, *_ENABLE_ON + * Endstops: *_STOP_PIN, USE_*MIN_PLUG, USE_*MAX_PLUG + * Axes: *_MIN_POS, *_MAX_POS, INVERT_*_DIR + * Planner: DEFAULT_AXIS_STEPS_PER_UNIT, DEFAULT_MAX_FEEDRATE + * DEFAULT_MAX_ACCELERATION, AXIS_RELATIVE_MODES, + * MICROSTEP_MODES, MANUAL_FEEDRATE + * + * :[3, 4, 5, 6] + */ +//#define LINEAR_AXES 3 + +/** + * Axis codes for additional axes: + * This defines the axis code that is used in G-code commands to + * reference a specific axis. + * 'A' for rotational axis parallel to X + * 'B' for rotational axis parallel to Y + * 'C' for rotational axis parallel to Z + * 'U' for secondary linear axis parallel to X + * 'V' for secondary linear axis parallel to Y + * 'W' for secondary linear axis parallel to Z + * Regardless of the settings, firmware-internal axis IDs are + * I (AXIS4), J (AXIS5), K (AXIS6). + */ +#if LINEAR_AXES >= 4 + #define AXIS4_NAME 'A' // :['A', 'B', 'C', 'U', 'V', 'W'] +#endif +#if LINEAR_AXES >= 5 + #define AXIS5_NAME 'B' // :['A', 'B', 'C', 'U', 'V', 'W'] +#endif +#if LINEAR_AXES >= 6 + #define AXIS6_NAME 'C' // :['A', 'B', 'C', 'U', 'V', 'W'] +#endif + // @section extruder // This defines the number of extruders @@ -691,9 +738,15 @@ #define USE_XMIN_PLUG #define USE_YMIN_PLUG #define USE_ZMIN_PLUG +//#define USE_IMIN_PLUG +//#define USE_JMIN_PLUG +//#define USE_KMIN_PLUG //#define USE_XMAX_PLUG //#define USE_YMAX_PLUG //#define USE_ZMAX_PLUG +//#define USE_IMAX_PLUG +//#define USE_JMAX_PLUG +//#define USE_KMAX_PLUG // Enable pullup for all endstops to prevent a floating state #define ENDSTOPPULLUPS @@ -702,9 +755,15 @@ //#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_ZMIN_PROBE #endif @@ -715,9 +774,15 @@ //#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_ZMIN_PROBE #endif @@ -725,9 +790,15 @@ #define X_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. #define Y_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. #define Z_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define I_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define J_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define K_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. #define X_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. #define Y_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. #define Z_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define I_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define J_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define K_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. #define Z_MIN_PROBE_ENDSTOP_INVERTING false // Set to true to invert the logic of the probe. /** @@ -756,6 +827,9 @@ //#define Z2_DRIVER_TYPE A4988 //#define Z3_DRIVER_TYPE A4988 //#define Z4_DRIVER_TYPE A4988 +//#define I_DRIVER_TYPE A4988 +//#define J_DRIVER_TYPE A4988 +//#define K_DRIVER_TYPE A4988 #define E0_DRIVER_TYPE A4988 //#define E1_DRIVER_TYPE A4988 //#define E2_DRIVER_TYPE A4988 @@ -809,14 +883,14 @@ /** * Default Axis Steps Per Unit (steps/mm) * Override with M92 - * X, Y, Z, E0 [, E1[, E2...]] + * X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]] */ #define DEFAULT_AXIS_STEPS_PER_UNIT { 80, 80, 400, 500 } /** * Default Max Feed Rate (mm/s) * Override with M203 - * X, Y, Z, E0 [, E1[, E2...]] + * X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]] */ #define DEFAULT_MAX_FEEDRATE { 300, 300, 5, 25 } @@ -829,7 +903,7 @@ * Default Max Acceleration (change/s) change = mm/s * (Maximum start speed for accelerated moves) * Override with M201 - * X, Y, Z, E0 [, E1[, E2...]] + * X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]] */ #define DEFAULT_MAX_ACCELERATION { 3000, 3000, 100, 10000 } @@ -863,6 +937,9 @@ #define DEFAULT_XJERK 10.0 #define DEFAULT_YJERK 10.0 #define DEFAULT_ZJERK 0.3 + //#define DEFAULT_IJERK 0.3 + //#define DEFAULT_JJERK 0.3 + //#define DEFAULT_KJERK 0.3 //#define TRAVEL_EXTRA_XYJERK 0.0 // Additional jerk allowance for all travel moves @@ -1177,12 +1254,18 @@ #define Y_ENABLE_ON 0 #define Z_ENABLE_ON 0 #define E_ENABLE_ON 0 // For all extruders +//#define I_ENABLE_ON 0 +//#define J_ENABLE_ON 0 +//#define K_ENABLE_ON 0 // Disable axis steppers immediately when they're not being stepped. // WARNING: When motors turn off there is a chance of losing position accuracy! #define DISABLE_X false #define DISABLE_Y false #define DISABLE_Z false +//#define DISABLE_I false +//#define DISABLE_J false +//#define DISABLE_K false // Turn off the display blinking that warns about possible accuracy reduction //#define DISABLE_REDUCED_ACCURACY_WARNING @@ -1198,6 +1281,9 @@ #define INVERT_X_DIR false #define INVERT_Y_DIR true #define INVERT_Z_DIR false +//#define INVERT_I_DIR false +//#define INVERT_J_DIR false +//#define INVERT_K_DIR false // @section extruder @@ -1233,6 +1319,9 @@ #define X_HOME_DIR -1 #define Y_HOME_DIR -1 #define Z_HOME_DIR -1 +//#define I_HOME_DIR -1 +//#define J_HOME_DIR -1 +//#define K_HOME_DIR -1 // @section machine @@ -1247,6 +1336,12 @@ #define X_MAX_POS X_BED_SIZE #define Y_MAX_POS Y_BED_SIZE #define Z_MAX_POS 200 +//#define I_MIN_POS 0 +//#define I_MAX_POS 50 +//#define J_MIN_POS 0 +//#define J_MAX_POS 50 +//#define K_MIN_POS 0 +//#define K_MAX_POS 50 /** * Software Endstops @@ -1263,6 +1358,9 @@ #define MIN_SOFTWARE_ENDSTOP_X #define MIN_SOFTWARE_ENDSTOP_Y #define MIN_SOFTWARE_ENDSTOP_Z + #define MIN_SOFTWARE_ENDSTOP_I + #define MIN_SOFTWARE_ENDSTOP_J + #define MIN_SOFTWARE_ENDSTOP_K #endif // Max software endstops constrain movement within maximum coordinate bounds @@ -1271,6 +1369,9 @@ #define MAX_SOFTWARE_ENDSTOP_X #define MAX_SOFTWARE_ENDSTOP_Y #define MAX_SOFTWARE_ENDSTOP_Z + #define MAX_SOFTWARE_ENDSTOP_I + #define MAX_SOFTWARE_ENDSTOP_J + #define MAX_SOFTWARE_ENDSTOP_K #endif #if EITHER(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS) @@ -1582,6 +1683,9 @@ //#define MANUAL_X_HOME_POS 0 //#define MANUAL_Y_HOME_POS 0 //#define MANUAL_Z_HOME_POS 0 +//#define MANUAL_I_HOME_POS 0 +//#define MANUAL_J_HOME_POS 0 +//#define MANUAL_K_HOME_POS 0 // Use "Z Safe Homing" to avoid homing with a Z probe outside the bed area. // diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 4511aa49c7..e0c54dfbec 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -30,7 +30,7 @@ * * Basic settings can be found in Configuration.h */ -#define CONFIGURATION_ADV_H_VERSION 02000801 +#define CONFIGURATION_ADV_H_VERSION 02000900 //=========================================================================== //============================= Thermal Settings ============================ @@ -918,6 +918,9 @@ #define INVERT_X_STEP_PIN false #define INVERT_Y_STEP_PIN false #define INVERT_Z_STEP_PIN false +#define INVERT_I_STEP_PIN false +#define INVERT_J_STEP_PIN false +#define INVERT_K_STEP_PIN false #define INVERT_E_STEP_PIN false /** @@ -929,6 +932,9 @@ #define DISABLE_INACTIVE_X true #define DISABLE_INACTIVE_Y true #define DISABLE_INACTIVE_Z true // Set 'false' if the nozzle could fall onto your printed part! +#define DISABLE_INACTIVE_I true +#define DISABLE_INACTIVE_J true +#define DISABLE_INACTIVE_K true #define DISABLE_INACTIVE_E true // Default Minimum Feedrates for printing and travel moves @@ -969,7 +975,7 @@ #if ENABLED(BACKLASH_COMPENSATION) // Define values for backlash distance and correction. // If BACKLASH_GCODE is enabled these values are the defaults. - #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm) + #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm) One value for each linear axis #define BACKLASH_CORRECTION 0.0 // 0.0 = no correction; 1.0 = full correction // Add steps for motor direction changes on CORE kinematics @@ -1040,6 +1046,13 @@ #define CALIBRATION_MEASURE_LEFT #define CALIBRATION_MEASURE_BACK + //#define CALIBRATION_MEASURE_IMIN + //#define CALIBRATION_MEASURE_IMAX + //#define CALIBRATION_MEASURE_JMIN + //#define CALIBRATION_MEASURE_JMAX + //#define CALIBRATION_MEASURE_KMIN + //#define CALIBRATION_MEASURE_KMAX + // Probing at the exact top center only works if the center is flat. If // probing on a screwhead or hollow washer, probe near the edges. //#define CALIBRATION_MEASURE_AT_TOP_EDGES @@ -2236,6 +2249,13 @@ //#define EVENT_GCODE_AFTER_TOOLCHANGE "G12X" // Extra G-code to run after tool-change #endif + /** + * Extra G-code to run while executing tool-change commands. Can be used to use an additional + * stepper motor (I axis, see option LINEAR_AXES in Configuration.h) to drive the tool-changer. + */ + //#define EVENT_GCODE_TOOLCHANGE_T0 "G28 A\nG1 I0" // Extra G-code to run while executing tool-change command T0 + //#define EVENT_GCODE_TOOLCHANGE_T1 "G1 A10" // Extra G-code to run while executing tool-change command T1 + /** * Tool Sensors detect when tools have been picked up or dropped. * Requires the pins TOOL_SENSOR1_PIN, TOOL_SENSOR2_PIN, etc. @@ -2413,6 +2433,24 @@ #define Z4_MICROSTEPS Z_MICROSTEPS #endif + #if AXIS_DRIVER_TYPE_I(TMC26X) + #define I_MAX_CURRENT 1000 + #define I_SENSE_RESISTOR 91 + #define I_MICROSTEPS 16 + #endif + + #if AXIS_DRIVER_TYPE_J(TMC26X) + #define J_MAX_CURRENT 1000 + #define J_SENSE_RESISTOR 91 + #define J_MICROSTEPS 16 + #endif + + #if AXIS_DRIVER_TYPE_K(TMC26X) + #define K_MAX_CURRENT 1000 + #define K_SENSE_RESISTOR 91 + #define K_MICROSTEPS 16 + #endif + #if AXIS_DRIVER_TYPE_E0(TMC26X) #define E0_MAX_CURRENT 1000 #define E0_SENSE_RESISTOR 91 @@ -2563,6 +2601,33 @@ //#define Z4_INTERPOLATE true #endif + #if AXIS_IS_TMC(I) + #define I_CURRENT 800 + #define I_CURRENT_HOME I_CURRENT + #define I_MICROSTEPS 16 + #define I_RSENSE 0.11 + #define I_CHAIN_POS -1 + //#define I_INTERPOLATE true + #endif + + #if AXIS_IS_TMC(J) + #define J_CURRENT 800 + #define J_CURRENT_HOME J_CURRENT + #define J_MICROSTEPS 16 + #define J_RSENSE 0.11 + #define J_CHAIN_POS -1 + //#define J_INTERPOLATE true + #endif + + #if AXIS_IS_TMC(K) + #define K_CURRENT 800 + #define K_CURRENT_HOME K_CURRENT + #define K_MICROSTEPS 16 + #define K_RSENSE 0.11 + #define K_CHAIN_POS -1 + //#define K_INTERPOLATE true + #endif + #if AXIS_IS_TMC(E0) #define E0_CURRENT 800 #define E0_MICROSTEPS 16 @@ -2638,6 +2703,10 @@ //#define Y2_CS_PIN -1 //#define Z2_CS_PIN -1 //#define Z3_CS_PIN -1 + //#define Z4_CS_PIN -1 + //#define I_CS_PIN -1 + //#define J_CS_PIN -1 + //#define K_CS_PIN -1 //#define E0_CS_PIN -1 //#define E1_CS_PIN -1 //#define E2_CS_PIN -1 @@ -2677,6 +2746,9 @@ //#define Z2_SLAVE_ADDRESS 0 //#define Z3_SLAVE_ADDRESS 0 //#define Z4_SLAVE_ADDRESS 0 + //#define I_SLAVE_ADDRESS 0 + //#define J_SLAVE_ADDRESS 0 + //#define K_SLAVE_ADDRESS 0 //#define E0_SLAVE_ADDRESS 0 //#define E1_SLAVE_ADDRESS 0 //#define E2_SLAVE_ADDRESS 0 @@ -2701,6 +2773,9 @@ */ #define STEALTHCHOP_XY #define STEALTHCHOP_Z + #define STEALTHCHOP_I + #define STEALTHCHOP_J + #define STEALTHCHOP_K #define STEALTHCHOP_E /** @@ -2772,6 +2847,9 @@ #define Z2_HYBRID_THRESHOLD 3 #define Z3_HYBRID_THRESHOLD 3 #define Z4_HYBRID_THRESHOLD 3 + #define I_HYBRID_THRESHOLD 3 + #define J_HYBRID_THRESHOLD 3 + #define K_HYBRID_THRESHOLD 3 #define E0_HYBRID_THRESHOLD 30 #define E1_HYBRID_THRESHOLD 30 #define E2_HYBRID_THRESHOLD 30 @@ -2818,6 +2896,9 @@ //#define Z2_STALL_SENSITIVITY Z_STALL_SENSITIVITY //#define Z3_STALL_SENSITIVITY Z_STALL_SENSITIVITY //#define Z4_STALL_SENSITIVITY Z_STALL_SENSITIVITY + //#define I_STALL_SENSITIVITY 8 + //#define J_STALL_SENSITIVITY 8 + //#define K_STALL_SENSITIVITY 8 //#define SPI_ENDSTOPS // TMC2130 only //#define IMPROVE_HOMING_RELIABILITY #endif @@ -2958,6 +3039,33 @@ #define Z4_SLEW_RATE 1 #endif + #if AXIS_DRIVER_TYPE_I(L6470) + #define I_MICROSTEPS 128 + #define I_OVERCURRENT 2000 + #define I_STALLCURRENT 1500 + #define I_MAX_VOLTAGE 127 + #define I_CHAIN_POS -1 + #define I_SLEW_RATE 1 + #endif + + #if AXIS_DRIVER_TYPE_J(L6470) + #define J_MICROSTEPS 128 + #define J_OVERCURRENT 2000 + #define J_STALLCURRENT 1500 + #define J_MAX_VOLTAGE 127 + #define J_CHAIN_POS -1 + #define J_SLEW_RATE 1 + #endif + + #if AXIS_DRIVER_TYPE_K(L6470) + #define K_MICROSTEPS 128 + #define K_OVERCURRENT 2000 + #define K_STALLCURRENT 1500 + #define K_MAX_VOLTAGE 127 + #define K_CHAIN_POS -1 + #define K_SLEW_RATE 1 + #endif + #if AXIS_IS_L64XX(E0) #define E0_MICROSTEPS 128 #define E0_OVERCURRENT 2000 diff --git a/Marlin/src/HAL/AVR/endstop_interrupts.h b/Marlin/src/HAL/AVR/endstop_interrupts.h index 9fd9c38b86..50f29c3356 100644 --- a/Marlin/src/HAL/AVR/endstop_interrupts.h +++ b/Marlin/src/HAL/AVR/endstop_interrupts.h @@ -168,6 +168,51 @@ void setup_endstop_interrupts() { pciSetup(Z_MIN_PIN); #endif #endif + #if HAS_I_MAX + #if (digitalPinToInterrupt(I_MAX_PIN) != NOT_AN_INTERRUPT) + _ATTACH(I_MAX_PIN); + #else + static_assert(digitalPinHasPCICR(I_MAX_PIN), "I_MAX_PIN is not interrupt-capable"); + pciSetup(I_MAX_PIN); + #endif + #elif HAS_I_MIN + #if (digitalPinToInterrupt(I_MIN_PIN) != NOT_AN_INTERRUPT) + _ATTACH(I_MIN_PIN); + #else + static_assert(digitalPinHasPCICR(I_MIN_PIN), "I_MIN_PIN is not interrupt-capable"); + pciSetup(I_MIN_PIN); + #endif + #endif + #if HAS_J_MAX + #if (digitalPinToInterrupt(J_MAX_PIN) != NOT_AN_INTERRUPT) + _ATTACH(J_MAX_PIN); + #else + static_assert(digitalPinHasPCICR(J_MAX_PIN), "J_MAX_PIN is not interrupt-capable"); + pciSetup(J_MAX_PIN); + #endif + #elif HAS_J_MIN + #if (digitalPinToInterrupt(J_MIN_PIN) != NOT_AN_INTERRUPT) + _ATTACH(J_MIN_PIN); + #else + static_assert(digitalPinHasPCICR(J_MIN_PIN), "J_MIN_PIN is not interrupt-capable"); + pciSetup(J_MIN_PIN); + #endif + #endif + #if HAS_K_MAX + #if (digitalPinToInterrupt(K_MAX_PIN) != NOT_AN_INTERRUPT) + _ATTACH(K_MAX_PIN); + #else + static_assert(digitalPinHasPCICR(K_MAX_PIN), "K_MAX_PIN is not interrupt-capable"); + pciSetup(K_MAX_PIN); + #endif + #elif HAS_K_MIN + #if (digitalPinToInterrupt(K_MIN_PIN) != NOT_AN_INTERRUPT) + _ATTACH(K_MIN_PIN); + #else + static_assert(digitalPinHasPCICR(K_MIN_PIN), "K_MIN_PIN is not interrupt-capable"); + pciSetup(K_MIN_PIN); + #endif + #endif #if HAS_X2_MAX #if (digitalPinToInterrupt(X2_MAX_PIN) != NOT_AN_INTERRUPT) _ATTACH(X2_MAX_PIN); @@ -256,6 +301,5 @@ void setup_endstop_interrupts() { pciSetup(Z_MIN_PROBE_PIN); #endif #endif - // If we arrive here without raising an assertion, each pin has either an EXT-interrupt or a PCI. } diff --git a/Marlin/src/HAL/DUE/endstop_interrupts.h b/Marlin/src/HAL/DUE/endstop_interrupts.h index 999ada5127..9c7e210488 100644 --- a/Marlin/src/HAL/DUE/endstop_interrupts.h +++ b/Marlin/src/HAL/DUE/endstop_interrupts.h @@ -64,4 +64,10 @@ void setup_endstop_interrupts() { TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN)); TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN)); TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN)); + TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN)); + TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN)); + TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN)); + TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN)); + TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN)); + TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN)); } diff --git a/Marlin/src/HAL/ESP32/endstop_interrupts.h b/Marlin/src/HAL/ESP32/endstop_interrupts.h index 743ccd99c9..4725df921b 100644 --- a/Marlin/src/HAL/ESP32/endstop_interrupts.h +++ b/Marlin/src/HAL/ESP32/endstop_interrupts.h @@ -59,4 +59,10 @@ void setup_endstop_interrupts() { TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN)); TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN)); TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN)); + TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN)); + TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN)); + TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN)); + TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN)); + TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN)); + TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN)); } diff --git a/Marlin/src/HAL/LPC1768/endstop_interrupts.h b/Marlin/src/HAL/LPC1768/endstop_interrupts.h index 126d6e7d5b..23bd0cc982 100644 --- a/Marlin/src/HAL/LPC1768/endstop_interrupts.h +++ b/Marlin/src/HAL/LPC1768/endstop_interrupts.h @@ -122,4 +122,37 @@ void setup_endstop_interrupts() { #endif _ATTACH(Z_MIN_PROBE_PIN); #endif + #if HAS_I_MAX + #if !LPC1768_PIN_INTERRUPT_M(I_MAX_PIN) + #error "I_MAX_PIN is not INTERRUPT-capable." + #endif + _ATTACH(I_MAX_PIN); + #elif HAS_I_MIN + #if !LPC1768_PIN_INTERRUPT_M(I_MIN_PIN) + #error "I_MIN_PIN is not INTERRUPT-capable." + #endif + _ATTACH(I_MIN_PIN); + #endif + #if HAS_J_MAX + #if !LPC1768_PIN_INTERRUPT_M(J_MAX_PIN) + #error "J_MAX_PIN is not INTERRUPT-capable." + #endif + _ATTACH(J_MAX_PIN); + #elif HAS_J_MIN + #if !LPC1768_PIN_INTERRUPT_M(J_MIN_PIN) + #error "J_MIN_PIN is not INTERRUPT-capable." + #endif + _ATTACH(J_MIN_PIN); + #endif + #if HAS_K_MAX + #if !LPC1768_PIN_INTERRUPT_M(K_MAX_PIN) + #error "K_MAX_PIN is not INTERRUPT-capable." + #endif + _ATTACH(K_MAX_PIN); + #elif HAS_K_MIN + #if !LPC1768_PIN_INTERRUPT_M(K_MIN_PIN) + #error "K_MIN_PIN is not INTERRUPT-capable." + #endif + _ATTACH(K_MIN_PIN); + #endif } diff --git a/Marlin/src/HAL/SAMD51/endstop_interrupts.h b/Marlin/src/HAL/SAMD51/endstop_interrupts.h index daac773387..c46b6e072f 100644 --- a/Marlin/src/HAL/SAMD51/endstop_interrupts.h +++ b/Marlin/src/HAL/SAMD51/endstop_interrupts.h @@ -47,80 +47,38 @@ #include "../../module/endstops.h" -#define MATCH_EILINE(P1,P2) (P1 != P2 && PIN_TO_EILINE(P1) == PIN_TO_EILINE(P2)) -#if HAS_X_MAX - #define MATCH_X_MAX_EILINE(P) MATCH_EILINE(P, X_MAX_PIN) -#else - #define MATCH_X_MAX_EILINE(P) false -#endif -#if HAS_X_MIN - #define MATCH_X_MIN_EILINE(P) MATCH_EILINE(P, X_MIN_PIN) -#else - #define MATCH_X_MIN_EILINE(P) false -#endif -#if HAS_Y_MAX - #define MATCH_Y_MAX_EILINE(P) MATCH_EILINE(P, Y_MAX_PIN) -#else - #define MATCH_Y_MAX_EILINE(P) false -#endif -#if HAS_Y_MIN - #define MATCH_Y_MIN_EILINE(P) MATCH_EILINE(P, Y_MIN_PIN) -#else - #define MATCH_Y_MIN_EILINE(P) false -#endif -#if HAS_Z_MAX - #define MATCH_Z_MAX_EILINE(P) MATCH_EILINE(P, Z_MAX_PIN) -#else - #define MATCH_Z_MAX_EILINE(P) false -#endif -#if HAS_Z_MIN - #define MATCH_Z_MIN_EILINE(P) MATCH_EILINE(P, Z_MIN_PIN) -#else - #define MATCH_Z_MIN_EILINE(P) false -#endif -#if HAS_Z2_MAX - #define MATCH_Z2_MAX_EILINE(P) MATCH_EILINE(P, Z2_MAX_PIN) -#else - #define MATCH_Z2_MAX_EILINE(P) false -#endif -#if HAS_Z2_MIN - #define MATCH_Z2_MIN_EILINE(P) MATCH_EILINE(P, Z2_MIN_PIN) -#else - #define MATCH_Z2_MIN_EILINE(P) false -#endif -#if HAS_Z3_MAX - #define MATCH_Z3_MAX_EILINE(P) MATCH_EILINE(P, Z3_MAX_PIN) -#else - #define MATCH_Z3_MAX_EILINE(P) false -#endif -#if HAS_Z3_MIN - #define MATCH_Z3_MIN_EILINE(P) MATCH_EILINE(P, Z3_MIN_PIN) -#else - #define MATCH_Z3_MIN_EILINE(P) false -#endif -#if HAS_Z4_MAX - #define MATCH_Z4_MAX_EILINE(P) MATCH_EILINE(P, Z4_MAX_PIN) -#else - #define MATCH_Z4_MAX_EILINE(P) false -#endif -#if HAS_Z4_MIN - #define MATCH_Z4_MIN_EILINE(P) MATCH_EILINE(P, Z4_MIN_PIN) -#else - #define MATCH_Z4_MIN_EILINE(P) false -#endif -#if HAS_Z_MIN_PROBE_PIN - #define MATCH_Z_MIN_PROBE_EILINE(P) MATCH_EILINE(P, Z_MIN_PROBE_PIN) -#else - #define MATCH_Z_MIN_PROBE_EILINE(P) false -#endif -#define AVAILABLE_EILINE(P) (PIN_TO_EILINE(P) != -1 \ - && !MATCH_X_MAX_EILINE(P) && !MATCH_X_MIN_EILINE(P) \ - && !MATCH_Y_MAX_EILINE(P) && !MATCH_Y_MIN_EILINE(P) \ - && !MATCH_Z_MAX_EILINE(P) && !MATCH_Z_MIN_EILINE(P) \ - && !MATCH_Z2_MAX_EILINE(P) && !MATCH_Z2_MIN_EILINE(P) \ - && !MATCH_Z3_MAX_EILINE(P) && !MATCH_Z3_MIN_EILINE(P) \ - && !MATCH_Z4_MAX_EILINE(P) && !MATCH_Z4_MIN_EILINE(P) \ - && !MATCH_Z_MIN_PROBE_EILINE(P)) +#define MATCH_EILINE(P1,P2) (P1 != P2 && PIN_TO_EILINE(P1) == PIN_TO_EILINE(P2)) +#define MATCH_X_MAX_EILINE(P) TERN0(HAS_X_MAX, DEFER4(MATCH_EILINE)(P, X_MAX_PIN)) +#define MATCH_X_MIN_EILINE(P) TERN0(HAS_X_MIN, DEFER4(MATCH_EILINE)(P, X_MIN_PIN)) +#define MATCH_Y_MAX_EILINE(P) TERN0(HAS_Y_MAX, DEFER4(MATCH_EILINE)(P, Y_MAX_PIN)) +#define MATCH_Y_MIN_EILINE(P) TERN0(HAS_Y_MIN, DEFER4(MATCH_EILINE)(P, Y_MIN_PIN)) +#define MATCH_Z_MAX_EILINE(P) TERN0(HAS_Z_MAX, DEFER4(MATCH_EILINE)(P, Z_MAX_PIN)) +#define MATCH_Z_MIN_EILINE(P) TERN0(HAS_Z_MIN, DEFER4(MATCH_EILINE)(P, Z_MIN_PIN)) +#define MATCH_I_MAX_EILINE(P) TERN0(HAS_I_MAX, DEFER4(MATCH_EILINE)(P, I_MAX_PIN)) +#define MATCH_I_MIN_EILINE(P) TERN0(HAS_I_MIN, DEFER4(MATCH_EILINE)(P, I_MIN_PIN)) +#define MATCH_J_MAX_EILINE(P) TERN0(HAS_J_MAX, DEFER4(MATCH_EILINE)(P, J_MAX_PIN)) +#define MATCH_J_MIN_EILINE(P) TERN0(HAS_J_MIN, DEFER4(MATCH_EILINE)(P, J_MIN_PIN)) +#define MATCH_K_MAX_EILINE(P) TERN0(HAS_K_MAX, DEFER4(MATCH_EILINE)(P, K_MAX_PIN)) +#define MATCH_K_MIN_EILINE(P) TERN0(HAS_K_MIN, DEFER4(MATCH_EILINE)(P, K_MIN_PIN)) +#define MATCH_Z2_MAX_EILINE(P) TERN0(HAS_Z2_MAX, DEFER4(MATCH_EILINE)(P, Z2_MAX_PIN)) +#define MATCH_Z2_MIN_EILINE(P) TERN0(HAS_Z2_MIN, DEFER4(MATCH_EILINE)(P, Z2_MIN_PIN)) +#define MATCH_Z3_MAX_EILINE(P) TERN0(HAS_Z3_MAX, DEFER4(MATCH_EILINE)(P, Z3_MAX_PIN)) +#define MATCH_Z3_MIN_EILINE(P) TERN0(HAS_Z3_MIN, DEFER4(MATCH_EILINE)(P, Z3_MIN_PIN)) +#define MATCH_Z4_MAX_EILINE(P) TERN0(HAS_Z4_MAX, DEFER4(MATCH_EILINE)(P, Z4_MAX_PIN)) +#define MATCH_Z4_MIN_EILINE(P) TERN0(HAS_Z4_MIN, DEFER4(MATCH_EILINE)(P, Z4_MIN_PIN)) +#define MATCH_Z_MIN_PROBE_EILINE(P) TERN0(HAS_Z_MIN_PROBE_PIN, DEFER4(MATCH_EILINE)(P, Z_MIN_PROBE_PIN)) + +#define AVAILABLE_EILINE(P) ( PIN_TO_EILINE(P) != -1 \ + && !MATCH_X_MAX_EILINE(P) && !MATCH_X_MIN_EILINE(P) \ + && !MATCH_Y_MAX_EILINE(P) && !MATCH_Y_MIN_EILINE(P) \ + && !MATCH_Z_MAX_EILINE(P) && !MATCH_Z_MIN_EILINE(P) \ + && !MATCH_I_MAX_EILINE(P) && !MATCH_I_MIN_EILINE(P) \ + && !MATCH_J_MAX_EILINE(P) && !MATCH_J_MIN_EILINE(P) \ + && !MATCH_K_MAX_EILINE(P) && !MATCH_K_MIN_EILINE(P) \ + && !MATCH_Z2_MAX_EILINE(P) && !MATCH_Z2_MIN_EILINE(P) \ + && !MATCH_Z3_MAX_EILINE(P) && !MATCH_Z3_MIN_EILINE(P) \ + && !MATCH_Z4_MAX_EILINE(P) && !MATCH_Z4_MIN_EILINE(P) \ + && !MATCH_Z_MIN_PROBE_EILINE(P) ) // One ISR for all EXT-Interrupts void endstop_ISR() { endstops.update(); } @@ -204,5 +162,37 @@ void setup_endstop_interrupts() { #error "Z_MIN_PROBE_PIN has no EXTINT line available." #endif _ATTACH(Z_MIN_PROBE_PIN); + #elif 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 + #if !AVAILABLE_EILINE(I_MIN_PIN) + #error "I_MIN_PIN has no EXTINT line available." + #endif + attachInterrupt(I_MIN_PIN, endstop_ISR, CHANGE); + #endif + #if HAS_J_MAX + #if !AVAILABLE_EILINE(J_MAX_PIN) + #error "J_MAX_PIN has no EXTINT line available." + #endif + attachInterrupt(J_MAX_PIN, endstop_ISR, CHANGE); + #elif HAS_J_MIN + #if !AVAILABLE_EILINE(J_MIN_PIN) + #error "J_MIN_PIN has no EXTINT line available." + #endif + attachInterrupt(J_MIN_PIN, endstop_ISR, CHANGE); + #endif + #if HAS_K_MAX + #if !AVAILABLE_EILINE(K_MAX_PIN) + #error "K_MAX_PIN has no EXTINT line available." + #endif + attachInterrupt(K_MAX_PIN, endstop_ISR, CHANGE); + #elif HAS_K_MIN + #if !AVAILABLE_EILINE(K_MIN_PIN) + #error "K_MIN_PIN has no EXTINT line available." + #endif + attachInterrupt(K_MIN_PIN, endstop_ISR, CHANGE); #endif } diff --git a/Marlin/src/HAL/STM32/endstop_interrupts.h b/Marlin/src/HAL/STM32/endstop_interrupts.h index fdff8cc644..90870881fe 100644 --- a/Marlin/src/HAL/STM32/endstop_interrupts.h +++ b/Marlin/src/HAL/STM32/endstop_interrupts.h @@ -46,4 +46,10 @@ void setup_endstop_interrupts() { TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN)); TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN)); TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN)); + TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN)); + TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN)); + TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN)); + TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN)); + TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN)); + TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN)); } diff --git a/Marlin/src/HAL/STM32F1/MarlinSerial.cpp b/Marlin/src/HAL/STM32F1/MarlinSerial.cpp index fa8bb7eaa8..6dabcde51e 100644 --- a/Marlin/src/HAL/STM32F1/MarlinSerial.cpp +++ b/Marlin/src/HAL/STM32F1/MarlinSerial.cpp @@ -167,6 +167,15 @@ constexpr bool IsSerialClassAllowed(const HardwareSerial&) { return false; } #if AXIS_HAS_HW_SERIAL(Z4) CHECK_AXIS_SERIAL(Z4); #endif +#if AXIS_HAS_HW_SERIAL(I) + CHECK_AXIS_SERIAL(I); +#endif +#if AXIS_HAS_HW_SERIAL(J) + CHECK_AXIS_SERIAL(J); +#endif +#if AXIS_HAS_HW_SERIAL(K) + CHECK_AXIS_SERIAL(K); +#endif #if AXIS_HAS_HW_SERIAL(E0) CHECK_AXIS_SERIAL(E0); #endif diff --git a/Marlin/src/HAL/STM32F1/endstop_interrupts.h b/Marlin/src/HAL/STM32F1/endstop_interrupts.h index bcb07d991d..4d7edb9496 100644 --- a/Marlin/src/HAL/STM32F1/endstop_interrupts.h +++ b/Marlin/src/HAL/STM32F1/endstop_interrupts.h @@ -71,4 +71,10 @@ void setup_endstop_interrupts() { TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN)); TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN)); TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN)); + TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN)); + TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN)); + TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN)); + TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN)); + TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN)); + TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN)); } diff --git a/Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h b/Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h index 999ada5127..9c7e210488 100644 --- a/Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h +++ b/Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h @@ -64,4 +64,10 @@ void setup_endstop_interrupts() { TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN)); TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN)); TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN)); + TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN)); + TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN)); + TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN)); + TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN)); + TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN)); + TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN)); } diff --git a/Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h b/Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h index 87e6a7507a..a300248885 100644 --- a/Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h +++ b/Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h @@ -63,4 +63,10 @@ void setup_endstop_interrupts() { TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN)); TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN)); TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN)); + TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN)); + TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN)); + TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN)); + TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN)); + TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN)); + TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN)); } diff --git a/Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h b/Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h index a05e911668..4c3ddec9f1 100644 --- a/Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h +++ b/Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h @@ -63,4 +63,10 @@ void setup_endstop_interrupts() { TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN)); TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN)); TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN)); + TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN)); + TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN)); + TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN)); + TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN)); + TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN)); + TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN)); } diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp index 75e20364f5..18bee54009 100644 --- a/Marlin/src/MarlinCore.cpp +++ b/Marlin/src/MarlinCore.cpp @@ -304,6 +304,9 @@ void enable_all_steppers() { ENABLE_AXIS_X(); ENABLE_AXIS_Y(); ENABLE_AXIS_Z(); + ENABLE_AXIS_I(); // Marlin 6-axis support by DerAndere (https://github.com/DerAndere1/Marlin/wiki) + ENABLE_AXIS_J(); + ENABLE_AXIS_K(); enable_e_steppers(); TERN_(EXTENSIBLE_UI, ExtUI::onSteppersEnabled()); @@ -325,6 +328,9 @@ void disable_all_steppers() { DISABLE_AXIS_X(); DISABLE_AXIS_Y(); DISABLE_AXIS_Z(); + DISABLE_AXIS_I(); + DISABLE_AXIS_J(); + DISABLE_AXIS_K(); disable_e_steppers(); TERN_(EXTENSIBLE_UI, ExtUI::onSteppersDisabled()); @@ -444,6 +450,9 @@ inline void manage_inactivity(const bool ignore_stepper_queue=false) { if (ENABLED(DISABLE_INACTIVE_X)) DISABLE_AXIS_X(); if (ENABLED(DISABLE_INACTIVE_Y)) DISABLE_AXIS_Y(); if (ENABLED(DISABLE_INACTIVE_Z)) DISABLE_AXIS_Z(); + if (ENABLED(DISABLE_INACTIVE_I)) DISABLE_AXIS_I(); + if (ENABLED(DISABLE_INACTIVE_J)) DISABLE_AXIS_J(); + if (ENABLED(DISABLE_INACTIVE_K)) DISABLE_AXIS_K(); if (ENABLED(DISABLE_INACTIVE_E)) disable_e_steppers(); TERN_(AUTO_BED_LEVELING_UBL, ubl.steppers_were_disabled()); @@ -935,6 +944,15 @@ inline void tmc_standby_setup() { #if PIN_EXISTS(Z4_STDBY) SET_INPUT_PULLDOWN(Z4_STDBY_PIN); #endif + #if PIN_EXISTS(I_STDBY) + SET_INPUT_PULLDOWN(I_STDBY_PIN); + #endif + #if PIN_EXISTS(J_STDBY) + SET_INPUT_PULLDOWN(J_STDBY_PIN); + #endif + #if PIN_EXISTS(K_STDBY) + SET_INPUT_PULLDOWN(K_STDBY_PIN); + #endif #if PIN_EXISTS(E0_STDBY) SET_INPUT_PULLDOWN(E0_STDBY_PIN); #endif diff --git a/Marlin/src/core/drivers.h b/Marlin/src/core/drivers.h index 3a0e620923..0a76410274 100644 --- a/Marlin/src/core/drivers.h +++ b/Marlin/src/core/drivers.h @@ -60,6 +60,9 @@ #define AXIS_DRIVER_TYPE_X(T) _AXIS_DRIVER_TYPE(X,T) #define AXIS_DRIVER_TYPE_Y(T) _AXIS_DRIVER_TYPE(Y,T) #define AXIS_DRIVER_TYPE_Z(T) _AXIS_DRIVER_TYPE(Z,T) +#define AXIS_DRIVER_TYPE_I(T) _AXIS_DRIVER_TYPE(I,T) +#define AXIS_DRIVER_TYPE_J(T) _AXIS_DRIVER_TYPE(J,T) +#define AXIS_DRIVER_TYPE_K(T) _AXIS_DRIVER_TYPE(K,T) #define AXIS_DRIVER_TYPE_X2(T) (EITHER(X_DUAL_STEPPER_DRIVERS, DUAL_X_CARRIAGE) && _AXIS_DRIVER_TYPE(X2,T)) #define AXIS_DRIVER_TYPE_Y2(T) (ENABLED(Y_DUAL_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Y2,T)) @@ -83,6 +86,7 @@ #define HAS_E_DRIVER(T) (0 RREPEAT2(E_STEPPERS, _OR_ADTE, T)) #define HAS_DRIVER(T) ( AXIS_DRIVER_TYPE_X(T) || AXIS_DRIVER_TYPE_Y(T) || AXIS_DRIVER_TYPE_Z(T) \ + || AXIS_DRIVER_TYPE_I(T) || AXIS_DRIVER_TYPE_J(T) || AXIS_DRIVER_TYPE_K(T) \ || AXIS_DRIVER_TYPE_X2(T) || AXIS_DRIVER_TYPE_Y2(T) || AXIS_DRIVER_TYPE_Z2(T) \ || AXIS_DRIVER_TYPE_Z3(T) || AXIS_DRIVER_TYPE_Z4(T) || HAS_E_DRIVER(T) ) @@ -153,9 +157,11 @@ #define _OR_EAH(N,T) || AXIS_HAS_##T(E##N) #define E_AXIS_HAS(T) (0 _OR_EAH(0,T) _OR_EAH(1,T) _OR_EAH(2,T) _OR_EAH(3,T) _OR_EAH(4,T) _OR_EAH(5,T) _OR_EAH(6,T) _OR_EAH(7,T)) -#define ANY_AXIS_HAS(T) ( AXIS_HAS_##T(X) || AXIS_HAS_##T(Y) || AXIS_HAS_##T(Z) \ - || AXIS_HAS_##T(X2) || AXIS_HAS_##T(Y2) || AXIS_HAS_##T(Z2) \ - || AXIS_HAS_##T(Z3) || AXIS_HAS_##T(Z4) || E_AXIS_HAS(T) ) +#define ANY_AXIS_HAS(T) ( AXIS_HAS_##T(X) || AXIS_HAS_##T(X2) \ + || AXIS_HAS_##T(Y) || AXIS_HAS_##T(Y2) \ + || AXIS_HAS_##T(Z) || AXIS_HAS_##T(Z2) || AXIS_HAS_##T(Z3) || AXIS_HAS_##T(Z4) \ + || AXIS_HAS_##T(I) || AXIS_HAS_##T(J) || AXIS_HAS_##T(K) \ + || E_AXIS_HAS(T) ) #if ANY_AXIS_HAS(STEALTHCHOP) #define HAS_STEALTHCHOP 1 diff --git a/Marlin/src/core/language.h b/Marlin/src/core/language.h index df6821cb1c..8e97ec66a9 100644 --- a/Marlin/src/core/language.h +++ b/Marlin/src/core/language.h @@ -266,18 +266,25 @@ #define STR_X_MAX "x_max" #define STR_X2_MIN "x2_min" #define STR_X2_MAX "x2_max" -#define STR_Y_MIN "y_min" -#define STR_Y_MAX "y_max" -#define STR_Y2_MIN "y2_min" -#define STR_Y2_MAX "y2_max" -#define STR_Z_MIN "z_min" -#define STR_Z_MAX "z_max" -#define STR_Z2_MIN "z2_min" -#define STR_Z2_MAX "z2_max" -#define STR_Z3_MIN "z3_min" -#define STR_Z3_MAX "z3_max" -#define STR_Z4_MIN "z4_min" -#define STR_Z4_MAX "z4_max" + +#if HAS_Y_AXIS + #define STR_Y_MIN "y_min" + #define STR_Y_MAX "y_max" + #define STR_Y2_MIN "y2_min" + #define STR_Y2_MAX "y2_max" +#endif + +#if HAS_Z_AXIS + #define STR_Z_MIN "z_min" + #define STR_Z_MAX "z_max" + #define STR_Z2_MIN "z2_min" + #define STR_Z2_MAX "z2_max" + #define STR_Z3_MIN "z3_min" + #define STR_Z3_MAX "z3_max" + #define STR_Z4_MIN "z4_min" + #define STR_Z4_MAX "z4_max" +#endif + #define STR_Z_PROBE "z_probe" #define STR_PROBE_EN "probe_en" #define STR_FILAMENT_RUNOUT_SENSOR "filament" @@ -286,6 +293,9 @@ #define STR_X "X" #define STR_Y "Y" #define STR_Z "Z" +#define STR_I AXIS4_STR +#define STR_J AXIS5_STR +#define STR_K AXIS6_STR #define STR_E "E" #if IS_KINEMATIC #define STR_A "A" @@ -305,8 +315,114 @@ #define LCD_STR_A STR_A #define LCD_STR_B STR_B #define LCD_STR_C STR_C +#define LCD_STR_I STR_I +#define LCD_STR_J STR_J +#define LCD_STR_K STR_K #define LCD_STR_E STR_E +// Extra Axis and Endstop Names +#if LINEAR_AXES >= 4 + #if AXIS4_NAME == 'A' + #define AXIS4_STR "A" + #define STR_I_MIN "a_min" + #define STR_I_MAX "a_max" + #elif AXIS4_NAME == 'B' + #define AXIS4_STR "B" + #define STR_I_MIN "b_min" + #define STR_I_MAX "b_max" + #elif AXIS4_NAME == 'C' + #define AXIS4_STR "C" + #define STR_I_MIN "c_min" + #define STR_I_MAX "c_max" + #elif AXIS4_NAME == 'U' + #define AXIS4_STR "U" + #define STR_I_MIN "u_min" + #define STR_I_MAX "u_max" + #elif AXIS4_NAME == 'V' + #define AXIS4_STR "V" + #define STR_I_MIN "v_min" + #define STR_I_MAX "v_max" + #elif AXIS4_NAME == 'W' + #define AXIS4_STR "W" + #define STR_I_MIN "w_min" + #define STR_I_MAX "w_max" + #else + #define AXIS4_STR "A" + #define STR_I_MIN "a_min" + #define STR_I_MAX "a_max" + #endif +#else + #define AXIS4_STR "" +#endif + +#if LINEAR_AXES >= 5 + #if AXIS5_NAME == 'A' + #define AXIS5_STR "A" + #define STR_J_MIN "a_min" + #define STR_J_MAX "a_max" + #elif AXIS5_NAME == 'B' + #define AXIS5_STR "B" + #define STR_J_MIN "b_min" + #define STR_J_MAX "b_max" + #elif AXIS5_NAME == 'C' + #define AXIS5_STR "C" + #define STR_J_MIN "c_min" + #define STR_J_MAX "c_max" + #elif AXIS5_NAME == 'U' + #define AXIS5_STR "U" + #define STR_J_MIN "u_min" + #define STR_J_MAX "u_max" + #elif AXIS5_NAME == 'V' + #define AXIS5_STR "V" + #define STR_J_MIN "v_min" + #define STR_J_MAX "v_max" + #elif AXIS5_NAME == 'W' + #define AXIS5_STR "W" + #define STR_J_MIN "w_min" + #define STR_J_MAX "w_max" + #else + #define AXIS5_STR "B" + #define STR_J_MIN "b_min" + #define STR_J_MAX "b_max" + #endif +#else + #define AXIS5_STR "" +#endif + +#if LINEAR_AXES >= 6 + #if AXIS6_NAME == 'A' + #define AXIS6_STR "A" + #define STR_K_MIN "a_min" + #define STR_K_MAX "a_max" + #elif AXIS6_NAME == 'B' + #define AXIS6_STR "B" + #define STR_K_MIN "b_min" + #define STR_K_MAX "b_max" + #elif AXIS6_NAME == 'C' + #define AXIS6_STR "C" + #define STR_K_MIN "c_min" + #define STR_K_MAX "c_max" + #elif AXIS6_NAME == 'U' + #define AXIS6_STR "U" + #define STR_K_MIN "u_min" + #define STR_K_MAX "u_max" + #elif AXIS6_NAME == 'V' + #define AXIS6_STR "V" + #define STR_K_MIN "v_min" + #define STR_K_MAX "v_max" + #elif AXIS6_NAME == 'W' + #define AXIS6_STR "W" + #define STR_K_MIN "w_min" + #define STR_K_MAX "w_max" + #else + #define AXIS6_STR "C" + #define STR_K_MIN "c_min" + #define STR_K_MAX "c_max" + #endif +#else + #define AXIS6_STR "" +#endif + #if EITHER(HAS_MARLINUI_HD44780, IS_TFTGLCD_PANEL) // Custom characters defined in the first 8 characters of the LCD diff --git a/Marlin/src/core/macros.h b/Marlin/src/core/macros.h index 7a2d731c01..dc6147adb0 100644 --- a/Marlin/src/core/macros.h +++ b/Marlin/src/core/macros.h @@ -36,12 +36,21 @@ #define _XMIN_ 100 #define _YMIN_ 200 #define _ZMIN_ 300 +#define _IMIN_ 400 +#define _JMIN_ 500 +#define _KMIN_ 600 #define _XMAX_ 101 #define _YMAX_ 201 #define _ZMAX_ 301 +#define _IMAX_ 401 +#define _JMAX_ 501 +#define _KMAX_ 601 #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 diff --git a/Marlin/src/core/serial.cpp b/Marlin/src/core/serial.cpp index 60729440e6..2e3a39b66a 100644 --- a/Marlin/src/core/serial.cpp +++ b/Marlin/src/core/serial.cpp @@ -36,6 +36,10 @@ PGMSTR(X_LBL, "X:"); PGMSTR(Y_LBL, "Y:"); PGMSTR(Z_LBL, "Z:"); PGMST PGMSTR(SP_A_STR, " A"); PGMSTR(SP_B_STR, " B"); PGMSTR(SP_C_STR, " C"); PGMSTR(SP_X_STR, " X"); PGMSTR(SP_Y_STR, " Y"); PGMSTR(SP_Z_STR, " Z"); PGMSTR(SP_E_STR, " E"); PGMSTR(SP_X_LBL, " X:"); PGMSTR(SP_Y_LBL, " Y:"); PGMSTR(SP_Z_LBL, " Z:"); PGMSTR(SP_E_LBL, " E:"); +PGMSTR(I_STR, AXIS4_STR); PGMSTR(J_STR, AXIS5_STR); PGMSTR(K_STR, AXIS6_STR); +PGMSTR(I_LBL, AXIS4_STR ":"); PGMSTR(J_LBL, AXIS5_STR ":"); PGMSTR(K_LBL, AXIS6_STR ":"); +PGMSTR(SP_I_STR, " " AXIS4_STR); PGMSTR(SP_J_STR, " " AXIS5_STR); PGMSTR(SP_K_STR, " " AXIS6_STR); +PGMSTR(SP_I_LBL, " " AXIS4_STR ":"); PGMSTR(SP_J_LBL, " " AXIS5_STR ":"); PGMSTR(SP_K_LBL, " " AXIS6_STR ":"); // Hook Meatpack if it's enabled on the first leaf #if ENABLED(MEATPACK_ON_SERIAL_PORT_1) @@ -101,11 +105,10 @@ void print_bin(uint16_t val) { } } -void print_pos( - LINEAR_AXIS_LIST(const_float_t x, const_float_t y, const_float_t z) - , PGM_P const prefix/*=nullptr*/, PGM_P const suffix/*=nullptr*/ -) { +void print_pos(LINEAR_AXIS_ARGS(const_float_t), PGM_P const prefix/*=nullptr*/, PGM_P const suffix/*=nullptr*/) { if (prefix) serialprintPGM(prefix); - SERIAL_ECHOPAIR_P(LIST_N(DOUBLE(LINEAR_AXES), SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z)); + SERIAL_ECHOPAIR_P( + LIST_N(DOUBLE(LINEAR_AXES), SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z, SP_I_STR, i, SP_J_STR, j, SP_K_STR, k) + ); if (suffix) serialprintPGM(suffix); else SERIAL_EOL(); } diff --git a/Marlin/src/core/serial.h b/Marlin/src/core/serial.h index 6f893795df..a5afb9d895 100644 --- a/Marlin/src/core/serial.h +++ b/Marlin/src/core/serial.h @@ -29,12 +29,16 @@ #endif // Commonly-used strings in serial output -extern const char NUL_STR[], SP_P_STR[], SP_T_STR[], +extern const char NUL_STR[], + SP_X_STR[], SP_Y_STR[], SP_Z_STR[], + SP_A_STR[], SP_B_STR[], SP_C_STR[], SP_E_STR[], + SP_X_LBL[], SP_Y_LBL[], SP_Z_LBL[], SP_E_LBL[], + SP_I_STR[], SP_J_STR[], SP_K_STR[], + SP_I_LBL[], SP_J_LBL[], SP_K_LBL[], + SP_P_STR[], SP_T_STR[], X_STR[], Y_STR[], Z_STR[], E_STR[], X_LBL[], Y_LBL[], Z_LBL[], E_LBL[], - SP_A_STR[], SP_B_STR[], SP_C_STR[], - SP_X_STR[], SP_Y_STR[], SP_Z_STR[], SP_E_STR[], - SP_X_LBL[], SP_Y_LBL[], SP_Z_LBL[], SP_E_LBL[]; + I_LBL[], J_LBL[], K_LBL[]; // // Debugging flags for use by M111 @@ -310,13 +314,10 @@ void serialprint_truefalse(const bool tf); void serial_spaces(uint8_t count); void print_bin(const uint16_t val); -void print_pos( - LINEAR_AXIS_LIST(const_float_t x, const_float_t y, const_float_t z), - PGM_P const prefix=nullptr, PGM_P const suffix=nullptr -); +void print_pos(LINEAR_AXIS_ARGS(const_float_t), PGM_P const prefix=nullptr, PGM_P const suffix=nullptr); inline void print_pos(const xyz_pos_t &xyz, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr) { - print_pos(LINEAR_AXIS_LIST(xyz.x, xyz.y, xyz.z), prefix, suffix); + print_pos(LINEAR_AXIS_ELEM(xyz), prefix, suffix); } #define SERIAL_POS(SUFFIX,VAR) do { print_pos(VAR, PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n")); }while(0) diff --git a/Marlin/src/core/types.h b/Marlin/src/core/types.h index abb709d731..f8b5cef77b 100644 --- a/Marlin/src/core/types.h +++ b/Marlin/src/core/types.h @@ -43,11 +43,17 @@ struct IF { typedef L type; }; #define LINEAR_AXIS_CODE(V...) CODE_N(LINEAR_AXES, V) #define LINEAR_AXIS_LIST(V...) LIST_N(LINEAR_AXES, V) #define LINEAR_AXIS_ARRAY(V...) { LINEAR_AXIS_LIST(V) } +#define LINEAR_AXIS_ARGS(T...) LINEAR_AXIS_LIST(T x, T y, T z, T i, T j, T k) +#define LINEAR_AXIS_ELEM(O) LINEAR_AXIS_LIST(O.x, O.y, O.z, O.i, O.j, O.k) +#define LINEAR_AXIS_DEFS(T,V) LINEAR_AXIS_LIST(T x=V, T y=V, T z=V, T i=V, T j=V, T k=V) #define LOGICAL_AXIS_GANG(E,V...) LINEAR_AXIS_GANG(V) GANG_ITEM_E(E) #define LOGICAL_AXIS_CODE(E,V...) LINEAR_AXIS_CODE(V) CODE_ITEM_E(E) #define LOGICAL_AXIS_LIST(E,V...) LINEAR_AXIS_LIST(V) LIST_ITEM_E(E) #define LOGICAL_AXIS_ARRAY(E,V...) { LOGICAL_AXIS_LIST(E,V) } +#define LOGICAL_AXIS_ARGS(T...) LOGICAL_AXIS_LIST(T e, T x, T y, T z, T i, T j, T k) +#define LOGICAL_AXIS_ELEM(O) LOGICAL_AXIS_LIST(O.e, O.x, O.y, O.z, O.i, O.j, O.k) +#define LOGICAL_AXIS_DECL(T,V) LOGICAL_AXIS_LIST(T e=V, T x=V, T y=V, T z=V, T i=V, T j=V, T k=V) #if HAS_EXTRUDERS #define LIST_ITEM_E(N) , N @@ -69,37 +75,37 @@ struct IF { typedef L type; }; enum AxisEnum : uint8_t { // Linear axes may be controlled directly or indirectly - LINEAR_AXIS_LIST(X_AXIS, Y_AXIS, Z_AXIS), + LINEAR_AXIS_LIST(X_AXIS, Y_AXIS, Z_AXIS, I_AXIS, J_AXIS, K_AXIS) // Extruder axes may be considered distinctly - #define _EN_ITEM(N) E##N##_AXIS, + #define _EN_ITEM(N) , E##N##_AXIS REPEAT(EXTRUDERS, _EN_ITEM) #undef _EN_ITEM // Core also keeps toolhead directions #if IS_CORE - X_HEAD, Y_HEAD, Z_HEAD, + , X_HEAD, Y_HEAD, Z_HEAD #endif // Distinct axes, including all E and Core - NUM_AXIS_ENUMS, + , NUM_AXIS_ENUMS // Most of the time we refer only to the single E_AXIS #if HAS_EXTRUDERS - E_AXIS = E0_AXIS, + , E_AXIS = E0_AXIS #endif // A, B, and C are for DELTA, SCARA, etc. - A_AXIS = X_AXIS, + , A_AXIS = X_AXIS #if LINEAR_AXES >= 2 - B_AXIS = Y_AXIS, + , B_AXIS = Y_AXIS #endif #if LINEAR_AXES >= 3 - C_AXIS = Z_AXIS, + , C_AXIS = Z_AXIS #endif // To refer to all or none - ALL_AXES_ENUM = 0xFE, NO_AXIS_ENUM = 0xFF + , ALL_AXES_ENUM = 0xFE, NO_AXIS_ENUM = 0xFF }; typedef IF<(NUM_AXIS_ENUMS > 8), uint16_t, uint8_t>::type axis_bits_t; @@ -241,9 +247,16 @@ struct XYval { struct { T a, b; }; T pos[2]; }; + + // Set all to 0 + FI void reset() { x = y = 0; } + + // Setters taking struct types and arrays FI void set(const T px) { x = px; } - FI void set(const T px, const T py) { x = px; y = py; } - FI void set(const T (&arr)[XY]) { x = arr[0]; y = arr[1]; } + #if HAS_Y_AXIS + FI void set(const T px, const T py) { x = px; y = py; } + FI void set(const T (&arr)[XY]) { x = arr[0]; y = arr[1]; } + #endif #if LINEAR_AXES > XY FI void set(const T (&arr)[LINEAR_AXES]) { x = arr[0]; y = arr[1]; } #endif @@ -253,10 +266,15 @@ struct XYval { FI void set(const T (&arr)[DISTINCT_AXES]) { x = arr[0]; y = arr[1]; } #endif #endif - FI void reset() { x = y = 0; } + + // Length reduced to one dimension FI T magnitude() const { return (T)sqrtf(x*x + y*y); } + // Pointer to the data as a simple array FI operator T* () { return pos; } + // If any element is true then it's true FI operator bool() { return x || y; } + + // Explicit copy and copies with conversion FI XYval copy() const { return *this; } FI XYval ABS() const { return { T(_ABS(x)), T(_ABS(y)) }; } FI XYval asInt() { return { int16_t(x), int16_t(y) }; } @@ -268,17 +286,27 @@ struct XYval { FI XYval asFloat() { return { static_cast(x), static_cast(y) }; } FI XYval asFloat() const { return { static_cast(x), static_cast(y) }; } FI XYval reciprocal() const { return { _RECIP(x), _RECIP(y) }; } + + // Marlin workspace shifting is done with G92 and M206 FI XYval asLogical() const { XYval o = asFloat(); toLogical(o); return o; } FI XYval asNative() const { XYval o = asFloat(); toNative(o); return o; } + + // Cast to a type with more fields by making a new object FI operator XYZval() { return { x, y }; } FI operator XYZval() const { return { x, y }; } FI operator XYZEval() { return { x, y }; } FI operator XYZEval() const { return { x, y }; } + + // Accessor via an AxisEnum (or any integer) [index] FI T& operator[](const int n) { return pos[n]; } FI const T& operator[](const int n) const { return pos[n]; } + + // Assignment operator overrides do the expected thing FI XYval& operator= (const T v) { set(v, v ); return *this; } FI XYval& operator= (const XYZval &rs) { set(rs.x, rs.y); return *this; } FI XYval& operator= (const XYZEval &rs) { set(rs.x, rs.y); return *this; } + + // Override other operators to get intuitive behaviors FI XYval operator+ (const XYval &rs) const { XYval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } FI XYval operator+ (const XYval &rs) { XYval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } FI XYval operator- (const XYval &rs) const { XYval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } @@ -315,6 +343,10 @@ struct XYval { FI XYval operator>>(const int &v) { XYval ls = *this; _RS(ls.x); _RS(ls.y); return ls; } FI XYval operator<<(const int &v) const { XYval ls = *this; _LS(ls.x); _LS(ls.y); return ls; } FI XYval operator<<(const int &v) { XYval ls = *this; _LS(ls.x); _LS(ls.y); return ls; } + FI const XYval operator-() const { XYval o = *this; o.x = -x; o.y = -y; return o; } + FI XYval operator-() { XYval o = *this; o.x = -x; o.y = -y; return o; } + + // Modifier operators FI XYval& operator+=(const XYval &rs) { x += rs.x; y += rs.y; return *this; } FI XYval& operator-=(const XYval &rs) { x -= rs.x; y -= rs.y; return *this; } FI XYval& operator*=(const XYval &rs) { x *= rs.x; y *= rs.y; return *this; } @@ -328,6 +360,8 @@ struct XYval { FI XYval& operator*=(const int &v) { x *= v; y *= v; return *this; } FI XYval& operator>>=(const int &v) { _RS(x); _RS(y); return *this; } FI XYval& operator<<=(const int &v) { _LS(x); _LS(y); return *this; } + + // Exact comparisons. For floats a "NEAR" operation may be better. FI bool operator==(const XYval &rs) { return x == rs.x && y == rs.y; } FI bool operator==(const XYZval &rs) { return x == rs.x && y == rs.y; } FI bool operator==(const XYZEval &rs) { return x == rs.x && y == rs.y; } @@ -340,8 +374,6 @@ struct XYval { FI bool operator!=(const XYval &rs) const { return !operator==(rs); } FI bool operator!=(const XYZval &rs) const { return !operator==(rs); } FI bool operator!=(const XYZEval &rs) const { return !operator==(rs); } - FI XYval operator-() { XYval o = *this; o.x = -x; o.y = -y; return o; } - FI const XYval operator-() const { XYval o = *this; o.x = -x; o.y = -y; return o; } }; // @@ -350,111 +382,144 @@ struct XYval { template struct XYZval { union { - struct { T LINEAR_AXIS_LIST(x, y, z); }; - struct { T LINEAR_AXIS_LIST(a, b, c); }; + struct { T LINEAR_AXIS_ARGS(); }; + struct { T LINEAR_AXIS_LIST(a, b, c, u, v, w); }; T pos[LINEAR_AXES]; }; + + // Set all to 0 + FI void reset() { LINEAR_AXIS_GANG(x =, y =, z =, i =, j =, k =) 0; } + + // Setters taking struct types and arrays FI void set(const T px) { x = px; } FI void set(const T px, const T py) { x = px; y = py; } FI void set(const XYval pxy) { x = pxy.x; y = pxy.y; } - FI void set(const XYval pxy, const T pz) { x = pxy.x; y = pxy.y; z = pz; } + FI void set(const XYval pxy, const T pz) { LINEAR_AXIS_CODE(x = pxy.x, y = pxy.y, z = pz, NOOP, NOOP, NOOP); } FI void set(const T (&arr)[XY]) { x = arr[0]; y = arr[1]; } - FI void set(const T (&arr)[LINEAR_AXES]) { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2]); } #if HAS_Z_AXIS - FI void set(LINEAR_AXIS_LIST(const T px, const T py, const T pz)) - { LINEAR_AXIS_CODE(x = px, y = py, z = pz); } + FI void set(const T (&arr)[LINEAR_AXES]) { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5]); } + FI void set(LINEAR_AXIS_ARGS(const T)) { LINEAR_AXIS_CODE(a = x, b = y, c = z, u = i, v = j, w = k ); } #endif #if LOGICAL_AXES > LINEAR_AXES - FI void set(const T (&arr)[LOGICAL_AXES]) { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2]); } - FI void set(LOGICAL_AXIS_LIST(const T, const T px, const T py, const T pz)) - { LINEAR_AXIS_CODE(x = px, y = py, z = pz); } + FI void set(const T (&arr)[LOGICAL_AXES]) { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5]); } + FI void set(LOGICAL_AXIS_ARGS(const T)) { LINEAR_AXIS_CODE(a = x, b = y, c = z, u = i, v = j, w = k ); } #if DISTINCT_AXES > LOGICAL_AXES - FI void set(const T (&arr)[DISTINCT_AXES]) { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2]); } + FI void set(const T (&arr)[DISTINCT_AXES]) { LINEAR_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5]); } #endif #endif - FI void reset() { LINEAR_AXIS_GANG(x =, y =, z =) 0; } - FI T magnitude() const { return (T)sqrtf(LINEAR_AXIS_GANG(x*x, + y*y, + z*z)); } + #if LINEAR_AXES >= 4 + FI void set(const T px, const T py, const T pz) { x = px; y = py; z = pz; } + #endif + #if LINEAR_AXES >= 5 + FI void set(const T px, const T py, const T pz, const T pi) { x = px; y = py; z = pz; i = pi; } + #endif + #if LINEAR_AXES >= 6 + FI void set(const T px, const T py, const T pz, const T pi, const T pj) { x = px; y = py; z = pz; i = pi; j = pj; } + #endif + + // Length reduced to one dimension + FI T magnitude() const { return (T)sqrtf(LINEAR_AXIS_GANG(x*x, + y*y, + z*z, + i*i, + j*j, + k*k)); } + // Pointer to the data as a simple array FI operator T* () { return pos; } - FI operator bool() { return LINEAR_AXIS_GANG(z, || x, || y); } + // If any element is true then it's true + FI operator bool() { return LINEAR_AXIS_GANG(x, || y, || z, || i, || j, || k); } + + // Explicit copy and copies with conversion FI XYZval copy() const { XYZval o = *this; return o; } - FI XYZval ABS() const { return LINEAR_AXIS_ARRAY(T(_ABS(x)), T(_ABS(y)), T(_ABS(z))); } - FI XYZval asInt() { return LINEAR_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z)); } - FI XYZval asInt() const { return LINEAR_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z)); } - FI XYZval asLong() { return LINEAR_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z)); } - FI XYZval asLong() const { return LINEAR_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z)); } - FI XYZval ROUNDL() { return LINEAR_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z))); } - FI XYZval ROUNDL() const { return LINEAR_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z))); } - FI XYZval asFloat() { return LINEAR_AXIS_ARRAY(static_cast(x), static_cast(y), static_cast(z)); } - FI XYZval asFloat() const { return LINEAR_AXIS_ARRAY(static_cast(x), static_cast(y), static_cast(z)); } - FI XYZval reciprocal() const { return LINEAR_AXIS_ARRAY(_RECIP(x), _RECIP(y), _RECIP(z)); } + FI XYZval ABS() const { return LINEAR_AXIS_ARRAY(T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k))); } + FI XYZval asInt() { return LINEAR_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); } + FI XYZval asInt() const { return LINEAR_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); } + FI XYZval asLong() { return LINEAR_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); } + FI XYZval asLong() const { return LINEAR_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); } + FI XYZval ROUNDL() { return LINEAR_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); } + FI XYZval ROUNDL() const { return LINEAR_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); } + FI XYZval asFloat() { return LINEAR_AXIS_ARRAY(static_cast(x), static_cast(y), static_cast(z), static_cast(i), static_cast(j), static_cast(k)); } + FI XYZval asFloat() const { return LINEAR_AXIS_ARRAY(static_cast(x), static_cast(y), static_cast(z), static_cast(i), static_cast(j), static_cast(k)); } + FI XYZval reciprocal() const { return LINEAR_AXIS_ARRAY(_RECIP(x), _RECIP(y), _RECIP(z), _RECIP(i), _RECIP(j), _RECIP(k)); } + + // Marlin workspace shifting is done with G92 and M206 FI XYZval asLogical() const { XYZval o = asFloat(); toLogical(o); return o; } FI XYZval asNative() const { XYZval o = asFloat(); toNative(o); return o; } + + // In-place cast to types having fewer fields FI operator XYval&() { return *(XYval*)this; } FI operator const XYval&() const { return *(const XYval*)this; } - FI operator XYZEval() const { return LINEAR_AXIS_ARRAY(x, y, z); } + + // Cast to a type with more fields by making a new object + FI operator XYZEval() const { return LINEAR_AXIS_ARRAY(x, y, z, i, j, k); } + + // Accessor via an AxisEnum (or any integer) [index] FI T& operator[](const int n) { return pos[n]; } FI const T& operator[](const int n) const { return pos[n]; } + + // Assignment operator overrides do the expected thing FI XYZval& operator= (const T v) { set(ARRAY_N_1(LINEAR_AXES, v)); return *this; } FI XYZval& operator= (const XYval &rs) { set(rs.x, rs.y ); return *this; } - FI XYZval& operator= (const XYZEval &rs) { set(LINEAR_AXIS_LIST(rs.x, rs.y, rs.z)); return *this; } - FI XYZval operator+ (const XYval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP ); return ls; } - FI XYZval operator+ (const XYval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP ); return ls; } - FI XYZval operator- (const XYval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP ); return ls; } - FI XYZval operator- (const XYval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP ); return ls; } - FI XYZval operator* (const XYval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP ); return ls; } - FI XYZval operator* (const XYval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP ); return ls; } - FI XYZval operator/ (const XYval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP ); return ls; } - FI XYZval operator/ (const XYval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP ); return ls; } - FI XYZval operator+ (const XYZval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z); return ls; } - FI XYZval operator+ (const XYZval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z); return ls; } - FI XYZval operator- (const XYZval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z); return ls; } - FI XYZval operator- (const XYZval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z); return ls; } - FI XYZval operator* (const XYZval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z); return ls; } - FI XYZval operator* (const XYZval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z); return ls; } - FI XYZval operator/ (const XYZval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z); return ls; } - FI XYZval operator/ (const XYZval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z); return ls; } - FI XYZval operator+ (const XYZEval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z); return ls; } - FI XYZval operator+ (const XYZEval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z); return ls; } - FI XYZval operator- (const XYZEval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z); return ls; } - FI XYZval operator- (const XYZEval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z); return ls; } - FI XYZval operator* (const XYZEval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z); return ls; } - FI XYZval operator* (const XYZEval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z); return ls; } - FI XYZval operator/ (const XYZEval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z); return ls; } - FI XYZval operator/ (const XYZEval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z); return ls; } - FI XYZval operator* (const float &v) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= v, ls.y *= v, ls.z *= v ); return ls; } - FI XYZval operator* (const float &v) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= v, ls.y *= v, ls.z *= v ); return ls; } - FI XYZval operator* (const int &v) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= v, ls.y *= v, ls.z *= v ); return ls; } - FI XYZval operator* (const int &v) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= v, ls.y *= v, ls.z *= v ); return ls; } - FI XYZval operator/ (const float &v) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= v, ls.y /= v, ls.z /= v ); return ls; } - FI XYZval operator/ (const float &v) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= v, ls.y /= v, ls.z /= v ); return ls; } - FI XYZval operator/ (const int &v) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= v, ls.y /= v, ls.z /= v ); return ls; } - FI XYZval operator/ (const int &v) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= v, ls.y /= v, ls.z /= v ); return ls; } - FI XYZval operator>>(const int &v) const { XYZval ls = *this; LINEAR_AXIS_CODE(_RS(ls.x), _RS(ls.y), _RS(ls.z) ); return ls; } - FI XYZval operator>>(const int &v) { XYZval ls = *this; LINEAR_AXIS_CODE(_RS(ls.x), _RS(ls.y), _RS(ls.z) ); return ls; } - FI XYZval operator<<(const int &v) const { XYZval ls = *this; LINEAR_AXIS_CODE(_LS(ls.x), _LS(ls.y), _LS(ls.z) ); return ls; } - FI XYZval operator<<(const int &v) { XYZval ls = *this; LINEAR_AXIS_CODE(_LS(ls.x), _LS(ls.y), _LS(ls.z) ); return ls; } - FI XYZval& operator+=(const XYval &rs) { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, NOOP ); return *this; } - FI XYZval& operator-=(const XYval &rs) { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, NOOP ); return *this; } - FI XYZval& operator*=(const XYval &rs) { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, NOOP ); return *this; } - FI XYZval& operator/=(const XYval &rs) { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, NOOP ); return *this; } - FI XYZval& operator+=(const XYZval &rs) { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z ); return *this; } - FI XYZval& operator-=(const XYZval &rs) { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z ); return *this; } - FI XYZval& operator*=(const XYZval &rs) { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z ); return *this; } - FI XYZval& operator/=(const XYZval &rs) { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z ); return *this; } - FI XYZval& operator+=(const XYZEval &rs) { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z ); return *this; } - FI XYZval& operator-=(const XYZEval &rs) { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z ); return *this; } - FI XYZval& operator*=(const XYZEval &rs) { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z ); return *this; } - FI XYZval& operator/=(const XYZEval &rs) { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z ); return *this; } - FI XYZval& operator*=(const float &v) { LINEAR_AXIS_CODE(x *= v, y *= v, z *= v ); return *this; } - FI XYZval& operator*=(const int &v) { LINEAR_AXIS_CODE(x *= v, y *= v, z *= v ); return *this; } - FI XYZval& operator>>=(const int &v) { LINEAR_AXIS_CODE(_RS(x), _RS(y), _RS(z) ); return *this; } - FI XYZval& operator<<=(const int &v) { LINEAR_AXIS_CODE(_LS(x), _LS(y), _LS(z) ); return *this; } - FI bool operator==(const XYZEval &rs) { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z); } - FI bool operator==(const XYZEval &rs) const { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z); } + FI XYZval& operator= (const XYZEval &rs) { set(LINEAR_AXIS_ELEM(rs)); return *this; } + + // Override other operators to get intuitive behaviors + FI XYZval operator+ (const XYval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP , NOOP , NOOP , NOOP ); return ls; } + FI XYZval operator+ (const XYval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP , NOOP , NOOP , NOOP ); return ls; } + FI XYZval operator- (const XYval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP , NOOP , NOOP , NOOP ); return ls; } + FI XYZval operator- (const XYval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP , NOOP , NOOP , NOOP ); return ls; } + FI XYZval operator* (const XYval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP , NOOP , NOOP , NOOP ); return ls; } + FI XYZval operator* (const XYval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP , NOOP , NOOP , NOOP ); return ls; } + FI XYZval operator/ (const XYval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP , NOOP , NOOP , NOOP ); return ls; } + FI XYZval operator/ (const XYval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP , NOOP , NOOP , NOOP ); return ls; } + FI XYZval operator+ (const XYZval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; } + FI XYZval operator+ (const XYZval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; } + FI XYZval operator- (const XYZval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; } + FI XYZval operator- (const XYZval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; } + FI XYZval operator* (const XYZval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; } + FI XYZval operator* (const XYZval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; } + FI XYZval operator/ (const XYZval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; } + FI XYZval operator/ (const XYZval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; } + FI XYZval operator+ (const XYZEval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; } + FI XYZval operator+ (const XYZEval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; } + FI XYZval operator- (const XYZEval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; } + FI XYZval operator- (const XYZEval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; } + FI XYZval operator* (const XYZEval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; } + FI XYZval operator* (const XYZEval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; } + FI XYZval operator/ (const XYZEval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; } + FI XYZval operator/ (const XYZEval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; } + FI XYZval operator* (const float &v) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= v, ls.y *= v, ls.z *= v, ls.i *= v, ls.j *= v, ls.k *= v ); return ls; } + FI XYZval operator* (const float &v) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= v, ls.y *= v, ls.z *= v, ls.i *= v, ls.j *= v, ls.k *= v ); return ls; } + FI XYZval operator* (const int &v) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= v, ls.y *= v, ls.z *= v, ls.i *= v, ls.j *= v, ls.k *= v ); return ls; } + FI XYZval operator* (const int &v) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= v, ls.y *= v, ls.z *= v, ls.i *= v, ls.j *= v, ls.k *= v ); return ls; } + FI XYZval operator/ (const float &v) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= v, ls.y /= v, ls.z /= v, ls.i /= v, ls.j /= v, ls.k /= v ); return ls; } + FI XYZval operator/ (const float &v) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= v, ls.y /= v, ls.z /= v, ls.i /= v, ls.j /= v, ls.k /= v ); return ls; } + FI XYZval operator/ (const int &v) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= v, ls.y /= v, ls.z /= v, ls.i /= v, ls.j /= v, ls.k /= v ); return ls; } + FI XYZval operator/ (const int &v) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= v, ls.y /= v, ls.z /= v, ls.i /= v, ls.j /= v, ls.k /= v ); return ls; } + FI XYZval operator>>(const int &v) const { XYZval ls = *this; LINEAR_AXIS_CODE(_RS(ls.x), _RS(ls.y), _RS(ls.z), _RS(ls.i), _RS(ls.j), _RS(ls.k) ); return ls; } + FI XYZval operator>>(const int &v) { XYZval ls = *this; LINEAR_AXIS_CODE(_RS(ls.x), _RS(ls.y), _RS(ls.z), _RS(ls.i), _RS(ls.j), _RS(ls.k) ); return ls; } + FI XYZval operator<<(const int &v) const { XYZval ls = *this; LINEAR_AXIS_CODE(_LS(ls.x), _LS(ls.y), _LS(ls.z), _LS(ls.i), _LS(ls.j), _LS(ls.k) ); return ls; } + FI XYZval operator<<(const int &v) { XYZval ls = *this; LINEAR_AXIS_CODE(_LS(ls.x), _LS(ls.y), _LS(ls.z), _LS(ls.i), _LS(ls.j), _LS(ls.k) ); return ls; } + FI const XYZval operator-() const { XYZval o = *this; LINEAR_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k); return o; } + FI XYZval operator-() { XYZval o = *this; LINEAR_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k); return o; } + + // Modifier operators + FI XYZval& operator+=(const XYval &rs) { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, NOOP, NOOP, NOOP, NOOP ); return *this; } + FI XYZval& operator-=(const XYval &rs) { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, NOOP, NOOP, NOOP, NOOP ); return *this; } + FI XYZval& operator*=(const XYval &rs) { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, NOOP, NOOP, NOOP, NOOP ); return *this; } + FI XYZval& operator/=(const XYval &rs) { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, NOOP, NOOP, NOOP, NOOP ); return *this; } + FI XYZval& operator+=(const XYZval &rs) { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; } + FI XYZval& operator-=(const XYZval &rs) { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; } + FI XYZval& operator*=(const XYZval &rs) { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; } + FI XYZval& operator/=(const XYZval &rs) { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; } + FI XYZval& operator+=(const XYZEval &rs) { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; } + FI XYZval& operator-=(const XYZEval &rs) { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; } + FI XYZval& operator*=(const XYZEval &rs) { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; } + FI XYZval& operator/=(const XYZEval &rs) { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; } + FI XYZval& operator*=(const float &v) { LINEAR_AXIS_CODE(x *= v, y *= v, z *= v, i *= v, j *= v, k *= v); return *this; } + FI XYZval& operator*=(const int &v) { LINEAR_AXIS_CODE(x *= v, y *= v, z *= v, i *= v, j *= v, k *= v); return *this; } + FI XYZval& operator>>=(const int &v) { LINEAR_AXIS_CODE(_RS(x), _RS(y), _RS(z), _RS(i), _RS(j), _RS(k)); return *this; } + FI XYZval& operator<<=(const int &v) { LINEAR_AXIS_CODE(_LS(x), _LS(y), _LS(z), _LS(i), _LS(j), _LS(k)); return *this; } + + // Exact comparisons. For floats a "NEAR" operation may be better. + FI bool operator==(const XYZEval &rs) { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); } + FI bool operator==(const XYZEval &rs) const { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); } FI bool operator!=(const XYZEval &rs) { return !operator==(rs); } FI bool operator!=(const XYZEval &rs) const { return !operator==(rs); } - FI XYZval operator-() { XYZval o = *this; LINEAR_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z); return o; } - FI const XYZval operator-() const { XYZval o = *this; LINEAR_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z); return o; } }; // @@ -463,109 +528,137 @@ struct XYZval { template struct XYZEval { union { - struct{ T LOGICAL_AXIS_LIST(e, x, y, z); }; - struct{ T LINEAR_AXIS_LIST(a, b, c); }; + struct { T LOGICAL_AXIS_ARGS(); }; + struct { T LOGICAL_AXIS_LIST(_e, a, b, c, u, v, w); }; T pos[LOGICAL_AXES]; }; - FI void reset() { LOGICAL_AXIS_GANG(e =, x =, y =, z =) 0; } - FI T magnitude() const { return (T)sqrtf(LOGICAL_AXIS_GANG(+ e*e, + x*x, + y*y, + z*z)); } - FI operator T* () { return pos; } - FI operator bool() { return false LOGICAL_AXIS_GANG(|| e, || x, || y, || z); } - FI void set(const T px) { x = px; } - FI void set(const T px, const T py) { x = px; y = py; } - FI void set(const XYval pxy) { x = pxy.x; y = pxy.y; } - FI void set(const XYZval pxyz) { set(LINEAR_AXIS_LIST(pxyz.x, pxyz.y, pxyz.z)); } + // Reset all to 0 + FI void reset() { LOGICAL_AXIS_GANG(e =, x =, y =, z =, i =, j =, k =) 0; } + + // Setters taking struct types and arrays + FI void set(const T px) { x = px; } + FI void set(const T px, const T py) { x = px; y = py; } + FI void set(const XYval pxy) { x = pxy.x; y = pxy.y; } + FI void set(const XYZval pxyz) { set(LINEAR_AXIS_ELEM(pxyz)); } #if HAS_Z_AXIS - FI void set(LINEAR_AXIS_LIST(const T px, const T py, const T pz)) { - LINEAR_AXIS_CODE(x = px, y = py, z = pz); - } + FI void set(LINEAR_AXIS_ARGS(const T)) { LINEAR_AXIS_CODE(a = x, b = y, c = z, u = i, v = j, w = k); } #endif #if LOGICAL_AXES > LINEAR_AXES - FI void set(LOGICAL_AXIS_LIST(const T pe, const T px, const T py, const T pz)) { - LOGICAL_AXIS_CODE(e = pe, x = px, y = py, z = pz); - } - FI void set(const XYval pxy, const T pe) { set(pxy); e = pe; } - FI void set(const XYZval pxyz, const T pe) { set(pxyz); e = pe; } + FI void set(const XYval pxy, const T pe) { set(pxy); e = pe; } + FI void set(const XYZval pxyz, const T pe) { set(pxyz); e = pe; } + FI void set(LOGICAL_AXIS_ARGS(const T)) { LOGICAL_AXIS_CODE(_e = e, a = x, b = y, c = z, u = i, v = j, w = k); } #endif - FI XYZEval copy() const { XYZEval o = *this; return o; } - FI XYZEval ABS() const { return LOGICAL_AXIS_ARRAY(T(_ABS(e)), T(_ABS(x)), T(_ABS(y)), T(_ABS(z))); } - FI XYZEval asInt() { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z)); } - FI XYZEval asInt() const { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z)); } - FI XYZEval asLong() { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z)); } - FI XYZEval asLong() const { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z)); } - FI XYZEval ROUNDL() { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z))); } - FI XYZEval ROUNDL() const { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z))); } - FI XYZEval asFloat() { return LOGICAL_AXIS_ARRAY(static_cast(e), static_cast(x), static_cast(y), static_cast(z)); } - FI XYZEval asFloat() const { return LOGICAL_AXIS_ARRAY(static_cast(e), static_cast(x), static_cast(y), static_cast(z)); } - FI XYZEval reciprocal() const { return LOGICAL_AXIS_ARRAY(_RECIP(e), _RECIP(x), _RECIP(y), _RECIP(z)); } - FI XYZEval asLogical() const { XYZEval o = asFloat(); toLogical(o); return o; } - FI XYZEval asNative() const { XYZEval o = asFloat(); toNative(o); return o; } - FI operator XYval&() { return *(XYval*)this; } - FI operator const XYval&() const { return *(const XYval*)this; } - FI operator XYZval&() { return *(XYZval*)this; } - FI operator const XYZval&() const { return *(const XYZval*)this; } - FI T& operator[](const int n) { return pos[n]; } - FI const T& operator[](const int n) const { return pos[n]; } - FI XYZEval& operator= (const T v) { set(LIST_N_1(LINEAR_AXES, v)); return *this; } - FI XYZEval& operator= (const XYval &rs) { set(rs.x, rs.y); return *this; } - FI XYZEval& operator= (const XYZval &rs) { set(LINEAR_AXIS_LIST(rs.x, rs.y, rs.z)); return *this; } - FI XYZEval operator+ (const XYval &rs) const { XYZEval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } - FI XYZEval operator+ (const XYval &rs) { XYZEval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } - FI XYZEval operator- (const XYval &rs) const { XYZEval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } - FI XYZEval operator- (const XYval &rs) { XYZEval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } - FI XYZEval operator* (const XYval &rs) const { XYZEval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } - FI XYZEval operator* (const XYval &rs) { XYZEval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } - FI XYZEval operator/ (const XYval &rs) const { XYZEval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } - FI XYZEval operator/ (const XYval &rs) { XYZEval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } - FI XYZEval operator+ (const XYZval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z); return ls; } - FI XYZEval operator+ (const XYZval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z); return ls; } - FI XYZEval operator- (const XYZval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z); return ls; } - FI XYZEval operator- (const XYZval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z); return ls; } - FI XYZEval operator* (const XYZval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z); return ls; } - FI XYZEval operator* (const XYZval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z); return ls; } - FI XYZEval operator/ (const XYZval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z); return ls; } - FI XYZEval operator/ (const XYZval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z); return ls; } - FI XYZEval operator+ (const XYZEval &rs) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z ); return ls; } - FI XYZEval operator+ (const XYZEval &rs) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z ); return ls; } - FI XYZEval operator- (const XYZEval &rs) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z ); return ls; } - FI XYZEval operator- (const XYZEval &rs) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z ); return ls; } - FI XYZEval operator* (const XYZEval &rs) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z ); return ls; } - FI XYZEval operator* (const XYZEval &rs) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z ); return ls; } - FI XYZEval operator/ (const XYZEval &rs) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z ); return ls; } - FI XYZEval operator/ (const XYZEval &rs) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z ); return ls; } - FI XYZEval operator* (const float &v) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= v, ls.x *= v, ls.y *= v, ls.z *= v ); return ls; } - FI XYZEval operator* (const float &v) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= v, ls.x *= v, ls.y *= v, ls.z *= v ); return ls; } - FI XYZEval operator* (const int &v) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= v, ls.x *= v, ls.y *= v, ls.z *= v ); return ls; } - FI XYZEval operator* (const int &v) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= v, ls.x *= v, ls.y *= v, ls.z *= v ); return ls; } - FI XYZEval operator/ (const float &v) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= v, ls.x /= v, ls.y /= v, ls.z /= v ); return ls; } - FI XYZEval operator/ (const float &v) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= v, ls.x /= v, ls.y /= v, ls.z /= v ); return ls; } - FI XYZEval operator/ (const int &v) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= v, ls.x /= v, ls.y /= v, ls.z /= v ); return ls; } - FI XYZEval operator/ (const int &v) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= v, ls.x /= v, ls.y /= v, ls.z /= v ); return ls; } - FI XYZEval operator>>(const int &v) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e), _RS(ls.x), _RS(ls.y), _RS(ls.z) ); return ls; } - FI XYZEval operator>>(const int &v) { XYZEval ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e), _RS(ls.x), _RS(ls.y), _RS(ls.z) ); return ls; } - FI XYZEval operator<<(const int &v) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e), _LS(ls.x), _LS(ls.y), _LS(ls.z) ); return ls; } - FI XYZEval operator<<(const int &v) { XYZEval ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e), _LS(ls.x), _LS(ls.y), _LS(ls.z) ); return ls; } - FI XYZEval& operator+=(const XYval &rs) { x += rs.x; y += rs.y; return *this; } - FI XYZEval& operator-=(const XYval &rs) { x -= rs.x; y -= rs.y; return *this; } - FI XYZEval& operator*=(const XYval &rs) { x *= rs.x; y *= rs.y; return *this; } - FI XYZEval& operator/=(const XYval &rs) { x /= rs.x; y /= rs.y; return *this; } - FI XYZEval& operator+=(const XYZval &rs) { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z); return *this; } - FI XYZEval& operator-=(const XYZval &rs) { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z); return *this; } - FI XYZEval& operator*=(const XYZval &rs) { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z); return *this; } - FI XYZEval& operator/=(const XYZval &rs) { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z); return *this; } - FI XYZEval& operator+=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e += rs.e, x += rs.x, y += rs.y, z += rs.z); return *this; } - FI XYZEval& operator-=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e -= rs.e, x -= rs.x, y -= rs.y, z -= rs.z); return *this; } - FI XYZEval& operator*=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e *= rs.e, x *= rs.x, y *= rs.y, z *= rs.z); return *this; } - FI XYZEval& operator/=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e /= rs.e, x /= rs.x, y /= rs.y, z /= rs.z); return *this; } - FI XYZEval& operator*=(const T &v) { LOGICAL_AXIS_CODE(e *= v, x *= v, y *= v, z *= v); return *this; } - FI XYZEval& operator>>=(const int &v) { LOGICAL_AXIS_CODE(_RS(e), _RS(x), _RS(y), _RS(z)); return *this; } - FI XYZEval& operator<<=(const int &v) { LOGICAL_AXIS_CODE(_LS(e), _LS(x), _LS(y), _LS(z)); return *this; } - FI bool operator==(const XYZval &rs) { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z); } - FI bool operator==(const XYZval &rs) const { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z); } - FI bool operator!=(const XYZval &rs) { return !operator==(rs); } - FI bool operator!=(const XYZval &rs) const { return !operator==(rs); } - FI XYZEval operator-() { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z); } - FI const XYZEval operator-() const { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z); } + #if LINEAR_AXES >= 4 + FI void set(const T px, const T py, const T pz) { x = px; y = py; z = pz; } + #endif + #if LINEAR_AXES >= 5 + FI void set(const T px, const T py, const T pz, const T pi) { x = px; y = py; z = pz; i = pi; } + #endif + #if LINEAR_AXES >= 6 + FI void set(const T px, const T py, const T pz, const T pi, const T pj) { x = px; y = py; z = pz; i = pi; j = pj; } + #endif + + // Length reduced to one dimension + FI T magnitude() const { return (T)sqrtf(LOGICAL_AXIS_GANG(+ e*e, + x*x, + y*y, + z*z, + i*i, + j*j, + k*k)); } + // Pointer to the data as a simple array + FI operator T* () { return pos; } + // If any element is true then it's true + FI operator bool() { return 0 LOGICAL_AXIS_GANG(|| e, || x, || y, || z, || i, || j, || k); } + + // Explicit copy and copies with conversion + FI XYZEval copy() const { XYZEval o = *this; return o; } + FI XYZEval ABS() const { return LOGICAL_AXIS_ARRAY(T(_ABS(e)), T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k))); } + FI XYZEval asInt() { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); } + FI XYZEval asInt() const { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k)); } + FI XYZEval asLong() { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); } + FI XYZEval asLong() const { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k)); } + FI XYZEval ROUNDL() { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); } + FI XYZEval ROUNDL() const { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k))); } + FI XYZEval asFloat() { return LOGICAL_AXIS_ARRAY(static_cast(e), static_cast(x), static_cast(y), static_cast(z), static_cast(i), static_cast(j), static_cast(k)); } + FI XYZEval asFloat() const { return LOGICAL_AXIS_ARRAY(static_cast(e), static_cast(x), static_cast(y), static_cast(z), static_cast(i), static_cast(j), static_cast(k)); } + FI XYZEval reciprocal() const { return LOGICAL_AXIS_ARRAY(_RECIP(e), _RECIP(x), _RECIP(y), _RECIP(z), _RECIP(i), _RECIP(j), _RECIP(k)); } + + // Marlin workspace shifting is done with G92 and M206 + FI XYZEval asLogical() const { XYZEval o = asFloat(); toLogical(o); return o; } + FI XYZEval asNative() const { XYZEval o = asFloat(); toNative(o); return o; } + + // In-place cast to types having fewer fields + FI operator XYval&() { return *(XYval*)this; } + FI operator const XYval&() const { return *(const XYval*)this; } + FI operator XYZval&() { return *(XYZval*)this; } + FI operator const XYZval&() const { return *(const XYZval*)this; } + + // Accessor via an AxisEnum (or any integer) [index] + FI T& operator[](const int n) { return pos[n]; } + FI const T& operator[](const int n) const { return pos[n]; } + + // Assignment operator overrides do the expected thing + FI XYZEval& operator= (const T v) { set(LIST_N_1(LINEAR_AXES, v)); return *this; } + FI XYZEval& operator= (const XYval &rs) { set(rs.x, rs.y); return *this; } + FI XYZEval& operator= (const XYZval &rs) { set(LINEAR_AXIS_ELEM(rs)); return *this; } + + // Override other operators to get intuitive behaviors + FI XYZEval operator+ (const XYval &rs) const { XYZEval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } + FI XYZEval operator+ (const XYval &rs) { XYZEval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } + FI XYZEval operator- (const XYval &rs) const { XYZEval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } + FI XYZEval operator- (const XYval &rs) { XYZEval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } + FI XYZEval operator* (const XYval &rs) const { XYZEval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } + FI XYZEval operator* (const XYval &rs) { XYZEval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } + FI XYZEval operator/ (const XYval &rs) const { XYZEval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } + FI XYZEval operator/ (const XYval &rs) { XYZEval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } + FI XYZEval operator+ (const XYZval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; } + FI XYZEval operator+ (const XYZval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; } + FI XYZEval operator- (const XYZval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; } + FI XYZEval operator- (const XYZval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; } + FI XYZEval operator* (const XYZval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; } + FI XYZEval operator* (const XYZval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; } + FI XYZEval operator/ (const XYZval &rs) const { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; } + FI XYZEval operator/ (const XYZval &rs) { XYZval ls = *this; LINEAR_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; } + FI XYZEval operator+ (const XYZEval &rs) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; } + FI XYZEval operator+ (const XYZEval &rs) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k); return ls; } + FI XYZEval operator- (const XYZEval &rs) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; } + FI XYZEval operator- (const XYZEval &rs) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k); return ls; } + FI XYZEval operator* (const XYZEval &rs) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; } + FI XYZEval operator* (const XYZEval &rs) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k); return ls; } + FI XYZEval operator/ (const XYZEval &rs) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; } + FI XYZEval operator/ (const XYZEval &rs) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k); return ls; } + FI XYZEval operator* (const float &v) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= v, ls.x *= v, ls.y *= v, ls.z *= v, ls.i *= v, ls.j *= v, ls.k *= v ); return ls; } + FI XYZEval operator* (const float &v) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= v, ls.x *= v, ls.y *= v, ls.z *= v, ls.i *= v, ls.j *= v, ls.k *= v ); return ls; } + FI XYZEval operator* (const int &v) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= v, ls.x *= v, ls.y *= v, ls.z *= v, ls.i *= v, ls.j *= v, ls.k *= v ); return ls; } + FI XYZEval operator* (const int &v) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= v, ls.x *= v, ls.y *= v, ls.z *= v, ls.i *= v, ls.j *= v, ls.k *= v ); return ls; } + FI XYZEval operator/ (const float &v) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= v, ls.x /= v, ls.y /= v, ls.z /= v, ls.i /= v, ls.j /= v, ls.k /= v ); return ls; } + FI XYZEval operator/ (const float &v) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= v, ls.x /= v, ls.y /= v, ls.z /= v, ls.i /= v, ls.j /= v, ls.k /= v ); return ls; } + FI XYZEval operator/ (const int &v) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= v, ls.x /= v, ls.y /= v, ls.z /= v, ls.i /= v, ls.j /= v, ls.k /= v ); return ls; } + FI XYZEval operator/ (const int &v) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= v, ls.x /= v, ls.y /= v, ls.z /= v, ls.i /= v, ls.j /= v, ls.k /= v ); return ls; } + FI XYZEval operator>>(const int &v) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e), _RS(ls.x), _RS(ls.y), _RS(ls.z), _RS(ls.i), _RS(ls.j), _RS(ls.k) ); return ls; } + FI XYZEval operator>>(const int &v) { XYZEval ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e), _RS(ls.x), _RS(ls.y), _RS(ls.z), _RS(ls.i), _RS(ls.j), _RS(ls.k) ); return ls; } + FI XYZEval operator<<(const int &v) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e), _LS(ls.x), _LS(ls.y), _LS(ls.z), _LS(ls.i), _LS(ls.j), _LS(ls.k) ); return ls; } + FI XYZEval operator<<(const int &v) { XYZEval ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e), _LS(ls.x), _LS(ls.y), _LS(ls.z), _LS(ls.i), _LS(ls.j), _LS(ls.k) ); return ls; } + FI const XYZEval operator-() const { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k); } + FI XYZEval operator-() { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k); } + + // Modifier operators + FI XYZEval& operator+=(const XYval &rs) { x += rs.x; y += rs.y; return *this; } + FI XYZEval& operator-=(const XYval &rs) { x -= rs.x; y -= rs.y; return *this; } + FI XYZEval& operator*=(const XYval &rs) { x *= rs.x; y *= rs.y; return *this; } + FI XYZEval& operator/=(const XYval &rs) { x /= rs.x; y /= rs.y; return *this; } + FI XYZEval& operator+=(const XYZval &rs) { LINEAR_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; } + FI XYZEval& operator-=(const XYZval &rs) { LINEAR_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; } + FI XYZEval& operator*=(const XYZval &rs) { LINEAR_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; } + FI XYZEval& operator/=(const XYZval &rs) { LINEAR_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; } + FI XYZEval& operator+=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e += rs.e, x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k); return *this; } + FI XYZEval& operator-=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e -= rs.e, x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k); return *this; } + FI XYZEval& operator*=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e *= rs.e, x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k); return *this; } + FI XYZEval& operator/=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e /= rs.e, x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k); return *this; } + FI XYZEval& operator*=(const T &v) { LOGICAL_AXIS_CODE(e *= v, x *= v, y *= v, z *= v, i *= v, j *= v, k *= v); return *this; } + FI XYZEval& operator>>=(const int &v) { LOGICAL_AXIS_CODE(_RS(e), _RS(x), _RS(y), _RS(z), _RS(i), _RS(j), _RS(k)); return *this; } + FI XYZEval& operator<<=(const int &v) { LOGICAL_AXIS_CODE(_LS(e), _LS(x), _LS(y), _LS(z), _LS(i), _LS(j), _LS(k)); return *this; } + + // Exact comparisons. For floats a "NEAR" operation may be better. + FI bool operator==(const XYZval &rs) { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); } + FI bool operator==(const XYZval &rs) const { return true LINEAR_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k); } + FI bool operator!=(const XYZval &rs) { return !operator==(rs); } + FI bool operator!=(const XYZval &rs) const { return !operator==(rs); } }; #undef _RECIP diff --git a/Marlin/src/core/utility.cpp b/Marlin/src/core/utility.cpp index f4cdef43c8..b810855d52 100644 --- a/Marlin/src/core/utility.cpp +++ b/Marlin/src/core/utility.cpp @@ -122,7 +122,7 @@ void safe_delay(millis_t ms) { SERIAL_ECHOLNPAIR("Z Fade: ", planner.z_fade_height); #endif #if ABL_PLANAR - SERIAL_ECHOPGM("ABL Adjustment X"); + SERIAL_ECHOPGM("ABL Adjustment"); LOOP_LINEAR_AXES(a) { const float v = planner.get_axis_position_mm(AxisEnum(a)) - current_position[a]; SERIAL_CHAR(' ', AXIS_CHAR(a)); diff --git a/Marlin/src/core/utility.h b/Marlin/src/core/utility.h index 31d0ac6ef4..d248091ce5 100644 --- a/Marlin/src/core/utility.h +++ b/Marlin/src/core/utility.h @@ -77,7 +77,7 @@ public: // in the range 0-100 while avoiding rounding artifacts constexpr uint8_t ui8_to_percent(const uint8_t i) { return (int(i) * 100 + 127) / 255; } -const xyze_char_t axis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z'); +const xyze_char_t axis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', AXIS4_NAME, AXIS5_NAME, AXIS6_NAME); #if LINEAR_AXES <= XYZ #define AXIS_CHAR(A) ((char)('X' + A)) diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp index 4af608cce4..20408d8d1e 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp @@ -113,20 +113,22 @@ const xy_float_t ad = sign * dist; const bool use_x_dist = ad.x > ad.y; - float on_axis_distance = use_x_dist ? dist.x : dist.y, - e_position = end.e - start.e, - z_position = end.z - start.z; + float on_axis_distance = use_x_dist ? dist.x : dist.y; - const float e_normalized_dist = e_position / on_axis_distance, // Allow divide by zero - z_normalized_dist = z_position / on_axis_distance; + const float z_normalized_dist = (end.z - start.z) / on_axis_distance; // Allow divide by zero + #if HAS_EXTRUDERS + const float e_normalized_dist = (end.e - start.e) / on_axis_distance; + const bool inf_normalized_flag = isinf(e_normalized_dist); + #endif xy_int8_t icell = istart; const float ratio = dist.y / dist.x, // Allow divide by zero c = start.y - ratio * start.x; - const bool inf_normalized_flag = isinf(e_normalized_dist), - inf_ratio_flag = isinf(ratio); + const bool inf_ratio_flag = isinf(ratio); + + xyze_pos_t dest; // Stores XYZE for segmented moves /** * Handle vertical lines that stay within one column. @@ -143,34 +145,36 @@ * For others the next X is the same so this can continue. * Calculate X at the next Y mesh line. */ - const float rx = inf_ratio_flag ? start.x : (next_mesh_line_y - c) / ratio; + dest.x = inf_ratio_flag ? start.x : (next_mesh_line_y - c) / ratio; - float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, icell.x, icell.y) + float z0 = z_correction_for_x_on_horizontal_mesh_line(dest.x, icell.x, icell.y) * planner.fade_scaling_factor_for_z(end.z); // Undefined parts of the Mesh in z_values[][] are NAN. // Replace NAN corrections with 0.0 to prevent NAN propagation. if (isnan(z0)) z0 = 0.0; - const float ry = mesh_index_to_ypos(icell.y); + dest.y = mesh_index_to_ypos(icell.y); /** * Without this check, it's possible to generate a zero length move, as in the case where * the line is heading down, starting exactly on a mesh line boundary. Since this is rare * it might be fine to remove this check and let planner.buffer_segment() filter it out. */ - if (ry != start.y) { + if (dest.y != start.y) { if (!inf_normalized_flag) { // fall-through faster than branch - on_axis_distance = use_x_dist ? rx - start.x : ry - start.y; - e_position = start.e + on_axis_distance * e_normalized_dist; - z_position = start.z + on_axis_distance * z_normalized_dist; + on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y; + TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist); + dest.z = start.z + on_axis_distance * z_normalized_dist; } else { - e_position = end.e; - z_position = end.z; + TERN_(HAS_EXTRUDERS, dest.e = end.e); + dest.z = end.z; } - planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder); + dest.z += z0; + planner.buffer_segment(dest, scaled_fr_mm_s, extruder); + } //else printf("FIRST MOVE PRUNED "); } @@ -188,12 +192,13 @@ */ if (iadd.y == 0) { // Horizontal line? icell.x += ineg.x; // Heading left? Just go to the left edge of the cell for the first move. + while (icell.x != iend.x + ineg.x) { icell.x += iadd.x; - const float rx = mesh_index_to_xpos(icell.x); - const float ry = ratio * rx + c; // Calculate Y at the next X mesh line + dest.x = mesh_index_to_xpos(icell.x); + dest.y = ratio * dest.x + c; // Calculate Y at the next X mesh line - float z0 = z_correction_for_y_on_vertical_mesh_line(ry, icell.x, icell.y) + float z0 = z_correction_for_y_on_vertical_mesh_line(dest.y, icell.x, icell.y) * planner.fade_scaling_factor_for_z(end.z); // Undefined parts of the Mesh in z_values[][] are NAN. @@ -205,19 +210,20 @@ * the line is heading left, starting exactly on a mesh line boundary. Since this is rare * it might be fine to remove this check and let planner.buffer_segment() filter it out. */ - if (rx != start.x) { + if (dest.x != start.x) { if (!inf_normalized_flag) { - on_axis_distance = use_x_dist ? rx - start.x : ry - start.y; - e_position = start.e + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move - z_position = start.z + on_axis_distance * z_normalized_dist; + on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y; + TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist); // Based on X or Y because the move is horizontal + dest.z = start.z + on_axis_distance * z_normalized_dist; } else { - e_position = end.e; - z_position = end.z; + TERN_(HAS_EXTRUDERS, dest.e = end.e); + dest.z = end.z; } - if (!planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder)) - break; + dest.z += z0; + if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break; + } //else printf("FIRST MOVE PRUNED "); } @@ -239,57 +245,65 @@ while (cnt) { const float next_mesh_line_x = mesh_index_to_xpos(icell.x + iadd.x), - next_mesh_line_y = mesh_index_to_ypos(icell.y + iadd.y), - ry = ratio * next_mesh_line_x + c, // Calculate Y at the next X mesh line - rx = (next_mesh_line_y - c) / ratio; // Calculate X at the next Y mesh line - // (No need to worry about ratio == 0. - // In that case, it was already detected - // as a vertical line move above.) - - if (neg.x == (rx > next_mesh_line_x)) { // Check if we hit the Y line first + next_mesh_line_y = mesh_index_to_ypos(icell.y + iadd.y); + + dest.y = ratio * next_mesh_line_x + c; // Calculate Y at the next X mesh line + dest.x = (next_mesh_line_y - c) / ratio; // Calculate X at the next Y mesh line + // (No need to worry about ratio == 0. + // In that case, it was already detected + // as a vertical line move above.) + + if (neg.x == (dest.x > next_mesh_line_x)) { // Check if we hit the Y line first // Yes! Crossing a Y Mesh Line next - float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, icell.x - ineg.x, icell.y + iadd.y) + float z0 = z_correction_for_x_on_horizontal_mesh_line(dest.x, icell.x - ineg.x, icell.y + iadd.y) * planner.fade_scaling_factor_for_z(end.z); // Undefined parts of the Mesh in z_values[][] are NAN. // Replace NAN corrections with 0.0 to prevent NAN propagation. if (isnan(z0)) z0 = 0.0; + dest.y = next_mesh_line_y; + if (!inf_normalized_flag) { - on_axis_distance = use_x_dist ? rx - start.x : next_mesh_line_y - start.y; - e_position = start.e + on_axis_distance * e_normalized_dist; - z_position = start.z + on_axis_distance * z_normalized_dist; + on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y; + TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist); + dest.z = start.z + on_axis_distance * z_normalized_dist; } else { - e_position = end.e; - z_position = end.z; + TERN_(HAS_EXTRUDERS, dest.e = end.e); + dest.z = end.z; } - if (!planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, scaled_fr_mm_s, extruder)) - break; + + dest.z += z0; + if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break; + icell.y += iadd.y; cnt.y--; } else { // Yes! Crossing a X Mesh Line next - float z0 = z_correction_for_y_on_vertical_mesh_line(ry, icell.x + iadd.x, icell.y - ineg.y) + float z0 = z_correction_for_y_on_vertical_mesh_line(dest.y, icell.x + iadd.x, icell.y - ineg.y) * planner.fade_scaling_factor_for_z(end.z); // Undefined parts of the Mesh in z_values[][] are NAN. // Replace NAN corrections with 0.0 to prevent NAN propagation. if (isnan(z0)) z0 = 0.0; + dest.x = next_mesh_line_x; + if (!inf_normalized_flag) { - on_axis_distance = use_x_dist ? next_mesh_line_x - start.x : ry - start.y; - e_position = start.e + on_axis_distance * e_normalized_dist; - z_position = start.z + on_axis_distance * z_normalized_dist; + on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y; + TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist); + dest.z = start.z + on_axis_distance * z_normalized_dist; } else { - e_position = end.e; - z_position = end.z; + TERN_(HAS_EXTRUDERS, dest.e = end.e); + dest.z = end.z; } - if (!planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder)) - break; + dest.z += z0; + if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break; + icell.x += iadd.x; cnt.x--; } @@ -438,11 +452,9 @@ #endif ; - planner.buffer_line(raw.x, raw.y, raw.z + z_cxcy, raw.e, scaled_fr_mm_s, active_extruder, segment_xyz_mm - #if ENABLED(SCARA_FEEDRATE_SCALING) - , inv_duration - #endif - ); + const float oldz = raw.z; raw.z += z_cxcy; + planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration) ); + raw.z = oldz; if (segments == 0) // done with last segment return false; // didn't set current from destination diff --git a/Marlin/src/feature/tmc_util.cpp b/Marlin/src/feature/tmc_util.cpp index 021317ea89..48b26cc101 100644 --- a/Marlin/src/feature/tmc_util.cpp +++ b/Marlin/src/feature/tmc_util.cpp @@ -417,6 +417,21 @@ } #endif + #if AXIS_IS_TMC(I) + if (monitor_tmc_driver(stepperI, need_update_error_counters, need_debug_reporting)) + step_current_down(stepperI); + #endif + + #if AXIS_IS_TMC(J) + if (monitor_tmc_driver(stepperJ, need_update_error_counters, need_debug_reporting)) + step_current_down(stepperJ); + #endif + + #if AXIS_IS_TMC(K) + if (monitor_tmc_driver(stepperK, need_update_error_counters, need_debug_reporting)) + step_current_down(stepperK); + #endif + #if AXIS_IS_TMC(E0) (void)monitor_tmc_driver(stepperE0, need_update_error_counters, need_debug_reporting); #endif @@ -757,138 +772,148 @@ } } - static void tmc_debug_loop( - const TMC_debug_enum i, - LOGICAL_AXIS_LIST(const bool print_e, const bool print_x, const bool print_y, const bool print_z) - ) { - if (print_x) { + static void tmc_debug_loop(const TMC_debug_enum n, LOGICAL_AXIS_ARGS(const bool)) { + if (x) { #if AXIS_IS_TMC(X) - tmc_status(stepperX, i); + tmc_status(stepperX, n); #endif #if AXIS_IS_TMC(X2) - tmc_status(stepperX2, i); + tmc_status(stepperX2, n); #endif } - #if LINEAR_AXES >= XY - if (print_y) { - #if AXIS_IS_TMC(Y) - tmc_status(stepperY, i); - #endif - #if AXIS_IS_TMC(Y2) - tmc_status(stepperY2, i); - #endif - } - #endif + if (TERN0(HAS_Y_AXIS, y)) { + #if AXIS_IS_TMC(Y) + tmc_status(stepperY, n); + #endif + #if AXIS_IS_TMC(Y2) + tmc_status(stepperY2, n); + #endif + } - if (TERN0(HAS_Z_AXIS, print_z)) { + if (TERN0(HAS_Z_AXIS, z)) { #if AXIS_IS_TMC(Z) - tmc_status(stepperZ, i); + tmc_status(stepperZ, n); #endif #if AXIS_IS_TMC(Z2) - tmc_status(stepperZ2, i); + tmc_status(stepperZ2, n); #endif #if AXIS_IS_TMC(Z3) - tmc_status(stepperZ3, i); + tmc_status(stepperZ3, n); #endif #if AXIS_IS_TMC(Z4) - tmc_status(stepperZ4, i); + tmc_status(stepperZ4, n); #endif } - if (TERN0(HAS_EXTRUDERS, print_e)) { + #if AXIS_IS_TMC(I) + if (i) tmc_status(stepperI, n); + #endif + #if AXIS_IS_TMC(J) + if (j) tmc_status(stepperJ, n); + #endif + #if AXIS_IS_TMC(K) + if (k) tmc_status(stepperK, n); + #endif + + if (TERN0(HAS_EXTRUDERS, e)) { #if AXIS_IS_TMC(E0) - tmc_status(stepperE0, i); + tmc_status(stepperE0, n); #endif #if AXIS_IS_TMC(E1) - tmc_status(stepperE1, i); + tmc_status(stepperE1, n); #endif #if AXIS_IS_TMC(E2) - tmc_status(stepperE2, i); + tmc_status(stepperE2, n); #endif #if AXIS_IS_TMC(E3) - tmc_status(stepperE3, i); + tmc_status(stepperE3, n); #endif #if AXIS_IS_TMC(E4) - tmc_status(stepperE4, i); + tmc_status(stepperE4, n); #endif #if AXIS_IS_TMC(E5) - tmc_status(stepperE5, i); + tmc_status(stepperE5, n); #endif #if AXIS_IS_TMC(E6) - tmc_status(stepperE6, i); + tmc_status(stepperE6, n); #endif #if AXIS_IS_TMC(E7) - tmc_status(stepperE7, i); + tmc_status(stepperE7, n); #endif } SERIAL_EOL(); } - static void drv_status_loop( - const TMC_drv_status_enum i, - LOGICAL_AXIS_LIST(const bool print_e, const bool print_x, const bool print_y, const bool print_z) - ) { - if (print_x) { + static void drv_status_loop(const TMC_drv_status_enum n, LOGICAL_AXIS_ARGS(const bool)) { + if (x) { #if AXIS_IS_TMC(X) - tmc_parse_drv_status(stepperX, i); + tmc_parse_drv_status(stepperX, n); #endif #if AXIS_IS_TMC(X2) - tmc_parse_drv_status(stepperX2, i); + tmc_parse_drv_status(stepperX2, n); #endif } - #if LINEAR_AXES >= XY - if (print_y) { - #if AXIS_IS_TMC(Y) - tmc_parse_drv_status(stepperY, i); - #endif - #if AXIS_IS_TMC(Y2) - tmc_parse_drv_status(stepperY2, i); - #endif - } - #endif + if (TERN0(HAS_Y_AXIS, y)) { + #if AXIS_IS_TMC(Y) + tmc_parse_drv_status(stepperY, n); + #endif + #if AXIS_IS_TMC(Y2) + tmc_parse_drv_status(stepperY2, n); + #endif + } - if (TERN0(HAS_Z_AXIS, print_z)) { + if (TERN0(HAS_Z_AXIS, z)) { #if AXIS_IS_TMC(Z) - tmc_parse_drv_status(stepperZ, i); + tmc_parse_drv_status(stepperZ, n); #endif #if AXIS_IS_TMC(Z2) - tmc_parse_drv_status(stepperZ2, i); + tmc_parse_drv_status(stepperZ2, n); #endif #if AXIS_IS_TMC(Z3) - tmc_parse_drv_status(stepperZ3, i); + tmc_parse_drv_status(stepperZ3, n); #endif #if AXIS_IS_TMC(Z4) - tmc_parse_drv_status(stepperZ4, i); + tmc_parse_drv_status(stepperZ4, n); #endif } - if (TERN0(HAS_EXTRUDERS, print_e)) { + #if AXIS_IS_TMC(I) + if (i) tmc_parse_drv_status(stepperI, n); + #endif + #if AXIS_IS_TMC(J) + if (j) tmc_parse_drv_status(stepperJ, n); + #endif + #if AXIS_IS_TMC(K) + if (k) tmc_parse_drv_status(stepperK, n); + #endif + + if (TERN0(HAS_EXTRUDERS, e)) { #if AXIS_IS_TMC(E0) - tmc_parse_drv_status(stepperE0, i); + tmc_parse_drv_status(stepperE0, n); #endif #if AXIS_IS_TMC(E1) - tmc_parse_drv_status(stepperE1, i); + tmc_parse_drv_status(stepperE1, n); #endif #if AXIS_IS_TMC(E2) - tmc_parse_drv_status(stepperE2, i); + tmc_parse_drv_status(stepperE2, n); #endif #if AXIS_IS_TMC(E3) - tmc_parse_drv_status(stepperE3, i); + tmc_parse_drv_status(stepperE3, n); #endif #if AXIS_IS_TMC(E4) - tmc_parse_drv_status(stepperE4, i); + tmc_parse_drv_status(stepperE4, n); #endif #if AXIS_IS_TMC(E5) - tmc_parse_drv_status(stepperE5, i); + tmc_parse_drv_status(stepperE5, n); #endif #if AXIS_IS_TMC(E6) - tmc_parse_drv_status(stepperE6, i); + tmc_parse_drv_status(stepperE6, n); #endif #if AXIS_IS_TMC(E7) - tmc_parse_drv_status(stepperE7, i); + tmc_parse_drv_status(stepperE7, n); #endif } @@ -899,11 +924,9 @@ * M122 report functions */ - void tmc_report_all( - LOGICAL_AXIS_LIST(const bool print_e/*=true*/, const bool print_x/*=true*/, const bool print_y/*=true*/, const bool print_z/*=true*/) - ) { - #define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM, LOGICAL_AXIS_LIST(print_e, print_x, print_y, print_z)); }while(0) - #define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM, LOGICAL_AXIS_LIST(print_e, print_x, print_y, print_z)); }while(0) + void tmc_report_all(LOGICAL_AXIS_ARGS(const bool)) { + #define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM, LOGICAL_AXIS_ARGS()); }while(0) + #define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM, LOGICAL_AXIS_ARGS()); }while(0) TMC_REPORT("\t", TMC_CODES); #if HAS_DRIVER(TMC2209) @@ -1028,79 +1051,82 @@ } #endif - static void tmc_get_registers( - TMC_get_registers_enum i, - LOGICAL_AXIS_LIST(const bool print_e, const bool print_x, const bool print_y, const bool print_z) - ) { - if (print_x) { + static void tmc_get_registers(TMC_get_registers_enum n, LOGICAL_AXIS_ARGS(const bool)) { + if (x) { #if AXIS_IS_TMC(X) - tmc_get_registers(stepperX, i); + tmc_get_registers(stepperX, n); #endif #if AXIS_IS_TMC(X2) - tmc_get_registers(stepperX2, i); + tmc_get_registers(stepperX2, n); #endif } - #if LINEAR_AXES >= XY - if (print_y) { - #if AXIS_IS_TMC(Y) - tmc_get_registers(stepperY, i); - #endif - #if AXIS_IS_TMC(Y2) - tmc_get_registers(stepperY2, i); - #endif - } - #endif + if (TERN0(HAS_Y_AXIS, y)) { + #if AXIS_IS_TMC(Y) + tmc_get_registers(stepperY, n); + #endif + #if AXIS_IS_TMC(Y2) + tmc_get_registers(stepperY2, n); + #endif + } - if (TERN0(HAS_Z_AXIS, print_z)) { + if (TERN0(HAS_Z_AXIS, z)) { #if AXIS_IS_TMC(Z) - tmc_get_registers(stepperZ, i); + tmc_get_registers(stepperZ, n); #endif #if AXIS_IS_TMC(Z2) - tmc_get_registers(stepperZ2, i); + tmc_get_registers(stepperZ2, n); #endif #if AXIS_IS_TMC(Z3) - tmc_get_registers(stepperZ3, i); + tmc_get_registers(stepperZ3, n); #endif #if AXIS_IS_TMC(Z4) - tmc_get_registers(stepperZ4, i); + tmc_get_registers(stepperZ4, n); #endif } - if (TERN0(HAS_EXTRUDERS, print_e)) { + #if AXIS_IS_TMC(I) + if (i) tmc_get_registers(stepperI, n); + #endif + #if AXIS_IS_TMC(J) + if (j) tmc_get_registers(stepperJ, n); + #endif + #if AXIS_IS_TMC(K) + if (k) tmc_get_registers(stepperK, n); + #endif + + if (TERN0(HAS_EXTRUDERS, e)) { #if AXIS_IS_TMC(E0) - tmc_get_registers(stepperE0, i); + tmc_get_registers(stepperE0, n); #endif #if AXIS_IS_TMC(E1) - tmc_get_registers(stepperE1, i); + tmc_get_registers(stepperE1, n); #endif #if AXIS_IS_TMC(E2) - tmc_get_registers(stepperE2, i); + tmc_get_registers(stepperE2, n); #endif #if AXIS_IS_TMC(E3) - tmc_get_registers(stepperE3, i); + tmc_get_registers(stepperE3, n); #endif #if AXIS_IS_TMC(E4) - tmc_get_registers(stepperE4, i); + tmc_get_registers(stepperE4, n); #endif #if AXIS_IS_TMC(E5) - tmc_get_registers(stepperE5, i); + tmc_get_registers(stepperE5, n); #endif #if AXIS_IS_TMC(E6) - tmc_get_registers(stepperE6, i); + tmc_get_registers(stepperE6, n); #endif #if AXIS_IS_TMC(E7) - tmc_get_registers(stepperE7, i); + tmc_get_registers(stepperE7, n); #endif } SERIAL_EOL(); } - void tmc_get_registers( - LOGICAL_AXIS_LIST(bool print_e, bool print_x, bool print_y, bool print_z) - ) { - #define _TMC_GET_REG(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_get_registers(ITEM, LOGICAL_AXIS_LIST(print_e, print_x, print_y, print_z)); }while(0) + void tmc_get_registers(LOGICAL_AXIS_ARGS(bool)) { + #define _TMC_GET_REG(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_get_registers(ITEM, LOGICAL_AXIS_ARGS()); }while(0) #define TMC_GET_REG(NAME, TABS) _TMC_GET_REG(STRINGIFY(NAME) TABS, TMC_GET_##NAME) _TMC_GET_REG("\t", TMC_AXIS_CODES); TMC_GET_REG(GCONF, "\t\t"); @@ -1185,6 +1211,15 @@ #if AXIS_HAS_SPI(Z4) SET_CS_PIN(Z4); #endif + #if AXIS_HAS_SPI(I) + SET_CS_PIN(I); + #endif + #if AXIS_HAS_SPI(J) + SET_CS_PIN(J); + #endif + #if AXIS_HAS_SPI(K) + SET_CS_PIN(K); + #endif #if AXIS_HAS_SPI(E0) SET_CS_PIN(E0); #endif @@ -1234,12 +1269,10 @@ static bool test_connection(TMC &st) { return test_result; } -void test_tmc_connection( - LOGICAL_AXIS_LIST(const bool test_e/*=true*/, const bool test_x/*=true*/, const bool test_y/*=true*/, const bool test_z/*=true*/) -) { +void test_tmc_connection(LOGICAL_AXIS_ARGS(const bool)) { uint8_t axis_connection = 0; - if (test_x) { + if (x) { #if AXIS_IS_TMC(X) axis_connection += test_connection(stepperX); #endif @@ -1248,18 +1281,16 @@ void test_tmc_connection( #endif } - #if LINEAR_AXES >= XY - if (test_y) { - #if AXIS_IS_TMC(Y) - axis_connection += test_connection(stepperY); - #endif - #if AXIS_IS_TMC(Y2) - axis_connection += test_connection(stepperY2); - #endif - } - #endif + if (TERN0(HAS_Y_AXIS, y)) { + #if AXIS_IS_TMC(Y) + axis_connection += test_connection(stepperY); + #endif + #if AXIS_IS_TMC(Y2) + axis_connection += test_connection(stepperY2); + #endif + } - if (TERN0(HAS_Z_AXIS, test_z)) { + if (TERN0(HAS_Z_AXIS, z)) { #if AXIS_IS_TMC(Z) axis_connection += test_connection(stepperZ); #endif @@ -1274,7 +1305,17 @@ void test_tmc_connection( #endif } - if (TERN0(HAS_EXTRUDERS, test_e)) { + #if AXIS_IS_TMC(I) + if (i) axis_connection += test_connection(stepperI); + #endif + #if AXIS_IS_TMC(J) + if (j) axis_connection += test_connection(stepperJ); + #endif + #if AXIS_IS_TMC(K) + if (k) axis_connection += test_connection(stepperK); + #endif + + if (TERN0(HAS_EXTRUDERS, e)) { #if AXIS_IS_TMC(E0) axis_connection += test_connection(stepperE0); #endif diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h index a07d6ce0ee..3a856b3af8 100644 --- a/Marlin/src/feature/tmc_util.h +++ b/Marlin/src/feature/tmc_util.h @@ -335,20 +335,14 @@ void tmc_print_current(TMC &st) { #endif void monitor_tmc_drivers(); -void test_tmc_connection( - LOGICAL_AXIS_LIST(const bool test_e=true, const bool test_x=true, const bool test_y=true, const bool test_z=true) -); +void test_tmc_connection(LOGICAL_AXIS_DECL(const bool, true)); #if ENABLED(TMC_DEBUG) #if ENABLED(MONITOR_DRIVER_STATUS) void tmc_set_report_interval(const uint16_t update_interval); #endif - void tmc_report_all( - LOGICAL_AXIS_LIST(const bool print_e=true, const bool print_x=true, const bool print_y=true, const bool print_z=true) - ); - void tmc_get_registers( - LOGICAL_AXIS_LIST(const bool print_e, const bool print_x, const bool print_y, const bool print_z) - ); + void tmc_report_all(LOGICAL_AXIS_DECL(const bool, true)); + void tmc_get_registers(LOGICAL_AXIS_ARGS(const bool)); #endif /** @@ -361,7 +355,7 @@ void test_tmc_connection( #if USE_SENSORLESS // Track enabled status of stealthChop and only re-enable where applicable - struct sensorless_t { bool LINEAR_AXIS_LIST(x, y, z), x2, y2, z2, z3, z4; }; + struct sensorless_t { bool LINEAR_AXIS_ARGS(), x2, y2, z2, z3, z4; }; #if ENABLED(IMPROVE_HOMING_RELIABILITY) extern millis_t sg_guard_period; diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp index a8c3f45cdc..5760667bed 100644 --- a/Marlin/src/gcode/bedlevel/abl/G29.cpp +++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp @@ -689,7 +689,7 @@ G29_TYPE GcodeSuite::G29() { TERN_(HAS_STATUS_MESSAGE, ui.status_printf_P(0, PSTR(S_FMT " %i/3"), GET_TEXT(MSG_PROBING_MESH), int(i + 1))); // Retain the last probe position - abl.probePos = points[i]; + abl.probePos = xy_pos_t(points[i]); abl.measured_z = faux ? 0.001 * random(-100, 101) : probe.probe_at_point(abl.probePos, raise_after, abl.verbose_level); if (isnan(abl.measured_z)) { set_bed_leveling_enabled(abl.reenable); @@ -795,7 +795,7 @@ G29_TYPE GcodeSuite::G29() { const int ind = abl.indexIntoAB[xx][yy]; xyz_float_t tmp = { abl.eqnAMatrix[ind + 0 * abl.abl_points], abl.eqnAMatrix[ind + 1 * abl.abl_points], 0 }; - planner.bed_level_matrix.apply_rotation_xyz(tmp); + planner.bed_level_matrix.apply_rotation_xyz(tmp.x, tmp.y, tmp.z); if (get_min) NOMORE(min_diff, abl.eqnBVector[ind] - tmp.z); const float subval = get_min ? abl.mean : tmp.z + min_diff, diff = abl.eqnBVector[ind] - subval; diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp index a71f541593..2eca66c3b0 100644 --- a/Marlin/src/gcode/calibrate/G28.cpp +++ b/Marlin/src/gcode/calibrate/G28.cpp @@ -323,42 +323,44 @@ void GcodeSuite::G28() { #define _UNSAFE(A) (homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(A##_AXIS)))) - const bool homeZ = parser.seen_test('Z'), - LINEAR_AXIS_LIST( // Other axes should be homed before Z safe-homing - needX = _UNSAFE(X), needY = _UNSAFE(Y), needZ = false // UNUSED + const bool homeZ = TERN0(HAS_Z_AXIS, parser.seen_test('Z')), + LINEAR_AXIS_LIST( // Other axes should be homed before Z safe-homing + needX = _UNSAFE(X), needY = _UNSAFE(Y), needZ = false, // UNUSED + needI = _UNSAFE(I), needJ = _UNSAFE(J), needK = _UNSAFE(K) ), - LINEAR_AXIS_LIST( // Home each axis if needed or flagged + LINEAR_AXIS_LIST( // Home each axis if needed or flagged homeX = needX || parser.seen_test('X'), homeY = needY || parser.seen_test('Y'), - homeZZ = homeZ // UNUSED + homeZZ = homeZ, + homeI = needI || parser.seen_test(AXIS4_NAME), homeJ = needJ || parser.seen_test(AXIS5_NAME), homeK = needK || parser.seen_test(AXIS6_NAME), ), - // Home-all if all or none are flagged - home_all = true LINEAR_AXIS_GANG(&& homeX == homeX, && homeX == homeY, && homeX == homeZ), - LINEAR_AXIS_LIST(doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ); - - UNUSED(needZ); - UNUSED(homeZZ); - - #if ENABLED(HOME_Z_FIRST) - - if (doZ) homeaxis(Z_AXIS); + home_all = LINEAR_AXIS_GANG( // Home-all if all or none are flagged + homeX == homeX, && homeY == homeX, && homeZ == homeX, + && homeI == homeX, && homeJ == homeX, && homeK == homeX + ), + LINEAR_AXIS_LIST( + doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ, + doI = home_all || homeI, doJ = home_all || homeJ, doK = home_all || homeK + ); + #if HAS_Z_AXIS + UNUSED(needZ); UNUSED(homeZZ); + #else + constexpr bool doZ = false; #endif + TERN_(HOME_Z_FIRST, if (doZ) homeaxis(Z_AXIS)); + const float z_homing_height = parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT; - if (z_homing_height && (0 LINEAR_AXIS_GANG(|| doX, || doY, || TERN0(Z_SAFE_HOMING, doZ)))) { + if (z_homing_height && (0 LINEAR_AXIS_GANG(|| doX, || doY, || TERN0(Z_SAFE_HOMING, doZ), || doI, || doJ, || doK))) { // Raise Z before homing any other axes and z is not already high enough (never lower z) if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) by ", z_homing_height); do_z_clearance(z_homing_height); TERN_(BLTOUCH, bltouch.init()); } - #if ENABLED(QUICK_HOME) - - if (doX && doY) quick_home_xy(); - - #endif + TERN_(QUICK_HOME, if (doX && doY) quick_home_xy()); // Home Y (before X) if (ENABLED(HOME_Y_BEFORE_X) && (doY || TERN0(CODEPENDENT_XY_HOMING, doX))) @@ -397,7 +399,7 @@ void GcodeSuite::G28() { TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(slow_homing)); // Home Z last if homing towards the bed - #if DISABLED(HOME_Z_FIRST) + #if HAS_Z_AXIS && DISABLED(HOME_Z_FIRST) if (doZ) { #if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN) stepper.set_all_z_lock(false); @@ -409,6 +411,16 @@ void GcodeSuite::G28() { } #endif + #if LINEAR_AXES >= 4 + if (doI) homeaxis(I_AXIS); + #endif + #if LINEAR_AXES >= 5 + if (doJ) homeaxis(J_AXIS); + #endif + #if LINEAR_AXES >= 6 + if (doK) homeaxis(K_AXIS); + #endif + sync_plan_position(); #endif @@ -480,6 +492,15 @@ void GcodeSuite::G28() { #if HAS_CURRENT_HOME(Y2) stepperY2.rms_current(tmc_save_current_Y2); #endif + #if HAS_CURRENT_HOME(I) + stepperI.rms_current(tmc_save_current_I); + #endif + #if HAS_CURRENT_HOME(J) + stepperJ.rms_current(tmc_save_current_J); + #endif + #if HAS_CURRENT_HOME(K) + stepperK.rms_current(tmc_save_current_K); + #endif #endif // HAS_HOMING_CURRENT ui.refresh(); @@ -498,11 +519,13 @@ void GcodeSuite::G28() { // Set L6470 absolute position registers to counts // constexpr *might* move this to PROGMEM. // If not, this will need a PROGMEM directive and an accessor. + #define _EN_ITEM(N) , E_AXIS static constexpr AxisEnum L64XX_axis_xref[MAX_L64XX] = { - X_AXIS, Y_AXIS, Z_AXIS, - X_AXIS, Y_AXIS, Z_AXIS, Z_AXIS, - E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS + LINEAR_AXIS_LIST(X_AXIS, Y_AXIS, Z_AXIS, I_AXIS, J_AXIS, K_AXIS), + X_AXIS, Y_AXIS, Z_AXIS, Z_AXIS, Z_AXIS + REPEAT(E_STEPPERS, _EN_ITEM) }; + #undef _EN_ITEM for (uint8_t j = 1; j <= L64XX::chain[0]; j++) { const uint8_t cv = L64XX::chain[j]; L64xxManager.set_param((L64XX_axis_t)cv, L6470_ABS_POS, stepper.position(L64XX_axis_xref[cv])); diff --git a/Marlin/src/gcode/calibrate/G425.cpp b/Marlin/src/gcode/calibrate/G425.cpp index 723f1ebd7b..56b1555fc4 100644 --- a/Marlin/src/gcode/calibrate/G425.cpp +++ b/Marlin/src/gcode/calibrate/G425.cpp @@ -73,11 +73,23 @@ #if BOTH(CALIBRATION_MEASURE_LEFT, CALIBRATION_MEASURE_RIGHT) #define HAS_X_CENTER 1 #endif -#if BOTH(CALIBRATION_MEASURE_FRONT, CALIBRATION_MEASURE_BACK) +#if HAS_Y_AXIS && BOTH(CALIBRATION_MEASURE_FRONT, CALIBRATION_MEASURE_BACK) #define HAS_Y_CENTER 1 #endif +#if LINEAR_AXES >= 4 && BOTH(CALIBRATION_MEASURE_IMIN, CALIBRATION_MEASURE_IMAX) + #define HAS_I_CENTER 1 +#endif +#if LINEAR_AXES >= 5 && BOTH(CALIBRATION_MEASURE_JMIN, CALIBRATION_MEASURE_JMAX) + #define HAS_J_CENTER 1 +#endif +#if LINEAR_AXES >= 6 && BOTH(CALIBRATION_MEASURE_KMIN, CALIBRATION_MEASURE_KMAX) + #define HAS_K_CENTER 1 +#endif -enum side_t : uint8_t { TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES }; +enum side_t : uint8_t { + TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES, + LIST_N(DOUBLE(SUB3(LINEAR_AXES)), IMINIMUM, IMAXIMUM, JMINIMUM, JMAXIMUM, KMINIMUM, KMAXIMUM) +}; static constexpr xyz_pos_t true_center CALIBRATION_OBJECT_CENTER; static constexpr xyz_float_t dimensions CALIBRATION_OBJECT_DIMENSIONS; @@ -105,7 +117,7 @@ struct measurements_t { #endif inline void calibration_move() { - do_blocking_move_to(current_position, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL)); + do_blocking_move_to((xyz_pos_t)current_position, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL)); } /** @@ -174,7 +186,7 @@ float measuring_movement(const AxisEnum axis, const int dir, const bool stop_sta destination = current_position; for (float travel = 0; travel < limit; travel += step) { destination[axis] += dir * step; - do_blocking_move_to(destination, mms); + do_blocking_move_to((xyz_pos_t)destination, mms); planner.synchronize(); if (read_calibration_pin() == stop_state) break; } @@ -209,7 +221,7 @@ inline float measure(const AxisEnum axis, const int dir, const bool stop_state, // Move back to the starting position destination = current_position; destination[axis] = start_pos; - do_blocking_move_to(destination, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL)); + do_blocking_move_to((xyz_pos_t)destination, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL)); return measured_pos; } @@ -230,7 +242,15 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t park_above_object(m, uncertainty); switch (side) { - #if AXIS_CAN_CALIBRATE(Z) + #if AXIS_CAN_CALIBRATE(X) + case RIGHT: dir = -1; + case LEFT: axis = X_AXIS; break; + #endif + #if LINEAR_AXES >= 2 && AXIS_CAN_CALIBRATE(Y) + case BACK: dir = -1; + case FRONT: axis = Y_AXIS; break; + #endif + #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z) case TOP: { const float measurement = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty); m.obj_center.z = measurement - dimensions.z / 2; @@ -238,13 +258,17 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t return; } #endif - #if AXIS_CAN_CALIBRATE(X) - case RIGHT: dir = -1; - case LEFT: axis = X_AXIS; break; + #if LINEAR_AXES >= 4 && AXIS_CAN_CALIBRATE(I) + case IMINIMUM: dir = -1; + case IMAXIMUM: axis = I_AXIS; break; #endif - #if AXIS_CAN_CALIBRATE(Y) - case BACK: dir = -1; - case FRONT: axis = Y_AXIS; break; + #if LINEAR_AXES >= 5 && AXIS_CAN_CALIBRATE(J) + case JMINIMUM: dir = -1; + case JMAXIMUM: axis = J_AXIS; break; + #endif + #if LINEAR_AXES >= 6 && AXIS_CAN_CALIBRATE(K) + case KMINIMUM: dir = -1; + case KMAXIMUM: axis = K_AXIS; break; #endif default: return; } @@ -289,14 +313,23 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { probe_side(m, uncertainty, TOP); #endif - TERN_(CALIBRATION_MEASURE_RIGHT, probe_side(m, uncertainty, RIGHT, probe_top_at_edge)); - TERN_(CALIBRATION_MEASURE_FRONT, probe_side(m, uncertainty, FRONT, probe_top_at_edge)); - TERN_(CALIBRATION_MEASURE_LEFT, probe_side(m, uncertainty, LEFT, probe_top_at_edge)); - TERN_(CALIBRATION_MEASURE_BACK, probe_side(m, uncertainty, BACK, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_RIGHT, probe_side(m, uncertainty, RIGHT, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_FRONT, probe_side(m, uncertainty, FRONT, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_LEFT, probe_side(m, uncertainty, LEFT, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_BACK, probe_side(m, uncertainty, BACK, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_IMIN, probe_side(m, uncertainty, IMINIMUM, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_IMAX, probe_side(m, uncertainty, IMAXIMUM, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_JMIN, probe_side(m, uncertainty, JMINIMUM, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_JMAX, probe_side(m, uncertainty, JMAXIMUM, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_KMIN, probe_side(m, uncertainty, KMINIMUM, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_KMAX, probe_side(m, uncertainty, KMAXIMUM, probe_top_at_edge)); // Compute the measured center of the calibration object. - TERN_(HAS_X_CENTER, m.obj_center.x = (m.obj_side[LEFT] + m.obj_side[RIGHT]) / 2); - TERN_(HAS_Y_CENTER, m.obj_center.y = (m.obj_side[FRONT] + m.obj_side[BACK]) / 2); + TERN_(HAS_X_CENTER, m.obj_center.x = (m.obj_side[LEFT] + m.obj_side[RIGHT]) / 2); + TERN_(HAS_Y_CENTER, m.obj_center.y = (m.obj_side[FRONT] + m.obj_side[BACK]) / 2); + TERN_(HAS_I_CENTER, m.obj_center.i = (m.obj_side[IMINIMUM] + m.obj_side[IMAXIMUM]) / 2); + TERN_(HAS_J_CENTER, m.obj_center.j = (m.obj_side[JMINIMUM] + m.obj_side[JMAXIMUM]) / 2); + TERN_(HAS_K_CENTER, m.obj_center.k = (m.obj_side[KMINIMUM] + m.obj_side[KMAXIMUM]) / 2); // Compute the outside diameter of the nozzle at the height // at which it makes contact with the calibration object @@ -310,14 +343,17 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { LINEAR_AXIS_CODE( m.pos_error.x = TERN0(HAS_X_CENTER, true_center.x - m.obj_center.x), m.pos_error.y = TERN0(HAS_Y_CENTER, true_center.y - m.obj_center.y), - m.pos_error.z = true_center.z - m.obj_center.z + m.pos_error.z = true_center.z - m.obj_center.z, + m.pos_error.i = TERN0(HAS_I_CENTER, true_center.i - m.obj_center.i), + m.pos_error.j = TERN0(HAS_J_CENTER, true_center.j - m.obj_center.j), + m.pos_error.k = TERN0(HAS_K_CENTER, true_center.k - m.obj_center.k) ); } #if ENABLED(CALIBRATION_REPORTING) inline void report_measured_faces(const measurements_t &m) { SERIAL_ECHOLNPGM("Sides:"); - #if AXIS_CAN_CALIBRATE(Z) + #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z) SERIAL_ECHOLNPAIR(" Top: ", m.obj_side[TOP]); #endif #if ENABLED(CALIBRATION_MEASURE_LEFT) @@ -326,11 +362,37 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { #if ENABLED(CALIBRATION_MEASURE_RIGHT) SERIAL_ECHOLNPAIR(" Right: ", m.obj_side[RIGHT]); #endif - #if ENABLED(CALIBRATION_MEASURE_FRONT) - SERIAL_ECHOLNPAIR(" Front: ", m.obj_side[FRONT]); + #if HAS_Y_AXIS + #if ENABLED(CALIBRATION_MEASURE_FRONT) + SERIAL_ECHOLNPAIR(" Front: ", m.obj_side[FRONT]); + #endif + #if ENABLED(CALIBRATION_MEASURE_BACK) + SERIAL_ECHOLNPAIR(" Back: ", m.obj_side[BACK]); + #endif #endif - #if ENABLED(CALIBRATION_MEASURE_BACK) - SERIAL_ECHOLNPAIR(" Back: ", m.obj_side[BACK]); + #if LINEAR_AXES >= 4 + #if ENABLED(CALIBRATION_MEASURE_IMIN) + SERIAL_ECHOLNPAIR(" " STR_I_MIN ": ", m.obj_side[IMINIMUM]); + #endif + #if ENABLED(CALIBRATION_MEASURE_IMAX) + SERIAL_ECHOLNPAIR(" " STR_I_MAX ": ", m.obj_side[IMAXIMUM]); + #endif + #endif + #if LINEAR_AXES >= 5 + #if ENABLED(CALIBRATION_MEASURE_JMIN) + SERIAL_ECHOLNPAIR(" " STR_J_MIN ": ", m.obj_side[JMINIMUM]); + #endif + #if ENABLED(CALIBRATION_MEASURE_JMAX) + SERIAL_ECHOLNPAIR(" " STR_J_MAX ": ", m.obj_side[JMAXIMUM]); + #endif + #endif + #if LINEAR_AXES >= 6 + #if ENABLED(CALIBRATION_MEASURE_KMIN) + SERIAL_ECHOLNPAIR(" " STR_K_MIN ": ", m.obj_side[KMINIMUM]); + #endif + #if ENABLED(CALIBRATION_MEASURE_KMAX) + SERIAL_ECHOLNPAIR(" " STR_K_MAX ": ", m.obj_side[KMAXIMUM]); + #endif #endif SERIAL_EOL(); } @@ -344,6 +406,15 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { SERIAL_ECHOLNPAIR_P(SP_Y_STR, m.obj_center.y); #endif SERIAL_ECHOLNPAIR_P(SP_Z_STR, m.obj_center.z); + #if HAS_I_CENTER + SERIAL_ECHOLNPAIR_P(SP_I_STR, m.obj_center.i); + #endif + #if HAS_J_CENTER + SERIAL_ECHOLNPAIR_P(SP_J_STR, m.obj_center.j); + #endif + #if HAS_K_CENTER + SERIAL_ECHOLNPAIR_P(SP_K_STR, m.obj_center.k); + #endif SERIAL_EOL(); } @@ -357,7 +428,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { SERIAL_ECHOLNPAIR(" Right: ", m.backlash[RIGHT]); #endif #endif - #if AXIS_CAN_CALIBRATE(Y) + #if HAS_Y_AXIS && AXIS_CAN_CALIBRATE(Y) #if ENABLED(CALIBRATION_MEASURE_FRONT) SERIAL_ECHOLNPAIR(" Front: ", m.backlash[FRONT]); #endif @@ -365,9 +436,33 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { SERIAL_ECHOLNPAIR(" Back: ", m.backlash[BACK]); #endif #endif - #if AXIS_CAN_CALIBRATE(Z) + #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z) SERIAL_ECHOLNPAIR(" Top: ", m.backlash[TOP]); #endif + #if LINEAR_AXES >= 4 AXIS_CAN_CALIBRATE(I) + #if ENABLED(CALIBRATION_MEASURE_IMIN) + SERIAL_ECHOLNPAIR(" " STR_I_MIN ": ", m.backlash[IMINIMUM]); + #endif + #if ENABLED(CALIBRATION_MEASURE_IMAX) + SERIAL_ECHOLNPAIR(" " STR_I_MAX ": ", m.backlash[IMAXIMUM]); + #endif + #endif + #if LINEAR_AXES >= 5 AXIS_CAN_CALIBRATE(J) + #if ENABLED(CALIBRATION_MEASURE_JMIN) + SERIAL_ECHOLNPAIR(" " STR_J_MIN ": ", m.backlash[JMINIMUM]); + #endif + #if ENABLED(CALIBRATION_MEASURE_JMAX) + SERIAL_ECHOLNPAIR(" " STR_J_MAX ": ", m.backlash[JMAXIMUM]); + #endif + #endif + #if LINEAR_AXES >= 6 AXIS_CAN_CALIBRATE(K) + #if ENABLED(CALIBRATION_MEASURE_KMIN) + SERIAL_ECHOLNPAIR(" " STR_K_MIN ": ", m.backlash[KMINIMUM]); + #endif + #if ENABLED(CALIBRATION_MEASURE_KMAX) + SERIAL_ECHOLNPAIR(" " STR_K_MAX ": ", m.backlash[KMAXIMUM]); + #endif + #endif SERIAL_EOL(); } @@ -375,29 +470,37 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { SERIAL_CHAR('T'); SERIAL_ECHO(active_extruder); SERIAL_ECHOLNPGM(" Positional Error:"); - #if HAS_X_CENTER + #if HAS_X_CENTER && AXIS_CAN_CALIBRATE(X) SERIAL_ECHOLNPAIR_P(SP_X_STR, m.pos_error.x); #endif - #if HAS_Y_CENTER + #if HAS_Y_CENTER && AXIS_CAN_CALIBRATE(Y) SERIAL_ECHOLNPAIR_P(SP_Y_STR, m.pos_error.y); #endif - if (AXIS_CAN_CALIBRATE(Z)) SERIAL_ECHOLNPAIR_P(SP_Z_STR, m.pos_error.z); + #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z) + SERIAL_ECHOLNPAIR_P(SP_Z_STR, m.pos_error.z); + #endif + #if HAS_I_CENTER && AXIS_CAN_CALIBRATE(I) + SERIAL_ECHOLNPAIR_P(SP_I_STR, m.pos_error.i); + #endif + #if HAS_J_CENTER && AXIS_CAN_CALIBRATE(J) + SERIAL_ECHOLNPAIR_P(SP_J_STR, m.pos_error.j); + #endif + #if HAS_K_CENTER && AXIS_CAN_CALIBRATE(K) + SERIAL_ECHOLNPAIR_P(SP_Z_STR, m.pos_error.z); + #endif SERIAL_EOL(); } inline void report_measured_nozzle_dimensions(const measurements_t &m) { SERIAL_ECHOLNPGM("Nozzle Tip Outer Dimensions:"); - #if HAS_X_CENTER || HAS_Y_CENTER - #if HAS_X_CENTER - SERIAL_ECHOLNPAIR_P(SP_X_STR, m.nozzle_outer_dimension.x); - #endif - #if HAS_Y_CENTER - SERIAL_ECHOLNPAIR_P(SP_Y_STR, m.nozzle_outer_dimension.y); - #endif - #else - UNUSED(m); + #if HAS_X_CENTER + SERIAL_ECHOLNPAIR_P(SP_X_STR, m.nozzle_outer_dimension.x); + #endif + #if HAS_Y_CENTER + SERIAL_ECHOLNPAIR_P(SP_Y_STR, m.nozzle_outer_dimension.y); #endif SERIAL_EOL(); + UNUSED(m); } #if HAS_HOTEND_OFFSET @@ -446,8 +549,33 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) { backlash.distance_mm.y = m.backlash[BACK]; #endif - if (AXIS_CAN_CALIBRATE(Z)) backlash.distance_mm.z = m.backlash[TOP]; - #endif + TERN_(HAS_Z_AXIS, if (AXIS_CAN_CALIBRATE(Z)) backlash.distance_mm.z = m.backlash[TOP]); + + #if HAS_I_CENTER + backlash.distance_mm.i = (m.backlash[IMINIMUM] + m.backlash[IMAXIMUM]) / 2; + #elif ENABLED(CALIBRATION_MEASURE_IMIN) + backlash.distance_mm.i = m.backlash[IMINIMUM]; + #elif ENABLED(CALIBRATION_MEASURE_IMAX) + backlash.distance_mm.i = m.backlash[IMAXIMUM]; + #endif + + #if HAS_J_CENTER + backlash.distance_mm.j = (m.backlash[JMINIMUM] + m.backlash[JMAXIMUM]) / 2; + #elif ENABLED(CALIBRATION_MEASURE_JMIN) + backlash.distance_mm.j = m.backlash[JMINIMUM]; + #elif ENABLED(CALIBRATION_MEASURE_JMAX) + backlash.distance_mm.j = m.backlash[JMAXIMUM]; + #endif + + #if HAS_K_CENTER + backlash.distance_mm.k = (m.backlash[KMINIMUM] + m.backlash[KMAXIMUM]) / 2; + #elif ENABLED(CALIBRATION_MEASURE_KMIN) + backlash.distance_mm.k = m.backlash[KMINIMUM]; + #elif ENABLED(CALIBRATION_MEASURE_KMAX) + backlash.distance_mm.k = m.backlash[KMAXIMUM]; + #endif + + #endif // BACKLASH_GCODE } #if ENABLED(BACKLASH_GCODE) @@ -458,7 +586,8 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) { TEMPORARY_BACKLASH_CORRECTION(all_on); TEMPORARY_BACKLASH_SMOOTHING(0.0f); const xyz_float_t move = LINEAR_AXIS_ARRAY( - AXIS_CAN_CALIBRATE(X) * 3, AXIS_CAN_CALIBRATE(Y) * 3, AXIS_CAN_CALIBRATE(Z) * 3 + AXIS_CAN_CALIBRATE(X) * 3, AXIS_CAN_CALIBRATE(Y) * 3, AXIS_CAN_CALIBRATE(Z) * 3, + AXIS_CAN_CALIBRATE(I) * 3, AXIS_CAN_CALIBRATE(J) * 3, AXIS_CAN_CALIBRATE(K) * 3 ); current_position += move; calibration_move(); current_position -= move; calibration_move(); @@ -487,11 +616,7 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const TEMPORARY_BACKLASH_CORRECTION(all_on); TEMPORARY_BACKLASH_SMOOTHING(0.0f); - #if HAS_MULTI_HOTEND - set_nozzle(m, extruder); - #else - UNUSED(extruder); - #endif + TERN(HAS_MULTI_HOTEND, set_nozzle(m, extruder), UNUSED(extruder)); probe_sides(m, uncertainty); @@ -510,6 +635,10 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const if (ENABLED(HAS_Y_CENTER) && AXIS_CAN_CALIBRATE(Y)) update_measurements(m, Y_AXIS); if (AXIS_CAN_CALIBRATE(Z)) update_measurements(m, Z_AXIS); + TERN_(HAS_I_CENTER, update_measurements(m, I_AXIS)); + TERN_(HAS_J_CENTER, update_measurements(m, J_AXIS)); + TERN_(HAS_K_CENTER, update_measurements(m, K_AXIS)); + sync_plan_position(); } diff --git a/Marlin/src/gcode/calibrate/M425.cpp b/Marlin/src/gcode/calibrate/M425.cpp index 7de33c1f2a..f30de00a0f 100644 --- a/Marlin/src/gcode/calibrate/M425.cpp +++ b/Marlin/src/gcode/calibrate/M425.cpp @@ -52,7 +52,10 @@ void GcodeSuite::M425() { LINEAR_AXIS_CODE( case X_AXIS: return AXIS_CAN_CALIBRATE(X), case Y_AXIS: return AXIS_CAN_CALIBRATE(Y), - case Z_AXIS: return AXIS_CAN_CALIBRATE(Z) + case Z_AXIS: return AXIS_CAN_CALIBRATE(Z), + case I_AXIS: return AXIS_CAN_CALIBRATE(I), + case J_AXIS: return AXIS_CAN_CALIBRATE(J), + case K_AXIS: return AXIS_CAN_CALIBRATE(K), ); } }; diff --git a/Marlin/src/gcode/config/M200-M205.cpp b/Marlin/src/gcode/config/M200-M205.cpp index e765fd55b2..a2bcb8bb86 100644 --- a/Marlin/src/gcode/config/M200-M205.cpp +++ b/Marlin/src/gcode/config/M200-M205.cpp @@ -154,6 +154,9 @@ void GcodeSuite::M205() { if (parser.seenval('S')) planner.settings.min_feedrate_mm_s = parser.value_linear_units(); if (parser.seenval('T')) planner.settings.min_travel_feedrate_mm_s = parser.value_linear_units(); #if HAS_JUNCTION_DEVIATION + #if HAS_CLASSIC_JERK && (AXIS4_NAME == 'J' || AXIS5_NAME == 'J' || AXIS6_NAME == 'J') + #error "Can't set_max_jerk for 'J' axis because 'J' is used for Junction Deviation." + #endif if (parser.seenval('J')) { const float junc_dev = parser.value_linear_units(); if (WITHIN(junc_dev, 0.01f, 0.3f)) { @@ -170,7 +173,10 @@ void GcodeSuite::M205() { if (parser.seenval('E')) planner.set_max_jerk(E_AXIS, parser.value_linear_units()), if (parser.seenval('X')) planner.set_max_jerk(X_AXIS, parser.value_linear_units()), if (parser.seenval('Y')) planner.set_max_jerk(Y_AXIS, parser.value_linear_units()), - if ((seenZ = parser.seenval('Z'))) planner.set_max_jerk(Z_AXIS, parser.value_linear_units()) + if ((seenZ = parser.seenval('Z'))) planner.set_max_jerk(Z_AXIS, parser.value_linear_units()), + if (parser.seenval(AXIS4_NAME)) planner.set_max_jerk(I_AXIS, parser.value_linear_units()), + if (parser.seenval(AXIS5_NAME)) planner.set_max_jerk(J_AXIS, parser.value_linear_units()), + if (parser.seenval(AXIS6_NAME)) planner.set_max_jerk(K_AXIS, parser.value_linear_units()) ); #if HAS_MESH && DISABLED(LIMITED_JERK_EDITING) if (seenZ && planner.max_jerk.z <= 0.1f) diff --git a/Marlin/src/gcode/config/M92.cpp b/Marlin/src/gcode/config/M92.cpp index 100cf96f15..544c66a076 100644 --- a/Marlin/src/gcode/config/M92.cpp +++ b/Marlin/src/gcode/config/M92.cpp @@ -28,8 +28,11 @@ void report_M92(const bool echo=true, const int8_t e=-1) { SERIAL_ECHOPAIR_P(LIST_N(DOUBLE(LINEAR_AXES), PSTR(" M92 X"), LINEAR_UNIT(planner.settings.axis_steps_per_mm[X_AXIS]), SP_Y_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Y_AXIS]), - SP_Z_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Z_AXIS]) - )); + SP_Z_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Z_AXIS]), + SP_I_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[I_AXIS]), + SP_J_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[J_AXIS]), + SP_K_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[K_AXIS])) + ); #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS) SERIAL_ECHOPAIR_P(SP_E_STR, VOLUMETRIC_UNIT(planner.settings.axis_steps_per_mm[E_AXIS])); #endif @@ -67,7 +70,7 @@ void GcodeSuite::M92() { // No arguments? Show M92 report. if (!parser.seen( - LOGICAL_AXIS_GANG("E", "X", "Y", "Z") + LOGICAL_AXIS_GANG("E", "X", "Y", "Z", AXIS4_STR, AXIS5_STR, AXIS6_STR) TERN_(MAGIC_NUMBERS_GCODE, "HL") )) return report_M92(true, target_extruder); diff --git a/Marlin/src/gcode/control/M17_M18_M84.cpp b/Marlin/src/gcode/control/M17_M18_M84.cpp index b7cec2d48d..4ebb81cf7e 100644 --- a/Marlin/src/gcode/control/M17_M18_M84.cpp +++ b/Marlin/src/gcode/control/M17_M18_M84.cpp @@ -33,12 +33,15 @@ * M17: Enable stepper motors */ void GcodeSuite::M17() { - if (parser.seen(LOGICAL_AXIS_GANG("E", "X", "Y", "Z"))) { + if (parser.seen(LOGICAL_AXIS_GANG("E", "X", "Y", "Z", AXIS4_STR, AXIS5_STR, AXIS6_STR))) { LOGICAL_AXIS_CODE( if (TERN0(HAS_E_STEPPER_ENABLE, parser.seen_test('E'))) enable_e_steppers(), if (parser.seen_test('X')) ENABLE_AXIS_X(), if (parser.seen_test('Y')) ENABLE_AXIS_Y(), - if (parser.seen_test('Z')) ENABLE_AXIS_Z() + if (parser.seen_test('Z')) ENABLE_AXIS_Z(), + if (parser.seen_test(AXIS4_NAME)) ENABLE_AXIS_I(), + if (parser.seen_test(AXIS5_NAME)) ENABLE_AXIS_J(), + if (parser.seen_test(AXIS6_NAME)) ENABLE_AXIS_K() ); } else { @@ -56,13 +59,16 @@ void GcodeSuite::M18_M84() { stepper_inactive_time = parser.value_millis_from_seconds(); } else { - if (parser.seen(LOGICAL_AXIS_GANG("E", "X", "Y", "Z"))) { + if (parser.seen(LOGICAL_AXIS_GANG("E", "X", "Y", "Z", AXIS4_STR, AXIS5_STR, AXIS6_STR))) { planner.synchronize(); LOGICAL_AXIS_CODE( if (TERN0(HAS_E_STEPPER_ENABLE, parser.seen_test('E'))) disable_e_steppers(), if (parser.seen_test('X')) DISABLE_AXIS_X(), if (parser.seen_test('Y')) DISABLE_AXIS_Y(), - if (parser.seen_test('Z')) DISABLE_AXIS_Z() + if (parser.seen_test('Z')) DISABLE_AXIS_Z(), + if (parser.seen_test(AXIS4_NAME)) DISABLE_AXIS_I(), + if (parser.seen_test(AXIS5_NAME)) DISABLE_AXIS_J(), + if (parser.seen_test(AXIS6_NAME)) DISABLE_AXIS_K() ); } else diff --git a/Marlin/src/gcode/control/M605.cpp b/Marlin/src/gcode/control/M605.cpp index ac84ac6217..23d43dd0a6 100644 --- a/Marlin/src/gcode/control/M605.cpp +++ b/Marlin/src/gcode/control/M605.cpp @@ -70,26 +70,12 @@ dual_x_carriage_mode = (DualXMode)parser.value_byte(); idex_set_mirrored_mode(false); - if (dual_x_carriage_mode == DXC_MIRRORED_MODE) { - if (previous_mode != DXC_DUPLICATION_MODE) { - SERIAL_ECHOLNPGM("Printer must be in DXC_DUPLICATION_MODE prior to "); - SERIAL_ECHOLNPGM("specifying DXC_MIRRORED_MODE."); - dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE; - return; - } - idex_set_mirrored_mode(true); - float x_jog = current_position.x - .1; - for (uint8_t i = 2; --i;) { - planner.buffer_line(x_jog, current_position.y, current_position.z, current_position.e, feedrate_mm_s, 0); - x_jog += .1; - } - return; - } - switch (dual_x_carriage_mode) { + case DXC_FULL_CONTROL_MODE: case DXC_AUTO_PARK_MODE: break; + case DXC_DUPLICATION_MODE: // Set the X offset, but no less than the safety gap if (parser.seen('X')) duplicate_extruder_x_offset = _MAX(parser.value_linear_units(), (X2_MIN_POS) - (X1_MIN_POS)); @@ -97,10 +83,29 @@ // Always switch back to tool 0 if (active_extruder != 0) tool_change(0); break; + + case DXC_MIRRORED_MODE: { + if (previous_mode != DXC_DUPLICATION_MODE) { + SERIAL_ECHOLNPGM("Printer must be in DXC_DUPLICATION_MODE prior to "); + SERIAL_ECHOLNPGM("specifying DXC_MIRRORED_MODE."); + dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE; + return; + } + idex_set_mirrored_mode(true); + + // Do a small 'jog' motion in the X axis + xyze_pos_t dest = current_position; dest.x -= 0.1f; + for (uint8_t i = 2; --i;) { + planner.buffer_line(dest, feedrate_mm_s, 0); + dest.x += 0.1f; + } + } return; + default: dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE; break; } + idex_set_parked(false); set_duplication_enabled(false); diff --git a/Marlin/src/gcode/feature/L6470/M906.cpp b/Marlin/src/gcode/feature/L6470/M906.cpp index 05631e99d2..90fd6c487e 100644 --- a/Marlin/src/gcode/feature/L6470/M906.cpp +++ b/Marlin/src/gcode/feature/L6470/M906.cpp @@ -253,7 +253,7 @@ void GcodeSuite::M906() { #endif break; - #if LINEAR_AXES >= XY + #if HAS_Y_AXIS case Y_AXIS: #if AXIS_IS_L64XX(Y) if (index == 0) L6470_SET_KVAL_HOLD(Y); diff --git a/Marlin/src/gcode/feature/pause/G60.cpp b/Marlin/src/gcode/feature/pause/G60.cpp index 670ea2a58b..79451235b1 100644 --- a/Marlin/src/gcode/feature/pause/G60.cpp +++ b/Marlin/src/gcode/feature/pause/G60.cpp @@ -47,12 +47,13 @@ void GcodeSuite::G60() { SBI(saved_slots[slot >> 3], slot & 0x07); #if ENABLED(SAVED_POSITIONS_DEBUG) - const xyze_pos_t &pos = stored_position[slot]; DEBUG_ECHOPAIR(STR_SAVED_POS " S", slot); - DEBUG_ECHOPAIR_F(" : X", pos.x); - DEBUG_ECHOPAIR_F_P(SP_Y_STR, pos.y); - DEBUG_ECHOPAIR_F_P(SP_Z_STR, pos.z); - DEBUG_ECHOLNPAIR_F_P(SP_E_STR, pos.e); + const xyze_pos_t &pos = stored_position[slot]; + DEBUG_ECHOLNPAIR_F_P( + LIST_N(DOUBLE(LOGICAL_AXES), SP_E_STR, pos.e, + PSTR(" : X"), pos.x, SP_Y_STR, pos.y, SP_Z_STR, pos.z, + SP_I_STR, pos.i, SP_J_STR, pos.j, SP_K_STR, pos.k) + ); #endif } diff --git a/Marlin/src/gcode/feature/pause/G61.cpp b/Marlin/src/gcode/feature/pause/G61.cpp index 00a6478f3d..a10c8217ef 100644 --- a/Marlin/src/gcode/feature/pause/G61.cpp +++ b/Marlin/src/gcode/feature/pause/G61.cpp @@ -45,7 +45,7 @@ void GcodeSuite::G61(void) { const uint8_t slot = parser.byteval('S'); - #define SYNC_E(POINT) planner.set_e_position_mm((destination.e = current_position.e = (POINT))) + #define SYNC_E(POINT) TERN_(HAS_EXTRUDERS, planner.set_e_position_mm((destination.e = current_position.e = (POINT)))) #if SAVED_POSITIONS < 256 if (slot >= SAVED_POSITIONS) { @@ -68,7 +68,7 @@ void GcodeSuite::G61(void) { SYNC_E(stored_position[slot].e); } else { - if (parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z"))) { + if (parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z", AXIS4_STR, AXIS5_STR, AXIS6_STR))) { DEBUG_ECHOPAIR(STR_RESTORING_POS " S", slot); LOOP_LINEAR_AXES(i) { destination[i] = parser.seen(AXIS_CHAR(i)) diff --git a/Marlin/src/gcode/feature/trinamic/M122.cpp b/Marlin/src/gcode/feature/trinamic/M122.cpp index 3b4406705c..52a6920f05 100644 --- a/Marlin/src/gcode/feature/trinamic/M122.cpp +++ b/Marlin/src/gcode/feature/trinamic/M122.cpp @@ -35,7 +35,7 @@ void GcodeSuite::M122() { xyze_bool_t print_axis = ARRAY_N_1(LOGICAL_AXES, false); bool print_all = true; - LOOP_LOGICAL_AXES(i) if (parser.seen(axis_codes[i])) { print_axis[i] = true; print_all = false; } + LOOP_LOGICAL_AXES(i) if (parser.seen_test(axis_codes[i])) { print_axis[i] = true; print_all = false; } if (print_all) LOOP_LOGICAL_AXES(i) print_axis[i] = true; @@ -49,21 +49,13 @@ void GcodeSuite::M122() { tmc_set_report_interval(interval); #endif - if (parser.seen_test('V')) { - tmc_get_registers( - LOGICAL_AXIS_LIST(print_axis.e, print_axis.x, print_axis.y, print_axis.z) - ); - } - else { - tmc_report_all( - LOGICAL_AXIS_LIST(print_axis.e, print_axis.x, print_axis.y, print_axis.z) - ); - } + if (parser.seen_test('V')) + tmc_get_registers(LOGICAL_AXIS_ELEM(print_axis)); + else + tmc_report_all(LOGICAL_AXIS_ELEM(print_axis)); #endif - test_tmc_connection( - LOGICAL_AXIS_LIST(print_axis.e, print_axis.x, print_axis.y, print_axis.z) - ); + test_tmc_connection(LOGICAL_AXIS_ELEM(print_axis)); } #endif // HAS_TRINAMIC_CONFIG diff --git a/Marlin/src/gcode/feature/trinamic/M569.cpp b/Marlin/src/gcode/feature/trinamic/M569.cpp index 4659616467..a3fb07df13 100644 --- a/Marlin/src/gcode/feature/trinamic/M569.cpp +++ b/Marlin/src/gcode/feature/trinamic/M569.cpp @@ -43,81 +43,56 @@ void tmc_set_stealthChop(TMC &st, const bool enable) { static void set_stealth_status(const bool enable, const int8_t target_extruder) { #define TMC_SET_STEALTH(Q) tmc_set_stealthChop(stepper##Q, enable) - #if AXIS_HAS_STEALTHCHOP(X) || AXIS_HAS_STEALTHCHOP(X2) \ - || AXIS_HAS_STEALTHCHOP(Y) || AXIS_HAS_STEALTHCHOP(Y2) \ - || AXIS_HAS_STEALTHCHOP(Z) || AXIS_HAS_STEALTHCHOP(Z2) \ - || AXIS_HAS_STEALTHCHOP(Z3) || AXIS_HAS_STEALTHCHOP(Z4) + #if X_HAS_STEALTHCHOP || Y_HAS_STEALTHCHOP || Z_HAS_STEALTHCHOP \ + || I_HAS_STEALTHCHOP || J_HAS_STEALTHCHOP || K_HAS_STEALTHCHOP \ + || X2_HAS_STEALTHCHOP || Y2_HAS_STEALTHCHOP || Z2_HAS_STEALTHCHOP || Z3_HAS_STEALTHCHOP || Z4_HAS_STEALTHCHOP const uint8_t index = parser.byteval('I'); #endif LOOP_LOGICAL_AXES(i) if (parser.seen(axis_codes[i])) { switch (i) { case X_AXIS: - #if AXIS_HAS_STEALTHCHOP(X) - if (index == 0) TMC_SET_STEALTH(X); - #endif - #if AXIS_HAS_STEALTHCHOP(X2) - if (index == 1) TMC_SET_STEALTH(X2); - #endif + TERN_(X_HAS_STEALTHCHOP, if (index == 0) TMC_SET_STEALTH(X)); + TERN_(X2_HAS_STEALTHCHOP, if (index == 1) TMC_SET_STEALTH(X2)); break; - #if LINEAR_AXES >= XY + #if HAS_Y_AXIS case Y_AXIS: - #if AXIS_HAS_STEALTHCHOP(Y) - if (index == 0) TMC_SET_STEALTH(Y); - #endif - #if AXIS_HAS_STEALTHCHOP(Y2) - if (index == 1) TMC_SET_STEALTH(Y2); - #endif + TERN_(Y_HAS_STEALTHCHOP, if (index == 0) TMC_SET_STEALTH(Y)); + TERN_(Y2_HAS_STEALTHCHOP, if (index == 1) TMC_SET_STEALTH(Y2)); break; #endif #if HAS_Z_AXIS case Z_AXIS: - #if AXIS_HAS_STEALTHCHOP(Z) - if (index == 0) TMC_SET_STEALTH(Z); - #endif - #if AXIS_HAS_STEALTHCHOP(Z2) - if (index == 1) TMC_SET_STEALTH(Z2); - #endif - #if AXIS_HAS_STEALTHCHOP(Z3) - if (index == 2) TMC_SET_STEALTH(Z3); - #endif - #if AXIS_HAS_STEALTHCHOP(Z4) - if (index == 3) TMC_SET_STEALTH(Z4); - #endif + TERN_(Z_HAS_STEALTHCHOP, if (index == 0) TMC_SET_STEALTH(Z)); + TERN_(Z2_HAS_STEALTHCHOP, if (index == 1) TMC_SET_STEALTH(Z2)); + TERN_(Z3_HAS_STEALTHCHOP, if (index == 2) TMC_SET_STEALTH(Z3)); + TERN_(Z4_HAS_STEALTHCHOP, if (index == 3) TMC_SET_STEALTH(Z4)); break; #endif + #if I_HAS_STEALTHCHOP + case I_AXIS: TMC_SET_STEALTH(I); break; + #endif + #if J_HAS_STEALTHCHOP + case J_AXIS: TMC_SET_STEALTH(J); break; + #endif + #if K_HAS_STEALTHCHOP + case K_AXIS: TMC_SET_STEALTH(K); break; + #endif + #if HAS_EXTRUDERS case E_AXIS: { if (target_extruder < 0) return; - switch (target_extruder) { - #if AXIS_HAS_STEALTHCHOP(E0) - case 0: TMC_SET_STEALTH(E0); break; - #endif - #if AXIS_HAS_STEALTHCHOP(E1) - case 1: TMC_SET_STEALTH(E1); break; - #endif - #if AXIS_HAS_STEALTHCHOP(E2) - case 2: TMC_SET_STEALTH(E2); break; - #endif - #if AXIS_HAS_STEALTHCHOP(E3) - case 3: TMC_SET_STEALTH(E3); break; - #endif - #if AXIS_HAS_STEALTHCHOP(E4) - case 4: TMC_SET_STEALTH(E4); break; - #endif - #if AXIS_HAS_STEALTHCHOP(E5) - case 5: TMC_SET_STEALTH(E5); break; - #endif - #if AXIS_HAS_STEALTHCHOP(E6) - case 6: TMC_SET_STEALTH(E6); break; - #endif - #if AXIS_HAS_STEALTHCHOP(E7) - case 7: TMC_SET_STEALTH(E7); break; - #endif - } + OPTCODE(E0_HAS_STEALTHCHOP, else if (target_extruder == 0) TMC_SET_STEALTH(E0)) + OPTCODE(E1_HAS_STEALTHCHOP, else if (target_extruder == 1) TMC_SET_STEALTH(E1)) + OPTCODE(E2_HAS_STEALTHCHOP, else if (target_extruder == 2) TMC_SET_STEALTH(E2)) + OPTCODE(E3_HAS_STEALTHCHOP, else if (target_extruder == 3) TMC_SET_STEALTH(E3)) + OPTCODE(E4_HAS_STEALTHCHOP, else if (target_extruder == 4) TMC_SET_STEALTH(E4)) + OPTCODE(E5_HAS_STEALTHCHOP, else if (target_extruder == 5) TMC_SET_STEALTH(E5)) + OPTCODE(E6_HAS_STEALTHCHOP, else if (target_extruder == 6) TMC_SET_STEALTH(E6)) + OPTCODE(E7_HAS_STEALTHCHOP, else if (target_extruder == 7) TMC_SET_STEALTH(E7)) } break; #endif } @@ -126,55 +101,25 @@ static void set_stealth_status(const bool enable, const int8_t target_extruder) static void say_stealth_status() { #define TMC_SAY_STEALTH_STATUS(Q) tmc_say_stealth_status(stepper##Q) - - #if AXIS_HAS_STEALTHCHOP(X) - TMC_SAY_STEALTH_STATUS(X); - #endif - #if AXIS_HAS_STEALTHCHOP(X2) - TMC_SAY_STEALTH_STATUS(X2); - #endif - #if AXIS_HAS_STEALTHCHOP(Y) - TMC_SAY_STEALTH_STATUS(Y); - #endif - #if AXIS_HAS_STEALTHCHOP(Y2) - TMC_SAY_STEALTH_STATUS(Y2); - #endif - #if AXIS_HAS_STEALTHCHOP(Z) - TMC_SAY_STEALTH_STATUS(Z); - #endif - #if AXIS_HAS_STEALTHCHOP(Z2) - TMC_SAY_STEALTH_STATUS(Z2); - #endif - #if AXIS_HAS_STEALTHCHOP(Z3) - TMC_SAY_STEALTH_STATUS(Z3); - #endif - #if AXIS_HAS_STEALTHCHOP(Z4) - TMC_SAY_STEALTH_STATUS(Z4); - #endif - #if AXIS_HAS_STEALTHCHOP(E0) - TMC_SAY_STEALTH_STATUS(E0); - #endif - #if AXIS_HAS_STEALTHCHOP(E1) - TMC_SAY_STEALTH_STATUS(E1); - #endif - #if AXIS_HAS_STEALTHCHOP(E2) - TMC_SAY_STEALTH_STATUS(E2); - #endif - #if AXIS_HAS_STEALTHCHOP(E3) - TMC_SAY_STEALTH_STATUS(E3); - #endif - #if AXIS_HAS_STEALTHCHOP(E4) - TMC_SAY_STEALTH_STATUS(E4); - #endif - #if AXIS_HAS_STEALTHCHOP(E5) - TMC_SAY_STEALTH_STATUS(E5); - #endif - #if AXIS_HAS_STEALTHCHOP(E6) - TMC_SAY_STEALTH_STATUS(E6); - #endif - #if AXIS_HAS_STEALTHCHOP(E7) - TMC_SAY_STEALTH_STATUS(E7); - #endif + OPTCODE( X_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(X)) + OPTCODE(X2_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(X2)) + OPTCODE( Y_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(Y)) + OPTCODE(Y2_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(Y2)) + OPTCODE( Z_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(Z)) + OPTCODE(Z2_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(Z2)) + OPTCODE(Z3_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(Z3)) + OPTCODE(Z4_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(Z4)) + OPTCODE( I_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(I)) + OPTCODE( J_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(J)) + OPTCODE( K_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(K)) + OPTCODE(E0_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E0)) + OPTCODE(E1_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E1)) + OPTCODE(E2_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E2)) + OPTCODE(E3_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E3)) + OPTCODE(E4_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E4)) + OPTCODE(E5_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E5)) + OPTCODE(E6_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E6)) + OPTCODE(E7_HAS_STEALTHCHOP, TMC_SAY_STEALTH_STATUS(E7)) } /** diff --git a/Marlin/src/gcode/feature/trinamic/M906.cpp b/Marlin/src/gcode/feature/trinamic/M906.cpp index 848735b900..70e6a00b36 100644 --- a/Marlin/src/gcode/feature/trinamic/M906.cpp +++ b/Marlin/src/gcode/feature/trinamic/M906.cpp @@ -48,7 +48,7 @@ void GcodeSuite::M906() { bool report = true; - #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4) + #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4) || AXIS_IS_TMC(I) || AXIS_IS_TMC(J) || AXIS_IS_TMC(K) const uint8_t index = parser.byteval('I'); #endif @@ -64,7 +64,7 @@ void GcodeSuite::M906() { #endif break; - #if LINEAR_AXES >= XY + #if HAS_Y_AXIS case Y_AXIS: #if AXIS_IS_TMC(Y) if (index == 0) TMC_SET_CURRENT(Y); @@ -92,6 +92,16 @@ void GcodeSuite::M906() { break; #endif + #if AXIS_IS_TMC(I) + case I_AXIS: TMC_SET_CURRENT(I); break; + #endif + #if AXIS_IS_TMC(J) + case J_AXIS: TMC_SET_CURRENT(J); break; + #endif + #if AXIS_IS_TMC(K) + case K_AXIS: TMC_SET_CURRENT(K); break; + #endif + #if HAS_EXTRUDERS case E_AXIS: { const int8_t target_extruder = get_target_extruder_from_command(); @@ -152,6 +162,15 @@ void GcodeSuite::M906() { #if AXIS_IS_TMC(Z4) TMC_SAY_CURRENT(Z4); #endif + #if AXIS_IS_TMC(I) + TMC_SAY_CURRENT(I); + #endif + #if AXIS_IS_TMC(J) + TMC_SAY_CURRENT(J); + #endif + #if AXIS_IS_TMC(K) + TMC_SAY_CURRENT(K); + #endif #if AXIS_IS_TMC(E0) TMC_SAY_CURRENT(E0); #endif diff --git a/Marlin/src/gcode/feature/trinamic/M911-M914.cpp b/Marlin/src/gcode/feature/trinamic/M911-M914.cpp index c4b4a8772e..747f1c9516 100644 --- a/Marlin/src/gcode/feature/trinamic/M911-M914.cpp +++ b/Marlin/src/gcode/feature/trinamic/M911-M914.cpp @@ -38,18 +38,27 @@ #if M91x_USE(X) || M91x_USE(X2) #define M91x_SOME_X 1 #endif - #if M91x_USE(Y) || M91x_USE(Y2) + #if LINEAR_AXES >= 2 && (M91x_USE(Y) || M91x_USE(Y2)) #define M91x_SOME_Y 1 #endif - #if M91x_USE(Z) || M91x_USE(Z2) || M91x_USE(Z3) || M91x_USE(Z4) + #if HAS_Z_AXIS && (M91x_USE(Z) || M91x_USE(Z2) || M91x_USE(Z3) || M91x_USE(Z4)) #define M91x_SOME_Z 1 #endif + #if LINEAR_AXES >= 4 && M91x_USE(I) + #define M91x_USE_I 1 + #endif + #if LINEAR_AXES >= 5 && M91x_USE(J) + #define M91x_USE_J 1 + #endif + #if LINEAR_AXES >= 6 && M91x_USE(K) + #define M91x_USE_K 1 + #endif #if M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4) || M91x_USE_E(5) || M91x_USE_E(6) || M91x_USE_E(7) #define M91x_SOME_E 1 #endif - #if !M91x_SOME_X && !M91x_SOME_Y && !M91x_SOME_Z && !M91x_SOME_E + #if !M91x_SOME_X && !M91x_SOME_Y && !M91x_SOME_Z && !M91x_USE_I && !M91x_USE_J && !M91x_USE_K && !M91x_SOME_E #error "MONITOR_DRIVER_STATUS requires at least one TMC2130, 2160, 2208, 2209, 2660, 5130, or 5160." #endif @@ -82,6 +91,9 @@ #if M91x_USE(Z4) tmc_report_otpw(stepperZ4); #endif + TERN_(M91x_USE_I, tmc_report_otpw(stepperI)); + TERN_(M91x_USE_J, tmc_report_otpw(stepperJ)); + TERN_(M91x_USE_K, tmc_report_otpw(stepperK)); #if M91x_USE_E(0) tmc_report_otpw(stepperE0); #endif @@ -124,9 +136,12 @@ const bool hasX = TERN0(M91x_SOME_X, parser.seen(axis_codes.x)), hasY = TERN0(M91x_SOME_Y, parser.seen(axis_codes.y)), hasZ = TERN0(M91x_SOME_Z, parser.seen(axis_codes.z)), + hasI = TERN0(M91x_USE_I, parser.seen(axis_codes.i)), + hasJ = TERN0(M91x_USE_J, parser.seen(axis_codes.j)), + hasK = TERN0(M91x_USE_K, parser.seen(axis_codes.k)), hasE = TERN0(M91x_SOME_E, parser.seen(axis_codes.e)); - const bool hasNone = !hasE && !hasX && !hasY && !hasZ; + const bool hasNone = !hasE && !hasX && !hasY && !hasZ && !hasI && !hasJ && !hasK; #if M91x_SOME_X const int8_t xval = int8_t(parser.byteval(axis_codes.x, 0xFF)); @@ -164,6 +179,19 @@ #endif #endif + #if M91x_USE_I + const int8_t ival = int8_t(parser.byteval(axis_codes.i, 0xFF)); + if (hasNone || ival == 1 || (hasI && ival < 0)) tmc_clear_otpw(stepperI); + #endif + #if M91x_USE_J + const int8_t jval = int8_t(parser.byteval(axis_codes.j, 0xFF)); + if (hasNone || jval == 1 || (hasJ && jval < 0)) tmc_clear_otpw(stepperJ); + #endif + #if M91x_USE_K + const int8_t kval = int8_t(parser.byteval(axis_codes.k, 0xFF)); + if (hasNone || kval == 1 || (hasK && kval < 0)) tmc_clear_otpw(stepperK); + #endif + #if M91x_SOME_E const int8_t eval = int8_t(parser.byteval(axis_codes.e, 0xFF)); #if M91x_USE_E(0) @@ -206,126 +234,76 @@ #define TMC_SET_PWMTHRS_E(E) stepperE##E.set_pwm_thrs(value) bool report = true; - #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4) + #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4) || AXIS_IS_TMC(I) || AXIS_IS_TMC(J) || AXIS_IS_TMC(K) const uint8_t index = parser.byteval('I'); #endif LOOP_LOGICAL_AXES(i) if (int32_t value = parser.longval(axis_codes[i])) { report = false; switch (i) { case X_AXIS: - #if AXIS_HAS_STEALTHCHOP(X) - if (index < 2) TMC_SET_PWMTHRS(X,X); - #endif - #if AXIS_HAS_STEALTHCHOP(X2) - if (!(index & 1)) TMC_SET_PWMTHRS(X,X2); - #endif + TERN_(X_HAS_STEALTHCHOP, if (index < 2) TMC_SET_PWMTHRS(X,X)); + TERN_(X2_HAS_STEALTHCHOP, if (!(index & 1)) TMC_SET_PWMTHRS(X,X2)); break; case Y_AXIS: - #if AXIS_HAS_STEALTHCHOP(Y) - if (index < 2) TMC_SET_PWMTHRS(Y,Y); - #endif - #if AXIS_HAS_STEALTHCHOP(Y2) - if (!(index & 1)) TMC_SET_PWMTHRS(Y,Y2); - #endif + TERN_(Y_HAS_STEALTHCHOP, if (index < 2) TMC_SET_PWMTHRS(Y,Y)); + TERN_(Y2_HAS_STEALTHCHOP, if (!(index & 1)) TMC_SET_PWMTHRS(Y,Y2)); break; + + #if I_HAS_STEALTHCHOP + case I_AXIS: TMC_SET_PWMTHRS(I,I); break; + #endif + #if J_HAS_STEALTHCHOP + case J_AXIS: TMC_SET_PWMTHRS(J,J); break; + #endif + #if K_HAS_STEALTHCHOP + case K_AXIS: TMC_SET_PWMTHRS(K,K); break; + #endif + case Z_AXIS: - #if AXIS_HAS_STEALTHCHOP(Z) - if (index < 2) TMC_SET_PWMTHRS(Z,Z); - #endif - #if AXIS_HAS_STEALTHCHOP(Z2) - if (index == 0 || index == 2) TMC_SET_PWMTHRS(Z,Z2); - #endif - #if AXIS_HAS_STEALTHCHOP(Z3) - if (index == 0 || index == 3) TMC_SET_PWMTHRS(Z,Z3); - #endif - #if AXIS_HAS_STEALTHCHOP(Z4) - if (index == 0 || index == 4) TMC_SET_PWMTHRS(Z,Z4); - #endif + TERN_(Z_HAS_STEALTCHOP, if (index < 2) TMC_SET_PWMTHRS(Z,Z)); + TERN_(Z2_HAS_STEALTCHOP, if (index == 0 || index == 2) TMC_SET_PWMTHRS(Z,Z2)); + TERN_(Z3_HAS_STEALTCHOP, if (index == 0 || index == 3) TMC_SET_PWMTHRS(Z,Z3)); + TERN_(Z4_HAS_STEALTCHOP, if (index == 0 || index == 4) TMC_SET_PWMTHRS(Z,Z4)); break; case E_AXIS: { #if E_STEPPERS const int8_t target_extruder = get_target_extruder_from_command(); if (target_extruder < 0) return; - switch (target_extruder) { - #if AXIS_HAS_STEALTHCHOP(E0) - case 0: TMC_SET_PWMTHRS_E(0); break; - #endif - #if E_STEPPERS > 1 && AXIS_HAS_STEALTHCHOP(E1) - case 1: TMC_SET_PWMTHRS_E(1); break; - #endif - #if E_STEPPERS > 2 && AXIS_HAS_STEALTHCHOP(E2) - case 2: TMC_SET_PWMTHRS_E(2); break; - #endif - #if E_STEPPERS > 3 && AXIS_HAS_STEALTHCHOP(E3) - case 3: TMC_SET_PWMTHRS_E(3); break; - #endif - #if E_STEPPERS > 4 && AXIS_HAS_STEALTHCHOP(E4) - case 4: TMC_SET_PWMTHRS_E(4); break; - #endif - #if E_STEPPERS > 5 && AXIS_HAS_STEALTHCHOP(E5) - case 5: TMC_SET_PWMTHRS_E(5); break; - #endif - #if E_STEPPERS > 6 && AXIS_HAS_STEALTHCHOP(E6) - case 6: TMC_SET_PWMTHRS_E(6); break; - #endif - #if E_STEPPERS > 7 && AXIS_HAS_STEALTHCHOP(E7) - case 7: TMC_SET_PWMTHRS_E(7); break; - #endif - } + TERN_(E0_HAS_STEALTHCHOP, else if (target_extruder == 0) TMC_SET_PWMTHRS_E(0)); + TERN_(E1_HAS_STEALTHCHOP, else if (target_extruder == 1) TMC_SET_PWMTHRS_E(1)); + TERN_(E2_HAS_STEALTHCHOP, else if (target_extruder == 2) TMC_SET_PWMTHRS_E(2)); + TERN_(E3_HAS_STEALTHCHOP, else if (target_extruder == 3) TMC_SET_PWMTHRS_E(3)); + TERN_(E4_HAS_STEALTHCHOP, else if (target_extruder == 4) TMC_SET_PWMTHRS_E(4)); + TERN_(E5_HAS_STEALTHCHOP, else if (target_extruder == 5) TMC_SET_PWMTHRS_E(5)); + TERN_(E6_HAS_STEALTHCHOP, else if (target_extruder == 6) TMC_SET_PWMTHRS_E(6)); + TERN_(E7_HAS_STEALTHCHOP, else if (target_extruder == 7) TMC_SET_PWMTHRS_E(7)); #endif // E_STEPPERS } break; } } if (report) { - #if AXIS_HAS_STEALTHCHOP(X) - TMC_SAY_PWMTHRS(X,X); - #endif - #if AXIS_HAS_STEALTHCHOP(X2) - TMC_SAY_PWMTHRS(X,X2); - #endif - #if AXIS_HAS_STEALTHCHOP(Y) - TMC_SAY_PWMTHRS(Y,Y); - #endif - #if AXIS_HAS_STEALTHCHOP(Y2) - TMC_SAY_PWMTHRS(Y,Y2); - #endif - #if AXIS_HAS_STEALTHCHOP(Z) - TMC_SAY_PWMTHRS(Z,Z); - #endif - #if AXIS_HAS_STEALTHCHOP(Z2) - TMC_SAY_PWMTHRS(Z,Z2); - #endif - #if AXIS_HAS_STEALTHCHOP(Z3) - TMC_SAY_PWMTHRS(Z,Z3); - #endif - #if AXIS_HAS_STEALTHCHOP(Z4) - TMC_SAY_PWMTHRS(Z,Z4); - #endif - #if E_STEPPERS && AXIS_HAS_STEALTHCHOP(E0) - TMC_SAY_PWMTHRS_E(0); - #endif - #if E_STEPPERS > 1 && AXIS_HAS_STEALTHCHOP(E1) - TMC_SAY_PWMTHRS_E(1); - #endif - #if E_STEPPERS > 2 && AXIS_HAS_STEALTHCHOP(E2) - TMC_SAY_PWMTHRS_E(2); - #endif - #if E_STEPPERS > 3 && AXIS_HAS_STEALTHCHOP(E3) - TMC_SAY_PWMTHRS_E(3); - #endif - #if E_STEPPERS > 4 && AXIS_HAS_STEALTHCHOP(E4) - TMC_SAY_PWMTHRS_E(4); - #endif - #if E_STEPPERS > 5 && AXIS_HAS_STEALTHCHOP(E5) - TMC_SAY_PWMTHRS_E(5); - #endif - #if E_STEPPERS > 6 && AXIS_HAS_STEALTHCHOP(E6) - TMC_SAY_PWMTHRS_E(6); - #endif - #if E_STEPPERS > 7 && AXIS_HAS_STEALTHCHOP(E7) - TMC_SAY_PWMTHRS_E(7); - #endif + TERN_( X_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(X,X)); + TERN_(X2_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(X,X2)); + TERN_( Y_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(Y,Y)); + TERN_(Y2_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(Y,Y2)); + TERN_( Z_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(Z,Z)); + TERN_(Z2_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(Z,Z2)); + TERN_(Z3_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(Z,Z3)); + TERN_(Z4_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(Z,Z4)); + + TERN_( I_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(I,I)); + TERN_( J_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(J,J)); + TERN_( K_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS(K,K)); + + TERN_(E0_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS_E(0)); + TERN_(E1_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS_E(1)); + TERN_(E2_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS_E(2)); + TERN_(E3_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS_E(3)); + TERN_(E4_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS_E(4)); + TERN_(E5_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS_E(5)); + TERN_(E6_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS_E(6)); + TERN_(E7_HAS_STEALTHCHOP, TMC_SAY_PWMTHRS_E(7)); } } #endif // HYBRID_THRESHOLD @@ -378,6 +356,15 @@ #endif break; #endif + #if I_SENSORLESS && AXIS_HAS_STALLGUARD(I) + case I_AXIS: stepperI.homing_threshold(value); break; + #endif + #if J_SENSORLESS && AXIS_HAS_STALLGUARD(J) + case J_AXIS: stepperJ.homing_threshold(value); break; + #endif + #if K_SENSORLESS && AXIS_HAS_STALLGUARD(K) + case K_AXIS: stepperK.homing_threshold(value); break; + #endif } } @@ -412,6 +399,15 @@ tmc_print_sgt(stepperZ4); #endif #endif + #if I_SENSORLESS && AXIS_HAS_STALLGUARD(I) + tmc_print_sgt(stepperI); + #endif + #if J_SENSORLESS && AXIS_HAS_STALLGUARD(J) + tmc_print_sgt(stepperJ); + #endif + #if K_SENSORLESS && AXIS_HAS_STALLGUARD(K) + tmc_print_sgt(stepperK); + #endif } } #endif // USE_SENSORLESS diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp index b7a842ece7..eb650851f8 100644 --- a/Marlin/src/gcode/gcode.cpp +++ b/Marlin/src/gcode/gcode.cpp @@ -78,7 +78,10 @@ uint8_t GcodeSuite::axis_relative = 0 LOGICAL_AXIS_GANG( | (ar_init.e << REL_E), | (ar_init.x << REL_X), | (ar_init.y << REL_Y), - | (ar_init.z << REL_Z) + | (ar_init.z << REL_Z), + | (ar_init.i << REL_I), + | (ar_init.j << REL_J), + | (ar_init.k << REL_K) ); #if EITHER(HAS_AUTO_REPORTING, HOST_KEEPALIVE_FEATURE) diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h index 05b6c0cdd5..abd7f07916 100644 --- a/Marlin/src/gcode/gcode.h +++ b/Marlin/src/gcode/gcode.h @@ -315,7 +315,7 @@ #endif enum AxisRelative : uint8_t { - LOGICAL_AXIS_LIST(REL_E, REL_X, REL_Y, REL_Z) + LOGICAL_AXIS_LIST(REL_E, REL_X, REL_Y, REL_Z, REL_I, REL_J, REL_K) #if HAS_EXTRUDERS , E_MODE_ABS, E_MODE_REL #endif @@ -338,7 +338,11 @@ public: return TEST(axis_relative, a); } static inline void set_relative_mode(const bool rel) { - axis_relative = rel ? (0 LOGICAL_AXIS_GANG(| _BV(REL_E), | _BV(REL_X), | _BV(REL_Y), | _BV(REL_Z))) : 0; + axis_relative = rel ? (0 LOGICAL_AXIS_GANG( + | _BV(REL_E), + | _BV(REL_X), | _BV(REL_Y), | _BV(REL_Z), + | _BV(REL_I), | _BV(REL_J), | _BV(REL_K) + )) : 0; } #if HAS_EXTRUDERS static inline void set_e_relative() { diff --git a/Marlin/src/gcode/geometry/M206_M428.cpp b/Marlin/src/gcode/geometry/M206_M428.cpp index e65540eb8c..51f3e7c14c 100644 --- a/Marlin/src/gcode/geometry/M206_M428.cpp +++ b/Marlin/src/gcode/geometry/M206_M428.cpp @@ -31,7 +31,16 @@ #include "../../MarlinCore.h" void M206_report() { - SERIAL_ECHOLNPAIR_P(PSTR("M206 X"), home_offset.x, SP_Y_STR, home_offset.y, SP_Z_STR, home_offset.z); + SERIAL_ECHOLNPAIR_P( + LIST_N(DOUBLE(LINEAR_AXES), + PSTR("M206 X"), home_offset.x, + SP_Y_STR, home_offset.y, + SP_Z_STR, home_offset.z, + SP_I_STR, home_offset.i, + SP_J_STR, home_offset.j, + SP_K_STR, home_offset.k, + ) + ); } /** @@ -51,7 +60,7 @@ void GcodeSuite::M206() { if (parser.seen('P')) set_home_offset(B_AXIS, parser.value_float()); // Psi #endif - if (!parser.seen("XYZ")) + if (!parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z", "I", "J", "K"))) M206_report(); else report_current_position(); diff --git a/Marlin/src/gcode/host/M114.cpp b/Marlin/src/gcode/host/M114.cpp index d28373696a..2fdce1edfd 100644 --- a/Marlin/src/gcode/host/M114.cpp +++ b/Marlin/src/gcode/host/M114.cpp @@ -125,6 +125,15 @@ #if AXIS_IS_L64XX(Z4) REPORT_ABSOLUTE_POS(Z4); #endif + #if AXIS_IS_L64XX(I) + REPORT_ABSOLUTE_POS(I); + #endif + #if AXIS_IS_L64XX(J) + REPORT_ABSOLUTE_POS(J); + #endif + #if AXIS_IS_L64XX(K) + REPORT_ABSOLUTE_POS(K); + #endif #if AXIS_IS_L64XX(E0) REPORT_ABSOLUTE_POS(E0); #endif @@ -170,7 +179,13 @@ SERIAL_ECHOPGM("FromStp:"); get_cartesian_from_steppers(); // writes 'cartes' (with forward kinematics) - xyze_pos_t from_steppers = LOGICAL_AXIS_ARRAY(planner.get_axis_position_mm(E_AXIS), cartes.x, cartes.y, cartes.z); + xyze_pos_t from_steppers = LOGICAL_AXIS_ARRAY( + planner.get_axis_position_mm(E_AXIS), + cartes.x, cartes.y, cartes.z, + planner.get_axis_position_mm(I_AXIS), + planner.get_axis_position_mm(J_AXIS), + planner.get_axis_position_mm(K_AXIS) + ); report_all_axis_pos(from_steppers); const xyze_float_t diff = from_steppers - leveled; diff --git a/Marlin/src/gcode/motion/G0_G1.cpp b/Marlin/src/gcode/motion/G0_G1.cpp index 30f8248037..eb79180c69 100644 --- a/Marlin/src/gcode/motion/G0_G1.cpp +++ b/Marlin/src/gcode/motion/G0_G1.cpp @@ -52,7 +52,10 @@ void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) { LINEAR_AXIS_GANG( (parser.seen_test('X') ? _BV(X_AXIS) : 0), | (parser.seen_test('Y') ? _BV(Y_AXIS) : 0), - | (parser.seen_test('Z') ? _BV(Z_AXIS) : 0)) + | (parser.seen_test('Z') ? _BV(Z_AXIS) : 0), + | (parser.seen_test(AXIS4_NAME) ? _BV(I_AXIS) : 0), + | (parser.seen_test(AXIS5_NAME) ? _BV(J_AXIS) : 0), + | (parser.seen_test(AXIS6_NAME) ? _BV(K_AXIS) : 0)) ) #endif ) { @@ -85,7 +88,9 @@ void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) { if (MIN_AUTORETRACT <= MAX_AUTORETRACT) { // When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves - if (fwretract.autoretract_enabled && parser.seen_test('E') && !parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z"))) { + if (fwretract.autoretract_enabled && parser.seen_test('E') + && !parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z", AXIS4_STR, AXIS5_STR, AXIS6_STR)) + ) { const float echange = destination.e - current_position.e; // Is this a retract or recover move? if (WITHIN(ABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) { diff --git a/Marlin/src/gcode/motion/G2_G3.cpp b/Marlin/src/gcode/motion/G2_G3.cpp index 4d9f5559fe..170789d827 100644 --- a/Marlin/src/gcode/motion/G2_G3.cpp +++ b/Marlin/src/gcode/motion/G2_G3.cpp @@ -63,7 +63,7 @@ void plan_arc( case GcodeSuite::PLANE_ZX: p_axis = Z_AXIS; q_axis = X_AXIS; l_axis = Y_AXIS; break; } #else - constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS, l_axis = Z_AXIS; + constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS OPTARG(HAS_Z_AXIS, l_axis = Z_AXIS); #endif // Radius vector from center to current location @@ -73,8 +73,8 @@ void plan_arc( center_P = current_position[p_axis] - rvec.a, center_Q = current_position[q_axis] - rvec.b, rt_X = cart[p_axis] - center_P, - rt_Y = cart[q_axis] - center_Q, - start_L = current_position[l_axis]; + rt_Y = cart[q_axis] - center_Q + OPTARG(HAS_Z_AXIS, start_L = current_position[l_axis]); #ifdef MIN_ARC_SEGMENTS uint16_t min_segments = MIN_ARC_SEGMENTS; @@ -109,8 +109,9 @@ void plan_arc( #endif } - float linear_travel = cart[l_axis] - start_L; - + #if HAS_Z_AXIS + float linear_travel = cart[l_axis] - start_L; + #endif #if HAS_EXTRUDERS float extruder_travel = cart.e - current_position.e; #endif @@ -118,9 +119,11 @@ void plan_arc( // If circling around... if (ENABLED(ARC_P_CIRCLES) && circles) { const float total_angular = angular_travel + circles * RADIANS(360), // Total rotation with all circles and remainder - part_per_circle = RADIANS(360) / total_angular, // Each circle's part of the total - l_per_circle = linear_travel * part_per_circle; // L movement per circle + part_per_circle = RADIANS(360) / total_angular; // Each circle's part of the total + #if HAS_Z_AXIS + const float l_per_circle = linear_travel * part_per_circle; // L movement per circle + #endif #if HAS_EXTRUDERS const float e_per_circle = extruder_travel * part_per_circle; // E movement per circle #endif @@ -128,17 +131,15 @@ void plan_arc( xyze_pos_t temp_position = current_position; // for plan_arc to compare to current_position for (uint16_t n = circles; n--;) { TERN_(HAS_EXTRUDERS, temp_position.e += e_per_circle); // Destination E axis - temp_position[l_axis] += l_per_circle; // Destination L axis + TERN_(HAS_Z_AXIS, temp_position[l_axis] += l_per_circle); // Destination L axis plan_arc(temp_position, offset, clockwise, 0); // Plan a single whole circle } - linear_travel = cart[l_axis] - current_position[l_axis]; - #if HAS_EXTRUDERS - extruder_travel = cart.e - current_position.e; - #endif + TERN_(HAS_Z_AXIS, linear_travel = cart[l_axis] - current_position[l_axis]); + TERN_(HAS_EXTRUDERS, extruder_travel = cart.e - current_position.e); } const float flat_mm = radius * angular_travel, - mm_of_travel = linear_travel ? HYPOT(flat_mm, linear_travel) : ABS(flat_mm); + mm_of_travel = TERN_(HAS_Z_AXIS, linear_travel ? HYPOT(flat_mm, linear_travel) :) ABS(flat_mm); if (mm_of_travel < 0.001f) return; const feedRate_t scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s); @@ -187,17 +188,19 @@ void plan_arc( // Vector rotation matrix values xyze_pos_t raw; const float theta_per_segment = angular_travel / segments, - linear_per_segment = linear_travel / segments, sq_theta_per_segment = sq(theta_per_segment), sin_T = theta_per_segment - sq_theta_per_segment * theta_per_segment / 6, cos_T = 1 - 0.5f * sq_theta_per_segment; // Small angle approximation + #if HAS_Z_AXIS && DISABLED(AUTO_BED_LEVELING_UBL) + const float linear_per_segment = linear_travel / segments; + #endif #if HAS_EXTRUDERS const float extruder_per_segment = extruder_travel / segments; #endif // Initialize the linear axis - raw[l_axis] = current_position[l_axis]; + TERN_(HAS_Z_AXIS, raw[l_axis] = current_position[l_axis]); // Initialize the extruder axis TERN_(HAS_EXTRUDERS, raw.e = current_position.e); @@ -246,11 +249,8 @@ void plan_arc( // Update raw location raw[p_axis] = center_P + rvec.a; raw[q_axis] = center_Q + rvec.b; - #if ENABLED(AUTO_BED_LEVELING_UBL) - raw[l_axis] = start_L; - UNUSED(linear_per_segment); - #else - raw[l_axis] += linear_per_segment; + #if HAS_Z_AXIS + raw[l_axis] = TERN(AUTO_BED_LEVELING_UBL, start_L, raw[l_axis] + linear_per_segment); #endif TERN_(HAS_EXTRUDERS, raw.e += extruder_per_segment); @@ -268,7 +268,7 @@ void plan_arc( // Ensure last segment arrives at target location. raw = cart; - TERN_(AUTO_BED_LEVELING_UBL, raw[l_axis] = start_L); + TERN_(AUTO_BED_LEVELING_UBL, TERN_(HAS_Z_AXIS, raw[l_axis] = start_L)); apply_motion_limits(raw); @@ -280,7 +280,7 @@ void plan_arc( OPTARG(SCARA_FEEDRATE_SCALING, inv_duration) ); - TERN_(AUTO_BED_LEVELING_UBL, raw[l_axis] = start_L); + TERN_(AUTO_BED_LEVELING_UBL, TERN_(HAS_Z_AXIS, raw[l_axis] = start_L)); current_position = raw; } // plan_arc diff --git a/Marlin/src/gcode/motion/M290.cpp b/Marlin/src/gcode/motion/M290.cpp index 1f0d494baf..2b57a6b99a 100644 --- a/Marlin/src/gcode/motion/M290.cpp +++ b/Marlin/src/gcode/motion/M290.cpp @@ -87,7 +87,7 @@ void GcodeSuite::M290() { } #endif - if (!parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z")) || parser.seen('R')) { + if (!parser.seen(LINEAR_AXIS_GANG("X", "Y", "Z", AXIS4_STR, AXIS5_STR, AXIS6_STR)) || parser.seen('R')) { SERIAL_ECHO_START(); #if ENABLED(BABYSTEP_ZPROBE_OFFSET) diff --git a/Marlin/src/gcode/parser.cpp b/Marlin/src/gcode/parser.cpp index b07e92555c..e4e2973449 100644 --- a/Marlin/src/gcode/parser.cpp +++ b/Marlin/src/gcode/parser.cpp @@ -248,7 +248,7 @@ void GCodeParser::parse(char *p) { case 'R': if (!WITHIN(motion_mode_codenum, 2, 3)) return; #endif - LOGICAL_AXIS_GANG(case 'E':, case 'X':, case 'Y':, case 'Z':) + LOGICAL_AXIS_GANG(case 'E':, case 'X':, case 'Y':, case 'Z':, case AXIS4_NAME:, case AXIS5_NAME:, case AXIS6_NAME:) case 'F': if (motion_mode_codenum < 0) return; command_letter = 'G'; diff --git a/Marlin/src/gcode/parser.h b/Marlin/src/gcode/parser.h index dc3f3c35fb..5a1748cc4d 100644 --- a/Marlin/src/gcode/parser.h +++ b/Marlin/src/gcode/parser.h @@ -226,7 +226,7 @@ public: // Seen any axis parameter static inline bool seen_axis() { - return seen(LOGICAL_AXIS_GANG("E", "X", "Y", "Z")); + return seen(LOGICAL_AXIS_GANG("E", "X", "Y", "Z", AXIS4_STR, AXIS5_STR, AXIS6_STR)); } #if ENABLED(GCODE_QUOTED_STRINGS) diff --git a/Marlin/src/gcode/temp/M106_M107.cpp b/Marlin/src/gcode/temp/M106_M107.cpp index 73dc82b8df..dcb0d34ffe 100644 --- a/Marlin/src/gcode/temp/M106_M107.cpp +++ b/Marlin/src/gcode/temp/M106_M107.cpp @@ -83,6 +83,8 @@ void GcodeSuite::M106() { if (!got_preset && parser.seenval('S')) speed = parser.value_ushort(); + TERN_(FOAMCUTTER_XYUV, speed *= 2.55); // Get command in % of max heat + // Set speed, with constraint thermalManager.set_fan_speed(pfan, speed); diff --git a/Marlin/src/inc/Conditionals_LCD.h b/Marlin/src/inc/Conditionals_LCD.h index 8e4241bf64..07c0439e28 100644 --- a/Marlin/src/inc/Conditionals_LCD.h +++ b/Marlin/src/inc/Conditionals_LCD.h @@ -612,6 +612,12 @@ #ifndef LINEAR_AXES #define LINEAR_AXES XYZ #endif +#if LINEAR_AXES >= XY + #define HAS_Y_AXIS 1 + #if LINEAR_AXES >= XYZ + #define HAS_Z_AXIS 1 + #endif +#endif /** * Number of Logical Axes (e.g., XYZE) @@ -624,10 +630,6 @@ #define LOGICAL_AXES LINEAR_AXES #endif -#if LINEAR_AXES >= XYZ - #define HAS_Z_AXIS 1 -#endif - /** * DISTINCT_E_FACTORS is set to give extruders (some) individual settings. * @@ -852,6 +854,21 @@ #elif Z_HOME_DIR < 0 #define Z_HOME_TO_MIN 1 #endif +#if I_HOME_DIR > 0 + #define I_HOME_TO_MAX 1 +#elif I_HOME_DIR < 0 + #define I_HOME_TO_MIN 1 +#endif +#if J_HOME_DIR > 0 + #define J_HOME_TO_MAX 1 +#elif J_HOME_DIR < 0 + #define J_HOME_TO_MIN 1 +#endif +#if K_HOME_DIR > 0 + #define K_HOME_TO_MAX 1 +#elif K_HOME_DIR < 0 + #define K_HOME_TO_MIN 1 +#endif /** * Conditionals based on the type of Bed Probe @@ -1110,13 +1127,22 @@ #ifndef INVERT_X_DIR #define INVERT_X_DIR false #endif -#ifndef INVERT_Y_DIR +#if HAS_Y_AXIS && !defined(INVERT_Y_DIR) #define INVERT_Y_DIR false #endif -#ifndef INVERT_Z_DIR +#if HAS_Z_AXIS && !defined(INVERT_Z_DIR) #define INVERT_Z_DIR false #endif -#ifndef INVERT_E_DIR +#if LINEAR_AXES >= 4 && !defined(INVERT_I_DIR) + #define INVERT_I_DIR false +#endif +#if LINEAR_AXES >= 5 && !defined(INVERT_J_DIR) + #define INVERT_J_DIR false +#endif +#if LINEAR_AXES >= 6 && !defined(INVERT_K_DIR) + #define INVERT_K_DIR false +#endif +#if HAS_EXTRUDERS && !defined(INVERT_E_DIR) #define INVERT_E_DIR false #endif diff --git a/Marlin/src/inc/Conditionals_adv.h b/Marlin/src/inc/Conditionals_adv.h index 18082044e0..f88d28e1a1 100644 --- a/Marlin/src/inc/Conditionals_adv.h +++ b/Marlin/src/inc/Conditionals_adv.h @@ -26,6 +26,10 @@ * Defines that depend on advanced configuration. */ +#ifndef AXIS_RELATIVE_MODES + #define AXIS_RELATIVE_MODES {} +#endif + #ifdef SWITCHING_NOZZLE_E1_SERVO_NR #define SWITCHING_NOZZLE_TWO_SERVOS 1 #endif @@ -488,12 +492,26 @@ // Remove unused STEALTHCHOP flags #if LINEAR_AXES < 6 #undef STEALTHCHOP_K + #undef CALIBRATION_MEASURE_KMIN + #undef CALIBRATION_MEASURE_KMAX #if LINEAR_AXES < 5 #undef STEALTHCHOP_J + #undef CALIBRATION_MEASURE_JMIN + #undef CALIBRATION_MEASURE_JMAX #if LINEAR_AXES < 4 #undef STEALTHCHOP_I + #undef CALIBRATION_MEASURE_IMIN + #undef CALIBRATION_MEASURE_IMAX #if LINEAR_AXES < 3 + #undef Z_IDLE_HEIGHT #undef STEALTHCHOP_Z + #undef Z_PROBE_SLED + #undef Z_SAFE_HOMING + #undef HOME_Z_FIRST + #undef HOMING_Z_WITH_PROBE + #undef ENABLE_LEVELING_FADE_HEIGHT + #undef NUM_Z_STEPPER_DRIVERS + #undef CNC_WORKSPACE_PLANES #if LINEAR_AXES < 2 #undef STEALTHCHOP_Y #endif diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h index a0e5db301e..d28822cf38 100644 --- a/Marlin/src/inc/Conditionals_post.h +++ b/Marlin/src/inc/Conditionals_post.h @@ -78,17 +78,49 @@ /** * Axis lengths and center */ +#ifndef AXIS4_NAME + #define AXIS4_NAME 'A' +#endif +#ifndef AXIS5_NAME + #define AXIS5_NAME 'B' +#endif +#ifndef AXIS6_NAME + #define AXIS6_NAME 'C' +#endif + #define X_MAX_LENGTH (X_MAX_POS - (X_MIN_POS)) -#define Y_MAX_LENGTH (Y_MAX_POS - (Y_MIN_POS)) -#define Z_MAX_LENGTH (Z_MAX_POS - (Z_MIN_POS)) +#if HAS_Y_AXIS + #define Y_MAX_LENGTH (Y_MAX_POS - (Y_MIN_POS)) +#endif +#if HAS_Z_AXIS + #define Z_MAX_LENGTH (Z_MAX_POS - (Z_MIN_POS)) +#endif +#if LINEAR_AXES >= 4 + #define I_MAX_LENGTH (I_MAX_POS - (I_MIN_POS)) +#endif +#if LINEAR_AXES >= 5 + #define J_MAX_LENGTH (J_MAX_POS - (J_MIN_POS)) +#endif +#if LINEAR_AXES >= 6 + #define K_MAX_LENGTH (K_MAX_POS - (K_MIN_POS)) +#endif // Defined only if the sanity-check is bypassed #ifndef X_BED_SIZE #define X_BED_SIZE X_MAX_LENGTH #endif -#ifndef Y_BED_SIZE +#if HAS_Y_AXIS && !defined(Y_BED_SIZE) #define Y_BED_SIZE Y_MAX_LENGTH #endif +#if LINEAR_AXES >= 4 && !defined(I_BED_SIZE) + #define I_BED_SIZE I_MAX_LENGTH +#endif +#if LINEAR_AXES >= 5 && !defined(J_BED_SIZE) + #define J_BED_SIZE J_MAX_LENGTH +#endif +#if LINEAR_AXES >= 6 && !defined(K_BED_SIZE) + #define K_BED_SIZE K_MAX_LENGTH +#endif // Require 0,0 bed center for Delta and SCARA #if IS_KINEMATIC @@ -97,16 +129,53 @@ // Define center values for future use #define _X_HALF_BED ((X_BED_SIZE) / 2) -#define _Y_HALF_BED ((Y_BED_SIZE) / 2) +#if HAS_Y_AXIS + #define _Y_HALF_BED ((Y_BED_SIZE) / 2) +#endif +#if LINEAR_AXES >= 4 + #define _I_HALF_IMAX ((I_BED_SIZE) / 2) +#endif +#if LINEAR_AXES >= 5 + #define _J_HALF_JMAX ((J_BED_SIZE) / 2) +#endif +#if LINEAR_AXES >= 6 + #define _K_HALF_KMAX ((K_BED_SIZE) / 2) +#endif + #define X_CENTER TERN(BED_CENTER_AT_0_0, 0, _X_HALF_BED) -#define Y_CENTER TERN(BED_CENTER_AT_0_0, 0, _Y_HALF_BED) -#define XY_CENTER { X_CENTER, Y_CENTER } +#if HAS_Y_AXIS + #define Y_CENTER TERN(BED_CENTER_AT_0_0, 0, _Y_HALF_BED) + #define XY_CENTER { X_CENTER, Y_CENTER } +#endif +#if LINEAR_AXES >= 4 + #define I_CENTER TERN(BED_CENTER_AT_0_0, 0, _I_HALF_BED) +#endif +#if LINEAR_AXES >= 5 + #define J_CENTER TERN(BED_CENTER_AT_0_0, 0, _J_HALF_BED) +#endif +#if LINEAR_AXES >= 6 + #define K_CENTER TERN(BED_CENTER_AT_0_0, 0, _K_HALF_BED) +#endif // Get the linear boundaries of the bed #define X_MIN_BED (X_CENTER - _X_HALF_BED) #define X_MAX_BED (X_MIN_BED + X_BED_SIZE) -#define Y_MIN_BED (Y_CENTER - _Y_HALF_BED) -#define Y_MAX_BED (Y_MIN_BED + Y_BED_SIZE) +#if HAS_Y_AXIS + #define Y_MIN_BED (Y_CENTER - _Y_HALF_BED) + #define Y_MAX_BED (Y_MIN_BED + Y_BED_SIZE) +#endif +#if LINEAR_AXES >= 4 + #define I_MINIM (I_CENTER - _I_HALF_BED_SIZE) + #define I_MAXIM (I_MINIM + I_BED_SIZE) +#endif +#if LINEAR_AXES >= 5 + #define J_MINIM (J_CENTER - _J_HALF_BED_SIZE) + #define J_MAXIM (J_MINIM + J_BED_SIZE) +#endif +#if LINEAR_AXES >= 6 + #define K_MINIM (K_CENTER - _K_HALF_BED_SIZE) + #define K_MAXIM (K_MINIM + K_BED_SIZE) +#endif /** * Dual X Carriage @@ -163,14 +232,16 @@ #endif #endif -#ifdef MANUAL_Y_HOME_POS - #define Y_HOME_POS MANUAL_Y_HOME_POS -#else - #define Y_END_POS TERN(Y_HOME_TO_MIN, Y_MIN_POS, Y_MAX_POS) - #if ENABLED(BED_CENTER_AT_0_0) - #define Y_HOME_POS TERN(DELTA, 0, Y_END_POS) +#if HAS_Y_AXIS + #ifdef MANUAL_Y_HOME_POS + #define Y_HOME_POS MANUAL_Y_HOME_POS #else - #define Y_HOME_POS TERN(DELTA, Y_MIN_POS + (Y_BED_SIZE) * 0.5, Y_END_POS) + #define Y_END_POS TERN(Y_HOME_TO_MIN, Y_MIN_POS, Y_MAX_POS) + #if ENABLED(BED_CENTER_AT_0_0) + #define Y_HOME_POS TERN(DELTA, 0, Y_END_POS) + #else + #define Y_HOME_POS TERN(DELTA, Y_MIN_POS + (Y_BED_SIZE) * 0.5, Y_END_POS) + #endif #endif #endif @@ -180,6 +251,28 @@ #define Z_HOME_POS TERN(Z_HOME_TO_MIN, Z_MIN_POS, Z_MAX_POS) #endif +#if LINEAR_AXES >= 4 + #ifdef MANUAL_I_HOME_POS + #define I_HOME_POS MANUAL_I_HOME_POS + #else + #define I_HOME_POS TERN(I_HOME_TO_MIN, I_MIN_POS, I_MAX_POS) + #endif +#endif +#if LINEAR_AXES >= 5 + #ifdef MANUAL_J_HOME_POS + #define J_HOME_POS MANUAL_J_HOME_POS + #else + #define J_HOME_POS TERN(J_HOME_TO_MIN, J_MIN_POS, J_MAX_POS) + #endif +#endif +#if LINEAR_AXES >= 6 + #ifdef MANUAL_K_HOME_POS + #define K_HOME_POS MANUAL_K_HOME_POS + #else + #define K_HOME_POS TERN(K_HOME_TO_MIN, K_MIN_POS, K_MAX_POS) + #endif +#endif + /** * If DELTA_HEIGHT isn't defined use the old setting */ @@ -374,15 +467,24 @@ #ifndef DISABLE_INACTIVE_X #define DISABLE_INACTIVE_X DISABLE_X #endif -#ifndef DISABLE_INACTIVE_Y +#if HAS_Y_AXIS && !defined(DISABLE_INACTIVE_Y) #define DISABLE_INACTIVE_Y DISABLE_Y #endif -#ifndef DISABLE_INACTIVE_Z +#if HAS_Z_AXIS && !defined(DISABLE_INACTIVE_Z) #define DISABLE_INACTIVE_Z DISABLE_Z #endif #ifndef DISABLE_INACTIVE_E #define DISABLE_INACTIVE_E DISABLE_E #endif +#if LINEAR_AXES >= 4 && !defined(DISABLE_INACTIVE_I) + #define DISABLE_INACTIVE_I DISABLE_I +#endif +#if LINEAR_AXES >= 5 && !defined(DISABLE_INACTIVE_J) + #define DISABLE_INACTIVE_J DISABLE_J +#endif +#if LINEAR_AXES >= 6 && !defined(DISABLE_INACTIVE_K) + #define DISABLE_INACTIVE_K DISABLE_K +#endif /** * Power Supply @@ -1418,6 +1520,15 @@ #if ENABLED(USE_ZMAX_PLUG) #define ENDSTOPPULLUP_ZMAX #endif + #if ENABLED(USE_IMAX_PLUG) + #define ENDSTOPPULLUP_IMAX + #endif + #if ENABLED(USE_JMAX_PLUG) + #define ENDSTOPPULLUP_JMAX + #endif + #if ENABLED(USE_KMAX_PLUG) + #define ENDSTOPPULLUP_KMAX + #endif #if ENABLED(USE_XMIN_PLUG) #define ENDSTOPPULLUP_XMIN #endif @@ -1427,6 +1538,15 @@ #if ENABLED(USE_ZMIN_PLUG) #define ENDSTOPPULLUP_ZMIN #endif + #if ENABLED(USE_IMIN_PLUG) + #define ENDSTOPPULLUP_IMIN + #endif + #if ENABLED(USE_JMIN_PLUG) + #define ENDSTOPPULLUP_JMIN + #endif + #if ENABLED(USE_KMIN_PLUG) + #define ENDSTOPPULLUP_KMIN + #endif #endif /** @@ -1484,82 +1604,137 @@ #define HAS_X2_MS_PINS 1 #endif -#if PIN_EXISTS(Y_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y)) - #define HAS_Y_ENABLE 1 -#endif -#if PIN_EXISTS(Y_DIR) - #define HAS_Y_DIR 1 -#endif -#if PIN_EXISTS(Y_STEP) - #define HAS_Y_STEP 1 -#endif -#if PIN_EXISTS(Y_MS1) - #define HAS_Y_MS_PINS 1 -#endif +#if HAS_Y_AXIS + #if PIN_EXISTS(Y_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y)) + #define HAS_Y_ENABLE 1 + #endif + #if PIN_EXISTS(Y_DIR) + #define HAS_Y_DIR 1 + #endif + #if PIN_EXISTS(Y_STEP) + #define HAS_Y_STEP 1 + #endif + #if PIN_EXISTS(Y_MS1) + #define HAS_Y_MS_PINS 1 + #endif -#if PIN_EXISTS(Y2_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y2)) - #define HAS_Y2_ENABLE 1 -#endif -#if PIN_EXISTS(Y2_DIR) - #define HAS_Y2_DIR 1 -#endif -#if PIN_EXISTS(Y2_STEP) - #define HAS_Y2_STEP 1 -#endif -#if PIN_EXISTS(Y2_MS1) - #define HAS_Y2_MS_PINS 1 + #if PIN_EXISTS(Y2_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Y2)) + #define HAS_Y2_ENABLE 1 + #endif + #if PIN_EXISTS(Y2_DIR) + #define HAS_Y2_DIR 1 + #endif + #if PIN_EXISTS(Y2_STEP) + #define HAS_Y2_STEP 1 + #endif + #if PIN_EXISTS(Y2_MS1) + #define HAS_Y2_MS_PINS 1 + #endif #endif -#if PIN_EXISTS(Z_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z)) - #define HAS_Z_ENABLE 1 -#endif -#if PIN_EXISTS(Z_DIR) - #define HAS_Z_DIR 1 -#endif -#if PIN_EXISTS(Z_STEP) - #define HAS_Z_STEP 1 -#endif -#if PIN_EXISTS(Z_MS1) - #define HAS_Z_MS_PINS 1 +#if HAS_Z_AXIS + #if PIN_EXISTS(Z_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z)) + #define HAS_Z_ENABLE 1 + #endif + #if PIN_EXISTS(Z_DIR) + #define HAS_Z_DIR 1 + #endif + #if PIN_EXISTS(Z_STEP) + #define HAS_Z_STEP 1 + #endif + #if PIN_EXISTS(Z_MS1) + #define HAS_Z_MS_PINS 1 + #endif #endif -#if PIN_EXISTS(Z2_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z2)) - #define HAS_Z2_ENABLE 1 -#endif -#if PIN_EXISTS(Z2_DIR) - #define HAS_Z2_DIR 1 -#endif -#if PIN_EXISTS(Z2_STEP) - #define HAS_Z2_STEP 1 -#endif -#if PIN_EXISTS(Z2_MS1) - #define HAS_Z2_MS_PINS 1 +#if NUM_Z_STEPPER_DRIVERS >= 2 + #if PIN_EXISTS(Z2_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z2)) + #define HAS_Z2_ENABLE 1 + #endif + #if PIN_EXISTS(Z2_DIR) + #define HAS_Z2_DIR 1 + #endif + #if PIN_EXISTS(Z2_STEP) + #define HAS_Z2_STEP 1 + #endif + #if PIN_EXISTS(Z2_MS1) + #define HAS_Z2_MS_PINS 1 + #endif #endif -#if PIN_EXISTS(Z3_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z3)) - #define HAS_Z3_ENABLE 1 -#endif -#if PIN_EXISTS(Z3_DIR) - #define HAS_Z3_DIR 1 -#endif -#if PIN_EXISTS(Z3_STEP) - #define HAS_Z3_STEP 1 -#endif -#if PIN_EXISTS(Z3_MS1) - #define HAS_Z3_MS_PINS 1 +#if NUM_Z_STEPPER_DRIVERS >= 3 + #if PIN_EXISTS(Z3_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z3)) + #define HAS_Z3_ENABLE 1 + #endif + #if PIN_EXISTS(Z3_DIR) + #define HAS_Z3_DIR 1 + #endif + #if PIN_EXISTS(Z3_STEP) + #define HAS_Z3_STEP 1 + #endif + #if PIN_EXISTS(Z3_MS1) + #define HAS_Z3_MS_PINS 1 + #endif #endif -#if PIN_EXISTS(Z4_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z4)) - #define HAS_Z4_ENABLE 1 +#if NUM_Z_STEPPER_DRIVERS >= 4 + #if PIN_EXISTS(Z4_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z4)) + #define HAS_Z4_ENABLE 1 + #endif + #if PIN_EXISTS(Z4_DIR) + #define HAS_Z4_DIR 1 + #endif + #if PIN_EXISTS(Z4_STEP) + #define HAS_Z4_STEP 1 + #endif + #if PIN_EXISTS(Z4_MS1) + #define HAS_Z4_MS_PINS 1 + #endif #endif -#if PIN_EXISTS(Z4_DIR) - #define HAS_Z4_DIR 1 + +#if LINEAR_AXES >= 4 + #if PIN_EXISTS(I_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(I)) + #define HAS_I_ENABLE 1 + #endif + #if PIN_EXISTS(I_DIR) + #define HAS_I_DIR 1 + #endif + #if PIN_EXISTS(I_STEP) + #define HAS_I_STEP 1 + #endif + #if PIN_EXISTS(I_MS1) + #define HAS_I_MS_PINS 1 + #endif #endif -#if PIN_EXISTS(Z4_STEP) - #define HAS_Z4_STEP 1 + +#if LINEAR_AXES >= 5 + #if PIN_EXISTS(J_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(J)) + #define HAS_J_ENABLE 1 + #endif + #if PIN_EXISTS(J_DIR) + #define HAS_J_DIR 1 + #endif + #if PIN_EXISTS(J_STEP) + #define HAS_J_STEP 1 + #endif + #if PIN_EXISTS(J_MS1) + #define HAS_J_MS_PINS 1 + #endif #endif -#if PIN_EXISTS(Z4_MS1) - #define HAS_Z4_MS_PINS 1 + +#if LINEAR_AXES >= 6 + #if PIN_EXISTS(K_ENABLE) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(K)) + #define HAS_K_ENABLE 1 + #endif + #if PIN_EXISTS(K_DIR) + #define HAS_K_DIR 1 + #endif + #if PIN_EXISTS(K_STEP) + #define HAS_K_STEP 1 + #endif + #if PIN_EXISTS(K_MS1) + #define HAS_K_MS_PINS 1 + #endif #endif // Extruder steppers and solenoids @@ -1700,7 +1875,7 @@ // #if HAS_TRINAMIC_CONFIG - #if ANY(STEALTHCHOP_XY, STEALTHCHOP_Z, STEALTHCHOP_E) + #if ANY(STEALTHCHOP_E, STEALTHCHOP_XY, STEALTHCHOP_Z, STEALTHCHOP_I, STEALTHCHOP_J, STEALTHCHOP_K) #define STEALTHCHOP_ENABLED 1 #endif #if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING) @@ -1737,6 +1912,65 @@ #if defined(Z4_STALL_SENSITIVITY) && AXIS_HAS_STALLGUARD(Z4) #define Z4_SENSORLESS 1 #endif + + #if AXIS_HAS_STEALTHCHOP(X) + #define X_HAS_STEALTHCHOP 1 + #endif + #if AXIS_HAS_STEALTHCHOP(X2) + #define X2_HAS_STEALTHCHOP 1 + #endif + #if AXIS_HAS_STEALTHCHOP(Y) + #define Y_HAS_STEALTHCHOP 1 + #endif + #if AXIS_HAS_STEALTHCHOP(Y2) + #define Y2_HAS_STEALTHCHOP 1 + #endif + #if AXIS_HAS_STEALTHCHOP(Z) + #define Z_HAS_STEALTHCHOP 1 + #endif + #if AXIS_HAS_STEALTHCHOP(Z2) + #define Z2_HAS_STEALTHCHOP 1 + #endif + #if AXIS_HAS_STEALTHCHOP(Z3) + #define Z3_HAS_STEALTHCHOP 1 + #endif + #if AXIS_HAS_STEALTHCHOP(Z4) + #define Z4_HAS_STEALTHCHOP 1 + #endif + #if AXIS_HAS_STEALTHCHOP(I) + #define I_HAS_STEALTHCHOP 1 + #endif + #if AXIS_HAS_STEALTHCHOP(J) + #define J_HAS_STEALTHCHOP 1 + #endif + #if AXIS_HAS_STEALTHCHOP(K) + #define K_HAS_STEALTHCHOP 1 + #endif + #if E_STEPPERS > 0 && AXIS_HAS_STEALTHCHOP(E0) + #define E0_HAS_STEALTHCHOP 1 + #endif + #if E_STEPPERS > 1 && AXIS_HAS_STEALTHCHOP(E1) + #define E1_HAS_STEALTHCHOP 1 + #endif + #if E_STEPPERS > 2 && AXIS_HAS_STEALTHCHOP(E2) + #define E2_HAS_STEALTHCHOP 1 + #endif + #if E_STEPPERS > 3 && AXIS_HAS_STEALTHCHOP(E3) + #define E3_HAS_STEALTHCHOP 1 + #endif + #if E_STEPPERS > 4 && AXIS_HAS_STEALTHCHOP(E4) + #define E4_HAS_STEALTHCHOP 1 + #endif + #if E_STEPPERS > 5 && AXIS_HAS_STEALTHCHOP(E5) + #define E5_HAS_STEALTHCHOP 1 + #endif + #if E_STEPPERS > 6 && AXIS_HAS_STEALTHCHOP(E6) + #define E6_HAS_STEALTHCHOP 1 + #endif + #if E_STEPPERS > 7 && AXIS_HAS_STEALTHCHOP(E7) + #define E7_HAS_STEALTHCHOP 1 + #endif + #if ENABLED(SPI_ENDSTOPS) #define X_SPI_SENSORLESS X_SENSORLESS #define Y_SPI_SENSORLESS Y_SENSORLESS @@ -1766,6 +2000,21 @@ #ifndef Z4_INTERPOLATE #define Z4_INTERPOLATE INTERPOLATE #endif + #if LINEAR_AXES >= 4 + #ifndef I_INTERPOLATE + #define I_INTERPOLATE INTERPOLATE + #endif + #endif + #if LINEAR_AXES >= 5 + #ifndef J_INTERPOLATE + #define J_INTERPOLATE INTERPOLATE + #endif + #endif + #if LINEAR_AXES >= 6 + #ifndef K_INTERPOLATE + #define K_INTERPOLATE INTERPOLATE + #endif + #endif #ifndef E0_INTERPOLATE #define E0_INTERPOLATE INTERPOLATE #endif @@ -1799,6 +2048,15 @@ #ifndef Z_SLAVE_ADDRESS #define Z_SLAVE_ADDRESS 0 #endif + #ifndef I_SLAVE_ADDRESS + #define I_SLAVE_ADDRESS 0 + #endif + #ifndef J_SLAVE_ADDRESS + #define J_SLAVE_ADDRESS 0 + #endif + #ifndef K_SLAVE_ADDRESS + #define K_SLAVE_ADDRESS 0 + #endif #ifndef X2_SLAVE_ADDRESS #define X2_SLAVE_ADDRESS 0 #endif @@ -1853,6 +2111,10 @@ #define HAS_TMC_SW_SERIAL 1 #endif +#if !USE_SENSORLESS + #undef SENSORLESS_BACKOFF_MM +#endif + // // Set USING_HW_SERIALn flags for used Serial Ports // @@ -1972,18 +2234,36 @@ #if _HAS_STOP(X,MAX) #define HAS_X_MAX 1 #endif -#if _HAS_STOP(Y,MIN) +#if HAS_Y_AXIS && _HAS_STOP(Y,MIN) #define HAS_Y_MIN 1 #endif -#if _HAS_STOP(Y,MAX) +#if HAS_Y_AXIS && _HAS_STOP(Y,MAX) #define HAS_Y_MAX 1 #endif -#if _HAS_STOP(Z,MIN) +#if BOTH(HAS_Z_AXIS, USE_ZMIN_PLUG) && _HAS_STOP(Z,MIN) #define HAS_Z_MIN 1 #endif -#if _HAS_STOP(Z,MAX) +#if BOTH(HAS_Z_AXIS, USE_ZMAX_PLUG) && _HAS_STOP(Z,MAX) #define HAS_Z_MAX 1 #endif +#if _HAS_STOP(I,MIN) + #define HAS_I_MIN 1 +#endif +#if _HAS_STOP(I,MAX) + #define HAS_I_MAX 1 +#endif +#if _HAS_STOP(J,MIN) + #define HAS_J_MIN 1 +#endif +#if _HAS_STOP(J,MAX) + #define HAS_J_MAX 1 +#endif +#if _HAS_STOP(K,MIN) + #define HAS_K_MIN 1 +#endif +#if _HAS_STOP(K,MAX) + #define HAS_K_MAX 1 +#endif #if PIN_EXISTS(X2_MIN) #define HAS_X2_MIN 1 #endif @@ -2365,7 +2645,7 @@ #if ANY(HAS_E0_MS_PINS, HAS_E1_MS_PINS, HAS_E2_MS_PINS, HAS_E3_MS_PINS, HAS_E4_MS_PINS, HAS_E5_MS_PINS, HAS_E6_MS_PINS, HAS_E7_MS_PINS) #define HAS_SOME_E_MS_PINS 1 #endif -#if ANY(HAS_X_MS_PINS, HAS_X2_MS_PINS, HAS_Y_MS_PINS, HAS_Y2_MS_PINS, HAS_SOME_Z_MS_PINS, HAS_SOME_E_MS_PINS) +#if ANY(HAS_X_MS_PINS, HAS_X2_MS_PINS, HAS_Y_MS_PINS, HAS_Y2_MS_PINS, HAS_SOME_Z_MS_PINS, HAS_I_MS_PINS, HAS_J_MS_PINS, HAS_K_MS_PINS, HAS_SOME_E_MS_PINS) #define HAS_MICROSTEPS 1 #endif diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h index 936f83915f..ee6fae0976 100644 --- a/Marlin/src/inc/SanityCheck.h +++ b/Marlin/src/inc/SanityCheck.h @@ -34,6 +34,10 @@ #error "Marlin requires C++11 support (gcc >= 4.7, Arduino IDE >= 1.6.8). Please upgrade your toolchain." #endif +// Strings for sanity check messages +#define _LINEAR_AXES_STR LINEAR_AXIS_GANG("X ", "Y ", "Z ", "I ", "J ", "K ") +#define _LOGICAL_AXES_STR LOGICAL_AXIS_GANG("E ", "X ", "Y ", "Z ", "I ", "J ", "K ") + // Make sure macros aren't borked #define TEST1 #define TEST2 1 @@ -566,6 +570,9 @@ #error "NEOPIXEL_BKGD_LED_INDEX is now NEOPIXEL_BKGD_INDEX_FIRST." #endif +constexpr float sbm[] = AXIS_RELATIVE_MODES; +static_assert(COUNT(sbm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _LOGICAL_AXES_STR "elements."); + /** * Probe temp compensation requirements */ @@ -644,14 +651,18 @@ #if ENABLED(Y_DUAL_STEPPER_DRIVERS) && !GOOD_AXIS_PINS(Y) #error "Y_DUAL_STEPPER_DRIVERS requires Y2 pins to be defined." -#elif !WITHIN(NUM_Z_STEPPER_DRIVERS, 1, 4) - #error "NUM_Z_STEPPER_DRIVERS must be an integer from 1 to 4." -#elif NUM_Z_STEPPER_DRIVERS == 2 && !GOOD_AXIS_PINS(Z2) - #error "If NUM_Z_STEPPER_DRIVERS is 2, you must define stepper pins for Z2." -#elif NUM_Z_STEPPER_DRIVERS == 3 && !(GOOD_AXIS_PINS(Z2) && GOOD_AXIS_PINS(Z3)) - #error "If NUM_Z_STEPPER_DRIVERS is 3, you must define stepper pins for Z2 and Z3." -#elif NUM_Z_STEPPER_DRIVERS == 4 && !(GOOD_AXIS_PINS(Z2) && GOOD_AXIS_PINS(Z3) && GOOD_AXIS_PINS(Z4)) - #error "If NUM_Z_STEPPER_DRIVERS is 4, you must define stepper pins for Z2, Z3, and Z4." +#endif + +#if HAS_Z_AXIS + #if !WITHIN(NUM_Z_STEPPER_DRIVERS, 1, 4) + #error "NUM_Z_STEPPER_DRIVERS must be an integer from 1 to 4." + #elif NUM_Z_STEPPER_DRIVERS == 2 && !GOOD_AXIS_PINS(Z2) + #error "If NUM_Z_STEPPER_DRIVERS is 2, you must define stepper pins for Z2." + #elif NUM_Z_STEPPER_DRIVERS == 3 && !(GOOD_AXIS_PINS(Z2) && GOOD_AXIS_PINS(Z3)) + #error "If NUM_Z_STEPPER_DRIVERS is 3, you must define stepper pins for Z2 and Z3." + #elif NUM_Z_STEPPER_DRIVERS == 4 && !(GOOD_AXIS_PINS(Z2) && GOOD_AXIS_PINS(Z3) && GOOD_AXIS_PINS(Z4)) + #error "If NUM_Z_STEPPER_DRIVERS is 4, you must define stepper pins for Z2, Z3, and Z4." + #endif #endif /** @@ -704,6 +715,12 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS #error "Enable only one of ENDSTOPPULLUP_Y_MIN or ENDSTOPPULLDOWN_Y_MIN." #elif BOTH(ENDSTOPPULLUP_ZMIN, ENDSTOPPULLDOWN_ZMIN) #error "Enable only one of ENDSTOPPULLUP_Z_MIN or ENDSTOPPULLDOWN_Z_MIN." +#elif BOTH(ENDSTOPPULLUP_IMIN, ENDSTOPPULLDOWN_IMIN) + #error "Enable only one of ENDSTOPPULLUP_I_MIN or ENDSTOPPULLDOWN_I_MIN." +#elif BOTH(ENDSTOPPULLUP_JMIN, ENDSTOPPULLDOWN_JMIN) + #error "Enable only one of ENDSTOPPULLUP_J_MIN or ENDSTOPPULLDOWN_J_MIN." +#elif BOTH(ENDSTOPPULLUP_KMIN, ENDSTOPPULLDOWN_KMIN) + #error "Enable only one of ENDSTOPPULLUP_K_MIN or ENDSTOPPULLDOWN_K_MIN." #endif /** @@ -926,6 +943,13 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS static_assert(WITHIN(npp_xyz.z, Z_MIN_POS, Z_MAX_POS), "NOZZLE_PARK_POINT.Z is out of bounds (Z_MIN_POS, Z_MAX_POS)."); #endif +/** + * Instant Freeze + */ +#if ENABLED(FREEZE_FEATURE) && !PIN_EXISTS(FREEZE) + #error "FREEZE_FEATURE requires a FREEZE_PIN to be defined." +#endif + /** * Individual axis homing is useless for DELTAS */ @@ -1266,6 +1290,42 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS #error "To use CHAMBER_LIMIT_SWITCHING you must disable PIDTEMPCHAMBER." #endif +/** + * Features that require a min/max/specific LINEAR_AXES + */ +#if HAS_LEVELING && !HAS_Z_AXIS + #error "Leveling in Marlin requires three or more axes, with Z as the vertical axis." +#elif ENABLED(CNC_WORKSPACE_PLANES) && !HAS_Z_AXIS + #error "CNC_WORKSPACE_PLANES currently requires LINEAR_AXES >= 3" +#elif ENABLED(DIRECT_STEPPING) && LINEAR_AXES > XYZ + #error "DIRECT_STEPPING currently requires LINEAR_AXES 3" +#elif ENABLED(FOAMCUTTER_XYUV) && LINEAR_AXES < 5 + #error "FOAMCUTTER_XYUV requires LINEAR_AXES >= 5." +#endif + +/** + * Allow only extra axis codes that do not conflict with G-code parameter names + */ +#if LINEAR_AXES >= 4 + #if AXIS4_NAME != 'A' && AXIS4_NAME != 'B' && AXIS4_NAME != 'C' && AXIS4_NAME != 'U' && AXIS4_NAME != 'V' && AXIS4_NAME != 'W' + #error "AXIS4_NAME can only be one of 'A', 'B', 'C', 'U', 'V', or 'W'." + #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" + #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'." + #endif +#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." + #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'." + #endif +#endif + /** * Kinematics */ @@ -1273,8 +1333,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS /** * Allow only one kinematic type to be defined */ -#if MANY(DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY) - #error "Please enable only one of DELTA, MORGAN_SCARA, AXEL_TPARA, COREXY, COREYX, COREXZ, COREZX, COREYZ, COREZY, or MARKFORGED_XY." +#if MANY(DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, FOAMCUTTER_XYUV) + #error "Please enable only one of DELTA, MORGAN_SCARA, MP_SCARA, AXEL_TPARA, COREXY, COREXZ, COREYZ, COREYX, COREZX, COREZY, MARKFORGED_XY, or FOAMCUTTER_XYUV." #endif /** @@ -1597,15 +1657,60 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS #endif /** - * Homing + * Homing checks */ -constexpr float hbm[] = HOMING_BUMP_MM; -static_assert(COUNT(hbm) == LINEAR_AXES, "HOMING_BUMP_MM requires one element per linear axis."); -LINEAR_AXIS_CODE( - static_assert(hbm[X_AXIS] >= 0, "HOMING_BUMP_MM.X must be greater than or equal to 0."), - static_assert(hbm[Y_AXIS] >= 0, "HOMING_BUMP_MM.Y must be greater than or equal to 0."), - static_assert(hbm[Z_AXIS] >= 0, "HOMING_BUMP_MM.Z must be greater than or equal to 0.") -); +#ifndef HOMING_BUMP_MM + #error "Required setting HOMING_BUMP_MM is missing!" +#elif !defined(HOMING_BUMP_DIVISOR) + #error "Required setting HOMING_BUMP_DIVISOR is missing!" +#else + constexpr float hbm[] = HOMING_BUMP_MM, hbd[] = HOMING_BUMP_DIVISOR; + static_assert(COUNT(hbm) == LINEAR_AXES, "HOMING_BUMP_MM must have " _LINEAR_AXES_STR "elements (and no others)."); + LINEAR_AXIS_CODE( + static_assert(hbm[X_AXIS] >= 0, "HOMING_BUMP_MM.X must be greater than or equal to 0."), + static_assert(hbm[Y_AXIS] >= 0, "HOMING_BUMP_MM.Y must be greater than or equal to 0."), + static_assert(hbm[Z_AXIS] >= 0, "HOMING_BUMP_MM.Z must be greater than or equal to 0."), + static_assert(hbm[I_AXIS] >= 0, "HOMING_BUMP_MM.I must be greater than or equal to 0."), + static_assert(hbm[J_AXIS] >= 0, "HOMING_BUMP_MM.J must be greater than or equal to 0."), + static_assert(hbm[K_AXIS] >= 0, "HOMING_BUMP_MM.K must be greater than or equal to 0.") + ); + static_assert(COUNT(hbd) == LINEAR_AXES, "HOMING_BUMP_DIVISOR must have " _LINEAR_AXES_STR "elements (and no others)."); + LINEAR_AXIS_CODE( + static_assert(hbd[X_AXIS] >= 1, "HOMING_BUMP_DIVISOR.X must be greater than or equal to 1."), + static_assert(hbd[Y_AXIS] >= 1, "HOMING_BUMP_DIVISOR.Y must be greater than or equal to 1."), + static_assert(hbd[Z_AXIS] >= 1, "HOMING_BUMP_DIVISOR.Z must be greater than or equal to 1."), + static_assert(hbd[I_AXIS] >= 1, "HOMING_BUMP_DIVISOR.I must be greater than or equal to 1."), + static_assert(hbd[J_AXIS] >= 1, "HOMING_BUMP_DIVISOR.J must be greater than or equal to 1."), + static_assert(hbd[K_AXIS] >= 1, "HOMING_BUMP_DIVISOR.K must be greater than or equal to 1.") + ); +#endif + +#ifdef HOMING_BACKOFF_POST_MM + constexpr float hbp[] = HOMING_BACKOFF_POST_MM; + static_assert(COUNT(hbp) == LINEAR_AXES, "HOMING_BACKOFF_POST_MM must have " _LINEAR_AXES_STR "elements (and no others)."); + LINEAR_AXIS_CODE( + static_assert(hbp[X_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.X must be greater than or equal to 0."), + static_assert(hbp[Y_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.Y must be greater than or equal to 0."), + static_assert(hbp[Z_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.Z must be greater than or equal to 0."), + static_assert(hbp[I_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.I must be greater than or equal to 0."), + static_assert(hbp[J_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.J must be greater than or equal to 0."), + static_assert(hbp[K_AXIS] >= 0, "HOMING_BACKOFF_POST_MM.K must be greater than or equal to 0.") + ); +#endif + +#ifdef SENSORLESS_BACKOFF_MM + constexpr float sbm[] = SENSORLESS_BACKOFF_MM; + static_assert(COUNT(sbm) == LINEAR_AXES, "SENSORLESS_BACKOFF_MM must have " _LINEAR_AXES_STR "elements (and no others)."); + LINEAR_AXIS_CODE( + static_assert(sbm[X_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.X must be greater than or equal to 0."), + static_assert(sbm[Y_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.Y must be greater than or equal to 0."), + static_assert(sbm[Z_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.Z must be greater than or equal to 0."), + static_assert(sbm[I_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.I must be greater than or equal to 0."), + static_assert(sbm[J_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.J must be greater than or equal to 0."), + static_assert(sbm[K_AXIS] >= 0, "SENSORLESS_BACKOFF_MM.K must be greater than or equal to 0.") + ); +#endif + #if ENABLED(CODEPENDENT_XY_HOMING) #if ENABLED(QUICK_HOME) #error "QUICK_HOME is incompatible with CODEPENDENT_XY_HOMING." @@ -1625,9 +1730,9 @@ LINEAR_AXIS_CODE( /** * Make sure DISABLE_[XYZ] compatible with selected homing options */ -#if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z) +#if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z, DISABLE_I, DISABLE_J, DISABLE_K) #if EITHER(HOME_AFTER_DEACTIVATE, Z_SAFE_HOMING) - #error "DISABLE_[XYZ] is not compatible with HOME_AFTER_DEACTIVATE or Z_SAFE_HOMING." + #error "DISABLE_[XYZIJK] is not compatible with HOME_AFTER_DEACTIVATE or Z_SAFE_HOMING." #endif #endif @@ -2085,7 +2190,7 @@ LINEAR_AXIS_CODE( #define _PLUG_UNUSED_TEST(A,P) (DISABLED(USE_##P##MIN_PLUG, USE_##P##MAX_PLUG) \ && !(ENABLED(A##_DUAL_ENDSTOPS) && WITHIN(A##2_USE_ENDSTOP, _##P##MAX_, _##P##MIN_)) \ && !(ENABLED(A##_MULTI_ENDSTOPS) && WITHIN(A##2_USE_ENDSTOP, _##P##MAX_, _##P##MIN_)) ) -#define _AXIS_PLUG_UNUSED_TEST(A) (_PLUG_UNUSED_TEST(A,X) && _PLUG_UNUSED_TEST(A,Y) && _PLUG_UNUSED_TEST(A,Z)) +#define _AXIS_PLUG_UNUSED_TEST(A) (1 LINEAR_AXIS_GANG(&& _PLUG_UNUSED_TEST(A,X), && _PLUG_UNUSED_TEST(A,Y), && _PLUG_UNUSED_TEST(A,Z), && _PLUG_UNUSED_TEST(A,I), && _PLUG_UNUSED_TEST(A,J), && _PLUG_UNUSED_TEST(A,K) ) ) // A machine with endstops must have a minimum of 3 #if HAS_ENDSTOPS @@ -2098,6 +2203,15 @@ LINEAR_AXIS_CODE( #if _AXIS_PLUG_UNUSED_TEST(Z) #error "You must enable USE_ZMIN_PLUG or USE_ZMAX_PLUG." #endif + #if LINEAR_AXES >= 4 && _AXIS_PLUG_UNUSED_TEST(I) + #error "You must enable USE_IMIN_PLUG or USE_IMAX_PLUG." + #endif + #if LINEAR_AXES >= 5 && _AXIS_PLUG_UNUSED_TEST(J) + #error "You must enable USE_JMIN_PLUG or USE_JMAX_PLUG." + #endif + #if LINEAR_AXES >= 6 && _AXIS_PLUG_UNUSED_TEST(K) + #error "You must enable USE_KMIN_PLUG or USE_KMAX_PLUG." + #endif // Delta and Cartesian use 3 homing endstops #if NONE(IS_SCARA, SPI_ENDSTOPS) @@ -2109,6 +2223,18 @@ LINEAR_AXIS_CODE( #error "Enable USE_YMIN_PLUG when homing Y to MIN." #elif Y_HOME_TO_MAX && DISABLED(USE_YMAX_PLUG) #error "Enable USE_YMAX_PLUG when homing Y to MAX." + #elif LINEAR_AXES >= 4 && I_HOME_TO_MIN && DISABLED(USE_IMIN_PLUG) + #error "Enable USE_IMIN_PLUG when homing I to MIN." + #elif LINEAR_AXES >= 4 && I_HOME_TO_MAX && DISABLED(USE_IMAX_PLUG) + #error "Enable USE_IMAX_PLUG when homing I to MAX." + #elif LINEAR_AXES >= 5 && J_HOME_TO_MIN && DISABLED(USE_JMIN_PLUG) + #error "Enable USE_JMIN_PLUG when homing J to MIN." + #elif LINEAR_AXES >= 5 && J_HOME_TO_MAX && DISABLED(USE_JMAX_PLUG) + #error "Enable USE_JMAX_PLUG when homing J to MAX." + #elif LINEAR_AXES >= 6 && K_HOME_TO_MIN && DISABLED(USE_KMIN_PLUG) + #error "Enable USE_KMIN_PLUG when homing K to MIN." + #elif LINEAR_AXES >= 6 && K_HOME_TO_MAX && DISABLED(USE_KMAX_PLUG) + #error "Enable USE_KMAX_PLUG when homing K to MAX." #endif #endif @@ -2503,6 +2629,12 @@ LINEAR_AXIS_CODE( #error "An SPI driven TMC driver on E6 requires E6_CS_PIN." #elif INVALID_TMC_SPI(E7) #error "An SPI driven TMC driver on E7 requires E7_CS_PIN." +#elif INVALID_TMC_SPI(I) + #error "An SPI driven TMC on I requires I_CS_PIN." +#elif INVALID_TMC_SPI(J) + #error "An SPI driven TMC on J requires J_CS_PIN." +#elif INVALID_TMC_SPI(K) + #error "An SPI driven TMC on K requires K_CS_PIN." #endif #undef INVALID_TMC_SPI @@ -2542,6 +2674,12 @@ LINEAR_AXIS_CODE( #error "TMC2208 or TMC2209 on E6 requires E6_HARDWARE_SERIAL or E6_SERIAL_(RX|TX)_PIN." #elif INVALID_TMC_UART(E7) #error "TMC2208 or TMC2209 on E7 requires E7_HARDWARE_SERIAL or E7_SERIAL_(RX|TX)_PIN." +#elif LINEAR_AXES >= 4 && INVALID_TMC_UART(I) + #error "TMC2208 or TMC2209 on I requires I_HARDWARE_SERIAL or I_SERIAL_(RX|TX)_PIN." +#elif LINEAR_AXES >= 5 && INVALID_TMC_UART(J) + #error "TMC2208 or TMC2209 on J requires J_HARDWARE_SERIAL or J_SERIAL_(RX|TX)_PIN." +#elif LINEAR_AXES >= 6 && INVALID_TMC_UART(K) + #error "TMC2208 or TMC2209 on K requires K_HARDWARE_SERIAL or K_SERIAL_(RX|TX)_PIN." #endif #undef INVALID_TMC_UART @@ -2565,6 +2703,12 @@ LINEAR_AXIS_CODE( INVALID_TMC_ADDRESS(Z3); #elif AXIS_DRIVER_TYPE_Z4(TMC2209) INVALID_TMC_ADDRESS(Z4); +#elif AXIS_DRIVER_TYPE_I(TMC2209) + INVALID_TMC_ADDRESS(I); +#elif AXIS_DRIVER_TYPE_J(TMC2209) + INVALID_TMC_ADDRESS(J); +#elif AXIS_DRIVER_TYPE_K(TMC2209) + INVALID_TMC_ADDRESS(K); #elif AXIS_DRIVER_TYPE_E0(TMC2209) INVALID_TMC_ADDRESS(E0); #elif AXIS_DRIVER_TYPE_E1(TMC2209) @@ -2620,6 +2764,12 @@ LINEAR_AXIS_CODE( INVALID_TMC_MS(E6) #elif !TMC_MICROSTEP_IS_VALID(E7) INVALID_TMC_MS(E7) +#elif LINEAR_AXES >= 4 && !TMC_MICROSTEP_IS_VALID(I) + INVALID_TMC_MS(I) +#elif LINEAR_AXES >= 5 && !TMC_MICROSTEP_IS_VALID(J) + INVALID_TMC_MS(J) +#elif LINEAR_AXES >= 6 && !TMC_MICROSTEP_IS_VALID(K) + INVALID_TMC_MS(K) #endif #undef INVALID_TMC_MS #undef TMC_MICROSTEP_IS_VALID @@ -2640,6 +2790,15 @@ LINEAR_AXIS_CODE( #define X_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(X,TMC2209) #define Y_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(Y,TMC2209) #define Z_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(Z,TMC2209) + #if LINEAR_AXES >= 4 + #define I_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(I,TMC2209) + #endif + #if LINEAR_AXES >= 5 + #define J_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(J,TMC2209) + #endif + #if LINEAR_AXES >= 6 + #define K_ENDSTOP_INVERTING !AXIS_DRIVER_TYPE(K,TMC2209) + #endif #if NONE(SPI_ENDSTOPS, ONBOARD_ENDSTOPPULLUPS, ENDSTOPPULLUPS) #if X_SENSORLESS && X_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_XMIN) @@ -2654,6 +2813,12 @@ LINEAR_AXIS_CODE( #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_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_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_MAX && DISABLED(ENDSTOPPULLUP_KMAX) + #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_KMAX (or ENDSTOPPULLUPS) when homing to K_MAX." #endif #endif @@ -2698,6 +2863,42 @@ LINEAR_AXIS_CODE( #else #error "SENSORLESS_HOMING requires Z_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to Z_MAX." #endif + #elif LINEAR_AXES >= 4 && I_SENSORLESS && I_HOME_TO_MIN && I_MIN_ENDSTOP_INVERTING != I_ENDSTOP_INVERTING + #if I_ENDSTOP_INVERTING + #error "SENSORLESS_HOMING requires I_MIN_ENDSTOP_INVERTING = true when homing to I_MIN." + #else + #error "SENSORLESS_HOMING requires I_MIN_ENDSTOP_INVERTING = false when homing TMC2209 to I_MIN." + #endif + #elif LINEAR_AXES >= 4 && I_SENSORLESS && I_HOME_TO_MAX && I_MAX_ENDSTOP_INVERTING != I_ENDSTOP_INVERTING + #if I_ENDSTOP_INVERTING + #error "SENSORLESS_HOMING requires I_MAX_ENDSTOP_INVERTING = true when homing to I_MAX." + #else + #error "SENSORLESS_HOMING requires I_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to I_MAX." + #endif + #elif LINEAR_AXES >= 5 && J_SENSORLESS && J_HOME_TO_MIN && J_MIN_ENDSTOP_INVERTING != J_ENDSTOP_INVERTING + #if J_ENDSTOP_INVERTING + #error "SENSORLESS_HOMING requires J_MIN_ENDSTOP_INVERTING = true when homing to J_MIN." + #else + #error "SENSORLESS_HOMING requires J_MIN_ENDSTOP_INVERTING = false when homing TMC2209 to J_MIN." + #endif + #elif LINEAR_AXES >= 5 && J_SENSORLESS && J_HOME_TO_MAX && J_MAX_ENDSTOP_INVERTING != J_ENDSTOP_INVERTING + #if J_ENDSTOP_INVERTING + #error "SENSORLESS_HOMING requires J_MAX_ENDSTOP_INVERTING = true when homing to J_MAX." + #else + #error "SENSORLESS_HOMING requires J_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to J_MAX." + #endif + #elif LINEAR_AXES >= 6 && K_SENSORLESS && K_HOME_TO_MIN && K_MIN_ENDSTOP_INVERTING != K_ENDSTOP_INVERTING + #if K_ENDSTOP_INVERTING + #error "SENSORLESS_HOMING requires K_MIN_ENDSTOP_INVERTING = true when homing to K_MIN." + #else + #error "SENSORLESS_HOMING requires K_MIN_ENDSTOP_INVERTING = false when homing TMC2209 to K_MIN." + #endif + #elif LINEAR_AXES >= 6 && K_SENSORLESS && K_HOME_TO_MAX && K_MAX_ENDSTOP_INVERTING != K_ENDSTOP_INVERTING + #if K_ENDSTOP_INVERTING + #error "SENSORLESS_HOMING requires K_MAX_ENDSTOP_INVERTING = true when homing to K_MAX." + #else + #error "SENSORLESS_HOMING requires K_MAX_ENDSTOP_INVERTING = false when homing TMC2209 to K_MAX." + #endif #endif #endif @@ -2712,6 +2913,9 @@ LINEAR_AXIS_CODE( #undef X_ENDSTOP_INVERTING #undef Y_ENDSTOP_INVERTING #undef Z_ENDSTOP_INVERTING + #undef I_ENDSTOP_INVERTING + #undef J_ENDSTOP_INVERTING + #undef K_ENDSTOP_INVERTING #endif // Sensorless probing requirements @@ -2774,6 +2978,12 @@ LINEAR_AXIS_CODE( #define CS_COMPARE Z2_CS_PIN #elif IN_CHAIN(Z3) #define CS_COMPARE Z3_CS_PIN + #elif IN_CHAIN(I) + #define CS_COMPARE I_CS_PIN + #elif IN_CHAIN(J) + #define CS_COMPARE J_CS_PIN + #elif IN_CHAIN(K) + #define CS_COMPARE K_CS_PIN #elif IN_CHAIN(E0) #define CS_COMPARE E0_CS_PIN #elif IN_CHAIN(E1) @@ -2793,6 +3003,7 @@ LINEAR_AXIS_CODE( #endif #define BAD_CS_PIN(A) (IN_CHAIN(A) && A##_CS_PIN != CS_COMPARE) #if BAD_CS_PIN(X ) || BAD_CS_PIN(Y ) || BAD_CS_PIN(Z ) || BAD_CS_PIN(X2) || BAD_CS_PIN(Y2) || BAD_CS_PIN(Z2) || BAD_CS_PIN(Z3) || BAD_CS_PIN(Z4) \ + || BAD_CS_PIN(I) || BAD_CS_PIN(J) || BAD_CS_PIN(K) \ || BAD_CS_PIN(E0) || BAD_CS_PIN(E1) || BAD_CS_PIN(E2) || BAD_CS_PIN(E3) || BAD_CS_PIN(E4) || BAD_CS_PIN(E5) || BAD_CS_PIN(E6) || BAD_CS_PIN(E7) #error "All chained TMC drivers must use the same CS pin." #endif @@ -2803,6 +3014,13 @@ LINEAR_AXIS_CODE( #endif #undef IN_CHAIN +/** + * L64XX requirement + */ +#if HAS_L64XX && LINEAR_AXES >= 4 + #error "L64XX requires LINEAR_AXES 3. Homing with L64XX is not yet implemented for LINEAR_AXES > 3." +#endif + /** * Digipot requirement */ @@ -2820,43 +3038,48 @@ LINEAR_AXIS_CODE( */ constexpr float sanity_arr_1[] = DEFAULT_AXIS_STEPS_PER_UNIT, sanity_arr_2[] = DEFAULT_MAX_FEEDRATE, - sanity_arr_3[] = DEFAULT_MAX_ACCELERATION; + sanity_arr_3[] = DEFAULT_MAX_ACCELERATION, + sanity_arr_7[] = HOMING_FEEDRATE_MM_M; #define _ARR_TEST(N,I) (sanity_arr_##N[_MIN(I,int(COUNT(sanity_arr_##N))-1)] > 0) #if HAS_MULTI_EXTRUDER #define _EXTRA_NOTE " (Did you forget to enable DISTINCT_E_FACTORS?)" -#elif EXTRUDERS == 0 - #define _EXTRA_NOTE " (Note: EXTRUDERS is set to 0.)" #else - #define _EXTRA_NOTE "" + #define _EXTRA_NOTE " (Should be " STRINGIFY(LINEAR_AXES) "+" STRINGIFY(E_STEPPERS) ")" #endif -static_assert(COUNT(sanity_arr_1) >= LOGICAL_AXES, "DEFAULT_AXIS_STEPS_PER_UNIT requires X, Y, Z and E elements."); +static_assert(COUNT(sanity_arr_1) >= LOGICAL_AXES, "DEFAULT_AXIS_STEPS_PER_UNIT requires " _LOGICAL_AXES_STR "elements."); static_assert(COUNT(sanity_arr_1) <= DISTINCT_AXES, "DEFAULT_AXIS_STEPS_PER_UNIT has too many elements." _EXTRA_NOTE); static_assert( _ARR_TEST(1,0) && _ARR_TEST(1,1) && _ARR_TEST(1,2) && _ARR_TEST(1,3) && _ARR_TEST(1,4) && _ARR_TEST(1,5) && _ARR_TEST(1,6) && _ARR_TEST(1,7) && _ARR_TEST(1,8), "DEFAULT_AXIS_STEPS_PER_UNIT values must be positive."); -static_assert(COUNT(sanity_arr_2) >= LOGICAL_AXES, "DEFAULT_MAX_FEEDRATE requires X, Y, Z and E elements."); +static_assert(COUNT(sanity_arr_2) >= LOGICAL_AXES, "DEFAULT_MAX_FEEDRATE requires " _LOGICAL_AXES_STR "elements."); static_assert(COUNT(sanity_arr_2) <= DISTINCT_AXES, "DEFAULT_MAX_FEEDRATE has too many elements." _EXTRA_NOTE); static_assert( _ARR_TEST(2,0) && _ARR_TEST(2,1) && _ARR_TEST(2,2) && _ARR_TEST(2,3) && _ARR_TEST(2,4) && _ARR_TEST(2,5) && _ARR_TEST(2,6) && _ARR_TEST(2,7) && _ARR_TEST(2,8), "DEFAULT_MAX_FEEDRATE values must be positive."); -static_assert(COUNT(sanity_arr_3) >= LOGICAL_AXES, "DEFAULT_MAX_ACCELERATION requires X, Y, Z and E elements."); +static_assert(COUNT(sanity_arr_3) >= LOGICAL_AXES, "DEFAULT_MAX_ACCELERATION requires " _LOGICAL_AXES_STR "elements."); static_assert(COUNT(sanity_arr_3) <= DISTINCT_AXES, "DEFAULT_MAX_ACCELERATION has too many elements." _EXTRA_NOTE); static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2) && _ARR_TEST(3,3) && _ARR_TEST(3,4) && _ARR_TEST(3,5) && _ARR_TEST(3,6) && _ARR_TEST(3,7) && _ARR_TEST(3,8), "DEFAULT_MAX_ACCELERATION values must be positive."); +static_assert(COUNT(sanity_arr_7) == LINEAR_AXES, "HOMING_FEEDRATE_MM_M requires " _LINEAR_AXES_STR "elements (and no others)."); +static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2) + && _ARR_TEST(3,3) && _ARR_TEST(3,4) && _ARR_TEST(3,5) + && _ARR_TEST(3,6) && _ARR_TEST(3,7) && _ARR_TEST(3,8), + "HOMING_FEEDRATE_MM_M values must be positive."); + #if ENABLED(LIMITED_MAX_ACCEL_EDITING) #ifdef MAX_ACCEL_EDIT_VALUES constexpr float sanity_arr_4[] = MAX_ACCEL_EDIT_VALUES; - static_assert(COUNT(sanity_arr_4) >= LOGICAL_AXES, "MAX_ACCEL_EDIT_VALUES requires X, Y, Z and E elements."); - static_assert(COUNT(sanity_arr_4) <= LOGICAL_AXES, "MAX_ACCEL_EDIT_VALUES has too many elements. X, Y, Z and E elements only."); + static_assert(COUNT(sanity_arr_4) >= LOGICAL_AXES, "MAX_ACCEL_EDIT_VALUES requires " _LOGICAL_AXES_STR "elements."); + static_assert(COUNT(sanity_arr_4) <= LOGICAL_AXES, "MAX_ACCEL_EDIT_VALUES has too many elements. " _LOGICAL_AXES_STR "elements only."); static_assert( _ARR_TEST(4,0) && _ARR_TEST(4,1) && _ARR_TEST(4,2) && _ARR_TEST(4,3) && _ARR_TEST(4,4) && _ARR_TEST(4,5) && _ARR_TEST(4,6) && _ARR_TEST(4,7) && _ARR_TEST(4,8), @@ -2867,8 +3090,8 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2) #if ENABLED(LIMITED_MAX_FR_EDITING) #ifdef MAX_FEEDRATE_EDIT_VALUES constexpr float sanity_arr_5[] = MAX_FEEDRATE_EDIT_VALUES; - static_assert(COUNT(sanity_arr_5) >= LOGICAL_AXES, "MAX_FEEDRATE_EDIT_VALUES requires X, Y, Z and E elements."); - static_assert(COUNT(sanity_arr_5) <= LOGICAL_AXES, "MAX_FEEDRATE_EDIT_VALUES has too many elements. X, Y, Z and E elements only."); + static_assert(COUNT(sanity_arr_5) >= LOGICAL_AXES, "MAX_FEEDRATE_EDIT_VALUES requires " _LOGICAL_AXES_STR "elements."); + static_assert(COUNT(sanity_arr_5) <= LOGICAL_AXES, "MAX_FEEDRATE_EDIT_VALUES has too many elements. " _LOGICAL_AXES_STR "elements only."); static_assert( _ARR_TEST(5,0) && _ARR_TEST(5,1) && _ARR_TEST(5,2) && _ARR_TEST(5,3) && _ARR_TEST(5,4) && _ARR_TEST(5,5) && _ARR_TEST(5,6) && _ARR_TEST(5,7) && _ARR_TEST(5,8), @@ -2879,8 +3102,8 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2) #if ENABLED(LIMITED_JERK_EDITING) #ifdef MAX_JERK_EDIT_VALUES constexpr float sanity_arr_6[] = MAX_JERK_EDIT_VALUES; - static_assert(COUNT(sanity_arr_6) >= LOGICAL_AXES, "MAX_JERK_EDIT_VALUES requires X, Y, Z and E elements."); - static_assert(COUNT(sanity_arr_6) <= LOGICAL_AXES, "MAX_JERK_EDIT_VALUES has too many elements. X, Y, Z and E elements only."); + static_assert(COUNT(sanity_arr_6) >= LOGICAL_AXES, "MAX_JERK_EDIT_VALUES requires " _LOGICAL_AXES_STR "elements."); + static_assert(COUNT(sanity_arr_6) <= LOGICAL_AXES, "MAX_JERK_EDIT_VALUES has too many elements. " _LOGICAL_AXES_STR "elements only."); static_assert( _ARR_TEST(6,0) && _ARR_TEST(6,1) && _ARR_TEST(6,2) && _ARR_TEST(6,3) && _ARR_TEST(6,4) && _ARR_TEST(6,5) && _ARR_TEST(6,6) && _ARR_TEST(6,7) && _ARR_TEST(6,8), @@ -3280,6 +3503,22 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2) #if _BAD_DRIVER(Z) #error "Z_DRIVER_TYPE is not recognized." #endif +#if LINEAR_AXES >= 4 + #if _BAD_DRIVER(I) + #error "I_DRIVER_TYPE is not recognized." + #endif +#endif +#if LINEAR_AXES >= 5 + #if _BAD_DRIVER(J) + #error "J_DRIVER_TYPE is not recognized." + #endif +#endif +#if LINEAR_AXES >= 6 + #if _BAD_DRIVER(K) + #error "K_DRIVER_TYPE is not recognized." + #endif +#endif + #if _BAD_DRIVER(X2) #error "X2_DRIVER_TYPE is not recognized." #endif @@ -3323,7 +3562,5 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2) // Misc. Cleanup #undef _TEST_PWM - -#if ENABLED(FREEZE_FEATURE) && !PIN_EXISTS(FREEZE) - #error "FREEZE_FEATURE requires a FREEZE_PIN to be defined." -#endif +#undef _LINEAR_AXES_STR +#undef _LOGICAL_AXES_STR diff --git a/Marlin/src/inc/Version.h b/Marlin/src/inc/Version.h index eb739c301c..a110468d3c 100644 --- a/Marlin/src/inc/Version.h +++ b/Marlin/src/inc/Version.h @@ -52,7 +52,7 @@ * to alert users to major changes. */ -#define MARLIN_HEX_VERSION 02000801 +#define MARLIN_HEX_VERSION 02000900 #ifndef REQUIRED_CONFIGURATION_H_VERSION #define REQUIRED_CONFIGURATION_H_VERSION MARLIN_HEX_VERSION #endif diff --git a/Marlin/src/lcd/dwin/e3v2/dwin.cpp b/Marlin/src/lcd/dwin/e3v2/dwin.cpp index 76118d6814..777b56ac0e 100644 --- a/Marlin/src/lcd/dwin/e3v2/dwin.cpp +++ b/Marlin/src/lcd/dwin/e3v2/dwin.cpp @@ -1235,7 +1235,7 @@ inline ENCODER_DiffState get_encoder_state() { void HMI_Plan_Move(const feedRate_t fr_mm_s) { if (!planner.is_full()) { planner.synchronize(); - planner.buffer_line(current_position, fr_mm_s, active_extruder); + planner.buffer_line(current_position, fr_mm_s); DWIN_UpdateLCD(); } } diff --git a/Marlin/src/lcd/extui/dgus/mks/DGUSDisplayDef.cpp b/Marlin/src/lcd/extui/dgus/mks/DGUSDisplayDef.cpp index 4f9021064d..a18fcb14fa 100644 --- a/Marlin/src/lcd/extui/dgus/mks/DGUSDisplayDef.cpp +++ b/Marlin/src/lcd/extui/dgus/mks/DGUSDisplayDef.cpp @@ -697,13 +697,13 @@ const struct DGUS_VP_Variable ListOfVP[] PROGMEM = { #endif #if ENABLED(SENSORLESS_HOMING) // TMC SENSORLESS Setting - #if AXIS_HAS_STEALTHCHOP(X) + #if X_HAS_STEALTHCHOP VPHELPER(VP_TMC_X_STEP, &tmc_step.x, ScreenHandler.TMC_ChangeConfig, ScreenHandler.DGUSLCD_SendTMCStepValue), #endif - #if AXIS_HAS_STEALTHCHOP(Y) + #if Y_HAS_STEALTHCHOP VPHELPER(VP_TMC_Y_STEP, &tmc_step.y, ScreenHandler.TMC_ChangeConfig, ScreenHandler.DGUSLCD_SendTMCStepValue), #endif - #if AXIS_HAS_STEALTHCHOP(Z) + #if Z_HAS_STEALTHCHOP VPHELPER(VP_TMC_Z_STEP, &tmc_step.z, ScreenHandler.TMC_ChangeConfig, ScreenHandler.DGUSLCD_SendTMCStepValue), #endif #endif diff --git a/Marlin/src/lcd/extui/dgus/mks/DGUSDisplayDef.h b/Marlin/src/lcd/extui/dgus/mks/DGUSDisplayDef.h index f174f38d96..fef7002ad8 100644 --- a/Marlin/src/lcd/extui/dgus/mks/DGUSDisplayDef.h +++ b/Marlin/src/lcd/extui/dgus/mks/DGUSDisplayDef.h @@ -59,19 +59,19 @@ extern xyz_int_t tmc_step; extern uint16_t lcd_default_light; -#if AXIS_HAS_STEALTHCHOP(X) +#if X_HAS_STEALTHCHOP extern uint16_t tmc_x_current; #endif -#if AXIS_HAS_STEALTHCHOP(Y) +#if Y_HAS_STEALTHCHOP extern uint16_t tmc_y_current; #endif -#if AXIS_HAS_STEALTHCHOP(Z) +#if Z_HAS_STEALTHCHOP extern uint16_t tmc_z_current; #endif -#if AXIS_HAS_STEALTHCHOP(E0) +#if E0_HAS_STEALTHCHOP extern uint16_t tmc_e0_current; #endif -#if AXIS_HAS_STEALTHCHOP(E1) +#if E1_HAS_STEALTHCHOP extern uint16_t tmc_e1_current; #endif diff --git a/Marlin/src/lcd/extui/dgus/mks/DGUSScreenHandler.cpp b/Marlin/src/lcd/extui/dgus/mks/DGUSScreenHandler.cpp index 6d12d529a9..c648d06218 100644 --- a/Marlin/src/lcd/extui/dgus/mks/DGUSScreenHandler.cpp +++ b/Marlin/src/lcd/extui/dgus/mks/DGUSScreenHandler.cpp @@ -134,15 +134,15 @@ void DGUSScreenHandler::DGUSLCD_SendStringToDisplay_Language_MKS(DGUS_VP_Variabl void DGUSScreenHandler::DGUSLCD_SendTMCStepValue(DGUS_VP_Variable &var) { #if ENABLED(SENSORLESS_HOMING) - #if AXIS_HAS_STEALTHCHOP(X) + #if X_HAS_STEALTHCHOP tmc_step.x = stepperX.homing_threshold(); dgusdisplay.WriteVariable(var.VP, *(int16_t*)var.memadr); #endif - #if AXIS_HAS_STEALTHCHOP(Y) + #if Y_HAS_STEALTHCHOP tmc_step.y = stepperY.homing_threshold(); dgusdisplay.WriteVariable(var.VP, *(int16_t*)var.memadr); #endif - #if AXIS_HAS_STEALTHCHOP(Z) + #if Z_HAS_STEALTHCHOP tmc_step.z = stepperZ.homing_threshold(); dgusdisplay.WriteVariable(var.VP, *(int16_t*)var.memadr); #endif @@ -659,7 +659,7 @@ void DGUSScreenHandler::TMC_ChangeConfig(DGUS_VP_Variable &var, void *val_ptr) { switch (var.VP) { case VP_TMC_X_STEP: #if USE_SENSORLESS - #if AXIS_HAS_STEALTHCHOP(X) + #if X_HAS_STEALTHCHOP stepperX.homing_threshold(mks_min(tmc_value, 255)); settings.save(); //tmc_step.x = stepperX.homing_threshold(); @@ -668,7 +668,7 @@ void DGUSScreenHandler::TMC_ChangeConfig(DGUS_VP_Variable &var, void *val_ptr) { break; case VP_TMC_Y_STEP: #if USE_SENSORLESS - #if AXIS_HAS_STEALTHCHOP(Y) + #if Y_HAS_STEALTHCHOP stepperY.homing_threshold(mks_min(tmc_value, 255)); settings.save(); //tmc_step.y = stepperY.homing_threshold(); @@ -677,7 +677,7 @@ void DGUSScreenHandler::TMC_ChangeConfig(DGUS_VP_Variable &var, void *val_ptr) { break; case VP_TMC_Z_STEP: #if USE_SENSORLESS - #if AXIS_HAS_STEALTHCHOP(Z) + #if Z_HAS_STEALTHCHOP stepperZ.homing_threshold(mks_min(tmc_value, 255)); settings.save(); //tmc_step.z = stepperZ.homing_threshold(); @@ -737,15 +737,9 @@ void DGUSScreenHandler::TMC_ChangeConfig(DGUS_VP_Variable &var, void *val_ptr) { break; } #if USE_SENSORLESS - #if AXIS_HAS_STEALTHCHOP(X) - tmc_step.x = stepperX.homing_threshold(); - #endif - #if AXIS_HAS_STEALTHCHOP(Y) - tmc_step.y = stepperY.homing_threshold(); - #endif - #if AXIS_HAS_STEALTHCHOP(Z) - tmc_step.z = stepperZ.homing_threshold(); - #endif + TERN_(X_HAS_STEALTHCHOP, tmc_step.x = stepperX.homing_threshold()); + TERN_(Y_HAS_STEALTHCHOP, tmc_step.y = stepperY.homing_threshold()); + TERN_(Z_HAS_STEALTHCHOP, tmc_step.z = stepperZ.homing_threshold()); #endif } @@ -1419,15 +1413,9 @@ bool DGUSScreenHandler::loop() { if (!booted && ELAPSED(ms, TERN(USE_MKS_GREEN_UI, 1000, BOOTSCREEN_TIMEOUT))) { booted = true; #if USE_SENSORLESS - #if AXIS_HAS_STEALTHCHOP(X) - tmc_step.x = stepperX.homing_threshold(); - #endif - #if AXIS_HAS_STEALTHCHOP(Y) - tmc_step.y = stepperY.homing_threshold(); - #endif - #if AXIS_HAS_STEALTHCHOP(Z) - tmc_step.z = stepperZ.homing_threshold(); - #endif + TERN_(X_HAS_STEALTHCHOP, tmc_step.x = stepperX.homing_threshold()); + TERN_(Y_HAS_STEALTHCHOP, tmc_step.y = stepperY.homing_threshold()); + TERN_(Z_HAS_STEALTHCHOP, tmc_step.z = stepperZ.homing_threshold()); #endif #if ENABLED(PREVENT_COLD_EXTRUSION) diff --git a/Marlin/src/lcd/extui/ftdi_eve_touch_ui/screens/endstop_state_screen.cpp b/Marlin/src/lcd/extui/ftdi_eve_touch_ui/screens/endstop_state_screen.cpp index 3648321dce..e79e88b6b0 100644 --- a/Marlin/src/lcd/extui/ftdi_eve_touch_ui/screens/endstop_state_screen.cpp +++ b/Marlin/src/lcd/extui/ftdi_eve_touch_ui/screens/endstop_state_screen.cpp @@ -60,32 +60,32 @@ void EndstopStatesScreen::onRedraw(draw_mode_t) { ) .text(BTN_POS(1,1), BTN_SIZE(6,1), GET_TEXT_F(MSG_LCD_ENDSTOPS)) .font(font_tiny); - #if PIN_EXISTS(X_MAX) + #if HAS_X_MAX PIN_ENABLED (1, 2, PSTR(STR_X_MAX), X_MAX, X_MAX_ENDSTOP_INVERTING) #else PIN_DISABLED(1, 2, PSTR(STR_X_MAX), X_MAX) #endif - #if PIN_EXISTS(Y_MAX) + #if HAS_Y_MAX PIN_ENABLED (3, 2, PSTR(STR_Y_MAX), Y_MAX, Y_MAX_ENDSTOP_INVERTING) #else PIN_DISABLED(3, 2, PSTR(STR_Y_MAX), Y_MAX) #endif - #if PIN_EXISTS(Z_MAX) + #if HAS_Z_MAX PIN_ENABLED (5, 2, PSTR(STR_Z_MAX), Z_MAX, Z_MAX_ENDSTOP_INVERTING) #else PIN_DISABLED(5, 2, PSTR(STR_Z_MAX), Z_MAX) #endif - #if PIN_EXISTS(X_MIN) + #if HAS_X_MIN PIN_ENABLED (1, 3, PSTR(STR_X_MIN), X_MIN, X_MIN_ENDSTOP_INVERTING) #else PIN_DISABLED(1, 3, PSTR(STR_X_MIN), X_MIN) #endif - #if PIN_EXISTS(Y_MIN) + #if HAS_Y_MIN PIN_ENABLED (3, 3, PSTR(STR_Y_MIN), Y_MIN, Y_MIN_ENDSTOP_INVERTING) #else PIN_DISABLED(3, 3, PSTR(STR_Y_MIN), Y_MIN) #endif - #if PIN_EXISTS(Z_MIN) + #if HAS_Z_MIN PIN_ENABLED (5, 3, PSTR(STR_Z_MIN), Z_MIN, Z_MIN_ENDSTOP_INVERTING) #else PIN_DISABLED(5, 3, PSTR(STR_Z_MIN), Z_MIN) diff --git a/Marlin/src/lcd/extui/mks_ui/draw_tmc_step_mode_settings.cpp b/Marlin/src/lcd/extui/mks_ui/draw_tmc_step_mode_settings.cpp index b0f55a1d45..bf1b9c3459 100644 --- a/Marlin/src/lcd/extui/mks_ui/draw_tmc_step_mode_settings.cpp +++ b/Marlin/src/lcd/extui/mks_ui/draw_tmc_step_mode_settings.cpp @@ -68,30 +68,20 @@ static void event_handler(lv_obj_t *obj, lv_event_t event) { draw_return_ui(); break; - #if AXIS_HAS_STEALTHCHOP(X) - case ID_TMC_MODE_X: - toggle_chop(stepperX, buttonXState); - break; + #if X_HAS_STEALTHCHOP + case ID_TMC_MODE_X: toggle_chop(stepperX, buttonXState); break; #endif - #if AXIS_HAS_STEALTHCHOP(Y) - case ID_TMC_MODE_Y: - toggle_chop(stepperY, buttonYState); - break; + #if Y_HAS_STEALTHCHOP + case ID_TMC_MODE_Y: toggle_chop(stepperY, buttonYState); break; #endif - #if AXIS_HAS_STEALTHCHOP(Z) - case ID_TMC_MODE_Z: - toggle_chop(stepperZ, buttonZState); - break; + #if Z_HAS_STEALTHCHOP + case ID_TMC_MODE_Z: toggle_chop(stepperZ, buttonZState); break; #endif - #if AXIS_HAS_STEALTHCHOP(E0) - case ID_TMC_MODE_E0: - toggle_chop(stepperE0, buttonE0State); - break; + #if E0_HAS_STEALTHCHOP + case ID_TMC_MODE_E0: toggle_chop(stepperE0, buttonE0State); break; #endif - #if AXIS_HAS_STEALTHCHOP(E1) - case ID_TMC_MODE_E1: - toggle_chop(stepperE1, buttonE1State); - break; + #if E1_HAS_STEALTHCHOP + case ID_TMC_MODE_E1: toggle_chop(stepperE1, buttonE1State); break; #endif case ID_TMC_MODE_UP: @@ -113,21 +103,11 @@ void lv_draw_tmc_step_mode_settings() { scr = lv_screen_create(TMC_MODE_UI, machine_menu.TmcStepModeConfTitle); bool stealth_X = false, stealth_Y = false, stealth_Z = false, stealth_E0 = false, stealth_E1 = false; - #if AXIS_HAS_STEALTHCHOP(X) - stealth_X = stepperX.get_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(Y) - stealth_Y = stepperY.get_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(Z) - stealth_Z = stepperZ.get_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(E0) - stealth_E0 = stepperE0.get_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(E1) - stealth_E1 = stepperE1.get_stealthChop(); - #endif + TERN_(X_HAS_STEALTHCHOP, stealth_X = stepperX.get_stealthChop()); + TERN_(Y_HAS_STEALTHCHOP, stealth_Y = stepperY.get_stealthChop()); + TERN_(Z_HAS_STEALTHCHOP, stealth_Z = stepperZ.get_stealthChop()); + TERN_(E0_HAS_STEALTHCHOP, stealth_E0 = stepperE0.get_stealthChop()); + TERN_(E1_HAS_STEALTHCHOP, stealth_E1 = stepperE1.get_stealthChop()); if (!uiCfg.para_ui_page) { buttonXState = lv_screen_menu_item_onoff(scr, machine_menu.X_StepMode, PARA_UI_POS_X, PARA_UI_POS_Y, event_handler, ID_TMC_MODE_X, 0, stealth_X); diff --git a/Marlin/src/lcd/language/language_en.h b/Marlin/src/lcd/language/language_en.h index 34b2c0bb5b..33f11c9ffd 100644 --- a/Marlin/src/lcd/language/language_en.h +++ b/Marlin/src/lcd/language/language_en.h @@ -72,6 +72,9 @@ namespace Language_en { PROGMEM Language_Str MSG_AUTO_HOME_X = _UxGT("Home X"); PROGMEM Language_Str MSG_AUTO_HOME_Y = _UxGT("Home Y"); PROGMEM Language_Str MSG_AUTO_HOME_Z = _UxGT("Home Z"); + PROGMEM Language_Str MSG_AUTO_HOME_I = _UxGT("Home ") LCD_STR_I; + PROGMEM Language_Str MSG_AUTO_HOME_J = _UxGT("Home ") LCD_STR_J; + PROGMEM Language_Str MSG_AUTO_HOME_K = _UxGT("Home ") LCD_STR_K; PROGMEM Language_Str MSG_AUTO_Z_ALIGN = _UxGT("Auto Z-Align"); PROGMEM Language_Str MSG_ITERATION = _UxGT("G34 Iteration: %i"); PROGMEM Language_Str MSG_DECREASING_ACCURACY = _UxGT("Accuracy Decreasing!"); @@ -85,6 +88,9 @@ namespace Language_en { PROGMEM Language_Str MSG_HOME_OFFSET_X = _UxGT("Home Offset X"); PROGMEM Language_Str MSG_HOME_OFFSET_Y = _UxGT("Home Offset Y"); PROGMEM Language_Str MSG_HOME_OFFSET_Z = _UxGT("Home Offset Z"); + PROGMEM Language_Str MSG_HOME_OFFSET_I = _UxGT("Home Offset ") LCD_STR_I; + PROGMEM Language_Str MSG_HOME_OFFSET_J = _UxGT("Home Offset ") LCD_STR_J; + PROGMEM Language_Str MSG_HOME_OFFSET_K = _UxGT("Home Offset ") LCD_STR_K; PROGMEM Language_Str MSG_HOME_OFFSETS_APPLIED = _UxGT("Offsets Applied"); PROGMEM Language_Str MSG_SET_ORIGIN = _UxGT("Set Origin"); PROGMEM Language_Str MSG_ASSISTED_TRAMMING = _UxGT("Assisted Tramming"); @@ -265,6 +271,9 @@ namespace Language_en { PROGMEM Language_Str MSG_MOVE_X = _UxGT("Move X"); PROGMEM Language_Str MSG_MOVE_Y = _UxGT("Move Y"); PROGMEM Language_Str MSG_MOVE_Z = _UxGT("Move Z"); + PROGMEM Language_Str MSG_MOVE_I = _UxGT("Move ") LCD_STR_I; + PROGMEM Language_Str MSG_MOVE_J = _UxGT("Move ") LCD_STR_J; + PROGMEM Language_Str MSG_MOVE_K = _UxGT("Move ") LCD_STR_K; PROGMEM Language_Str MSG_MOVE_E = _UxGT("Extruder"); PROGMEM Language_Str MSG_MOVE_EN = _UxGT("Extruder *"); PROGMEM Language_Str MSG_HOTEND_TOO_COLD = _UxGT("Hotend too cold"); @@ -329,12 +338,18 @@ namespace Language_en { PROGMEM Language_Str MSG_VA_JERK = _UxGT("V") LCD_STR_A _UxGT("-Jerk"); PROGMEM Language_Str MSG_VB_JERK = _UxGT("V") LCD_STR_B _UxGT("-Jerk"); PROGMEM Language_Str MSG_VC_JERK = _UxGT("V") LCD_STR_C _UxGT("-Jerk"); + PROGMEM Language_Str MSG_VI_JERK = _UxGT("V") LCD_STR_I _UxGT("-Jerk"); + PROGMEM Language_Str MSG_VJ_JERK = _UxGT("V") LCD_STR_J _UxGT("-Jerk"); + PROGMEM Language_Str MSG_VK_JERK = _UxGT("V") LCD_STR_K _UxGT("-Jerk"); PROGMEM Language_Str MSG_VE_JERK = _UxGT("Ve-Jerk"); PROGMEM Language_Str MSG_JUNCTION_DEVIATION = _UxGT("Junction Dev"); PROGMEM Language_Str MSG_VELOCITY = _UxGT("Velocity"); PROGMEM Language_Str MSG_VMAX_A = _UxGT("Vmax ") LCD_STR_A; PROGMEM Language_Str MSG_VMAX_B = _UxGT("Vmax ") LCD_STR_B; PROGMEM Language_Str MSG_VMAX_C = _UxGT("Vmax ") LCD_STR_C; + PROGMEM Language_Str MSG_VMAX_I = _UxGT("Vmax ") LCD_STR_I; + PROGMEM Language_Str MSG_VMAX_J = _UxGT("Vmax ") LCD_STR_J; + PROGMEM Language_Str MSG_VMAX_K = _UxGT("Vmax ") LCD_STR_K; PROGMEM Language_Str MSG_VMAX_E = _UxGT("Vmax ") LCD_STR_E; PROGMEM Language_Str MSG_VMAX_EN = _UxGT("Vmax *"); PROGMEM Language_Str MSG_VMIN = _UxGT("Vmin"); @@ -343,6 +358,9 @@ namespace Language_en { PROGMEM Language_Str MSG_AMAX_A = _UxGT("Amax ") LCD_STR_A; PROGMEM Language_Str MSG_AMAX_B = _UxGT("Amax ") LCD_STR_B; PROGMEM Language_Str MSG_AMAX_C = _UxGT("Amax ") LCD_STR_C; + PROGMEM Language_Str MSG_AMAX_I = _UxGT("Amax ") LCD_STR_I; + PROGMEM Language_Str MSG_AMAX_J = _UxGT("Amax ") LCD_STR_J; + PROGMEM Language_Str MSG_AMAX_K = _UxGT("Amax ") LCD_STR_K; PROGMEM Language_Str MSG_AMAX_E = _UxGT("Amax ") LCD_STR_E; PROGMEM Language_Str MSG_AMAX_EN = _UxGT("Amax *"); PROGMEM Language_Str MSG_A_RETRACT = _UxGT("A-Retract"); @@ -353,6 +371,9 @@ namespace Language_en { PROGMEM Language_Str MSG_A_STEPS = LCD_STR_A _UxGT(" Steps/mm"); PROGMEM Language_Str MSG_B_STEPS = LCD_STR_B _UxGT(" Steps/mm"); PROGMEM Language_Str MSG_C_STEPS = LCD_STR_C _UxGT(" Steps/mm"); + PROGMEM Language_Str MSG_I_STEPS = LCD_STR_I _UxGT(" Steps/mm"); + PROGMEM Language_Str MSG_J_STEPS = LCD_STR_J _UxGT(" Steps/mm"); + PROGMEM Language_Str MSG_K_STEPS = LCD_STR_K _UxGT(" Steps/mm"); PROGMEM Language_Str MSG_E_STEPS = _UxGT("E steps/mm"); PROGMEM Language_Str MSG_EN_STEPS = _UxGT("* Steps/mm"); PROGMEM Language_Str MSG_TEMPERATURE = _UxGT("Temperature"); @@ -486,6 +507,9 @@ namespace Language_en { PROGMEM Language_Str MSG_BABYSTEP_X = _UxGT("Babystep X"); PROGMEM Language_Str MSG_BABYSTEP_Y = _UxGT("Babystep Y"); PROGMEM Language_Str MSG_BABYSTEP_Z = _UxGT("Babystep Z"); + PROGMEM Language_Str MSG_BABYSTEP_I = _UxGT("Babystep ") LCD_STR_I; + PROGMEM Language_Str MSG_BABYSTEP_J = _UxGT("Babystep ") LCD_STR_J; + PROGMEM Language_Str MSG_BABYSTEP_K = _UxGT("Babystep ") LCD_STR_K; PROGMEM Language_Str MSG_BABYSTEP_TOTAL = _UxGT("Total"); PROGMEM Language_Str MSG_ENDSTOP_ABORT = _UxGT("Endstop Abort"); PROGMEM Language_Str MSG_HEATING_FAILED_LCD = _UxGT("Heating Failed"); @@ -566,6 +590,9 @@ namespace Language_en { PROGMEM Language_Str MSG_DAC_PERCENT_X = _UxGT("X Driver %"); PROGMEM Language_Str MSG_DAC_PERCENT_Y = _UxGT("Y Driver %"); PROGMEM Language_Str MSG_DAC_PERCENT_Z = _UxGT("Z Driver %"); + PROGMEM Language_Str MSG_DAC_PERCENT_I = _UxGT("I Driver %"); + PROGMEM Language_Str MSG_DAC_PERCENT_J = _UxGT("J Driver %"); + PROGMEM Language_Str MSG_DAC_PERCENT_K = _UxGT("K Driver %"); PROGMEM Language_Str MSG_DAC_PERCENT_E = _UxGT("E Driver %"); PROGMEM Language_Str MSG_ERROR_TMC = _UxGT("TMC CONNECTION ERROR"); PROGMEM Language_Str MSG_DAC_EEPROM_WRITE = _UxGT("DAC EEPROM Write"); @@ -683,6 +710,9 @@ namespace Language_en { PROGMEM Language_Str MSG_BACKLASH_A = LCD_STR_A; PROGMEM Language_Str MSG_BACKLASH_B = LCD_STR_B; PROGMEM Language_Str MSG_BACKLASH_C = LCD_STR_C; + PROGMEM Language_Str MSG_BACKLASH_I = LCD_STR_I; + PROGMEM Language_Str MSG_BACKLASH_J = LCD_STR_J; + PROGMEM Language_Str MSG_BACKLASH_K = LCD_STR_K; PROGMEM Language_Str MSG_BACKLASH_CORRECTION = _UxGT("Correction"); PROGMEM Language_Str MSG_BACKLASH_SMOOTHING = _UxGT("Smoothing"); diff --git a/Marlin/src/lcd/menu/menu_advanced.cpp b/Marlin/src/lcd/menu/menu_advanced.cpp index 5c5ec9d3e1..a6719f1847 100644 --- a/Marlin/src/lcd/menu/menu_advanced.cpp +++ b/Marlin/src/lcd/menu/menu_advanced.cpp @@ -356,7 +356,7 @@ void menu_backlash(); #elif ENABLED(LIMITED_MAX_FR_EDITING) DEFAULT_MAX_FEEDRATE #else - LOGICAL_AXIS_ARRAY(9999, 9999, 9999, 9999) + LOGICAL_AXIS_ARRAY(9999, 9999, 9999, 9999, 9999, 9999, 9999) #endif ; #if ENABLED(LIMITED_MAX_FR_EDITING) && !defined(MAX_FEEDRATE_EDIT_VALUES) @@ -399,7 +399,7 @@ void menu_backlash(); #elif ENABLED(LIMITED_MAX_ACCEL_EDITING) DEFAULT_MAX_ACCELERATION #else - LOGICAL_AXIS_ARRAY(99000, 99000, 99000, 99000) + LOGICAL_AXIS_ARRAY(99000, 99000, 99000, 99000, 99000, 99000, 99000) #endif ; #if ENABLED(LIMITED_MAX_ACCEL_EDITING) && !defined(MAX_ACCEL_EDIT_VALUES) @@ -477,7 +477,10 @@ void menu_backlash(); #else #define EDIT_JERK_C() EDIT_ITEM_FAST(float52sign, MSG_VC_JERK, &planner.max_jerk.c, 0.1f, max_jerk_edit.c) #endif - LINEAR_AXIS_CODE(EDIT_JERK(A), EDIT_JERK(B), EDIT_JERK_C()); + LINEAR_AXIS_CODE( + EDIT_JERK(A), EDIT_JERK(B), EDIT_JERK_C(), + EDIT_JERK(I), EDIT_JERK(J), EDIT_JERK(K) + ); #if HAS_EXTRUDERS EDIT_ITEM_FAST(float52sign, MSG_VE_JERK, &planner.max_jerk.e, 0.1f, max_jerk_edit.e); @@ -515,7 +518,10 @@ void menu_advanced_steps_per_mm() { BACK_ITEM(MSG_ADVANCED_SETTINGS); #define EDIT_QSTEPS(Q) EDIT_ITEM_FAST(float51, MSG_##Q##_STEPS, &planner.settings.axis_steps_per_mm[_AXIS(Q)], 5, 9999, []{ planner.refresh_positioning(); }) - LINEAR_AXIS_CODE(EDIT_QSTEPS(A), EDIT_QSTEPS(B), EDIT_QSTEPS(C)); + LINEAR_AXIS_CODE( + EDIT_QSTEPS(A), EDIT_QSTEPS(B), EDIT_QSTEPS(C), + EDIT_QSTEPS(I), EDIT_QSTEPS(J), EDIT_QSTEPS(K) + ); #if ENABLED(DISTINCT_E_FACTORS) LOOP_L_N(n, E_STEPPERS) diff --git a/Marlin/src/lcd/menu/menu_backlash.cpp b/Marlin/src/lcd/menu/menu_backlash.cpp index c1dca025b1..b9adacc502 100644 --- a/Marlin/src/lcd/menu/menu_backlash.cpp +++ b/Marlin/src/lcd/menu/menu_backlash.cpp @@ -45,8 +45,21 @@ void menu_backlash() { #endif #define EDIT_BACKLASH_DISTANCE(N) EDIT_ITEM_FAST(float43, MSG_BACKLASH_##N, &backlash.distance_mm[_AXIS(N)], 0.0f, 9.9f); if (_CAN_CALI(A)) EDIT_BACKLASH_DISTANCE(A); - if (_CAN_CALI(B)) EDIT_BACKLASH_DISTANCE(B); - if (_CAN_CALI(C)) EDIT_BACKLASH_DISTANCE(C); + #if HAS_Y_AXIS && _CAN_CALI(B) + EDIT_BACKLASH_DISTANCE(B); + #endif + #if HAS_Z_AXIS && _CAN_CALI(C) + EDIT_BACKLASH_DISTANCE(C); + #endif + #if LINEAR_AXES >= 4 && _CAN_CALI(I) + EDIT_BACKLASH_DISTANCE(I); + #endif + #if LINEAR_AXES >= 5 && _CAN_CALI(J) + EDIT_BACKLASH_DISTANCE(J); + #endif + #if LINEAR_AXES >= 6 && _CAN_CALI(K) + EDIT_BACKLASH_DISTANCE(K); + #endif #ifdef BACKLASH_SMOOTHING_MM EDIT_ITEM_FAST(float43, MSG_BACKLASH_SMOOTHING, &backlash.smoothing_mm, 0.0f, 9.9f); diff --git a/Marlin/src/lcd/menu/menu_motion.cpp b/Marlin/src/lcd/menu/menu_motion.cpp index 516f04632e..076ece33b0 100644 --- a/Marlin/src/lcd/menu/menu_motion.cpp +++ b/Marlin/src/lcd/menu/menu_motion.cpp @@ -89,8 +89,21 @@ static void _lcd_move_xyz(PGM_P const name, const AxisEnum axis) { } } void lcd_move_x() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_X), X_AXIS); } -void lcd_move_y() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_Y), Y_AXIS); } -void lcd_move_z() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_Z), Z_AXIS); } +#if HAS_Y_AXIS + void lcd_move_y() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_Y), Y_AXIS); } +#endif +#if HAS_Z_AXIS + void lcd_move_z() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_Z), Z_AXIS); } +#endif +#if LINEAR_AXES >= 4 + void lcd_move_i() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_I), I_AXIS); } +#endif +#if LINEAR_AXES >= 5 + void lcd_move_j() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_J), J_AXIS); } +#endif +#if LINEAR_AXES >= 6 + void lcd_move_k() { _lcd_move_xyz(GET_TEXT(MSG_MOVE_K), K_AXIS); } +#endif #if E_MANUAL @@ -217,14 +230,27 @@ void menu_move() { if (NONE(IS_KINEMATIC, NO_MOTION_BEFORE_HOMING) || all_axes_homed()) { if (TERN1(DELTA, current_position.z <= delta_clip_start_height)) { SUBMENU(MSG_MOVE_X, []{ _menu_move_distance(X_AXIS, lcd_move_x); }); - SUBMENU(MSG_MOVE_Y, []{ _menu_move_distance(Y_AXIS, lcd_move_y); }); + #if HAS_Y_AXIS + SUBMENU(MSG_MOVE_Y, []{ _menu_move_distance(Y_AXIS, lcd_move_y); }); + #endif } #if ENABLED(DELTA) else ACTION_ITEM(MSG_FREE_XY, []{ line_to_z(delta_clip_start_height); ui.synchronize(); }); #endif - SUBMENU(MSG_MOVE_Z, []{ _menu_move_distance(Z_AXIS, lcd_move_z); }); + #if HAS_Z_AXIS + SUBMENU(MSG_MOVE_Z, []{ _menu_move_distance(Z_AXIS, lcd_move_z); }); + #endif + #if LINEAR_AXES >= 4 + SUBMENU(MSG_MOVE_I, []{ _menu_move_distance(I_AXIS, lcd_move_i); }); + #endif + #if LINEAR_AXES >= 5 + SUBMENU(MSG_MOVE_J, []{ _menu_move_distance(J_AXIS, lcd_move_j); }); + #endif + #if LINEAR_AXES >= 6 + SUBMENU(MSG_MOVE_K, []{ _menu_move_distance(K_AXIS, lcd_move_k); }); + #endif } else GCODES_ITEM(MSG_AUTO_HOME, G28_STR); @@ -321,8 +347,21 @@ void menu_motion() { GCODES_ITEM(MSG_AUTO_HOME, G28_STR); #if ENABLED(INDIVIDUAL_AXIS_HOMING_MENU) GCODES_ITEM(MSG_AUTO_HOME_X, PSTR("G28X")); - GCODES_ITEM(MSG_AUTO_HOME_Y, PSTR("G28Y")); - GCODES_ITEM(MSG_AUTO_HOME_Z, PSTR("G28Z")); + #if HAS_Y_AXIS + GCODES_ITEM(MSG_AUTO_HOME_Y, PSTR("G28Y")); + #endif + #if HAS_Z_AXIS + GCODES_ITEM(MSG_AUTO_HOME_Z, PSTR("G28Z")); + #endif + #if LINEAR_AXES >= 4 + GCODES_ITEM(MSG_AUTO_HOME_I, PSTR("G28" I_STR)); + #endif + #if LINEAR_AXES >= 5 + GCODES_ITEM(MSG_AUTO_HOME_J, PSTR("G28" J_STR)); + #endif + #if LINEAR_AXES >= 6 + GCODES_ITEM(MSG_AUTO_HOME_K, PSTR("G28" K_STR)); + #endif #endif // diff --git a/Marlin/src/lcd/menu/menu_tmc.cpp b/Marlin/src/lcd/menu/menu_tmc.cpp index 69193701eb..ad7d632058 100644 --- a/Marlin/src/lcd/menu/menu_tmc.cpp +++ b/Marlin/src/lcd/menu/menu_tmc.cpp @@ -95,54 +95,22 @@ void menu_tmc_current() { void menu_tmc_hybrid_thrs() { START_MENU(); BACK_ITEM(MSG_TMC_DRIVERS); - #if AXIS_HAS_STEALTHCHOP(X) - TMC_EDIT_STORED_HYBRID_THRS(X, STR_X); - #endif - #if AXIS_HAS_STEALTHCHOP(Y) - TMC_EDIT_STORED_HYBRID_THRS(Y, STR_Y); - #endif - #if AXIS_HAS_STEALTHCHOP(Z) - TMC_EDIT_STORED_HYBRID_THRS(Z, STR_Z); - #endif - #if AXIS_HAS_STEALTHCHOP(X2) - TMC_EDIT_STORED_HYBRID_THRS(X2, STR_X2); - #endif - #if AXIS_HAS_STEALTHCHOP(Y2) - TMC_EDIT_STORED_HYBRID_THRS(Y2, STR_Y2); - #endif - #if AXIS_HAS_STEALTHCHOP(Z2) - TMC_EDIT_STORED_HYBRID_THRS(Z2, STR_Z2); - #endif - #if AXIS_HAS_STEALTHCHOP(Z3) - TMC_EDIT_STORED_HYBRID_THRS(Z3, STR_Z3); - #endif - #if AXIS_HAS_STEALTHCHOP(Z4) - TMC_EDIT_STORED_HYBRID_THRS(Z4, STR_Z4); - #endif - #if AXIS_HAS_STEALTHCHOP(E0) - TMC_EDIT_STORED_HYBRID_THRS(E0, LCD_STR_E0); - #endif - #if AXIS_HAS_STEALTHCHOP(E1) - TMC_EDIT_STORED_HYBRID_THRS(E1, LCD_STR_E1); - #endif - #if AXIS_HAS_STEALTHCHOP(E2) - TMC_EDIT_STORED_HYBRID_THRS(E2, LCD_STR_E2); - #endif - #if AXIS_HAS_STEALTHCHOP(E3) - TMC_EDIT_STORED_HYBRID_THRS(E3, LCD_STR_E3); - #endif - #if AXIS_HAS_STEALTHCHOP(E4) - TMC_EDIT_STORED_HYBRID_THRS(E4, LCD_STR_E4); - #endif - #if AXIS_HAS_STEALTHCHOP(E5) - TMC_EDIT_STORED_HYBRID_THRS(E5, LCD_STR_E5); - #endif - #if AXIS_HAS_STEALTHCHOP(E6) - TMC_EDIT_STORED_HYBRID_THRS(E6, LCD_STR_E6); - #endif - #if AXIS_HAS_STEALTHCHOP(E7) - TMC_EDIT_STORED_HYBRID_THRS(E7, LCD_STR_E7); - #endif + TERN_(X_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(X, STR_X)); + TERN_(Y_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(Y, STR_Y)); + TERN_(Z_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(Z, STR_Z)); + TERN_(X2_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(X2, STR_X2)); + TERN_(Y2_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(Y2, STR_Y2)); + TERN_(Z2_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(Z2, STR_Z2)); + TERN_(Z3_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(Z3, STR_Z3)); + TERN_(Z4_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(Z4, STR_Z4)); + TERN_(E0_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(E0, LCD_STR_E0)); + TERN_(E1_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(E1, LCD_STR_E1)); + TERN_(E2_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(E2, LCD_STR_E2)); + TERN_(E3_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(E3, LCD_STR_E3)); + TERN_(E4_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(E4, LCD_STR_E4)); + TERN_(E5_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(E5, LCD_STR_E5)); + TERN_(E6_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(E6, LCD_STR_E6)); + TERN_(E7_HAS_STEALTHCHOP, TMC_EDIT_STORED_HYBRID_THRS(E7, LCD_STR_E7)); END_MENU(); } @@ -155,30 +123,17 @@ void menu_tmc_current() { void menu_tmc_homing_thrs() { START_MENU(); BACK_ITEM(MSG_TMC_DRIVERS); - #if X_SENSORLESS - TMC_EDIT_STORED_SGT(X); - #if X2_SENSORLESS - TMC_EDIT_STORED_SGT(X2); - #endif - #endif - #if Y_SENSORLESS - TMC_EDIT_STORED_SGT(Y); - #if Y2_SENSORLESS - TMC_EDIT_STORED_SGT(Y2); - #endif - #endif - #if Z_SENSORLESS - TMC_EDIT_STORED_SGT(Z); - #if Z2_SENSORLESS - TMC_EDIT_STORED_SGT(Z2); - #endif - #if Z3_SENSORLESS - TMC_EDIT_STORED_SGT(Z3); - #endif - #if Z4_SENSORLESS - TMC_EDIT_STORED_SGT(Z4); - #endif - #endif + TERN_( X_SENSORLESS, TMC_EDIT_STORED_SGT(X)); + TERN_(X2_SENSORLESS, TMC_EDIT_STORED_SGT(X2)); + TERN_( Y_SENSORLESS, TMC_EDIT_STORED_SGT(Y)); + TERN_(Y2_SENSORLESS, TMC_EDIT_STORED_SGT(Y2)); + TERN_( Z_SENSORLESS, TMC_EDIT_STORED_SGT(Z)); + TERN_(Z2_SENSORLESS, TMC_EDIT_STORED_SGT(Z2)); + TERN_(Z3_SENSORLESS, TMC_EDIT_STORED_SGT(Z3)); + TERN_(Z4_SENSORLESS, TMC_EDIT_STORED_SGT(Z4)); + TERN_( I_SENSORLESS, TMC_EDIT_STORED_SGT(I)); + TERN_( J_SENSORLESS, TMC_EDIT_STORED_SGT(J)); + TERN_( K_SENSORLESS, TMC_EDIT_STORED_SGT(K)); END_MENU(); } @@ -192,54 +147,22 @@ void menu_tmc_current() { START_MENU(); STATIC_ITEM(MSG_TMC_STEALTH_ENABLED); BACK_ITEM(MSG_TMC_DRIVERS); - #if AXIS_HAS_STEALTHCHOP(X) - TMC_EDIT_STEP_MODE(X, STR_X); - #endif - #if AXIS_HAS_STEALTHCHOP(Y) - TMC_EDIT_STEP_MODE(Y, STR_Y); - #endif - #if AXIS_HAS_STEALTHCHOP(Z) - TMC_EDIT_STEP_MODE(Z, STR_Z); - #endif - #if AXIS_HAS_STEALTHCHOP(X2) - TMC_EDIT_STEP_MODE(X2, STR_X2); - #endif - #if AXIS_HAS_STEALTHCHOP(Y2) - TMC_EDIT_STEP_MODE(Y2, STR_Y2); - #endif - #if AXIS_HAS_STEALTHCHOP(Z2) - TMC_EDIT_STEP_MODE(Z2, STR_Z2); - #endif - #if AXIS_HAS_STEALTHCHOP(Z3) - TMC_EDIT_STEP_MODE(Z3, STR_Z3); - #endif - #if AXIS_HAS_STEALTHCHOP(Z4) - TMC_EDIT_STEP_MODE(Z4, STR_Z4); - #endif - #if AXIS_HAS_STEALTHCHOP(E0) - TMC_EDIT_STEP_MODE(E0, LCD_STR_E0); - #endif - #if AXIS_HAS_STEALTHCHOP(E1) - TMC_EDIT_STEP_MODE(E1, LCD_STR_E1); - #endif - #if AXIS_HAS_STEALTHCHOP(E2) - TMC_EDIT_STEP_MODE(E2, LCD_STR_E2); - #endif - #if AXIS_HAS_STEALTHCHOP(E3) - TMC_EDIT_STEP_MODE(E3, LCD_STR_E3); - #endif - #if AXIS_HAS_STEALTHCHOP(E4) - TMC_EDIT_STEP_MODE(E4, LCD_STR_E4); - #endif - #if AXIS_HAS_STEALTHCHOP(E5) - TMC_EDIT_STEP_MODE(E5, LCD_STR_E5); - #endif - #if AXIS_HAS_STEALTHCHOP(E6) - TMC_EDIT_STEP_MODE(E6, LCD_STR_E6); - #endif - #if AXIS_HAS_STEALTHCHOP(E7) - TMC_EDIT_STEP_MODE(E7, LCD_STR_E7); - #endif + TERN_( X_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(X, STR_X)); + TERN_(X2_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(X2, STR_X2)); + TERN_( Y_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(Y, STR_Y)); + TERN_(Y2_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(Y2, STR_Y2)); + TERN_( Z_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(Z, STR_Z)); + TERN_(Z2_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(Z2, STR_Z2)); + TERN_(Z3_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(Z3, STR_Z3)); + TERN_(Z4_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(Z4, STR_Z4)); + TERN_(E0_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(E0, LCD_STR_E0)); + TERN_(E1_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(E1, LCD_STR_E1)); + TERN_(E2_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(E2, LCD_STR_E2)); + TERN_(E3_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(E3, LCD_STR_E3)); + TERN_(E4_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(E4, LCD_STR_E4)); + TERN_(E5_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(E5, LCD_STR_E5)); + TERN_(E6_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(E6, LCD_STR_E6)); + TERN_(E7_HAS_STEALTHCHOP, TMC_EDIT_STEP_MODE(E7, LCD_STR_E7)); END_MENU(); } @@ -249,15 +172,9 @@ void menu_tmc() { START_MENU(); BACK_ITEM(MSG_ADVANCED_SETTINGS); SUBMENU(MSG_TMC_CURRENT, menu_tmc_current); - #if ENABLED(HYBRID_THRESHOLD) - SUBMENU(MSG_TMC_HYBRID_THRS, menu_tmc_hybrid_thrs); - #endif - #if ENABLED(SENSORLESS_HOMING) - SUBMENU(MSG_TMC_HOMING_THRS, menu_tmc_homing_thrs); - #endif - #if HAS_STEALTHCHOP - SUBMENU(MSG_TMC_STEPPING_MODE, menu_tmc_step_mode); - #endif + TERN_(HYBRID_THRESHOLD, SUBMENU(MSG_TMC_HYBRID_THRS, menu_tmc_hybrid_thrs)); + TERN_(SENSORLESS_HOMING, SUBMENU(MSG_TMC_HOMING_THRS, menu_tmc_homing_thrs)); + TERN_(HAS_STEALTHCHOP, SUBMENU(MSG_TMC_STEPPING_MODE, menu_tmc_step_mode)); END_MENU(); } diff --git a/Marlin/src/lcd/tft/ui_1024x600.cpp b/Marlin/src/lcd/tft/ui_1024x600.cpp index 631d6d8582..18c50c92f7 100644 --- a/Marlin/src/lcd/tft/ui_1024x600.cpp +++ b/Marlin/src/lcd/tft/ui_1024x600.cpp @@ -653,10 +653,12 @@ static void drawAxisValue(const AxisEnum axis) { static void moveAxis(const AxisEnum axis, const int8_t direction) { quick_feedback(); - if (axis == E_AXIS && thermalManager.tooColdToExtrude(motionAxisState.e_selection)) { - drawMessage("Too cold"); - return; - } + #if ENABLED(PREVENT_COLD_EXTRUSION) + if (axis == E_AXIS && thermalManager.tooColdToExtrude(motionAxisState.e_selection)) { + drawMessage("Too cold"); + return; + } + #endif const float diff = motionAxisState.currentStepSize * direction; diff --git a/Marlin/src/lcd/tft/ui_320x240.cpp b/Marlin/src/lcd/tft/ui_320x240.cpp index f7b6ffc75d..786dc61f60 100644 --- a/Marlin/src/lcd/tft/ui_320x240.cpp +++ b/Marlin/src/lcd/tft/ui_320x240.cpp @@ -638,10 +638,12 @@ static void drawAxisValue(const AxisEnum axis) { static void moveAxis(const AxisEnum axis, const int8_t direction) { quick_feedback(); - if (axis == E_AXIS && thermalManager.tooColdToExtrude(motionAxisState.e_selection)) { - drawMessage("Too cold"); - return; - } + #if ENABLED(PREVENT_COLD_EXTRUSION) + if (axis == E_AXIS && thermalManager.tooColdToExtrude(motionAxisState.e_selection)) { + drawMessage("Too cold"); + return; + } + #endif const float diff = motionAxisState.currentStepSize * direction; diff --git a/Marlin/src/lcd/tft/ui_480x320.cpp b/Marlin/src/lcd/tft/ui_480x320.cpp index 93df6eb961..02e3354d93 100644 --- a/Marlin/src/lcd/tft/ui_480x320.cpp +++ b/Marlin/src/lcd/tft/ui_480x320.cpp @@ -640,10 +640,12 @@ static void drawAxisValue(const AxisEnum axis) { static void moveAxis(const AxisEnum axis, const int8_t direction) { quick_feedback(); - if (axis == E_AXIS && thermalManager.tooColdToExtrude(motionAxisState.e_selection)) { - drawMessage("Too cold"); - return; - } + #if ENABLED(PREVENT_COLD_EXTRUSION) + if (axis == E_AXIS && thermalManager.tooColdToExtrude(motionAxisState.e_selection)) { + drawMessage("Too cold"); + return; + } + #endif const float diff = motionAxisState.currentStepSize * direction; diff --git a/Marlin/src/libs/L64XX/L64XX_Marlin.cpp b/Marlin/src/libs/L64XX/L64XX_Marlin.cpp index a6aed2ad24..876405a40c 100644 --- a/Marlin/src/libs/L64XX/L64XX_Marlin.cpp +++ b/Marlin/src/libs/L64XX/L64XX_Marlin.cpp @@ -37,19 +37,27 @@ L64XX_Marlin L64xxManager; #include "../../module/planner.h" #include "../../HAL/shared/Delay.h" -static const char str_X[] PROGMEM = "X ", str_Y[] PROGMEM = "Y ", str_Z[] PROGMEM = "Z ", +static const char LINEAR_AXIS_LIST( + str_X[] PROGMEM = "X ", str_Y[] PROGMEM = "Y ", str_Z[] PROGMEM = "Z ", + str_I[] PROGMEM = AXIS4_STR " ", str_J[] PROGMEM = AXIS5_STR " ", str_K[] PROGMEM = AXIS6_STR " " + ), str_X2[] PROGMEM = "X2", str_Y2[] PROGMEM = "Y2", str_Z2[] PROGMEM = "Z2", str_Z3[] PROGMEM = "Z3", str_Z4[] PROGMEM = "Z4", - str_E0[] PROGMEM = "E0", str_E1[] PROGMEM = "E1", - str_E2[] PROGMEM = "E2", str_E3[] PROGMEM = "E3", - str_E4[] PROGMEM = "E4", str_E5[] PROGMEM = "E5", - str_E6[] PROGMEM = "E6", str_E7[] PROGMEM = "E7" + LIST_N(EXTRUDERS, + str_E0[] PROGMEM = "E0", str_E1[] PROGMEM = "E1", + str_E2[] PROGMEM = "E2", str_E3[] PROGMEM = "E3", + str_E4[] PROGMEM = "E4", str_E5[] PROGMEM = "E5", + str_E6[] PROGMEM = "E6", str_E7[] PROGMEM = "E7" + ) ; +#define _EN_ITEM(N) , str_E##N PGM_P const L64XX_Marlin::index_to_axis[] PROGMEM = { - str_X, str_Y, str_Z, str_X2, str_Y2, str_Z2, str_Z3, str_Z4, - str_E0, str_E1, str_E2, str_E3, str_E4, str_E5, str_E6, str_E7 + LINEAR_AXIS_LIST(str_X, str_Y, str_Z, str_I, str_J, str_K), + str_X2, str_Y2, str_Z2, str_Z3, str_Z4 + REPEAT(E_STEPPERS, _EN_ITEM) }; +#undef _EN_ITEM #define DEBUG_OUT ENABLED(L6470_CHITCHAT) #include "../../core/debug_out.h" @@ -58,16 +66,17 @@ void echo_yes_no(const bool yes) { DEBUG_ECHOPGM_P(yes ? PSTR(" YES") : PSTR(" N uint8_t L64XX_Marlin::dir_commands[MAX_L64XX]; // array to hold direction command for each driver +#define _EN_ITEM(N) , INVERT_E##N##_DIR const uint8_t L64XX_Marlin::index_to_dir[MAX_L64XX] = { - INVERT_X_DIR, INVERT_Y_DIR, INVERT_Z_DIR + LINEAR_AXIS_LIST(INVERT_X_DIR, INVERT_Y_DIR, INVERT_Z_DIR, INVERT_I_DIR, INVERT_J_DIR, INVERT_K_DIR) , (INVERT_X_DIR) ^ BOTH(X_DUAL_STEPPER_DRIVERS, INVERT_X2_VS_X_DIR) // X2 , (INVERT_Y_DIR) ^ BOTH(Y_DUAL_STEPPER_DRIVERS, INVERT_Y2_VS_Y_DIR) // Y2 , (INVERT_Z_DIR) ^ ENABLED(INVERT_Z2_VS_Z_DIR) // Z2 , (INVERT_Z_DIR) ^ ENABLED(INVERT_Z3_VS_Z_DIR) // Z3 , (INVERT_Z_DIR) ^ ENABLED(INVERT_Z4_VS_Z_DIR) // 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 + REPEAT(E_STEPPERS, _EN_ITEM) }; +#undef _EN_ITEM volatile uint8_t L64XX_Marlin::spi_abort = false; uint8_t L64XX_Marlin::spi_active = false; @@ -326,6 +335,15 @@ void L64XX_Marlin::set_param(const L64XX_axis_t axis, const uint8_t param, const #if AXIS_IS_L64XX(Z) case Z : SET_L6470_PARAM(Z); break; #endif + #if AXIS_IS_L64XX(I) + case I : SET_L6470_PARAM(I); break; + #endif + #if AXIS_IS_L64XX(J) + case J : SET_L6470_PARAM(J); break; + #endif + #if AXIS_IS_L64XX(K) + case K : SET_L6470_PARAM(K); break; + #endif #if AXIS_IS_L64XX(X2) case X2: SET_L6470_PARAM(X2); break; #endif @@ -370,8 +388,7 @@ void L64XX_Marlin::set_param(const L64XX_axis_t axis, const uint8_t param, const inline void echo_min_max(const char a, const_float_t min, const_float_t max) { DEBUG_CHAR(' '); DEBUG_CHAR(a); - DEBUG_ECHOPAIR(" min = ", min); - DEBUG_ECHOLNPAIR(" max = ", max); + DEBUG_ECHOLNPAIR(" min = ", min, " max = ", max); } inline void echo_oct_used(const_float_t oct, const uint8_t stall) { DEBUG_ECHOPAIR("over_current_threshold used : ", oct); @@ -433,10 +450,15 @@ uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_in // Position calcs & checks // - const float X_center = LOGICAL_X_POSITION(current_position.x), - Y_center = LOGICAL_Y_POSITION(current_position.y), - Z_center = LOGICAL_Z_POSITION(current_position.z), - E_center = current_position.e; + const float LOGICAL_AXIS_LIST( + E_center = current_position.e, + X_center = LOGICAL_X_POSITION(current_position.x), + Y_center = LOGICAL_Y_POSITION(current_position.y), + Z_center = LOGICAL_Z_POSITION(current_position.z), + I_center = LOGICAL_I_POSITION(current_position.i), + J_center = LOGICAL_J_POSITION(current_position.j), + K_center = LOGICAL_K_POSITION(current_position.k) + ); switch (axis_mon[0][0]) { default: position_max = position_min = 0; break; @@ -451,31 +473,73 @@ uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_in } } break; - case 'Y': { - position_min = Y_center - displacement; - position_max = Y_center + displacement; - echo_min_max('Y', position_min, position_max); - if (TERN0(HAS_ENDSTOPS, position_min < (Y_MIN_POS) || position_max > (Y_MAX_POS))) { - err_out_of_bounds(); - return true; - } - } break; + #if HAS_Y_AXIS + case 'Y': { + position_min = Y_center - displacement; + position_max = Y_center + displacement; + echo_min_max('Y', position_min, position_max); + if (TERN0(HAS_ENDSTOPS, position_min < (Y_MIN_POS) || position_max > (Y_MAX_POS))) { + err_out_of_bounds(); + return true; + } + } break; + #endif - case 'Z': { - position_min = Z_center - displacement; - position_max = Z_center + displacement; - echo_min_max('Z', position_min, position_max); - if (TERN0(HAS_ENDSTOPS, position_min < (Z_MIN_POS) || position_max > (Z_MAX_POS))) { - err_out_of_bounds(); - return true; - } - } break; + #if HAS_Z_AXIS + case 'Z': { + position_min = Z_center - displacement; + position_max = Z_center + displacement; + echo_min_max('Z', position_min, position_max); + if (TERN0(HAS_ENDSTOPS, position_min < (Z_MIN_POS) || position_max > (Z_MAX_POS))) { + err_out_of_bounds(); + return true; + } + } break; + #endif - case 'E': { - position_min = E_center - displacement; - position_max = E_center + displacement; - echo_min_max('E', position_min, position_max); - } break; + #if LINEAR_AXES >= 4 + case AXIS4_NAME: { + position_min = I_center - displacement; + position_max = I_center + displacement; + echo_min_max(AXIS4_NAME, position_min, position_max); + if (TERN0(HAS_ENDSTOPS, position_min < (I_MIN_POS) || position_max > (I_MAX_POS))) { + err_out_of_bounds(); + return true; + } + } break; + #endif + + #if LINEAR_AXES >= 5 + case AXIS5_NAME: { + position_min = J_center - displacement; + position_max = J_center + displacement; + echo_min_max(AXIS5_NAME, position_min, position_max); + if (TERN1(HAS_ENDSTOPS, position_min < (J_MIN_POS) || position_max > (J_MAX_POS))) { + err_out_of_bounds(); + return true; + } + } break; + #endif + + #if LINEAR_AXES >= 6 + case AXIS6_NAME: { + position_min = K_center - displacement; + position_max = K_center + displacement; + echo_min_max(AXIS6_NAME, position_min, position_max); + if (TERN2(HAS_ENDSTOPS, position_min < (K_MIN_POS) || position_max > (K_MAX_POS))) { + err_out_of_bounds(); + return true; + } + } break; + #endif + + #if HAS_EXTRUDERS + case 'E': { + position_min = E_center - displacement; + position_max = E_center + displacement; + echo_min_max('E', position_min, position_max); + } break; + #endif } // @@ -660,7 +724,7 @@ void L64XX_Marlin::say_axis(const L64XX_axis_t axis, const uint8_t label/*=true* bool L64XX_Marlin::monitor_paused = false; // Flag to skip monitor during M122, M906, M916, M917, M918, etc. struct L6470_driver_data { - uint8_t driver_index; + L64XX_axis_t driver_index; uint32_t driver_status; uint8_t is_otw; uint8_t otw_counter; @@ -671,52 +735,61 @@ void L64XX_Marlin::say_axis(const L64XX_axis_t axis, const uint8_t label/*=true* L6470_driver_data driver_L6470_data[] = { #if AXIS_IS_L64XX(X) - { 0, 0, 0, 0, 0, 0, 0 }, + { X, 0, 0, 0, 0, 0, 0 }, #endif #if AXIS_IS_L64XX(Y) - { 1, 0, 0, 0, 0, 0, 0 }, + { Y, 0, 0, 0, 0, 0, 0 }, #endif #if AXIS_IS_L64XX(Z) - { 2, 0, 0, 0, 0, 0, 0 }, + { Z, 0, 0, 0, 0, 0, 0 }, + #endif + #if AXIS_IS_L64XX(I) + { I, 0, 0, 0, 0, 0, 0 }, + #endif + #if AXIS_IS_L64XX(J) + { J, 0, 0, 0, 0, 0, 0 }, + #endif + #if AXIS_IS_L64XX(K) + { K, 0, 0, 0, 0, 0, 0 }, #endif #if AXIS_IS_L64XX(X2) - { 3, 0, 0, 0, 0, 0, 0 }, + { X2, 0, 0, 0, 0, 0, 0 }, #endif #if AXIS_IS_L64XX(Y2) - { 4, 0, 0, 0, 0, 0, 0 }, + { Y2, 0, 0, 0, 0, 0, 0 }, #endif #if AXIS_IS_L64XX(Z2) - { 5, 0, 0, 0, 0, 0, 0 }, + { Z2, 0, 0, 0, 0, 0, 0 }, #endif #if AXIS_IS_L64XX(Z3) - { 6, 0, 0, 0, 0, 0, 0 }, + { Z3, 0, 0, 0, 0, 0, 0 }, #endif #if AXIS_IS_L64XX(Z4) - { 7, 0, 0, 0, 0, 0, 0 }, + { Z4, 0, 0, 0, 0, 0, 0 }, #endif #if AXIS_IS_L64XX(E0) - { 8, 0, 0, 0, 0, 0, 0 }, + { E0, 0, 0, 0, 0, 0, 0 }, #endif #if AXIS_IS_L64XX(E1) - { 9, 0, 0, 0, 0, 0, 0 }, + { E1, 0, 0, 0, 0, 0, 0 }, #endif #if AXIS_IS_L64XX(E2) - { 10, 0, 0, 0, 0, 0, 0 }, + { E2, 0, 0, 0, 0, 0, 0 }, #endif #if AXIS_IS_L64XX(E3) - { 11, 0, 0, 0, 0, 0, 0 }, + { E3, 0, 0, 0, 0, 0, 0 }, #endif #if AXIS_IS_L64XX(E4) - { 12, 0, 0, 0, 0, 0, 0 }, + { E4, 0, 0, 0, 0, 0, 0 }, #endif #if AXIS_IS_L64XX(E5) - { 13, 0, 0, 0, 0, 0, 0 } + { E5, 0, 0, 0, 0, 0, 0 } #endif #if AXIS_IS_L64XX(E6) - { 14, 0, 0, 0, 0, 0, 0 } + { E6, 0, 0, 0, 0, 0, 0 } #endif #if AXIS_IS_L64XX(E7) - { 16, 0, 0, 0, 0, 0, 0 } + { E7, 0, 0, 0, 0, 0, 0 } #endif }; @@ -863,6 +936,15 @@ void L64XX_Marlin::say_axis(const L64XX_axis_t axis, const uint8_t label/*=true* #if AXIS_IS_L64XX(Z) monitor_update(Z); #endif + #if AXIS_IS_L64XX(I) + monitor_update(I); + #endif + #if AXIS_IS_L64XX(J) + monitor_update(J); + #endif + #if AXIS_IS_L64XX(K) + monitor_update(K); + #endif #if AXIS_IS_L64XX(X2) monitor_update(X2); #endif @@ -896,6 +978,12 @@ void L64XX_Marlin::say_axis(const L64XX_axis_t axis, const uint8_t label/*=true* #if AXIS_IS_L64XX(E5) monitor_update(E5); #endif + #if AXIS_IS_L64XX(E6) + monitor_update(E6); + #endif + #if AXIS_IS_L64XX(E7) + monitor_update(E7); + #endif if (TERN0(L6470_DEBUG, report_L6470_status)) DEBUG_EOL(); diff --git a/Marlin/src/libs/L64XX/L64XX_Marlin.h b/Marlin/src/libs/L64XX/L64XX_Marlin.h index c8d273990f..e11d8e872e 100644 --- a/Marlin/src/libs/L64XX/L64XX_Marlin.h +++ b/Marlin/src/libs/L64XX/L64XX_Marlin.h @@ -35,7 +35,9 @@ #define dSPIN_STEP_CLOCK_REV dSPIN_STEP_CLOCK+1 #define HAS_L64XX_EXTRUDER (AXIS_IS_L64XX(E0) || AXIS_IS_L64XX(E1) || AXIS_IS_L64XX(E2) || AXIS_IS_L64XX(E3) || AXIS_IS_L64XX(E4) || AXIS_IS_L64XX(E5) || AXIS_IS_L64XX(E6) || AXIS_IS_L64XX(E7)) -enum L64XX_axis_t : uint8_t { X, Y, Z, X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7, MAX_L64XX }; +#define _EN_ITEM(N) , E##N +enum L64XX_axis_t : uint8_t { LINEAR_AXIS_LIST(X, Y, Z, I, J, K), X2, Y2, Z2, Z3, Z4 REPEAT(E_STEPPERS, _EN_ITEM), MAX_L64XX }; +#undef _EN_ITEM class L64XX_Marlin : public L64XXHelper { public: diff --git a/Marlin/src/libs/vector_3.cpp b/Marlin/src/libs/vector_3.cpp index f1bff7d4c6..b8202217dd 100644 --- a/Marlin/src/libs/vector_3.cpp +++ b/Marlin/src/libs/vector_3.cpp @@ -52,10 +52,9 @@ */ vector_3 vector_3::cross(const vector_3 &left, const vector_3 &right) { - const xyz_float_t &lv = left, &rv = right; - return vector_3(lv.y * rv.z - lv.z * rv.y, // YZ cross - lv.z * rv.x - lv.x * rv.z, // ZX cross - lv.x * rv.y - lv.y * rv.x); // XY cross + return vector_3(left.y * right.z - left.z * right.y, // YZ cross + left.z * right.x - left.x * right.z, // ZX cross + left.x * right.y - left.y * right.x); // XY cross } vector_3 vector_3::get_normal() const { @@ -64,16 +63,16 @@ vector_3 vector_3::get_normal() const { return normalized; } -void vector_3::normalize() { - *this *= RSQRT(sq(x) + sq(y) + sq(z)); -} +float vector_3::magnitude() const { return SQRT(sq(x) + sq(y) + sq(z)); } + +void vector_3::normalize() { *this *= RSQRT(sq(x) + sq(y) + sq(z)); } // Apply a rotation to the matrix void vector_3::apply_rotation(const matrix_3x3 &matrix) { const float _x = x, _y = y, _z = z; - *this = { matrix.vectors[0][0] * _x + matrix.vectors[1][0] * _y + matrix.vectors[2][0] * _z, - matrix.vectors[0][1] * _x + matrix.vectors[1][1] * _y + matrix.vectors[2][1] * _z, - matrix.vectors[0][2] * _x + matrix.vectors[1][2] * _y + matrix.vectors[2][2] * _z }; + *this = { matrix.vectors[0].x * _x + matrix.vectors[1].x * _y + matrix.vectors[2].x * _z, + matrix.vectors[0].y * _x + matrix.vectors[1].y * _y + matrix.vectors[2].y * _z, + matrix.vectors[0].z * _x + matrix.vectors[1].z * _y + matrix.vectors[2].z * _z }; } void vector_3::debug(PGM_P const title) { @@ -105,9 +104,9 @@ matrix_3x3 matrix_3x3::create_from_rows(const vector_3 &row_0, const vector_3 &r //row_1.debug(PSTR("row_1")); //row_2.debug(PSTR("row_2")); matrix_3x3 new_matrix; - new_matrix.vectors[0] = row_0; - new_matrix.vectors[1] = row_1; - new_matrix.vectors[2] = row_2; + new_matrix.vectors[0].x = row_0.x; new_matrix.vectors[1].y = row_0.y; new_matrix.vectors[2].z = row_0.z; + new_matrix.vectors[3].x = row_1.x; new_matrix.vectors[4].y = row_1.y; new_matrix.vectors[5].z = row_1.z; + new_matrix.vectors[6].x = row_2.x; new_matrix.vectors[7].y = row_2.y; new_matrix.vectors[8].z = row_2.z; //new_matrix.debug(PSTR("new_matrix")); return new_matrix; } diff --git a/Marlin/src/libs/vector_3.h b/Marlin/src/libs/vector_3.h index 5ce5914961..5d99fcec20 100644 --- a/Marlin/src/libs/vector_3.h +++ b/Marlin/src/libs/vector_3.h @@ -44,12 +44,16 @@ class matrix_3x3; -struct vector_3 : xyz_float_t { - vector_3(const_float_t _x, const_float_t _y, const_float_t _z) { set(_x, _y, _z); } - vector_3(const xy_float_t &in) { set(in.x, in.y); } - vector_3(const xyz_float_t &in) { set(in.x, in.y, in.z); } - vector_3(const xyze_float_t &in) { set(in.x, in.y, in.z); } - vector_3() { reset(); } +struct vector_3 { + union { + struct { float x, y, z; }; + float pos[3]; + }; + vector_3(const_float_t _x, const_float_t _y, const_float_t _z) : x(_x), y(_y), z(_z) {} + vector_3(const xy_float_t &in) { x = in.x; TERN_(HAS_Y_AXIS, y = in.y); } + vector_3(const xyz_float_t &in) { x = in.x; TERN_(HAS_Y_AXIS, y = in.y); TERN_(HAS_Z_AXIS, z = in.z); } + vector_3(const xyze_float_t &in) { x = in.x; TERN_(HAS_Y_AXIS, y = in.y); TERN_(HAS_Z_AXIS, z = in.z); } + vector_3() { x = y = z = 0; } // Factory method static vector_3 cross(const vector_3 &a, const vector_3 &b); @@ -59,19 +63,26 @@ struct vector_3 : xyz_float_t { void apply_rotation(const matrix_3x3 &matrix); // Accessors - float get_length() const; + float magnitude() const; vector_3 get_normal() const; // Operators - FORCE_INLINE vector_3 operator+(const vector_3 &v) const { vector_3 o = *this; o += v; return o; } - FORCE_INLINE vector_3 operator-(const vector_3 &v) const { vector_3 o = *this; o -= v; return o; } - FORCE_INLINE vector_3 operator*(const float &v) const { vector_3 o = *this; o *= v; return o; } + float& operator[](const int n) { return pos[n]; } + const float& operator[](const int n) const { return pos[n]; } + + vector_3& operator*=(const float &v) { x *= v; y *= v; z *= v; return *this; } + vector_3 operator+(const vector_3 &v) { return vector_3(x + v.x, y + v.y, z + v.z); } + vector_3 operator-(const vector_3 &v) { return vector_3(x - v.x, y - v.y, z - v.z); } + vector_3 operator*(const float &v) { return vector_3(x * v, y * v, z * v); } + + operator xy_float_t() { return xy_float_t({ x, y }); } + operator xyz_float_t() { return xyz_float_t({ x, y, z }); } void debug(PGM_P const title); }; struct matrix_3x3 { - abc_float_t vectors[3]; + vector_3 vectors[3]; // Factory methods static matrix_3x3 create_from_rows(const vector_3 &row_0, const vector_3 &row_1, const vector_3 &row_2); @@ -83,6 +94,4 @@ struct matrix_3x3 { void debug(PGM_P const title); void apply_rotation_xyz(float &x, float &y, float &z); - - FORCE_INLINE void apply_rotation_xyz(xyz_pos_t &pos) { apply_rotation_xyz(pos.x, pos.y, pos.z); } }; diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp index 1be3df220f..96d8841f13 100644 --- a/Marlin/src/module/delta.cpp +++ b/Marlin/src/module/delta.cpp @@ -245,6 +245,9 @@ void home_delta() { TERN_(X_SENSORLESS, sensorless_t stealth_states_x = start_sensorless_homing_per_axis(X_AXIS)); TERN_(Y_SENSORLESS, sensorless_t stealth_states_y = start_sensorless_homing_per_axis(Y_AXIS)); TERN_(Z_SENSORLESS, sensorless_t stealth_states_z = start_sensorless_homing_per_axis(Z_AXIS)); + TERN_(I_SENSORLESS, sensorless_t stealth_states_i = start_sensorless_homing_per_axis(I_AXIS)); + TERN_(J_SENSORLESS, sensorless_t stealth_states_j = start_sensorless_homing_per_axis(J_AXIS)); + TERN_(K_SENSORLESS, sensorless_t stealth_states_k = start_sensorless_homing_per_axis(K_AXIS)); #endif // Move all carriages together linearly until an endstop is hit. @@ -257,6 +260,9 @@ void home_delta() { TERN_(X_SENSORLESS, end_sensorless_homing_per_axis(X_AXIS, stealth_states_x)); TERN_(Y_SENSORLESS, end_sensorless_homing_per_axis(Y_AXIS, stealth_states_y)); TERN_(Z_SENSORLESS, end_sensorless_homing_per_axis(Z_AXIS, stealth_states_z)); + TERN_(I_SENSORLESS, end_sensorless_homing_per_axis(I_AXIS, stealth_states_i)); + TERN_(J_SENSORLESS, end_sensorless_homing_per_axis(J_AXIS, stealth_states_j)); + TERN_(K_SENSORLESS, end_sensorless_homing_per_axis(K_AXIS, stealth_states_k)); #endif endstops.validate_homing_move(); diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp index cf152ff028..c750d56713 100644 --- a/Marlin/src/module/endstops.cpp +++ b/Marlin/src/module/endstops.cpp @@ -259,6 +259,66 @@ void Endstops::init() { #endif #endif + #if HAS_I_MIN + #if ENABLED(ENDSTOPPULLUP_IMIN) + SET_INPUT_PULLUP(I_MIN_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_IMIN) + SET_INPUT_PULLDOWN(I_MIN_PIN); + #else + SET_INPUT(I_MIN_PIN); + #endif + #endif + + #if HAS_I_MAX + #if ENABLED(ENDSTOPPULLUP_IMAX) + SET_INPUT_PULLUP(I_MAX_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_IMAX) + SET_INPUT_PULLDOWN(I_MAX_PIN); + #else + SET_INPUT(I_MAX_PIN); + #endif + #endif + + #if HAS_J_MIN + #if ENABLED(ENDSTOPPULLUP_JMIN) + SET_INPUT_PULLUP(J_MIN_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_IMIN) + SET_INPUT_PULLDOWN(J_MIN_PIN); + #else + SET_INPUT(J_MIN_PIN); + #endif + #endif + + #if HAS_J_MAX + #if ENABLED(ENDSTOPPULLUP_JMAX) + SET_INPUT_PULLUP(J_MAX_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_JMAX) + SET_INPUT_PULLDOWN(J_MAX_PIN); + #else + SET_INPUT(J_MAX_PIN); + #endif + #endif + + #if HAS_K_MIN + #if ENABLED(ENDSTOPPULLUP_KMIN) + SET_INPUT_PULLUP(K_MIN_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_KMIN) + SET_INPUT_PULLDOWN(K_MIN_PIN); + #else + SET_INPUT(K_MIN_PIN); + #endif + #endif + + #if HAS_K_MAX + #if ENABLED(ENDSTOPPULLUP_KMAX) + SET_INPUT_PULLUP(K_MAX_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_KMIN) + SET_INPUT_PULLDOWN(K_MAX_PIN); + #else + SET_INPUT(K_MAX_PIN); + #endif + #endif + #if PIN_EXISTS(CALIBRATION) #if ENABLED(CALIBRATION_PIN_PULLUP) SET_INPUT_PULLUP(CALIBRATION_PIN); @@ -361,7 +421,7 @@ void Endstops::event_handler() { prev_hit_state = hit_state; if (hit_state) { #if HAS_STATUS_MESSAGE - char LINEAR_AXIS_LIST(chrX = ' ', chrY = ' ', chrZ = ' '), + char LINEAR_AXIS_LIST(chrX = ' ', chrY = ' ', chrZ = ' ', chrI = ' ', chrJ = ' ', chrK = ' '), chrP = ' '; #define _SET_STOP_CHAR(A,C) (chr## A = C) #else @@ -378,12 +438,20 @@ void Endstops::event_handler() { #define ENDSTOP_HIT_TEST_X() _ENDSTOP_HIT_TEST(X,'X') #define ENDSTOP_HIT_TEST_Y() _ENDSTOP_HIT_TEST(Y,'Y') #define ENDSTOP_HIT_TEST_Z() _ENDSTOP_HIT_TEST(Z,'Z') + #define ENDSTOP_HIT_TEST_I() _ENDSTOP_HIT_TEST(I,'I') + #define ENDSTOP_HIT_TEST_J() _ENDSTOP_HIT_TEST(J,'J') + #define ENDSTOP_HIT_TEST_K() _ENDSTOP_HIT_TEST(K,'K') SERIAL_ECHO_START(); SERIAL_ECHOPGM(STR_ENDSTOPS_HIT); - ENDSTOP_HIT_TEST_X(); - ENDSTOP_HIT_TEST_Y(); - ENDSTOP_HIT_TEST_Z(); + LINEAR_AXIS_CODE( + ENDSTOP_HIT_TEST_X(), + ENDSTOP_HIT_TEST_Y(), + ENDSTOP_HIT_TEST_Z(), + _ENDSTOP_HIT_TEST(I,'I'), + _ENDSTOP_HIT_TEST(J,'J'), + _ENDSTOP_HIT_TEST(K,'K') + ); #if HAS_CUSTOM_PROBE_PIN #define P_AXIS Z_AXIS @@ -395,7 +463,7 @@ void Endstops::event_handler() { ui.status_printf_P(0, PSTR(S_FMT GANG_N_1(LINEAR_AXES, " %c") " %c"), GET_TEXT(MSG_LCD_ENDSTOPS), - LINEAR_AXIS_LIST(chrX, chrY, chrZ), chrP + LINEAR_AXIS_LIST(chrX, chrY, chrZ, chrI, chrJ, chrK), chrP ) ); @@ -477,6 +545,24 @@ void _O2 Endstops::report_states() { #if HAS_Z4_MAX ES_REPORT(Z4_MAX); #endif + #if HAS_I_MIN + ES_REPORT(I_MIN); + #endif + #if HAS_I_MAX + ES_REPORT(I_MAX); + #endif + #if HAS_J_MIN + ES_REPORT(J_MIN); + #endif + #if HAS_J_MAX + ES_REPORT(J_MAX); + #endif + #if HAS_K_MIN + ES_REPORT(K_MIN); + #endif + #if HAS_K_MAX + ES_REPORT(K_MAX); + #endif #if BOTH(MARLIN_DEV_MODE, PROBE_ACTIVATION_SWITCH) print_es_state(probe_switch_activated(), PSTR(STR_PROBE_EN)); #endif @@ -549,6 +635,10 @@ void Endstops::update() { #define Z_AXIS_HEAD Z_AXIS #endif + #define I_AXIS_HEAD I_AXIS + #define J_AXIS_HEAD J_AXIS + #define K_AXIS_HEAD K_AXIS + /** * Check and update endstops */ @@ -656,6 +746,84 @@ void Endstops::update() { #endif #endif + #if HAS_I_MIN + #if ENABLED(I_DUAL_ENDSTOPS) + UPDATE_ENDSTOP_BIT(I, MIN); + #if HAS_I2_MIN + UPDATE_ENDSTOP_BIT(I2, MAX); + #else + COPY_LIVE_STATE(I_MIN, I2_MIN); + #endif + #else + UPDATE_ENDSTOP_BIT(I, MIN); + #endif + #endif + + #if HAS_I_MAX + #if ENABLED(I_DUAL_ENDSTOPS) + UPDATE_ENDSTOP_BIT(I, MAX); + #if HAS_I2_MAX + UPDATE_ENDSTOP_BIT(I2, MAX); + #else + COPY_LIVE_STATE(I_MAX, I2_MAX); + #endif + #else + UPDATE_ENDSTOP_BIT(I, MAX); + #endif + #endif + + #if HAS_J_MIN + #if ENABLED(J_DUAL_ENDSTOPS) + UPDATE_ENDSTOP_BIT(J, MIN); + #if HAS_J2_MIN + UPDATE_ENDSTOP_BIT(J2, MIN); + #else + COPY_LIVE_STATE(J_MIN, J2_MIN); + #endif + #else + UPDATE_ENDSTOP_BIT(J, MIN); + #endif + #endif + + #if HAS_J_MAX + #if ENABLED(J_DUAL_ENDSTOPS) + UPDATE_ENDSTOP_BIT(J, MAX); + #if HAS_J2_MAX + UPDATE_ENDSTOP_BIT(J2, MAX); + #else + COPY_LIVE_STATE(J_MAX, J2_MAX); + #endif + #else + UPDATE_ENDSTOP_BIT(J, MAX); + #endif + #endif + + #if HAS_K_MIN + #if ENABLED(K_DUAL_ENDSTOPS) + UPDATE_ENDSTOP_BIT(K, MIN); + #if HAS_K2_MIN + UPDATE_ENDSTOP_BIT(K2, MIN); + #else + COPY_LIVE_STATE(K_MIN, K2_MIN); + #endif + #else + UPDATE_ENDSTOP_BIT(K, MIN); + #endif + #endif + + #if HAS_K_MAX + #if ENABLED(K_DUAL_ENDSTOPS) + UPDATE_ENDSTOP_BIT(K, MAX); + #if HAS_K2_MAX + UPDATE_ENDSTOP_BIT(K2, MAX); + #else + COPY_LIVE_STATE(K_MAX, K2_MAX); + #endif + #else + UPDATE_ENDSTOP_BIT(K, MAX); + #endif + #endif + #if ENDSTOP_NOISE_THRESHOLD /** @@ -804,79 +972,128 @@ void Endstops::update() { } } - if (stepper.axis_is_moving(Y_AXIS)) { - if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction - #if HAS_Y_MIN || (Y_SPI_SENSORLESS && Y_HOME_TO_MIN) - PROCESS_ENDSTOP_Y(MIN); - #if CORE_DIAG(XY, X, MIN) - PROCESS_CORE_ENDSTOP(X,MIN,Y,MIN); - #elif CORE_DIAG(XY, X, MAX) - PROCESS_CORE_ENDSTOP(X,MAX,Y,MIN); - #elif CORE_DIAG(YZ, Z, MIN) - PROCESS_CORE_ENDSTOP(Z,MIN,Y,MIN); - #elif CORE_DIAG(YZ, Z, MAX) - PROCESS_CORE_ENDSTOP(Z,MAX,Y,MIN); + #if HAS_Y_AXIS + if (stepper.axis_is_moving(Y_AXIS)) { + if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction + #if HAS_Y_MIN || (Y_SPI_SENSORLESS && Y_HOME_TO_MIN) + PROCESS_ENDSTOP_Y(MIN); + #if CORE_DIAG(XY, X, MIN) + PROCESS_CORE_ENDSTOP(X,MIN,Y,MIN); + #elif CORE_DIAG(XY, X, MAX) + PROCESS_CORE_ENDSTOP(X,MAX,Y,MIN); + #elif CORE_DIAG(YZ, Z, MIN) + PROCESS_CORE_ENDSTOP(Z,MIN,Y,MIN); + #elif CORE_DIAG(YZ, Z, MAX) + PROCESS_CORE_ENDSTOP(Z,MAX,Y,MIN); + #endif #endif - #endif + } + else { // +direction + #if HAS_Y_MAX || (Y_SPI_SENSORLESS && Y_HOME_TO_MAX) + PROCESS_ENDSTOP_Y(MAX); + #if CORE_DIAG(XY, X, MIN) + PROCESS_CORE_ENDSTOP(X,MIN,Y,MAX); + #elif CORE_DIAG(XY, X, MAX) + PROCESS_CORE_ENDSTOP(X,MAX,Y,MAX); + #elif CORE_DIAG(YZ, Z, MIN) + PROCESS_CORE_ENDSTOP(Z,MIN,Y,MAX); + #elif CORE_DIAG(YZ, Z, MAX) + PROCESS_CORE_ENDSTOP(Z,MAX,Y,MAX); + #endif + #endif + } } - else { // +direction - #if HAS_Y_MAX || (Y_SPI_SENSORLESS && Y_HOME_TO_MAX) - PROCESS_ENDSTOP_Y(MAX); - #if CORE_DIAG(XY, X, MIN) - PROCESS_CORE_ENDSTOP(X,MIN,Y,MAX); - #elif CORE_DIAG(XY, X, MAX) - PROCESS_CORE_ENDSTOP(X,MAX,Y,MAX); - #elif CORE_DIAG(YZ, Z, MIN) - PROCESS_CORE_ENDSTOP(Z,MIN,Y,MAX); - #elif CORE_DIAG(YZ, Z, MAX) - PROCESS_CORE_ENDSTOP(Z,MAX,Y,MAX); + #endif + + #if HAS_Z_AXIS + if (stepper.axis_is_moving(Z_AXIS)) { + if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up. + + #if HAS_Z_MIN || (Z_SPI_SENSORLESS && Z_HOME_TO_MIN) + if ( TERN1(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, z_probe_enabled) + && TERN1(HAS_CUSTOM_PROBE_PIN, !z_probe_enabled) + ) PROCESS_ENDSTOP_Z(MIN); + #if CORE_DIAG(XZ, X, MIN) + PROCESS_CORE_ENDSTOP(X,MIN,Z,MIN); + #elif CORE_DIAG(XZ, X, MAX) + PROCESS_CORE_ENDSTOP(X,MAX,Z,MIN); + #elif CORE_DIAG(YZ, Y, MIN) + PROCESS_CORE_ENDSTOP(Y,MIN,Z,MIN); + #elif CORE_DIAG(YZ, Y, MAX) + PROCESS_CORE_ENDSTOP(Y,MAX,Z,MIN); + #endif #endif - #endif + + // When closing the gap check the enabled probe + #if HAS_CUSTOM_PROBE_PIN + if (z_probe_enabled) PROCESS_ENDSTOP(Z, MIN_PROBE); + #endif + } + else { // Z +direction. Gantry up, bed down. + #if HAS_Z_MAX || (Z_SPI_SENSORLESS && Z_HOME_TO_MAX) + #if ENABLED(Z_MULTI_ENDSTOPS) + PROCESS_ENDSTOP_Z(MAX); + #elif !HAS_CUSTOM_PROBE_PIN || Z_MAX_PIN != Z_MIN_PROBE_PIN // No probe or probe is Z_MIN || Probe is not Z_MAX + PROCESS_ENDSTOP(Z, MAX); + #endif + #if CORE_DIAG(XZ, X, MIN) + PROCESS_CORE_ENDSTOP(X,MIN,Z,MAX); + #elif CORE_DIAG(XZ, X, MAX) + PROCESS_CORE_ENDSTOP(X,MAX,Z,MAX); + #elif CORE_DIAG(YZ, Y, MIN) + PROCESS_CORE_ENDSTOP(Y,MIN,Z,MAX); + #elif CORE_DIAG(YZ, Y, MAX) + PROCESS_CORE_ENDSTOP(Y,MAX,Z,MAX); + #endif + #endif + } } - } + #endif - if (stepper.axis_is_moving(Z_AXIS)) { - if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up. - - #if HAS_Z_MIN || (Z_SPI_SENSORLESS && Z_HOME_TO_MIN) - if ( TERN1(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, z_probe_enabled) - && TERN1(HAS_CUSTOM_PROBE_PIN, !z_probe_enabled) - ) PROCESS_ENDSTOP_Z(MIN); - #if CORE_DIAG(XZ, X, MIN) - PROCESS_CORE_ENDSTOP(X,MIN,Z,MIN); - #elif CORE_DIAG(XZ, X, MAX) - PROCESS_CORE_ENDSTOP(X,MAX,Z,MIN); - #elif CORE_DIAG(YZ, Y, MIN) - PROCESS_CORE_ENDSTOP(Y,MIN,Z,MIN); - #elif CORE_DIAG(YZ, Y, MAX) - PROCESS_CORE_ENDSTOP(Y,MAX,Z,MIN); + #if LINEAR_AXES >= 4 + if (stepper.axis_is_moving(I_AXIS)) { + if (stepper.motor_direction(I_AXIS_HEAD)) { // -direction + #if HAS_I_MIN || (I_SPI_SENSORLESS && I_HOME_TO_MIN) + PROCESS_ENDSTOP(I, MIN); #endif - #endif + } + else { // +direction + #if HAS_I_MAX || (I_SPI_SENSORLESS && I_HOME_TO_MAX) + PROCESS_ENDSTOP(I, MAX); + #endif + } + } + #endif - // When closing the gap check the enabled probe - #if HAS_CUSTOM_PROBE_PIN - if (z_probe_enabled) PROCESS_ENDSTOP(Z, MIN_PROBE); - #endif + #if LINEAR_AXES >= 5 + if (stepper.axis_is_moving(J_AXIS)) { + if (stepper.motor_direction(J_AXIS_HEAD)) { // -direction + #if HAS_J_MIN || (J_SPI_SENSORLESS && J_HOME_TO_MIN) + PROCESS_ENDSTOP(J, MIN); + #endif + } + else { // +direction + #if HAS_J_MAX || (J_SPI_SENSORLESS && J_HOME_TO_MAX) + PROCESS_ENDSTOP(J, MAX); + #endif + } } - else { // Z +direction. Gantry up, bed down. - #if HAS_Z_MAX || (Z_SPI_SENSORLESS && Z_HOME_TO_MAX) - #if ENABLED(Z_MULTI_ENDSTOPS) - PROCESS_ENDSTOP_Z(MAX); - #elif !HAS_CUSTOM_PROBE_PIN || Z_MAX_PIN != Z_MIN_PROBE_PIN // No probe or probe is Z_MIN || Probe is not Z_MAX - PROCESS_ENDSTOP(Z, MAX); + #endif + + #if LINEAR_AXES >= 6 + if (stepper.axis_is_moving(K_AXIS)) { + if (stepper.motor_direction(K_AXIS_HEAD)) { // -direction + #if HAS_K_MIN || (K_SPI_SENSORLESS && K_HOME_TO_MIN) + PROCESS_ENDSTOP(K, MIN); #endif - #if CORE_DIAG(XZ, X, MIN) - PROCESS_CORE_ENDSTOP(X,MIN,Z,MAX); - #elif CORE_DIAG(XZ, X, MAX) - PROCESS_CORE_ENDSTOP(X,MAX,Z,MAX); - #elif CORE_DIAG(YZ, Y, MIN) - PROCESS_CORE_ENDSTOP(Y,MIN,Z,MAX); - #elif CORE_DIAG(YZ, Y, MAX) - PROCESS_CORE_ENDSTOP(Y,MAX,Z,MAX); + } + else { // +direction + #if HAS_K_MAX || (K_SPI_SENSORLESS && K_HOME_TO_MAX) + PROCESS_ENDSTOP(K, MAX); #endif - #endif + } } - } + #endif } // Endstops::update() #if ENABLED(SPI_ENDSTOPS) @@ -919,6 +1136,24 @@ void Endstops::update() { hit = true; } #endif + #if I_SPI_SENSORLESS + if (tmc_spi_homing.i && stepperI.test_stall_status()) { + SBI(live_state, I_ENDSTOP); + hit = true; + } + #endif + #if J_SPI_SENSORLESS + if (tmc_spi_homing.j && stepperJ.test_stall_status()) { + SBI(live_state, J_ENDSTOP); + hit = true; + } + #endif + #if K_SPI_SENSORLESS + if (tmc_spi_homing.k && stepperK.test_stall_status()) { + SBI(live_state, K_ENDSTOP); + hit = true; + } + #endif if (TERN0(ENDSTOP_INTERRUPTS_FEATURE, hit)) update(); @@ -929,6 +1164,9 @@ void Endstops::update() { TERN_(X_SPI_SENSORLESS, CBI(live_state, X_ENDSTOP)); TERN_(Y_SPI_SENSORLESS, CBI(live_state, Y_ENDSTOP)); TERN_(Z_SPI_SENSORLESS, CBI(live_state, Z_ENDSTOP)); + TERN_(I_SPI_SENSORLESS, CBI(live_state, I_ENDSTOP)); + TERN_(J_SPI_SENSORLESS, CBI(live_state, J_ENDSTOP)); + TERN_(K_SPI_SENSORLESS, CBI(live_state, K_ENDSTOP)); } #endif // SPI_ENDSTOPS @@ -1005,6 +1243,24 @@ void Endstops::update() { #if HAS_Z4_MAX ES_GET_STATE(Z4_MAX); #endif + #if HAS_I_MAX + ES_GET_STATE(I_MAX); + #endif + #if HAS_I_MIN + ES_GET_STATE(I_MIN); + #endif + #if HAS_J_MAX + ES_GET_STATE(J_MAX); + #endif + #if HAS_J_MIN + ES_GET_STATE(J_MIN); + #endif + #if HAS_K_MAX + ES_GET_STATE(K_MAX); + #endif + #if HAS_K_MIN + ES_GET_STATE(K_MIN); + #endif uint16_t endstop_change = live_state_local ^ old_live_state_local; #define ES_REPORT_CHANGE(S) if (TEST(endstop_change, S)) SERIAL_ECHOPAIR(" " STRINGIFY(S) ":", TEST(live_state_local, S)) @@ -1061,6 +1317,24 @@ void Endstops::update() { #if HAS_Z4_MAX ES_REPORT_CHANGE(Z4_MAX); #endif + #if HAS_I_MIN + ES_REPORT_CHANGE(I_MIN); + #endif + #if HAS_I_MAX + ES_REPORT_CHANGE(I_MAX); + #endif + #if HAS_J_MIN + ES_REPORT_CHANGE(J_MIN); + #endif + #if HAS_J_MAX + ES_REPORT_CHANGE(J_MAX); + #endif + #if HAS_K_MIN + ES_REPORT_CHANGE(K_MIN); + #endif + #if HAS_K_MAX + ES_REPORT_CHANGE(K_MAX); + #endif SERIAL_ECHOLNPGM("\n"); analogWrite(pin_t(LED_PIN), local_LED_status); local_LED_status ^= 255; diff --git a/Marlin/src/module/endstops.h b/Marlin/src/module/endstops.h index 01b4fead8f..0498896f26 100644 --- a/Marlin/src/module/endstops.h +++ b/Marlin/src/module/endstops.h @@ -39,6 +39,12 @@ enum EndstopEnum : char { _ES_ITEM(HAS_Y_MAX, Y_MAX) _ES_ITEM(HAS_Z_MIN, Z_MIN) _ES_ITEM(HAS_Z_MAX, Z_MAX) + _ES_ITEM(HAS_I_MIN, I_MIN) + _ES_ITEM(HAS_I_MAX, I_MAX) + _ES_ITEM(HAS_J_MIN, J_MIN) + _ES_ITEM(HAS_J_MAX, J_MAX) + _ES_ITEM(HAS_K_MIN, K_MIN) + _ES_ITEM(HAS_K_MAX, K_MAX) // Extra Endstops for XYZ #if ENABLED(X_DUAL_ENDSTOPS) diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index ad0537b5cf..1d40d3a253 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -89,7 +89,7 @@ bool relative_mode; // = false; #define Z_INIT_POS Z_HOME_POS #endif -xyze_pos_t current_position = LOGICAL_AXIS_ARRAY(0, X_HOME_POS, Y_HOME_POS, Z_INIT_POS); +xyze_pos_t current_position = LOGICAL_AXIS_ARRAY(0, X_HOME_POS, Y_HOME_POS, Z_INIT_POS, I_HOME_POS, J_HOME_POS, K_HOME_POS); /** * Cartesian Destination @@ -143,7 +143,7 @@ xyz_pos_t cartes; #if IS_KINEMATIC - abc_pos_t delta; + abce_pos_t delta; #if HAS_SCARA_OFFSET abc_pos_t scara_home_offset; @@ -196,7 +196,14 @@ inline void report_more_positions() { inline void report_logical_position(const xyze_pos_t &rpos) { const xyze_pos_t lpos = rpos.asLogical(); SERIAL_ECHOPAIR_P( - LIST_N(DOUBLE(LINEAR_AXES), X_LBL, lpos.x, SP_Y_LBL, lpos.y, SP_Z_LBL, lpos.z) + LIST_N(DOUBLE(LINEAR_AXES), + X_LBL, lpos.x, + SP_Y_LBL, lpos.y, + SP_Z_LBL, lpos.z, + SP_I_LBL, lpos.i, + SP_J_LBL, lpos.j, + SP_K_LBL, lpos.k + ) #if HAS_EXTRUDERS , SP_E_LBL, lpos.e #endif @@ -209,7 +216,10 @@ void report_real_position() { get_cartesian_from_steppers(); xyze_pos_t npos = LOGICAL_AXIS_ARRAY( planner.get_axis_position_mm(E_AXIS), - cartes.x, cartes.y, cartes.z + cartes.x, cartes.y, cartes.z, + planner.get_axis_position_mm(I_AXIS), + planner.get_axis_position_mm(J_AXIS), + planner.get_axis_position_mm(K_AXIS) ); TERN_(HAS_POSITION_MODIFIERS, planner.unapply_modifiers(npos, true)); @@ -334,20 +344,21 @@ void sync_plan_position() { void get_cartesian_from_steppers() { #if ENABLED(DELTA) forward_kinematics(planner.get_axis_positions_mm()); - #else - #if IS_SCARA - forward_kinematics( - planner.get_axis_position_degrees(A_AXIS) - , planner.get_axis_position_degrees(B_AXIS) - #if ENABLED(AXEL_TPARA) - , planner.get_axis_position_degrees(C_AXIS) - #endif - ); - #else - cartes.x = planner.get_axis_position_mm(X_AXIS); - cartes.y = planner.get_axis_position_mm(Y_AXIS); - #endif + #elif IS_SCARA + forward_kinematics( + planner.get_axis_position_degrees(A_AXIS), planner.get_axis_position_degrees(B_AXIS) + OPTARG(AXEL_TPARA, planner.get_axis_position_degrees(C_AXIS)) + ); cartes.z = planner.get_axis_position_mm(Z_AXIS); + #else + LINEAR_AXIS_CODE( + cartes.x = planner.get_axis_position_mm(X_AXIS), + cartes.y = planner.get_axis_position_mm(Y_AXIS), + cartes.z = planner.get_axis_position_mm(Z_AXIS), + cartes.i = planner.get_axis_position_mm(I_AXIS), + cartes.j = planner.get_axis_position_mm(J_AXIS), + cartes.k = planner.get_axis_position_mm(K_AXIS) + ); #endif } @@ -366,13 +377,9 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) { get_cartesian_from_steppers(); xyze_pos_t pos = cartes; - #if HAS_EXTRUDERS - pos.e = planner.get_axis_position_mm(E_AXIS); - #endif + TERN_(HAS_EXTRUDERS, pos.e = planner.get_axis_position_mm(E_AXIS)); - #if HAS_POSITION_MODIFIERS - planner.unapply_modifiers(pos, true); - #endif + TERN_(HAS_POSITION_MODIFIERS, planner.unapply_modifiers(pos, true)); if (axis == ALL_AXES_ENUM) current_position = pos; @@ -385,7 +392,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) { * (or from wherever it has been told it is located). */ void line_to_current_position(const_feedRate_t fr_mm_s/*=feedrate_mm_s*/) { - planner.buffer_line(current_position, fr_mm_s, active_extruder); + planner.buffer_line(current_position, fr_mm_s); } #if HAS_EXTRUDERS @@ -411,7 +418,7 @@ void line_to_current_position(const_feedRate_t fr_mm_s/*=feedrate_mm_s*/) { #else if (current_position == destination) return; - planner.buffer_line(destination, scaled_fr_mm_s, active_extruder); + planner.buffer_line(destination, scaled_fr_mm_s); #endif current_position = destination; @@ -449,25 +456,26 @@ void _internal_move_to_destination(const_feedRate_t fr_mm_s/*=0.0f*/ } /** - * Plan a move to (X, Y, Z) with separation of the XY and Z components. + * Plan a move to (X, Y, Z, [I, [J, [K]]]) and set the current_position + * Plan a move to (X, Y, Z) with separation of Z from other components. * - * - If Z is moving up, the Z move is done before XY. - * - If Z is moving down, the Z move is done after XY. + * - If Z is moving up, the Z move is done before XY, etc. + * - If Z is moving down, the Z move is done after XY, etc. * - Delta may lower Z first to get into the free motion zone. * - Before returning, wait for the planner buffer to empty. */ -void do_blocking_move_to( - LINEAR_AXIS_LIST(const float rx, const float ry, const float rz), - const_feedRate_t fr_mm_s/*=0.0f*/ -) { +void do_blocking_move_to(LINEAR_AXIS_ARGS(const float), const_feedRate_t fr_mm_s/*=0.0f*/) { DEBUG_SECTION(log_move, "do_blocking_move_to", DEBUGGING(LEVELING)); - if (DEBUGGING(LEVELING)) DEBUG_XYZ("> ", LINEAR_AXIS_LIST(rx, ry, rz)); + if (DEBUGGING(LEVELING)) DEBUG_XYZ("> ", LINEAR_AXIS_ARGS()); + + const feedRate_t xy_feedrate = fr_mm_s ?: feedRate_t(XY_PROBE_FEEDRATE_MM_S); - const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS), - xy_feedrate = fr_mm_s ?: feedRate_t(XY_PROBE_FEEDRATE_MM_S); + #if HAS_Z_AXIS + const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS); + #endif #if EITHER(DELTA, IS_SCARA) - if (!position_is_reachable(rx, ry)) return; + if (!position_is_reachable(x, y)) return; destination = current_position; // sync destination at the start #endif @@ -479,8 +487,8 @@ void do_blocking_move_to( // when in the danger zone if (current_position.z > delta_clip_start_height) { - if (rz > delta_clip_start_height) { // staying in the danger zone - destination.set(rx, ry, rz); // move directly (uninterpolated) + if (z > delta_clip_start_height) { // staying in the danger zone + destination.set(x, y, z); // move directly (uninterpolated) prepare_internal_fast_move_to_destination(); // set current_position from destination if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position); return; @@ -490,18 +498,18 @@ void do_blocking_move_to( if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position); } - if (rz > current_position.z) { // raising? - destination.z = rz; + if (z > current_position.z) { // raising? + destination.z = z; prepare_internal_fast_move_to_destination(z_feedrate); // set current_position from destination if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position); } - destination.set(rx, ry); + destination.set(x, y); prepare_internal_move_to_destination(); // set current_position from destination if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position); - if (rz < current_position.z) { // lowering? - destination.z = rz; + if (z < current_position.z) { // lowering? + destination.z = z; prepare_internal_fast_move_to_destination(z_feedrate); // set current_position from destination if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position); } @@ -509,36 +517,40 @@ void do_blocking_move_to( #elif IS_SCARA // If Z needs to raise, do it before moving XY - if (destination.z < rz) { - destination.z = rz; + if (destination.z < z) { + destination.z = z; prepare_internal_fast_move_to_destination(z_feedrate); } - destination.set(rx, ry); + destination.set(x, y); prepare_internal_fast_move_to_destination(xy_feedrate); // If Z needs to lower, do it after moving XY - if (destination.z > rz) { - destination.z = rz; + if (destination.z > z) { + destination.z = z; prepare_internal_fast_move_to_destination(z_feedrate); } #else - // If Z needs to raise, do it before moving XY - if (current_position.z < rz) { - current_position.z = rz; - line_to_current_position(z_feedrate); - } + #if HAS_Z_AXIS + // If Z needs to raise, do it before moving XY + if (current_position.z < z) { + current_position.z = z; + line_to_current_position(z_feedrate); + } + #endif - current_position.set(rx, ry); + current_position.set(x, y); line_to_current_position(xy_feedrate); - // If Z needs to lower, do it after moving XY - if (current_position.z > rz) { - current_position.z = rz; - line_to_current_position(z_feedrate); - } + #if HAS_Z_AXIS + // If Z needs to lower, do it after moving XY + if (current_position.z > z) { + current_position.z = z; + line_to_current_position(z_feedrate); + } + #endif #endif @@ -546,53 +558,94 @@ void do_blocking_move_to( } void do_blocking_move_to(const xy_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) { - do_blocking_move_to(LINEAR_AXIS_LIST(raw.x, raw.y, current_position.z, current_position.i), fr_mm_s); + do_blocking_move_to(LINEAR_AXIS_LIST(raw.x, raw.y, current_position.z, current_position.i, current_position.j, current_position.k), fr_mm_s); } void do_blocking_move_to(const xyz_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) { - do_blocking_move_to(LINEAR_AXIS_LIST(raw.x, raw.y, raw.z), fr_mm_s); + do_blocking_move_to(LINEAR_AXIS_ELEM(raw), fr_mm_s); } void do_blocking_move_to(const xyze_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) { - do_blocking_move_to(LINEAR_AXIS_LIST(raw.x, raw.y, raw.z), fr_mm_s); + do_blocking_move_to(LINEAR_AXIS_ELEM(raw), fr_mm_s); } - void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) { do_blocking_move_to( - LINEAR_AXIS_LIST(rx, current_position.y, current_position.z), - fr_mm_s - ); -} -void do_blocking_move_to_y(const_float_t ry, const_feedRate_t fr_mm_s/*=0.0*/) { - do_blocking_move_to( - LINEAR_AXIS_LIST(current_position.x, ry, current_position.z), + LINEAR_AXIS_LIST(rx, current_position.y, current_position.z, current_position.i, current_position.j, current_position.k), fr_mm_s ); } -void do_blocking_move_to_z(const_float_t rz, const_feedRate_t fr_mm_s/*=0.0*/) { - do_blocking_move_to_xy_z(current_position, rz, fr_mm_s); -} -void do_blocking_move_to_xy(const_float_t rx, const_float_t ry, const_feedRate_t fr_mm_s/*=0.0*/) { - do_blocking_move_to( - LINEAR_AXIS_LIST(rx, ry, current_position.z), - fr_mm_s - ); -} -void do_blocking_move_to_xy(const xy_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) { - do_blocking_move_to_xy(raw.x, raw.y, fr_mm_s); -} +#if HAS_Y_AXIS + void do_blocking_move_to_y(const_float_t ry, const_feedRate_t fr_mm_s/*=0.0*/) { + do_blocking_move_to( + LINEAR_AXIS_LIST(current_position.x, ry, current_position.z, current_position.i, current_position.j, current_position.k), + fr_mm_s + ); + } +#endif -void do_blocking_move_to_xy_z(const xy_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s/*=0.0f*/) { - do_blocking_move_to( - LINEAR_AXIS_LIST(raw.x, raw.y, z), - fr_mm_s - ); -} +#if HAS_Z_AXIS + void do_blocking_move_to_z(const_float_t rz, const_feedRate_t fr_mm_s/*=0.0*/) { + do_blocking_move_to_xy_z(current_position, rz, fr_mm_s); + } +#endif -void do_z_clearance(const_float_t zclear, const bool lower_allowed/*=false*/) { - float zdest = zclear; - if (!lower_allowed) NOLESS(zdest, current_position.z); - do_blocking_move_to_z(_MIN(zdest, Z_MAX_POS), TERN(HAS_BED_PROBE, z_probe_fast_mm_s, homing_feedrate(Z_AXIS))); -} +#if LINEAR_AXES == 4 + void do_blocking_move_to_i(const_float_t ri, const_feedRate_t fr_mm_s/*=0.0*/) { + do_blocking_move_to_xyz_i(current_position, ri, fr_mm_s); + } + void do_blocking_move_to_xyz_i(const xyze_pos_t &raw, const_float_t i, const_feedRate_t fr_mm_s/*=0.0f*/) { + do_blocking_move_to(raw.x, raw.y, raw.z, i, fr_mm_s); + } +#endif + +#if LINEAR_AXES >= 5 + void do_blocking_move_to_i(const_float_t ri, const_feedRate_t fr_mm_s/*=0.0*/) { + do_blocking_move_to_xyz_i(current_position, ri, fr_mm_s); + } + void do_blocking_move_to_xyz_i(const xyze_pos_t &raw, const_float_t i, const_feedRate_t fr_mm_s/*=0.0f*/) { + do_blocking_move_to(raw.x, raw.y, raw.z, i, raw.j, fr_mm_s); + } + void do_blocking_move_to_j(const_float_t rj, const_feedRate_t fr_mm_s/*=0.0*/) { + do_blocking_move_to_xyzi_j(current_position, rj, fr_mm_s); + } + void do_blocking_move_to_xyzi_j(const xyze_pos_t &raw, const_float_t j, const_feedRate_t fr_mm_s/*=0.0f*/) { + do_blocking_move_to(raw.x, raw.y, raw.z, raw.i, j, fr_mm_s); + } +#endif + +#if LINEAR_AXES >= 6 + void do_blocking_move_to_k(const_float_t rk, const_feedRate_t fr_mm_s/*=0.0*/) { + do_blocking_move_to_xyzij_k(current_position, rk, fr_mm_s); + } + void do_blocking_move_to_xyzij_k(const xyze_pos_t &raw, const_float_t k, const_feedRate_t fr_mm_s/*=0.0f*/) { + do_blocking_move_to(raw.x, raw.y, raw.z, raw.i, raw.j, k, fr_mm_s); + } +#endif + +#if HAS_Y_AXIS + void do_blocking_move_to_xy(const_float_t rx, const_float_t ry, const_feedRate_t fr_mm_s/*=0.0*/) { + do_blocking_move_to( + LINEAR_AXIS_LIST(rx, ry, current_position.z, current_position.i, current_position.j, current_position.k), + fr_mm_s + ); + } + void do_blocking_move_to_xy(const xy_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) { + do_blocking_move_to_xy(raw.x, raw.y, fr_mm_s); + } +#endif + +#if HAS_Z_AXIS + void do_blocking_move_to_xy_z(const xy_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s/*=0.0f*/) { + do_blocking_move_to( + LINEAR_AXIS_LIST(raw.x, raw.y, z, current_position.i, current_position.j, current_position.k), + fr_mm_s + ); + } + void do_z_clearance(const_float_t zclear, const bool lower_allowed/*=false*/) { + float zdest = zclear; + if (!lower_allowed) NOLESS(zdest, current_position.z); + do_blocking_move_to_z(_MIN(zdest, Z_MAX_POS), TERN(HAS_BED_PROBE, z_probe_fast_mm_s, homing_feedrate(Z_AXIS))); + } +#endif // // Prepare to do endstop or probe moves with custom feedrates. @@ -618,8 +671,8 @@ void restore_feedrate_and_scaling() { // Software Endstops are based on the configured limits. soft_endstops_t soft_endstop = { true, false, - LINEAR_AXIS_ARRAY(X_MIN_POS, Y_MIN_POS, Z_MIN_POS), - LINEAR_AXIS_ARRAY(X_MAX_BED, Y_MAX_BED, Z_MAX_POS) + LINEAR_AXIS_ARRAY(X_MIN_POS, Y_MIN_POS, Z_MIN_POS, I_MIN_POS, J_MIN_POS, K_MIN_POS), + LINEAR_AXIS_ARRAY(X_MAX_BED, Y_MAX_BED, Z_MAX_POS, I_MAX_POS, J_MAX_POS, K_MAX_POS) }; /** @@ -746,25 +799,59 @@ void restore_feedrate_and_scaling() { #endif } - if (axis_was_homed(Y_AXIS)) { - #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Y) - NOLESS(target.y, soft_endstop.min.y); + #if HAS_Y_AXIS + if (axis_was_homed(Y_AXIS)) { + #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Y) + NOLESS(target.y, soft_endstop.min.y); + #endif + #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Y) + NOMORE(target.y, soft_endstop.max.y); + #endif + } + #endif + + #endif + + #if HAS_Z_AXIS + if (axis_was_homed(Z_AXIS)) { + #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z) + NOLESS(target.z, soft_endstop.min.z); #endif - #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Y) - NOMORE(target.y, soft_endstop.max.y); + #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Z) + NOMORE(target.z, soft_endstop.max.z); + #endif + } + #endif + #if LINEAR_AXES >= 4 // TODO (DerAndere): Find out why this was missing / removed + if (axis_was_homed(I_AXIS)) { + #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_I) + NOLESS(target.i, soft_endstop.min.i); + #endif + #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_I) + NOMORE(target.i, soft_endstop.max.i); + #endif + } + #endif + #if LINEAR_AXES >= 5 + if (axis_was_homed(J_AXIS)) { + #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_J) + NOLESS(target.j, soft_endstop.min.j); + #endif + #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_J) + NOMORE(target.j, soft_endstop.max.j); + #endif + } + #endif + #if LINEAR_AXES >= 6 + if (axis_was_homed(K_AXIS)) { + #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_K) + NOLESS(target.k, soft_endstop.min.k); + #endif + #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_K) + NOMORE(target.k, soft_endstop.max.k); #endif } - #endif - - if (axis_was_homed(Z_AXIS)) { - #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z) - NOLESS(target.z, soft_endstop.min.z); - #endif - #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Z) - NOMORE(target.z, soft_endstop.max.z); - #endif - } } #else // !HAS_SOFTWARE_ENDSTOPS @@ -824,7 +911,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) { // If the move is only in Z/E don't split up the move if (!diff.x && !diff.y) { - planner.buffer_line(destination, scaled_fr_mm_s, active_extruder); + planner.buffer_line(destination, scaled_fr_mm_s); return false; // caller will update current_position } @@ -880,15 +967,11 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) { while (--segments) { segment_idle(next_idle_ms); raw += segment_distance; - if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, cartesian_segment_mm - OPTARG(SCARA_FEEDRATE_SCALING, inv_duration) - )) break; + if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, cartesian_segment_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration))) break; } // Ensure last segment arrives at target location. - planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, cartesian_segment_mm - OPTARG(SCARA_FEEDRATE_SCALING, inv_duration) - ); + planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, cartesian_segment_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)); return false; // caller will update current_position } @@ -910,7 +993,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) { // If the move is only in Z/E don't split up the move if (!diff.x && !diff.y) { - planner.buffer_line(destination, fr_mm_s, active_extruder); + planner.buffer_line(destination, fr_mm_s); return; } @@ -947,18 +1030,12 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) { while (--segments) { segment_idle(next_idle_ms); raw += segment_distance; - if (!planner.buffer_line(raw, fr_mm_s, active_extruder, cartesian_segment_mm - OPTARG(SCARA_FEEDRATE_SCALING, inv_duration) - )) break; + if (!planner.buffer_line(raw, fr_mm_s, active_extruder, cartesian_segment_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration))) break; } // Since segment_distance is only approximate, // the final move must be to the exact destination. - planner.buffer_line(destination, fr_mm_s, active_extruder, cartesian_segment_mm - #if ENABLED(SCARA_FEEDRATE_SCALING) - , inv_duration - #endif - ); + planner.buffer_line(destination, fr_mm_s, active_extruder, cartesian_segment_mm OPTARG(SCARA_FEEDRATE_SCALING, inv_duration)); } #endif // SEGMENT_LEVELED_MOVES @@ -998,7 +1075,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) { } #endif // HAS_MESH - planner.buffer_line(destination, scaled_fr_mm_s, active_extruder); + planner.buffer_line(destination, scaled_fr_mm_s); return false; // caller will update current_position } @@ -1080,12 +1157,12 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) { // Un-park the active extruder // const feedRate_t fr_zfast = planner.settings.max_feedrate_mm_s[Z_AXIS]; - #define CURPOS current_position - #define RAISED raised_parked_position // 1. Move to the raised parked XYZ. Presumably the tool is already at XY. - if (planner.buffer_line(RAISED.x, RAISED.y, RAISED.z, CURPOS.e, fr_zfast, active_extruder)) { + xyze_pos_t raised = raised_parked_position; raised.e = current_position.e; + if (planner.buffer_line(raised, fr_zfast)) { // 2. Move to the current native XY and raised Z. Presumably this is a null move. - if (planner.buffer_line(CURPOS.x, CURPOS.y, RAISED.z, CURPOS.e, PLANNER_XY_FEEDRATE(), active_extruder)) { + xyze_pos_t curpos = current_position; curpos.z = raised_parked_position.z; + if (planner.buffer_line(curpos, PLANNER_XY_FEEDRATE())) { // 3. Lower Z back down line_to_current_position(fr_zfast); } @@ -1099,21 +1176,24 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) { case DXC_MIRRORED_MODE: case DXC_DUPLICATION_MODE: if (active_extruder == 0) { - xyze_pos_t new_pos = current_position; + // Restore planner to parked head (T1) X position + xyze_pos_t pos_now = current_position; + pos_now.x = inactive_extruder_x; + planner.set_position_mm(pos_now); + + // Keep the same X or add the duplication X offset + xyze_pos_t new_pos = pos_now; if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) new_pos.x += duplicate_extruder_x_offset; - else - new_pos.x = inactive_extruder_x; - // Move duplicate extruder into correct duplication position. + + // Move duplicate extruder into the correct position if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Set planner X", inactive_extruder_x, " ... Line to X", new_pos.x); - planner.set_position_mm(inactive_extruder_x, current_position.y, current_position.z, current_position.e); if (!planner.buffer_line(new_pos, planner.settings.max_feedrate_mm_s[X_AXIS], 1)) break; - planner.synchronize(); - sync_plan_position(); - set_duplication_enabled(true); - idex_set_parked(false); + sync_plan_position(); // Extra sync for good measure + set_duplication_enabled(true); // Enable Duplication + idex_set_parked(false); // No longer parked if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("set_duplication_enabled(true)\nidex_set_parked(false)"); } else if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Active extruder not 0"); @@ -1207,22 +1287,24 @@ void prepare_line_to_destination() { }; // Clear test bits that are trusted LINEAR_AXIS_CODE( - set_should(axis_bits, X_AXIS), - set_should(axis_bits, Y_AXIS), - set_should(axis_bits, Z_AXIS) + set_should(axis_bits, X_AXIS), set_should(axis_bits, Y_AXIS), set_should(axis_bits, Z_AXIS), + set_should(axis_bits, I_AXIS), set_should(axis_bits, J_AXIS), set_should(axis_bits, K_AXIS) ); return axis_bits; } bool homing_needed_error(linear_axis_bits_t axis_bits/*=linear_bits*/) { if ((axis_bits = axes_should_home(axis_bits))) { - PGM_P home_first = GET_TEXT(MSG_HOME_FIRST); + PGM_P home_first = GET_TEXT(MSG_HOME_FIRST); // TODO: (DerAndere) Set this up for extra axes char msg[strlen_P(home_first)+1]; sprintf_P(msg, home_first, LINEAR_AXIS_LIST( TEST(axis_bits, X_AXIS) ? "X" : "", TEST(axis_bits, Y_AXIS) ? "Y" : "", - TEST(axis_bits, Z_AXIS) ? "Z" : "" + TEST(axis_bits, Z_AXIS) ? "Z" : "", + TEST(axis_bits, I_AXIS) ? AXIS4_STR : "", + TEST(axis_bits, J_AXIS) ? AXIS5_STR : "", + TEST(axis_bits, K_AXIS) ? AXIS6_STR : "" ) ); SERIAL_ECHO_START(); @@ -1374,6 +1456,9 @@ void prepare_line_to_destination() { case X_AXIS: if (ENABLED(X_SPI_SENSORLESS)) endstops.tmc_spi_homing.x = false; break; case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = false; break; case Z_AXIS: if (ENABLED(Z_SPI_SENSORLESS)) endstops.tmc_spi_homing.z = false; break; + case I_AXIS: if (ENABLED(I_SPI_SENSORLESS)) endstops.tmc_spi_homing.i = false; break; + case J_AXIS: if (ENABLED(J_SPI_SENSORLESS)) endstops.tmc_spi_homing.j = false; break; + case K_AXIS: if (ENABLED(K_SPI_SENSORLESS)) endstops.tmc_spi_homing.k = false; break; default: break; } #endif @@ -1446,12 +1531,7 @@ void prepare_line_to_destination() { // Set delta/cartesian axes directly target[axis] = distance; // The move will be towards the endstop - planner.buffer_segment(target - #if HAS_DIST_MM_ARG - , cart_dist_mm - #endif - , home_fr_mm_s, active_extruder - ); + planner.buffer_segment(target OPTARG(HAS_DIST_MM_ARG, cart_dist_mm), home_fr_mm_s, active_extruder); #endif planner.synchronize(); @@ -1531,6 +1611,30 @@ void prepare_line_to_destination() { stepperBackoutDir = INVERT_Z_DIR ? effectorBackoutDir : -effectorBackoutDir; break; #endif + #ifdef I_MICROSTEPS + case I_AXIS: + phasePerUStep = PHASE_PER_MICROSTEP(I); + phaseCurrent = stepperI.get_microstep_counter(); + effectorBackoutDir = -I_HOME_DIR; + stepperBackoutDir = INVERT_I_DIR ? effectorBackoutDir : -effectorBackoutDir; + break; + #endif + #ifdef J_MICROSTEPS + case J_AXIS: + phasePerUStep = PHASE_PER_MICROSTEP(J); + phaseCurrent = stepperJ.get_microstep_counter(); + effectorBackoutDir = -J_HOME_DIR; + stepperBackoutDir = INVERT_J_DIR ? effectorBackoutDir : -effectorBackoutDir; + break; + #endif + #ifdef K_MICROSTEPS + case K_AXIS: + phasePerUStep = PHASE_PER_MICROSTEP(K); + phaseCurrent = stepperK.get_microstep_counter(); + effectorBackoutDir = -K_HOME_DIR; + stepperBackoutDir = INVERT_K_DIR ? effectorBackoutDir : -effectorBackoutDir; + break; + #endif default: return; } @@ -1583,11 +1687,18 @@ void prepare_line_to_destination() { #else #define _CAN_HOME(A) (axis == _AXIS(A) && ( \ ENABLED(A##_SPI_SENSORLESS) \ - || (_AXIS(A) == Z_AXIS && ENABLED(HOMING_Z_WITH_PROBE)) \ + || TERN0(HAS_Z_AXIS, TERN0(HOMING_Z_WITH_PROBE, _AXIS(A) == Z_AXIS)) \ || TERN0(A##_HOME_TO_MIN, A##_MIN_PIN > -1) \ || TERN0(A##_HOME_TO_MAX, A##_MAX_PIN > -1) \ )) - if (!_CAN_HOME(X) && !_CAN_HOME(Y) && !_CAN_HOME(Z)) return; + if (LINEAR_AXIS_GANG( + !_CAN_HOME(X), + && !_CAN_HOME(Y), + && !_CAN_HOME(Z), + && !_CAN_HOME(I), + && !_CAN_HOME(J), + && !_CAN_HOME(K)) + ) return; #endif if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> homeaxis(", AS_CHAR(AXIS_CHAR(axis)), ")"); @@ -1636,9 +1747,9 @@ void prepare_line_to_destination() { // Determine if a homing bump will be done and the bumps distance // When homing Z with probe respect probe clearance - const bool use_probe_bump = TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS && home_bump_mm(Z_AXIS)); + const bool use_probe_bump = TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS && home_bump_mm(axis)); const float bump = axis_home_dir * ( - use_probe_bump ? _MAX(TERN0(HOMING_Z_WITH_PROBE, Z_CLEARANCE_BETWEEN_PROBES), home_bump_mm(Z_AXIS)) : home_bump_mm(axis) + use_probe_bump ? _MAX(TERN0(HOMING_Z_WITH_PROBE, Z_CLEARANCE_BETWEEN_PROBES), home_bump_mm(axis)) : home_bump_mm(axis) ); // diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h index 0706b721b3..9095290cc7 100644 --- a/Marlin/src/module/motion.h +++ b/Marlin/src/module/motion.h @@ -44,7 +44,7 @@ extern xyze_pos_t current_position, // High-level current tool position // G60/G61 Position Save and Return #if SAVED_POSITIONS - extern uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3]; + extern uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3]; // TODO: Add support for LINEAR_AXES >= 4 extern xyze_pos_t stored_position[SAVED_POSITIONS]; #endif @@ -53,7 +53,7 @@ extern xyz_pos_t cartes; // Until kinematics.cpp is created, declare this here #if IS_KINEMATIC - extern abc_pos_t delta; + extern abce_pos_t delta; #endif #if HAS_ABL_NOT_UBL @@ -75,16 +75,16 @@ extern xyz_pos_t cartes; */ constexpr xyz_feedrate_t homing_feedrate_mm_m = HOMING_FEEDRATE_MM_M; FORCE_INLINE feedRate_t homing_feedrate(const AxisEnum a) { - float v; - #if ENABLED(DELTA) - v = homing_feedrate_mm_m.z; - #else - switch (a) { - case X_AXIS: v = homing_feedrate_mm_m.x; break; - case Y_AXIS: v = homing_feedrate_mm_m.y; break; - case Z_AXIS: - default: v = homing_feedrate_mm_m.z; - } + float v = TERN0(HAS_Z_AXIS, homing_feedrate_mm_m.z); + #if DISABLED(DELTA) + LINEAR_AXIS_CODE( + if (a == X_AXIS) v = homing_feedrate_mm_m.x, + else if (a == Y_AXIS) v = homing_feedrate_mm_m.y, + else if (a == Z_AXIS) v = homing_feedrate_mm_m.z, + else if (a == I_AXIS) v = homing_feedrate_mm_m.i, + else if (a == J_AXIS) v = homing_feedrate_mm_m.j, + else if (a == K_AXIS) v = homing_feedrate_mm_m.k + ); #endif return MMM_TO_MMS(v); } @@ -124,7 +124,7 @@ inline int8_t pgm_read_any(const int8_t *p) { return TERN(__IMXRT1062__, *p, pgm #define XYZ_DEFS(T, NAME, OPT) \ inline T NAME(const AxisEnum axis) { \ - static const XYZval NAME##_P DEFS_PROGMEM = LINEAR_AXIS_ARRAY(X_##OPT, Y_##OPT, Z_##OPT); \ + static const XYZval NAME##_P DEFS_PROGMEM = LINEAR_AXIS_ARRAY(X_##OPT, Y_##OPT, Z_##OPT, I_##OPT, J_##OPT, K_##OPT); \ return pgm_read_any(&NAME##_P[axis]); \ } XYZ_DEFS(float, base_min_pos, MIN_POS); @@ -168,13 +168,36 @@ inline float home_bump_mm(const AxisEnum axis) { TERN_(MIN_SOFTWARE_ENDSTOP_X, amin = min.x); TERN_(MAX_SOFTWARE_ENDSTOP_X, amax = max.x); break; - case Y_AXIS: - TERN_(MIN_SOFTWARE_ENDSTOP_Y, amin = min.y); - TERN_(MAX_SOFTWARE_ENDSTOP_Y, amax = max.y); - break; - case Z_AXIS: - TERN_(MIN_SOFTWARE_ENDSTOP_Z, amin = min.z); - TERN_(MAX_SOFTWARE_ENDSTOP_Z, amax = max.z); + #if HAS_Y_AXIS + case Y_AXIS: + TERN_(MIN_SOFTWARE_ENDSTOP_Y, amin = min.y); + TERN_(MAX_SOFTWARE_ENDSTOP_Y, amax = max.y); + break; + #endif + #if HAS_Z_AXIS + case Z_AXIS: + TERN_(MIN_SOFTWARE_ENDSTOP_Z, amin = min.z); + TERN_(MAX_SOFTWARE_ENDSTOP_Z, amax = max.z); + break; + #endif + #if LINEAR_AXES >= 4 // TODO (DerAndere): Test for LINEAR_AXES >= 4 + case I_AXIS: + TERN_(MIN_SOFTWARE_ENDSTOP_I, amin = min.i); + TERN_(MIN_SOFTWARE_ENDSTOP_I, amax = max.i); + break; + #endif + #if LINEAR_AXES >= 5 + case J_AXIS: + TERN_(MIN_SOFTWARE_ENDSTOP_J, amin = min.j); + TERN_(MIN_SOFTWARE_ENDSTOP_J, amax = max.j); + break; + #endif + #if LINEAR_AXES >= 6 + case K_AXIS: + TERN_(MIN_SOFTWARE_ENDSTOP_K, amin = min.k); + TERN_(MIN_SOFTWARE_ENDSTOP_K, amax = max.k); + break; + #endif default: break; } #endif @@ -298,32 +321,53 @@ inline void prepare_internal_move_to_destination(const_feedRate_t fr_mm_s=0.0f) /** * Blocking movement and shorthand functions */ -void do_blocking_move_to( - LINEAR_AXIS_LIST(const float rx, const float ry, const float rz), - const_feedRate_t fr_mm_s=0.0f -); +void do_blocking_move_to(LINEAR_AXIS_ARGS(const float), const_feedRate_t fr_mm_s=0.0f); void do_blocking_move_to(const xy_pos_t &raw, const_feedRate_t fr_mm_s=0.0f); void do_blocking_move_to(const xyz_pos_t &raw, const_feedRate_t fr_mm_s=0.0f); void do_blocking_move_to(const xyze_pos_t &raw, const_feedRate_t fr_mm_s=0.0f); void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s=0.0f); -void do_blocking_move_to_y(const_float_t ry, const_feedRate_t fr_mm_s=0.0f); -void do_blocking_move_to_z(const_float_t rz, const_feedRate_t fr_mm_s=0.0f); +#if HAS_Y_AXIS + void do_blocking_move_to_y(const_float_t ry, const_feedRate_t fr_mm_s=0.0f); +#endif +#if HAS_Z_AXIS + void do_blocking_move_to_z(const_float_t rz, const_feedRate_t fr_mm_s=0.0f); +#endif +#if LINEAR_AXES >= 4 + void do_blocking_move_to_i(const_float_t ri, const_feedRate_t fr_mm_s=0.0f); + void do_blocking_move_to_xyz_i(const xyze_pos_t &raw, const_float_t i, const_feedRate_t fr_mm_s=0.0f); +#endif +#if LINEAR_AXES >= 5 + void do_blocking_move_to_j(const_float_t rj, const_feedRate_t fr_mm_s=0.0f); + void do_blocking_move_to_xyzi_j(const xyze_pos_t &raw, const_float_t j, const_feedRate_t fr_mm_s=0.0f); +#endif +#if LINEAR_AXES >= 6 + void do_blocking_move_to_k(const_float_t rk, const_feedRate_t fr_mm_s=0.0f); + void do_blocking_move_to_xyzij_k(const xyze_pos_t &raw, const_float_t k, const_feedRate_t fr_mm_s=0.0f); +#endif -void do_blocking_move_to_xy(const_float_t rx, const_float_t ry, const_feedRate_t fr_mm_s=0.0f); -void do_blocking_move_to_xy(const xy_pos_t &raw, const_feedRate_t fr_mm_s=0.0f); -FORCE_INLINE void do_blocking_move_to_xy(const xyz_pos_t &raw, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy(xy_pos_t(raw), fr_mm_s); } -FORCE_INLINE void do_blocking_move_to_xy(const xyze_pos_t &raw, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy(xy_pos_t(raw), fr_mm_s); } +#if HAS_Y_AXIS + void do_blocking_move_to_xy(const_float_t rx, const_float_t ry, const_feedRate_t fr_mm_s=0.0f); + void do_blocking_move_to_xy(const xy_pos_t &raw, const_feedRate_t fr_mm_s=0.0f); + FORCE_INLINE void do_blocking_move_to_xy(const xyz_pos_t &raw, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy(xy_pos_t(raw), fr_mm_s); } + FORCE_INLINE void do_blocking_move_to_xy(const xyze_pos_t &raw, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy(xy_pos_t(raw), fr_mm_s); } +#endif -void do_blocking_move_to_xy_z(const xy_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f); -FORCE_INLINE void do_blocking_move_to_xy_z(const xyz_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy_z(xy_pos_t(raw), z, fr_mm_s); } -FORCE_INLINE void do_blocking_move_to_xy_z(const xyze_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy_z(xy_pos_t(raw), z, fr_mm_s); } +#if HAS_Z_AXIS + void do_blocking_move_to_xy_z(const xy_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f); + FORCE_INLINE void do_blocking_move_to_xy_z(const xyz_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy_z(xy_pos_t(raw), z, fr_mm_s); } + FORCE_INLINE void do_blocking_move_to_xy_z(const xyze_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s=0.0f) { do_blocking_move_to_xy_z(xy_pos_t(raw), z, fr_mm_s); } +#endif void remember_feedrate_and_scaling(); void remember_feedrate_scaling_off(); void restore_feedrate_and_scaling(); -void do_z_clearance(const_float_t zclear, const bool lower_allowed=false); +#if HAS_Z_AXIS + void do_z_clearance(const_float_t zclear, const bool lower_allowed=false); +#else + inline void do_z_clearance(float, bool=false) {} +#endif /** * Homing and Trusted Axes @@ -421,11 +465,27 @@ FORCE_INLINE bool all_axes_trusted() { return linear_bits FORCE_INLINE void toNative(xyze_pos_t&) {} #endif #define LOGICAL_X_POSITION(POS) NATIVE_TO_LOGICAL(POS, X_AXIS) -#define LOGICAL_Y_POSITION(POS) NATIVE_TO_LOGICAL(POS, Y_AXIS) -#define LOGICAL_Z_POSITION(POS) NATIVE_TO_LOGICAL(POS, Z_AXIS) #define RAW_X_POSITION(POS) LOGICAL_TO_NATIVE(POS, X_AXIS) -#define RAW_Y_POSITION(POS) LOGICAL_TO_NATIVE(POS, Y_AXIS) -#define RAW_Z_POSITION(POS) LOGICAL_TO_NATIVE(POS, Z_AXIS) +#if HAS_Y_AXIS + #define LOGICAL_Y_POSITION(POS) NATIVE_TO_LOGICAL(POS, Y_AXIS) + #define RAW_Y_POSITION(POS) LOGICAL_TO_NATIVE(POS, Y_AXIS) +#endif +#if HAS_Z_AXIS + #define LOGICAL_Z_POSITION(POS) NATIVE_TO_LOGICAL(POS, Z_AXIS) + #define RAW_Z_POSITION(POS) LOGICAL_TO_NATIVE(POS, Z_AXIS) +#endif +#if LINEAR_AXES >= 4 + #define LOGICAL_I_POSITION(POS) NATIVE_TO_LOGICAL(POS, I_AXIS) + #define RAW_I_POSITION(POS) LOGICAL_TO_NATIVE(POS, I_AXIS) +#endif +#if LINEAR_AXES >= 5 + #define LOGICAL_J_POSITION(POS) NATIVE_TO_LOGICAL(POS, J_AXIS) + #define RAW_J_POSITION(POS) LOGICAL_TO_NATIVE(POS, J_AXIS) +#endif +#if LINEAR_AXES >= 6 + #define LOGICAL_K_POSITION(POS) NATIVE_TO_LOGICAL(POS, K_AXIS) + #define RAW_K_POSITION(POS) LOGICAL_TO_NATIVE(POS, K_AXIS) +#endif /** * position_is_reachable family of functions diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index 1ea333e926..eb0d204cb0 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_E) + #if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z , DISABLE_I , DISABLE_J , DISABLE_K, DISABLE_E) xyze_bool_t axis_active = { false }; #endif @@ -1342,14 +1342,17 @@ void Planner::check_axes_activity() { TERN_(HAS_HEATER_2, tail_e_to_p_pressure = block->e_to_p_pressure); #endif - #if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z, DISABLE_E) + #if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z, DISABLE_I, DISABLE_J, DISABLE_K, DISABLE_E) for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) { block_t *block = &block_buffer[b]; LOGICAL_AXIS_CODE( if (TERN0(DISABLE_E, block->steps.e)) axis_active.e = true, if (TERN0(DISABLE_X, block->steps.x)) axis_active.x = true, if (TERN0(DISABLE_Y, block->steps.y)) axis_active.y = true, - if (TERN0(DISABLE_Z, block->steps.z)) axis_active.z = true + if (TERN0(DISABLE_Z, block->steps.z)) axis_active.z = true, + if (TERN0(DISABLE_I, block->steps.i)) axis_active.i = true, + if (TERN0(DISABLE_J, block->steps.j)) axis_active.j = true, + if (TERN0(DISABLE_K, block->steps.k)) axis_active.k = true ); } #endif @@ -1375,7 +1378,10 @@ void Planner::check_axes_activity() { if (TERN0(DISABLE_E, !axis_active.e)) disable_e_steppers(), if (TERN0(DISABLE_X, !axis_active.x)) DISABLE_AXIS_X(), if (TERN0(DISABLE_Y, !axis_active.y)) DISABLE_AXIS_Y(), - if (TERN0(DISABLE_Z, !axis_active.z)) DISABLE_AXIS_Z() + if (TERN0(DISABLE_Z, !axis_active.z)) DISABLE_AXIS_Z(), + if (TERN0(DISABLE_I, !axis_active.i)) DISABLE_AXIS_I(), + if (TERN0(DISABLE_J, !axis_active.j)) DISABLE_AXIS_J(), + if (TERN0(DISABLE_K, !axis_active.k)) DISABLE_AXIS_K() ); // @@ -1445,7 +1451,7 @@ void Planner::check_axes_activity() { float high = 0.0; for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) { block_t *block = &block_buffer[b]; - if (block->steps.x || block->steps.y || block->steps.z) { + if (LINEAR_AXIS_GANG(block->steps.x, || block->steps.y, || block->steps.z, block->steps.i, || block->steps.j, || block->steps.k)) { const float se = (float)block->steps.e / block->step_event_count * SQRT(block->nominal_speed_sqr); // mm/sec; NOLESS(high, se); } @@ -1831,7 +1837,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move, de = target.e - position.e, da = target.a - position.a, db = target.b - position.b, - dc = target.c - position.c + dc = target.c - position.c, + di = target.i - position.i, + dj = target.j - position.j, + dk = target.k - position.k ); /* <-- add a slash to enable @@ -1910,7 +1919,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move, LINEAR_AXIS_CODE( if (da < 0) SBI(dm, X_AXIS), if (db < 0) SBI(dm, Y_AXIS), - if (dc < 0) SBI(dm, Z_AXIS) + if (dc < 0) SBI(dm, Z_AXIS), + if (di < 0) SBI(dm, I_AXIS), + if (dj < 0) SBI(dm, J_AXIS), + if (dk < 0) SBI(dm, K_AXIS) ); #endif #if HAS_EXTRUDERS @@ -1951,7 +1963,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move, block->steps.set(ABS(da), ABS(db), ABS(dc)); #else // default non-h-bot planning - block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db), ABS(dc))); + block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db), ABS(dc), ABS(di), ABS(dj), ABS(dk))); #endif /** @@ -1997,7 +2009,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move, LINEAR_AXIS_CODE( steps_dist_mm.a = da * steps_to_mm[A_AXIS], steps_dist_mm.b = db * steps_to_mm[B_AXIS], - steps_dist_mm.c = dc * steps_to_mm[C_AXIS] + steps_dist_mm.c = dc * steps_to_mm[C_AXIS], + steps_dist_mm.i = di * steps_to_mm[I_AXIS], + steps_dist_mm.j = dj * steps_to_mm[J_AXIS], + steps_dist_mm.k = dk * steps_to_mm[K_AXIS] ); #endif @@ -2010,7 +2025,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move, if (true LINEAR_AXIS_GANG( && block->steps.a < MIN_STEPS_PER_SEGMENT, && block->steps.b < MIN_STEPS_PER_SEGMENT, - && block->steps.c < MIN_STEPS_PER_SEGMENT + && block->steps.c < MIN_STEPS_PER_SEGMENT, + && block->steps.i < MIN_STEPS_PER_SEGMENT, + && block->steps.j < MIN_STEPS_PER_SEGMENT, + && block->steps.k < MIN_STEPS_PER_SEGMENT ) ) { block->millimeters = TERN0(HAS_EXTRUDERS, ABS(steps_dist_mm.e)); @@ -2022,19 +2040,30 @@ bool Planner::_populate_block(block_t * const block, bool split_move, block->millimeters = SQRT( #if EITHER(CORE_IS_XY, MARKFORGED_XY) LINEAR_AXIS_GANG( - sq(steps_dist_mm.head.x), + sq(steps_dist_mm.head.y), + sq(steps_dist_mm.z) + sq(steps_dist_mm.head.x), + sq(steps_dist_mm.head.y), + sq(steps_dist_mm.z), + + sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k) ) #elif CORE_IS_XZ LINEAR_AXIS_GANG( - sq(steps_dist_mm.head.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.head.z) + sq(steps_dist_mm.head.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.head.z), + + sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k) ) #elif CORE_IS_YZ LINEAR_AXIS_GANG( - sq(steps_dist_mm.x), + sq(steps_dist_mm.head.y), + sq(steps_dist_mm.head.z) + sq(steps_dist_mm.x) + sq(steps_dist_mm.head.y) + sq(steps_dist_mm.head.z) + + sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k) ) + #elif ENABLED(FOAMCUTTER_XYUV) + // Return the largest distance move from either X/Y or I/J plane + #if LINEAR_AXES >= 5 + _MAX(sq(steps_dist_mm.x) + sq(steps_dist_mm.y), sq(steps_dist_mm.i) + sq(steps_dist_mm.j)) + #else + sq(steps_dist_mm.x) + sq(steps_dist_mm.y) + #endif #else LINEAR_AXIS_GANG( - sq(steps_dist_mm.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.z) + sq(steps_dist_mm.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.z), + + sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k) ) #endif ); @@ -2055,7 +2084,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move, TERN_(HAS_EXTRUDERS, block->steps.e = esteps); block->step_event_count = _MAX(LOGICAL_AXIS_LIST( - esteps, block->steps.a, block->steps.b, block->steps.c + esteps, block->steps.a, block->steps.b, block->steps.c, block->steps.i, block->steps.j, block->steps.k )); // Bail if this is a zero-length block @@ -2082,7 +2111,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move, if (LINEAR_AXIS_GANG( block->steps.x, || block->steps.y, - || block->steps.z + || block->steps.z, + || block->steps.i, + || block->steps.j, + || block->steps.k )) powerManager.power_on(); #endif @@ -2111,7 +2143,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move, LINEAR_AXIS_CODE( if (block->steps.x) ENABLE_AXIS_X(), if (block->steps.y) ENABLE_AXIS_Y(), - if (TERN(Z_LATE_ENABLE, 0, block->steps.z)) ENABLE_AXIS_Z() + if (TERN(Z_LATE_ENABLE, 0, block->steps.z)) ENABLE_AXIS_Z(), + if (block->steps.i) ENABLE_AXIS_I(), + if (block->steps.j) ENABLE_AXIS_J(), + if (block->steps.k) ENABLE_AXIS_K() ); #endif @@ -2301,8 +2336,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move, const float steps_per_mm = block->step_event_count * inverse_millimeters; uint32_t accel; if (LINEAR_AXIS_GANG( - !block->steps.a, && !block->steps.b, && !block->steps.c - )) { // Is this a retract / recover move? + !block->steps.a, && !block->steps.b, && !block->steps.c, + && !block->steps.i, && !block->steps.j, && !block->steps.k) + ) { // Is this a retract / recover move? accel = CEIL(settings.retract_acceleration * steps_per_mm); // Convert to: acceleration steps/sec^2 TERN_(LIN_ADVANCE, block->use_advance_lead = false); // No linear advance for simple retract/recover } @@ -2371,7 +2407,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move, LIMIT_ACCEL_LONG(E_AXIS, E_INDEX_N(extruder)), LIMIT_ACCEL_LONG(A_AXIS, 0), LIMIT_ACCEL_LONG(B_AXIS, 0), - LIMIT_ACCEL_LONG(C_AXIS, 0) + LIMIT_ACCEL_LONG(C_AXIS, 0), + LIMIT_ACCEL_LONG(I_AXIS, 0), + LIMIT_ACCEL_LONG(J_AXIS, 0), + LIMIT_ACCEL_LONG(K_AXIS, 0) ); } else { @@ -2379,7 +2418,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move, LIMIT_ACCEL_FLOAT(E_AXIS, E_INDEX_N(extruder)), LIMIT_ACCEL_FLOAT(A_AXIS, 0), LIMIT_ACCEL_FLOAT(B_AXIS, 0), - LIMIT_ACCEL_FLOAT(C_AXIS, 0) + LIMIT_ACCEL_FLOAT(C_AXIS, 0), + LIMIT_ACCEL_FLOAT(I_AXIS, 0), + LIMIT_ACCEL_FLOAT(J_AXIS, 0), + LIMIT_ACCEL_FLOAT(K_AXIS, 0) ); } } @@ -2444,7 +2486,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move, #if HAS_DIST_MM_ARG cart_dist_mm #else - LOGICAL_AXIS_ARRAY(steps_dist_mm.e, steps_dist_mm.x, steps_dist_mm.y, steps_dist_mm.z) + LOGICAL_AXIS_ARRAY(steps_dist_mm.e, steps_dist_mm.x, steps_dist_mm.y, steps_dist_mm.z, steps_dist_mm.i, steps_dist_mm.j, steps_dist_mm.k) #endif ; @@ -2467,7 +2509,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move, + (-prev_unit_vec.e * unit_vec.e), (-prev_unit_vec.x * unit_vec.x), + (-prev_unit_vec.y * unit_vec.y), - + (-prev_unit_vec.z * unit_vec.z) + + (-prev_unit_vec.z * unit_vec.z), + + (-prev_unit_vec.i * unit_vec.i), + + (-prev_unit_vec.j * unit_vec.j), + + (-prev_unit_vec.k * unit_vec.k) ); // NOTE: Computed without any expensive trig, sin() or acos(), by trig half angle identity of cos(theta). @@ -2783,10 +2828,9 @@ void Planner::buffer_sync_block(TERN_(LASER_SYNCHRONOUS_M106_M107, uint8_t sync_ * * Return 'false' if no segment was queued due to cleaning, cold extrusion, full queue, etc. */ -bool Planner::buffer_segment( - LOGICAL_AXIS_LIST(const_float_t e, const_float_t a, const_float_t b, const_float_t c) +bool Planner::buffer_segment(const abce_pos_t &abce OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm) - , const_feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters/*=0.0*/ + , const_feedRate_t fr_mm_s, const uint8_t extruder/*=active_extruder*/, const_float_t millimeters/*=0.0*/ ) { // If we are cleaning, do not accept queuing of movements @@ -2804,54 +2848,70 @@ bool Planner::buffer_segment( // Calculate target position in absolute steps const abce_long_t target = { LOGICAL_AXIS_LIST( - int32_t(LROUND(e * settings.axis_steps_per_mm[E_AXIS_N(extruder)])), - int32_t(LROUND(a * settings.axis_steps_per_mm[A_AXIS])), - int32_t(LROUND(b * settings.axis_steps_per_mm[B_AXIS])), - int32_t(LROUND(c * settings.axis_steps_per_mm[C_AXIS])) + int32_t(LROUND(abce.e * settings.axis_steps_per_mm[E_AXIS_N(extruder)])), + int32_t(LROUND(abce.a * settings.axis_steps_per_mm[A_AXIS])), + int32_t(LROUND(abce.b * settings.axis_steps_per_mm[B_AXIS])), + int32_t(LROUND(abce.c * settings.axis_steps_per_mm[C_AXIS])), + int32_t(LROUND(abce.i * settings.axis_steps_per_mm[I_AXIS])), // FIXME (DerAndere): Multiplication by 4.0 is a work-around for issue with wrong internal steps per mm + int32_t(LROUND(abce.j * settings.axis_steps_per_mm[J_AXIS])), + int32_t(LROUND(abce.k * settings.axis_steps_per_mm[K_AXIS])) ) }; #if HAS_POSITION_FLOAT - const xyze_pos_t target_float = LOGICAL_AXIS_ARRAY(e, a, b, c); + const xyze_pos_t target_float = abce; #endif #if HAS_EXTRUDERS // DRYRUN prevents E moves from taking place if (DEBUGGING(DRYRUN) || TERN0(CANCEL_OBJECTS, cancelable.skipping)) { position.e = target.e; - TERN_(HAS_POSITION_FLOAT, position_float.e = e); + TERN_(HAS_POSITION_FLOAT, position_float.e = abce.e); } #endif /* <-- add a slash to enable SERIAL_ECHOPAIR(" buffer_segment FR:", fr_mm_s); #if IS_KINEMATIC - SERIAL_ECHOPAIR(" A:", a); - SERIAL_ECHOPAIR(" (", position.a); - SERIAL_ECHOPAIR("->", target.a); - SERIAL_ECHOPAIR(") B:", b); + SERIAL_ECHOPAIR(" A:", abce.a, " (", position.a, "->", target.a, ") B:", abce.b); #else - SERIAL_ECHOPAIR_P(SP_X_LBL, a); - SERIAL_ECHOPAIR(" (", position.x); - SERIAL_ECHOPAIR("->", target.x); + SERIAL_ECHOPAIR_P(SP_X_LBL, abce.a); + SERIAL_ECHOPAIR(" (", position.x, "->", target.x); SERIAL_CHAR(')'); - SERIAL_ECHOPAIR_P(SP_Y_LBL, b); + SERIAL_ECHOPAIR_P(SP_Y_LBL, abce.b); #endif - SERIAL_ECHOPAIR(" (", position.y); - SERIAL_ECHOPAIR("->", target.y); - #if ENABLED(DELTA) - SERIAL_ECHOPAIR(") C:", c); - #else + SERIAL_ECHOPAIR(" (", position.y, "->", target.y); + #if LINEAR_AXES >= ABC + #if ENABLED(DELTA) + SERIAL_ECHOPAIR(") C:", abce.c); + #else + SERIAL_CHAR(')'); + SERIAL_ECHOPAIR_P(SP_Z_LBL, abce.c); + #endif + SERIAL_ECHOPAIR(" (", position.z, "->", target.z); + SERIAL_CHAR(')'); + #endif + #if LINEAR_AXES >= 4 + SERIAL_ECHOPAIR_P(SP_I_LBL, abce.i); + SERIAL_ECHOPAIR(" (", position.i, "->", target.i); // FIXME (DerAndere): Introduce work-around for issue with wrong internal steps per mm and feedrate for I_AXIS SERIAL_CHAR(')'); - SERIAL_ECHOPAIR_P(SP_Z_LBL, c); #endif - SERIAL_ECHOPAIR(" (", position.z); - SERIAL_ECHOPAIR("->", target.z); - SERIAL_CHAR(')'); - SERIAL_ECHOPAIR_P(SP_E_LBL, e); - SERIAL_ECHOPAIR(" (", position.e); - SERIAL_ECHOPAIR("->", target.e); - SERIAL_ECHOLNPGM(")"); + #if LINEAR_AXES >= 5 + SERIAL_ECHOPAIR_P(SP_J_LBL, abce.j); + SERIAL_ECHOPAIR(" (", position.j, "->", target.j); + SERIAL_CHAR(')'); + #endif + #if LINEAR_AXES >= 6 + SERIAL_ECHOPAIR_P(SP_K_LBL, abce.k); + SERIAL_ECHOPAIR(" (", position.k, "->", target.k); + SERIAL_CHAR(')'); + #endif + #if HAS_EXTRUDERS + SERIAL_ECHOPAIR_P(SP_E_LBL, abce.e); + SERIAL_ECHOLNPAIR(" (", position.e, "->", target.e, ")"); + #else + SERIAL_EOL(); + #endif //*/ // Queue the movement. Return 'false' if the move was not queued. @@ -2874,34 +2934,34 @@ bool Planner::buffer_segment( * The target is cartesian. It's translated to * delta/scara if needed. * - * rx,ry,rz,e - target position in mm or degrees - * fr_mm_s - (target) speed of the move (mm/s) - * extruder - target extruder - * millimeters - the length of the movement, if known - * inv_duration - the reciprocal if the duration of the movement, if known (kinematic only if feeedrate scaling is enabled) + * cart - target position in mm or degrees + * fr_mm_s - (target) speed of the move (mm/s) + * extruder - target extruder + * millimeters - the length of the movement, if known + * inv_duration - the reciprocal if the duration of the movement, if known (kinematic only if feeedrate scaling is enabled) */ -bool Planner::buffer_line( - LOGICAL_AXIS_LIST(const_float_t e, const_float_t rx, const_float_t ry, const_float_t rz) - , const feedRate_t &fr_mm_s, const uint8_t extruder, const float millimeters - OPTARG(SCARA_FEEDRATE_SCALING, const_float_t inv_duration) +bool Planner::buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s, const uint8_t extruder/*=active_extruder*/, const float millimeters/*=0.0*/ + OPTARG(SCARA_FEEDRATE_SCALING, const_float_t inv_duration/*=0.0*/) ) { - xyze_pos_t machine = LOGICAL_AXIS_ARRAY(e, rx, ry, rz); + xyze_pos_t machine = cart; TERN_(HAS_POSITION_MODIFIERS, apply_modifiers(machine)); #if IS_KINEMATIC #if HAS_JUNCTION_DEVIATION - const xyze_pos_t cart_dist_mm = { - rx - position_cart.x, ry - position_cart.y, - rz - position_cart.z, e - position_cart.e - }; + const xyze_pos_t cart_dist_mm = LOGICAL_AXIS_ARRAY( + cart.e - position_cart.e, + cart.x - position_cart.x, cart.y - position_cart.y, cart.z - position_cart.z, + cart.i - position_cart.i, cart.j - position_cart.j, cart.j - position_cart.k + ); #else - const xyz_pos_t cart_dist_mm = { rx - position_cart.x, ry - position_cart.y, rz - position_cart.z }; + const xyz_pos_t cart_dist_mm = LINEAR_AXIS_ARRAY( + cart.x - position_cart.x, cart.y - position_cart.y, cart.z - position_cart.z, + cart.i - position_cart.i, cart.j - position_cart.j, cart.j - position_cart.k + ); #endif - float mm = millimeters; - if (mm == 0.0) - mm = (cart_dist_mm.x != 0.0 || cart_dist_mm.y != 0.0) ? cart_dist_mm.magnitude() : ABS(cart_dist_mm.z); + const float mm = millimeters ?: (cart_dist_mm.x || cart_dist_mm.y) ? cart_dist_mm.magnitude() : TERN0(HAS_Z_AXIS, ABS(cart_dist_mm.z)); // Cartesian XYZ to kinematic ABC, stored in global 'delta' inverse_kinematics(machine); @@ -2915,17 +2975,12 @@ bool Planner::buffer_line( #else const feedRate_t feedrate = fr_mm_s; #endif - if (buffer_segment(delta.a, delta.b, delta.c, machine.e - #if HAS_JUNCTION_DEVIATION - , cart_dist_mm - #endif - , feedrate, extruder, mm - )) { - position_cart.set(rx, ry, rz, e); + delta.e = machine.e; + if (buffer_segment(delta OPTARG(HAS_DIST_MM_ARG, cart_dist_mm), feedrate, extruder, mm)) { + position_cart = cart; return true; } - else - return false; + return false; #else return buffer_segment(machine, fr_mm_s, extruder, millimeters); #endif @@ -2991,23 +3046,23 @@ bool Planner::buffer_line( #endif // DIRECT_STEPPING /** - * Directly set the planner ABC position (and stepper positions) + * Directly set the planner ABCE position (and stepper positions) * converting mm (or angles for SCARA) into steps. * - * The provided ABC position is in machine units. + * The provided ABCE position is in machine units. */ - -void Planner::set_machine_position_mm( - LOGICAL_AXIS_LIST(const_float_t e, const_float_t a, const_float_t b, const_float_t c) -) { +void Planner::set_machine_position_mm(const abce_pos_t &abce) { TERN_(DISTINCT_E_FACTORS, last_extruder = active_extruder); - TERN_(HAS_POSITION_FLOAT, position_float.set(LOGICAL_AXIS_LIST(e, a, b, c))); + TERN_(HAS_POSITION_FLOAT, position_float = abce); position.set( LOGICAL_AXIS_LIST( - LROUND(e * settings.axis_steps_per_mm[E_AXIS_N(active_extruder)]), - LROUND(a * settings.axis_steps_per_mm[A_AXIS]), - LROUND(b * settings.axis_steps_per_mm[B_AXIS]), - LROUND(c * settings.axis_steps_per_mm[C_AXIS]) + LROUND(abce.e * settings.axis_steps_per_mm[E_AXIS_N(active_extruder)]), + LROUND(abce.a * settings.axis_steps_per_mm[A_AXIS]), + LROUND(abce.b * settings.axis_steps_per_mm[B_AXIS]), + LROUND(abce.c * settings.axis_steps_per_mm[C_AXIS]), + LROUND(abce.i * settings.axis_steps_per_mm[I_AXIS]), + LROUND(abce.j * settings.axis_steps_per_mm[J_AXIS]), + LROUND(abce.k * settings.axis_steps_per_mm[K_AXIS]) ) ); if (has_blocks_queued()) { @@ -3019,15 +3074,14 @@ void Planner::set_machine_position_mm( stepper.set_position(position); } -void Planner::set_position_mm( - LOGICAL_AXIS_LIST(const_float_t e, const_float_t rx, const_float_t ry, const_float_t rz) -) { - xyze_pos_t machine = LOGICAL_AXIS_ARRAY(e, rx, ry, rz); +void Planner::set_position_mm(const xyze_pos_t &xyze) { + xyze_pos_t machine = xyze; TERN_(HAS_POSITION_MODIFIERS, apply_modifiers(machine, true)); #if IS_KINEMATIC - position_cart.set(rx, ry, rz, e); + position_cart = xyze; inverse_kinematics(machine); - set_machine_position_mm(delta.a, delta.b, delta.c, machine.e); + delta.e = machine.e; + set_machine_position_mm(delta); #else set_machine_position_mm(machine); #endif @@ -3045,7 +3099,7 @@ void Planner::set_position_mm( const float e_new = DIFF_TERN(FWRETRACT, e, fwretract.current_retract[active_extruder]); position.e = LROUND(settings.axis_steps_per_mm[axis_index] * e_new); TERN_(HAS_POSITION_FLOAT, position_float.e = e_new); - TERN_(IS_KINEMATIC, position_cart.e = e); + TERN_(IS_KINEMATIC, TERN_(HAS_EXTRUDERS, position_cart.e = e)); if (has_blocks_queued()) buffer_sync_block(); @@ -3057,15 +3111,11 @@ void Planner::set_position_mm( // Recalculate the steps/s^2 acceleration rates, based on the mm/s^2 void Planner::reset_acceleration_rates() { - #if ENABLED(DISTINCT_E_FACTORS) - #define AXIS_CONDITION (i < E_AXIS || i == E_AXIS_N(active_extruder)) - #else - #define AXIS_CONDITION true - #endif uint32_t highest_rate = 1; LOOP_DISTINCT_AXES(i) { max_acceleration_steps_per_s2[i] = settings.max_acceleration_mm_per_s2[i] * settings.axis_steps_per_mm[i]; - if (AXIS_CONDITION) NOLESS(highest_rate, max_acceleration_steps_per_s2[i]); + if (TERN1(DISTINCT_E_FACTORS, i < E_AXIS || i == E_AXIS_N(active_extruder))) + NOLESS(highest_rate, max_acceleration_steps_per_s2[i]); } acceleration_long_cutoff = 4294967295UL / highest_rate; // 0xFFFFFFFFUL TERN_(HAS_LINEAR_E_JERK, recalculate_max_e_jerk()); diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h index 02b7179c5a..10114ebfc6 100644 --- a/Marlin/src/module/planner.h +++ b/Marlin/src/module/planner.h @@ -76,7 +76,9 @@ // Feedrate for manual moves #ifdef MANUAL_FEEDRATE constexpr xyze_feedrate_t _mf = MANUAL_FEEDRATE, - manual_feedrate_mm_s = LOGICAL_AXIS_ARRAY(_mf.e / 60.0f, _mf.x / 60.0f, _mf.y / 60.0f, _mf.z / 60.0f); + manual_feedrate_mm_s = LOGICAL_AXIS_ARRAY(_mf.e / 60.0f, + _mf.x / 60.0f, _mf.y / 60.0f, _mf.z / 60.0f, + _mf.i / 60.0f, _mf.j / 60.0f, _mf.k / 60.0f); #endif #if IS_KINEMATIC && HAS_JUNCTION_DEVIATION @@ -758,23 +760,11 @@ class Planner { * extruder - target extruder * millimeters - the length of the movement, if known */ - static bool buffer_segment( - LOGICAL_AXIS_LIST(const_float_t e, const_float_t a, const_float_t b, const_float_t c) + static bool buffer_segment(const abce_pos_t &abce OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm) - , const_feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters=0.0 + , const_feedRate_t fr_mm_s, const uint8_t extruder=active_extruder, const_float_t millimeters=0.0 ); - FORCE_INLINE static bool buffer_segment(abce_pos_t &abce - OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm) - , const_feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters=0.0 - ) { - return buffer_segment( - LOGICAL_AXIS_LIST(abce.e, abce.a, abce.b, abce.c) - OPTARG(HAS_DIST_MM_ARG, cart_dist_mm) - , fr_mm_s, extruder, millimeters - ); - } - public: /** @@ -782,28 +772,16 @@ class Planner { * The target is cartesian. It's translated to * delta/scara if needed. * - * rx,ry,rz,e - target position in mm or degrees + * cart - target position in mm or degrees * fr_mm_s - (target) speed of the move (mm/s) * extruder - target extruder * millimeters - the length of the movement, if known * inv_duration - the reciprocal if the duration of the movement, if known (kinematic only if feeedrate scaling is enabled) */ - static bool buffer_line( - LOGICAL_AXIS_LIST(const_float_t e, const_float_t rx, const_float_t ry, const_float_t rz) - , const feedRate_t &fr_mm_s, const uint8_t extruder, const float millimeters=0.0 + static bool buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s, const uint8_t extruder=active_extruder, const float millimeters=0.0 OPTARG(SCARA_FEEDRATE_SCALING, const_float_t inv_duration=0.0) ); - FORCE_INLINE static bool buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s, const uint8_t extruder, const float millimeters=0.0 - OPTARG(SCARA_FEEDRATE_SCALING, const_float_t inv_duration=0.0) - ) { - return buffer_line( - LOGICAL_AXIS_LIST(cart.e, cart.x, cart.y, cart.z) - , fr_mm_s, extruder, millimeters - OPTARG(SCARA_FEEDRATE_SCALING, inv_duration) - ); - } - #if ENABLED(DIRECT_STEPPING) static void buffer_page(const page_idx_t page_idx, const uint8_t extruder, const uint16_t num_steps); #endif @@ -821,12 +799,7 @@ class Planner { * * Clears previous speed values. */ - static void set_position_mm( - LOGICAL_AXIS_LIST(const_float_t e, const_float_t rx, const_float_t ry, const_float_t rz) - ); - FORCE_INLINE static void set_position_mm(const xyze_pos_t &cart) { - set_position_mm(LOGICAL_AXIS_LIST(cart.e, cart.x, cart.y, cart.z, cart.i, cart.j, cart.k)); - } + static void set_position_mm(const xyze_pos_t &xyze); #if HAS_EXTRUDERS static void set_e_position_mm(const_float_t e); @@ -838,12 +811,7 @@ class Planner { * The supplied position is in machine space, and no additional * conversions are applied. */ - static void set_machine_position_mm( - LOGICAL_AXIS_LIST(const_float_t e, const_float_t a, const_float_t b, const_float_t c) - ); - FORCE_INLINE static void set_machine_position_mm(const abce_pos_t &abce) { - set_machine_position_mm(LOGICAL_AXIS_LIST(abce.e, abce.a, abce.b, abce.c)); - } + static void set_machine_position_mm(const abce_pos_t &abce); /** * Get an axis position according to stepper position(s) @@ -854,7 +822,8 @@ class Planner { static inline abce_pos_t get_axis_positions_mm() { const abce_pos_t out = LOGICAL_AXIS_ARRAY( get_axis_position_mm(E_AXIS), - get_axis_position_mm(A_AXIS), get_axis_position_mm(B_AXIS), get_axis_position_mm(C_AXIS) + get_axis_position_mm(A_AXIS), get_axis_position_mm(B_AXIS), get_axis_position_mm(C_AXIS), + get_axis_position_mm(I_AXIS), get_axis_position_mm(J_AXIS), get_axis_position_mm(K_AXIS) ); return out; } diff --git a/Marlin/src/module/planner_bezier.cpp b/Marlin/src/module/planner_bezier.cpp index a5e7696e0b..848906705f 100644 --- a/Marlin/src/module/planner_bezier.cpp +++ b/Marlin/src/module/planner_bezier.cpp @@ -182,9 +182,13 @@ void cubic_b_spline( // Compute and send new position xyze_pos_t new_bez = LOGICAL_AXIS_ARRAY( - interp(position.e, target.e, t), // FIXME. These two are wrong, since the parameter t is not linear in the distance. - new_pos0, new_pos1, - interp(position.z, target.z, t) + interp(position.e, target.e, t), // FIXME. Wrong, since t is not linear in the distance. + new_pos0, + new_pos1, + interp(position.z, target.z, t), // FIXME. Wrong, since t is not linear in the distance. + interp(position.i, target.i, t), // FIXME. Wrong, since t is not linear in the distance. + interp(position.j, target.j, t), // FIXME. Wrong, since t is not linear in the distance. + interp(position.k, target.k, t) // FIXME. Wrong, since t is not linear in the distance. ); apply_motion_limits(new_bez); bez_target = new_bez; diff --git a/Marlin/src/module/probe.h b/Marlin/src/module/probe.h index 7438a56614..da46c830f6 100644 --- a/Marlin/src/module/probe.h +++ b/Marlin/src/module/probe.h @@ -110,7 +110,7 @@ public: #else - static constexpr xyz_pos_t offset = xyz_pos_t({ 0, 0, 0 }); // See #16767 + static constexpr xyz_pos_t offset = xyz_pos_t(LINEAR_AXIS_ARRAY(0, 0, 0, 0, 0, 0)); // See #16767 static bool set_deployed(const bool) { return false; } @@ -222,20 +222,20 @@ public: #define VALIDATE_PROBE_PT(N) static_assert(Probe::build_time::can_reach(xy_pos_t{PROBE_PT_##N##_X, PROBE_PT_##N##_Y}), \ "PROBE_PT_" STRINGIFY(N) "_(X|Y) is unreachable using default NOZZLE_TO_PROBE_OFFSET and PROBING_MARGIN"); VALIDATE_PROBE_PT(1); VALIDATE_PROBE_PT(2); VALIDATE_PROBE_PT(3); - points[0].set(PROBE_PT_1_X, PROBE_PT_1_Y); - points[1].set(PROBE_PT_2_X, PROBE_PT_2_Y); - points[2].set(PROBE_PT_3_X, PROBE_PT_3_Y); + points[0] = xy_float_t({ PROBE_PT_1_X, PROBE_PT_1_Y }); + points[1] = xy_float_t({ PROBE_PT_2_X, PROBE_PT_2_Y }); + points[2] = xy_float_t({ PROBE_PT_3_X, PROBE_PT_3_Y }); #else #if IS_KINEMATIC constexpr float SIN0 = 0.0, SIN120 = 0.866025, SIN240 = -0.866025, COS0 = 1.0, COS120 = -0.5 , COS240 = -0.5; - points[0].set((X_CENTER) + probe_radius() * COS0, (Y_CENTER) + probe_radius() * SIN0); - points[1].set((X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120); - points[2].set((X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240); + points[0] = xy_float_t({ (X_CENTER) + probe_radius() * COS0, (Y_CENTER) + probe_radius() * SIN0 }); + points[1] = xy_float_t({ (X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120 }); + points[2] = xy_float_t({ (X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240 }); #else - points[0].set(min_x(), min_y()); - points[1].set(max_x(), min_y()); - points[2].set((min_x() + max_x()) / 2, max_y()); + points[0] = xy_float_t({ min_x(), min_y() }); + points[1] = xy_float_t({ max_x(), min_y() }); + points[2] = xy_float_t({ (min_x() + max_x()) / 2, max_y() }); #endif #endif } diff --git a/Marlin/src/module/settings.cpp b/Marlin/src/module/settings.cpp index fc4fdc1f92..aae0f97361 100644 --- a/Marlin/src/module/settings.cpp +++ b/Marlin/src/module/settings.cpp @@ -168,10 +168,14 @@ void M554_report(); #endif -typedef struct { uint16_t LINEAR_AXIS_LIST(X, Y, Z), X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7; } tmc_stepper_current_t; -typedef struct { uint32_t LINEAR_AXIS_LIST(X, Y, Z), X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7; } tmc_hybrid_threshold_t; -typedef struct { int16_t LINEAR_AXIS_LIST(X, Y, Z), X2, Y2, Z2, Z3, Z4; } tmc_sgt_t; -typedef struct { bool LINEAR_AXIS_LIST(X, Y, Z), X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7; } tmc_stealth_enabled_t; +#define _EN_ITEM(N) , E##N + +typedef struct { uint16_t LINEAR_AXIS_LIST(X, Y, Z, I, J, K), X2, Y2, Z2, Z3, Z4 REPEAT(E_STEPPERS, _EN_ITEM); } tmc_stepper_current_t; +typedef struct { uint32_t LINEAR_AXIS_LIST(X, Y, Z, I, J, K), X2, Y2, Z2, Z3, Z4 REPEAT(E_STEPPERS, _EN_ITEM); } tmc_hybrid_threshold_t; +typedef struct { int16_t LINEAR_AXIS_LIST(X, Y, Z, I, J, K), X2, Y2, Z2, Z3, Z4; } tmc_sgt_t; +typedef struct { bool LINEAR_AXIS_LIST(X, Y, Z, I, J, K), X2, Y2, Z2, Z3, Z4 REPEAT(E_STEPPERS, _EN_ITEM); } tmc_stealth_enabled_t; + +#undef _EN_ITEM // Limit an index to an array size #define ALIM(I,ARR) _MIN(I, (signed)COUNT(ARR) - 1) @@ -387,7 +391,7 @@ typedef struct SettingsDataStruct { #ifndef MOTOR_CURRENT_COUNT #define MOTOR_CURRENT_COUNT LINEAR_AXES #endif - uint32_t motor_current_setting[MOTOR_CURRENT_COUNT]; // M907 X Z E + uint32_t motor_current_setting[MOTOR_CURRENT_COUNT]; // M907 X Z E ... // // CNC_COORDINATE_SYSTEMS @@ -654,7 +658,7 @@ void MarlinSettings::postprocess() { EEPROM_WRITE(dummyf); #endif #else - const xyze_pos_t planner_max_jerk = LOGICAL_AXIS_ARRAY(float(DEFAULT_EJERK), 10, 10, 0.4); + const xyze_pos_t planner_max_jerk = LOGICAL_AXIS_ARRAY(float(DEFAULT_EJERK), 10, 10, 0.4, 0.4, 0.4, 0.4); EEPROM_WRITE(planner_max_jerk); #endif @@ -1087,6 +1091,15 @@ void MarlinSettings::postprocess() { #if AXIS_IS_TMC(Z) tmc_stepper_current.Z = stepperZ.getMilliamps(); #endif + #if AXIS_IS_TMC(I) + tmc_stepper_current.I = stepperI.getMilliamps(); + #endif + #if AXIS_IS_TMC(J) + tmc_stepper_current.J = stepperJ.getMilliamps(); + #endif + #if AXIS_IS_TMC(K) + tmc_stepper_current.K = stepperK.getMilliamps(); + #endif #if AXIS_IS_TMC(X2) tmc_stepper_current.X2 = stepperX2.getMilliamps(); #endif @@ -1138,61 +1151,33 @@ void MarlinSettings::postprocess() { #if ENABLED(HYBRID_THRESHOLD) tmc_hybrid_threshold_t tmc_hybrid_threshold{0}; - #if AXIS_HAS_STEALTHCHOP(X) - tmc_hybrid_threshold.X = stepperX.get_pwm_thrs(); - #endif - #if AXIS_HAS_STEALTHCHOP(Y) - tmc_hybrid_threshold.Y = stepperY.get_pwm_thrs(); - #endif - #if AXIS_HAS_STEALTHCHOP(Z) - tmc_hybrid_threshold.Z = stepperZ.get_pwm_thrs(); - #endif - #if AXIS_HAS_STEALTHCHOP(X2) - tmc_hybrid_threshold.X2 = stepperX2.get_pwm_thrs(); - #endif - #if AXIS_HAS_STEALTHCHOP(Y2) - tmc_hybrid_threshold.Y2 = stepperY2.get_pwm_thrs(); - #endif - #if AXIS_HAS_STEALTHCHOP(Z2) - tmc_hybrid_threshold.Z2 = stepperZ2.get_pwm_thrs(); - #endif - #if AXIS_HAS_STEALTHCHOP(Z3) - tmc_hybrid_threshold.Z3 = stepperZ3.get_pwm_thrs(); - #endif - #if AXIS_HAS_STEALTHCHOP(Z4) - tmc_hybrid_threshold.Z4 = stepperZ4.get_pwm_thrs(); - #endif - #if AXIS_HAS_STEALTHCHOP(E0) - tmc_hybrid_threshold.E0 = stepperE0.get_pwm_thrs(); - #endif - #if AXIS_HAS_STEALTHCHOP(E1) - tmc_hybrid_threshold.E1 = stepperE1.get_pwm_thrs(); - #endif - #if AXIS_HAS_STEALTHCHOP(E2) - tmc_hybrid_threshold.E2 = stepperE2.get_pwm_thrs(); - #endif - #if AXIS_HAS_STEALTHCHOP(E3) - tmc_hybrid_threshold.E3 = stepperE3.get_pwm_thrs(); - #endif - #if AXIS_HAS_STEALTHCHOP(E4) - tmc_hybrid_threshold.E4 = stepperE4.get_pwm_thrs(); - #endif - #if AXIS_HAS_STEALTHCHOP(E5) - tmc_hybrid_threshold.E5 = stepperE5.get_pwm_thrs(); - #endif - #if AXIS_HAS_STEALTHCHOP(E6) - tmc_hybrid_threshold.E6 = stepperE6.get_pwm_thrs(); - #endif - #if AXIS_HAS_STEALTHCHOP(E7) - tmc_hybrid_threshold.E7 = stepperE7.get_pwm_thrs(); - #endif + TERN_(X_HAS_STEALTHCHOP, tmc_hybrid_threshold.X = stepperX.get_pwm_thrs()); + TERN_(Y_HAS_STEALTHCHOP, tmc_hybrid_threshold.Y = stepperY.get_pwm_thrs()); + TERN_(Z_HAS_STEALTHCHOP, tmc_hybrid_threshold.Z = stepperZ.get_pwm_thrs()); + TERN_(I_HAS_STEALTHCHOP, tmc_hybrid_threshold.I = stepperI.get_pwm_thrs()); + TERN_(J_HAS_STEALTHCHOP, tmc_hybrid_threshold.J = stepperJ.get_pwm_thrs()); + TERN_(K_HAS_STEALTHCHOP, tmc_hybrid_threshold.K = stepperK.get_pwm_thrs()); + TERN_(X2_HAS_STEALTHCHOP, tmc_hybrid_threshold.X2 = stepperX2.get_pwm_thrs()); + TERN_(Y2_HAS_STEALTHCHOP, tmc_hybrid_threshold.Y2 = stepperY2.get_pwm_thrs()); + TERN_(Z2_HAS_STEALTHCHOP, tmc_hybrid_threshold.Z2 = stepperZ2.get_pwm_thrs()); + TERN_(Z3_HAS_STEALTHCHOP, tmc_hybrid_threshold.Z3 = stepperZ3.get_pwm_thrs()); + TERN_(Z4_HAS_STEALTHCHOP, tmc_hybrid_threshold.Z4 = stepperZ4.get_pwm_thrs()); + TERN_(E0_HAS_STEALTHCHOP, tmc_hybrid_threshold.E0 = stepperE0.get_pwm_thrs()); + TERN_(E1_HAS_STEALTHCHOP, tmc_hybrid_threshold.E1 = stepperE1.get_pwm_thrs()); + TERN_(E2_HAS_STEALTHCHOP, tmc_hybrid_threshold.E2 = stepperE2.get_pwm_thrs()); + TERN_(E3_HAS_STEALTHCHOP, tmc_hybrid_threshold.E3 = stepperE3.get_pwm_thrs()); + TERN_(E4_HAS_STEALTHCHOP, tmc_hybrid_threshold.E4 = stepperE4.get_pwm_thrs()); + TERN_(E5_HAS_STEALTHCHOP, tmc_hybrid_threshold.E5 = stepperE5.get_pwm_thrs()); + TERN_(E6_HAS_STEALTHCHOP, tmc_hybrid_threshold.E6 = stepperE6.get_pwm_thrs()); + TERN_(E7_HAS_STEALTHCHOP, tmc_hybrid_threshold.E7 = stepperE7.get_pwm_thrs()); #else + #define _EN_ITEM(N) , .E##N = 30 const tmc_hybrid_threshold_t tmc_hybrid_threshold = { - LINEAR_AXIS_LIST(.X = 100, .Y = 100, .Z = 3), - .X2 = 100, .Y2 = 100, .Z2 = 3, .Z3 = 3, .Z4 = 3, - .E0 = 30, .E1 = 30, .E2 = 30, .E3 = 30, - .E4 = 30, .E5 = 30, .E6 = 30, .E7 = 30 + LINEAR_AXIS_LIST(.X = 100, .Y = 100, .Z = 3, .I = 3, .J = 3, .K = 3), + .X2 = 100, .Y2 = 100, .Z2 = 3, .Z3 = 3, .Z4 = 3 + REPEAT(EXTRUDERS, _EN_ITEM) }; + #undef _EN_ITEM #endif EEPROM_WRITE(tmc_hybrid_threshold); } @@ -1203,11 +1188,16 @@ void MarlinSettings::postprocess() { { tmc_sgt_t tmc_sgt{0}; #if USE_SENSORLESS - TERN_(X_SENSORLESS, tmc_sgt.X = stepperX.homing_threshold()); + LINEAR_AXIS_CODE( + TERN_(X_SENSORLESS, tmc_sgt.X = stepperX.homing_threshold()), + TERN_(Y_SENSORLESS, tmc_sgt.Y = stepperY.homing_threshold()), + TERN_(Z_SENSORLESS, tmc_sgt.Z = stepperZ.homing_threshold()), + TERN_(I_SENSORLESS, tmc_sgt.I = stepperI.homing_threshold()), + TERN_(J_SENSORLESS, tmc_sgt.J = stepperJ.homing_threshold()), + TERN_(K_SENSORLESS, tmc_sgt.K = stepperK.homing_threshold()) + ); TERN_(X2_SENSORLESS, tmc_sgt.X2 = stepperX2.homing_threshold()); - TERN_(Y_SENSORLESS, tmc_sgt.Y = stepperY.homing_threshold()); TERN_(Y2_SENSORLESS, tmc_sgt.Y2 = stepperY2.homing_threshold()); - TERN_(Z_SENSORLESS, tmc_sgt.Z = stepperZ.homing_threshold()); TERN_(Z2_SENSORLESS, tmc_sgt.Z2 = stepperZ2.homing_threshold()); TERN_(Z3_SENSORLESS, tmc_sgt.Z3 = stepperZ3.homing_threshold()); TERN_(Z4_SENSORLESS, tmc_sgt.Z4 = stepperZ4.homing_threshold()); @@ -1222,54 +1212,25 @@ void MarlinSettings::postprocess() { _FIELD_TEST(tmc_stealth_enabled); tmc_stealth_enabled_t tmc_stealth_enabled = { false }; - #if AXIS_HAS_STEALTHCHOP(X) - tmc_stealth_enabled.X = stepperX.get_stored_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(Y) - tmc_stealth_enabled.Y = stepperY.get_stored_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(Z) - tmc_stealth_enabled.Z = stepperZ.get_stored_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(X2) - tmc_stealth_enabled.X2 = stepperX2.get_stored_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(Y2) - tmc_stealth_enabled.Y2 = stepperY2.get_stored_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(Z2) - tmc_stealth_enabled.Z2 = stepperZ2.get_stored_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(Z3) - tmc_stealth_enabled.Z3 = stepperZ3.get_stored_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(Z4) - tmc_stealth_enabled.Z4 = stepperZ4.get_stored_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(E0) - tmc_stealth_enabled.E0 = stepperE0.get_stored_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(E1) - tmc_stealth_enabled.E1 = stepperE1.get_stored_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(E2) - tmc_stealth_enabled.E2 = stepperE2.get_stored_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(E3) - tmc_stealth_enabled.E3 = stepperE3.get_stored_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(E4) - tmc_stealth_enabled.E4 = stepperE4.get_stored_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(E5) - tmc_stealth_enabled.E5 = stepperE5.get_stored_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(E6) - tmc_stealth_enabled.E6 = stepperE6.get_stored_stealthChop(); - #endif - #if AXIS_HAS_STEALTHCHOP(E7) - tmc_stealth_enabled.E7 = stepperE7.get_stored_stealthChop(); - #endif + TERN_(X_HAS_STEALTHCHOP, tmc_stealth_enabled.X = stepperX.get_stored_stealthChop()); + TERN_(Y_HAS_STEALTHCHOP, tmc_stealth_enabled.Y = stepperY.get_stored_stealthChop()); + TERN_(Z_HAS_STEALTHCHOP, tmc_stealth_enabled.Z = stepperZ.get_stored_stealthChop()); + TERN_(I_HAS_STEALTHCHOP, tmc_stealth_enabled.I = stepperI.get_stored_stealthChop()); + TERN_(J_HAS_STEALTHCHOP, tmc_stealth_enabled.J = stepperJ.get_stored_stealthChop()); + TERN_(K_HAS_STEALTHCHOP, tmc_stealth_enabled.K = stepperK.get_stored_stealthChop()); + TERN_(X2_HAS_STEALTHCHOP, tmc_stealth_enabled.X2 = stepperX2.get_stored_stealthChop()); + TERN_(Y2_HAS_STEALTHCHOP, tmc_stealth_enabled.Y2 = stepperY2.get_stored_stealthChop()); + TERN_(Z2_HAS_STEALTHCHOP, tmc_stealth_enabled.Z2 = stepperZ2.get_stored_stealthChop()); + TERN_(Z3_HAS_STEALTHCHOP, tmc_stealth_enabled.Z3 = stepperZ3.get_stored_stealthChop()); + TERN_(Z4_HAS_STEALTHCHOP, tmc_stealth_enabled.Z4 = stepperZ4.get_stored_stealthChop()); + TERN_(E0_HAS_STEALTHCHOP, tmc_stealth_enabled.E0 = stepperE0.get_stored_stealthChop()); + TERN_(E1_HAS_STEALTHCHOP, tmc_stealth_enabled.E1 = stepperE1.get_stored_stealthChop()); + TERN_(E2_HAS_STEALTHCHOP, tmc_stealth_enabled.E2 = stepperE2.get_stored_stealthChop()); + TERN_(E3_HAS_STEALTHCHOP, tmc_stealth_enabled.E3 = stepperE3.get_stored_stealthChop()); + TERN_(E4_HAS_STEALTHCHOP, tmc_stealth_enabled.E4 = stepperE4.get_stored_stealthChop()); + TERN_(E5_HAS_STEALTHCHOP, tmc_stealth_enabled.E5 = stepperE5.get_stored_stealthChop()); + TERN_(E6_HAS_STEALTHCHOP, tmc_stealth_enabled.E6 = stepperE6.get_stored_stealthChop()); + TERN_(E7_HAS_STEALTHCHOP, tmc_stealth_enabled.E7 = stepperE7.get_stored_stealthChop()); EEPROM_WRITE(tmc_stealth_enabled); } @@ -1992,6 +1953,15 @@ void MarlinSettings::postprocess() { #if AXIS_IS_TMC(Z4) SET_CURR(Z4); #endif + #if AXIS_IS_TMC(I) + SET_CURR(I); + #endif + #if AXIS_IS_TMC(J) + SET_CURR(J); + #endif + #if AXIS_IS_TMC(K) + SET_CURR(K); + #endif #if AXIS_IS_TMC(E0) SET_CURR(E0); #endif @@ -2028,54 +1998,25 @@ void MarlinSettings::postprocess() { #if ENABLED(HYBRID_THRESHOLD) if (!validating) { - #if AXIS_HAS_STEALTHCHOP(X) - stepperX.set_pwm_thrs(tmc_hybrid_threshold.X); - #endif - #if AXIS_HAS_STEALTHCHOP(Y) - stepperY.set_pwm_thrs(tmc_hybrid_threshold.Y); - #endif - #if AXIS_HAS_STEALTHCHOP(Z) - stepperZ.set_pwm_thrs(tmc_hybrid_threshold.Z); - #endif - #if AXIS_HAS_STEALTHCHOP(X2) - stepperX2.set_pwm_thrs(tmc_hybrid_threshold.X2); - #endif - #if AXIS_HAS_STEALTHCHOP(Y2) - stepperY2.set_pwm_thrs(tmc_hybrid_threshold.Y2); - #endif - #if AXIS_HAS_STEALTHCHOP(Z2) - stepperZ2.set_pwm_thrs(tmc_hybrid_threshold.Z2); - #endif - #if AXIS_HAS_STEALTHCHOP(Z3) - stepperZ3.set_pwm_thrs(tmc_hybrid_threshold.Z3); - #endif - #if AXIS_HAS_STEALTHCHOP(Z4) - stepperZ4.set_pwm_thrs(tmc_hybrid_threshold.Z4); - #endif - #if AXIS_HAS_STEALTHCHOP(E0) - stepperE0.set_pwm_thrs(tmc_hybrid_threshold.E0); - #endif - #if AXIS_HAS_STEALTHCHOP(E1) - stepperE1.set_pwm_thrs(tmc_hybrid_threshold.E1); - #endif - #if AXIS_HAS_STEALTHCHOP(E2) - stepperE2.set_pwm_thrs(tmc_hybrid_threshold.E2); - #endif - #if AXIS_HAS_STEALTHCHOP(E3) - stepperE3.set_pwm_thrs(tmc_hybrid_threshold.E3); - #endif - #if AXIS_HAS_STEALTHCHOP(E4) - stepperE4.set_pwm_thrs(tmc_hybrid_threshold.E4); - #endif - #if AXIS_HAS_STEALTHCHOP(E5) - stepperE5.set_pwm_thrs(tmc_hybrid_threshold.E5); - #endif - #if AXIS_HAS_STEALTHCHOP(E6) - stepperE6.set_pwm_thrs(tmc_hybrid_threshold.E6); - #endif - #if AXIS_HAS_STEALTHCHOP(E7) - stepperE7.set_pwm_thrs(tmc_hybrid_threshold.E7); - #endif + TERN_(X_HAS_STEALTHCHOP, stepperX.set_pwm_thrs(tmc_hybrid_threshold.X)); + TERN_(Y_HAS_STEALTHCHOP, stepperY.set_pwm_thrs(tmc_hybrid_threshold.Y)); + TERN_(Z_HAS_STEALTHCHOP, stepperZ.set_pwm_thrs(tmc_hybrid_threshold.Z)); + TERN_(X2_HAS_STEALTHCHOP, stepperX2.set_pwm_thrs(tmc_hybrid_threshold.X2)); + TERN_(Y2_HAS_STEALTHCHOP, stepperY2.set_pwm_thrs(tmc_hybrid_threshold.Y2)); + TERN_(Z2_HAS_STEALTHCHOP, stepperZ2.set_pwm_thrs(tmc_hybrid_threshold.Z2)); + TERN_(Z3_HAS_STEALTHCHOP, stepperZ3.set_pwm_thrs(tmc_hybrid_threshold.Z3)); + TERN_(Z4_HAS_STEALTHCHOP, stepperZ4.set_pwm_thrs(tmc_hybrid_threshold.Z4)); + TERN_(I_HAS_STEALTHCHOP, stepperI.set_pwm_thrs(tmc_hybrid_threshold.I)); + TERN_(J_HAS_STEALTHCHOP, stepperJ.set_pwm_thrs(tmc_hybrid_threshold.J)); + TERN_(K_HAS_STEALTHCHOP, stepperK.set_pwm_thrs(tmc_hybrid_threshold.K)); + TERN_(E0_HAS_STEALTHCHOP, stepperE0.set_pwm_thrs(tmc_hybrid_threshold.E0)); + TERN_(E1_HAS_STEALTHCHOP, stepperE1.set_pwm_thrs(tmc_hybrid_threshold.E1)); + TERN_(E2_HAS_STEALTHCHOP, stepperE2.set_pwm_thrs(tmc_hybrid_threshold.E2)); + TERN_(E3_HAS_STEALTHCHOP, stepperE3.set_pwm_thrs(tmc_hybrid_threshold.E3)); + TERN_(E4_HAS_STEALTHCHOP, stepperE4.set_pwm_thrs(tmc_hybrid_threshold.E4)); + TERN_(E5_HAS_STEALTHCHOP, stepperE5.set_pwm_thrs(tmc_hybrid_threshold.E5)); + TERN_(E6_HAS_STEALTHCHOP, stepperE6.set_pwm_thrs(tmc_hybrid_threshold.E6)); + TERN_(E7_HAS_STEALTHCHOP, stepperE7.set_pwm_thrs(tmc_hybrid_threshold.E7)); } #endif } @@ -2089,11 +2030,16 @@ void MarlinSettings::postprocess() { EEPROM_READ(tmc_sgt); #if USE_SENSORLESS if (!validating) { - TERN_(X_SENSORLESS, stepperX.homing_threshold(tmc_sgt.X)); + LINEAR_AXIS_CODE( + TERN_(X_SENSORLESS, stepperX.homing_threshold(tmc_sgt.X)), + TERN_(Y_SENSORLESS, stepperY.homing_threshold(tmc_sgt.Y)), + TERN_(Z_SENSORLESS, stepperZ.homing_threshold(tmc_sgt.Z)), + TERN_(I_SENSORLESS, stepperI.homing_threshold(tmc_sgt.I)), + TERN_(J_SENSORLESS, stepperJ.homing_threshold(tmc_sgt.J)), + TERN_(K_SENSORLESS, stepperK.homing_threshold(tmc_sgt.K)) + ); TERN_(X2_SENSORLESS, stepperX2.homing_threshold(tmc_sgt.X2)); - TERN_(Y_SENSORLESS, stepperY.homing_threshold(tmc_sgt.Y)); TERN_(Y2_SENSORLESS, stepperY2.homing_threshold(tmc_sgt.Y2)); - TERN_(Z_SENSORLESS, stepperZ.homing_threshold(tmc_sgt.Z)); TERN_(Z2_SENSORLESS, stepperZ2.homing_threshold(tmc_sgt.Z2)); TERN_(Z3_SENSORLESS, stepperZ3.homing_threshold(tmc_sgt.Z3)); TERN_(Z4_SENSORLESS, stepperZ4.homing_threshold(tmc_sgt.Z4)); @@ -2112,54 +2058,25 @@ void MarlinSettings::postprocess() { #define SET_STEPPING_MODE(ST) stepper##ST.stored.stealthChop_enabled = tmc_stealth_enabled.ST; stepper##ST.refresh_stepping_mode(); if (!validating) { - #if AXIS_HAS_STEALTHCHOP(X) - SET_STEPPING_MODE(X); - #endif - #if AXIS_HAS_STEALTHCHOP(Y) - SET_STEPPING_MODE(Y); - #endif - #if AXIS_HAS_STEALTHCHOP(Z) - SET_STEPPING_MODE(Z); - #endif - #if AXIS_HAS_STEALTHCHOP(X2) - SET_STEPPING_MODE(X2); - #endif - #if AXIS_HAS_STEALTHCHOP(Y2) - SET_STEPPING_MODE(Y2); - #endif - #if AXIS_HAS_STEALTHCHOP(Z2) - SET_STEPPING_MODE(Z2); - #endif - #if AXIS_HAS_STEALTHCHOP(Z3) - SET_STEPPING_MODE(Z3); - #endif - #if AXIS_HAS_STEALTHCHOP(Z4) - SET_STEPPING_MODE(Z4); - #endif - #if AXIS_HAS_STEALTHCHOP(E0) - SET_STEPPING_MODE(E0); - #endif - #if AXIS_HAS_STEALTHCHOP(E1) - SET_STEPPING_MODE(E1); - #endif - #if AXIS_HAS_STEALTHCHOP(E2) - SET_STEPPING_MODE(E2); - #endif - #if AXIS_HAS_STEALTHCHOP(E3) - SET_STEPPING_MODE(E3); - #endif - #if AXIS_HAS_STEALTHCHOP(E4) - SET_STEPPING_MODE(E4); - #endif - #if AXIS_HAS_STEALTHCHOP(E5) - SET_STEPPING_MODE(E5); - #endif - #if AXIS_HAS_STEALTHCHOP(E6) - SET_STEPPING_MODE(E6); - #endif - #if AXIS_HAS_STEALTHCHOP(E7) - SET_STEPPING_MODE(E7); - #endif + TERN_(X_HAS_STEALTHCHOP, SET_STEPPING_MODE(X)); + TERN_(Y_HAS_STEALTHCHOP, SET_STEPPING_MODE(Y)); + TERN_(Z_HAS_STEALTHCHOP, SET_STEPPING_MODE(Z)); + TERN_(I_HAS_STEALTHCHOP, SET_STEPPING_MODE(I)); + TERN_(J_HAS_STEALTHCHOP, SET_STEPPING_MODE(J)); + TERN_(K_HAS_STEALTHCHOP, SET_STEPPING_MODE(K)); + TERN_(X2_HAS_STEALTHCHOP, SET_STEPPING_MODE(X2)); + TERN_(Y2_HAS_STEALTHCHOP, SET_STEPPING_MODE(Y2)); + TERN_(Z2_HAS_STEALTHCHOP, SET_STEPPING_MODE(Z2)); + TERN_(Z3_HAS_STEALTHCHOP, SET_STEPPING_MODE(Z3)); + TERN_(Z4_HAS_STEALTHCHOP, SET_STEPPING_MODE(Z4)); + TERN_(E0_HAS_STEALTHCHOP, SET_STEPPING_MODE(E0)); + TERN_(E1_HAS_STEALTHCHOP, SET_STEPPING_MODE(E1)); + TERN_(E2_HAS_STEALTHCHOP, SET_STEPPING_MODE(E2)); + TERN_(E3_HAS_STEALTHCHOP, SET_STEPPING_MODE(E3)); + TERN_(E4_HAS_STEALTHCHOP, SET_STEPPING_MODE(E4)); + TERN_(E5_HAS_STEALTHCHOP, SET_STEPPING_MODE(E5)); + TERN_(E6_HAS_STEALTHCHOP, SET_STEPPING_MODE(E6)); + TERN_(E7_HAS_STEALTHCHOP, SET_STEPPING_MODE(E7)); } #endif } @@ -2598,14 +2515,25 @@ void MarlinSettings::reset() { #ifndef DEFAULT_XJERK #define DEFAULT_XJERK 0 #endif - #ifndef DEFAULT_YJERK + #if HAS_Y_AXIS && !defined(DEFAULT_YJERK) #define DEFAULT_YJERK 0 #endif - #ifndef DEFAULT_ZJERK + #if HAS_Z_AXIS && !defined(DEFAULT_ZJERK) #define DEFAULT_ZJERK 0 #endif - planner.max_jerk.set(LINEAR_AXIS_LIST(DEFAULT_XJERK, DEFAULT_YJERK, DEFAULT_ZJERK)); - TERN_(HAS_CLASSIC_E_JERK, planner.max_jerk.e = DEFAULT_EJERK;); + #if LINEAR_AXES >= 4 && !defined(DEFAULT_IJERK) + #define DEFAULT_IJERK 0 + #endif + #if LINEAR_AXES >= 5 && !defined(DEFAULT_JJERK) + #define DEFAULT_JJERK 0 + #endif + #if LINEAR_AXES >= 6 && !defined(DEFAULT_KJERK) + #define DEFAULT_KJERK 0 + #endif + planner.max_jerk.set( + LINEAR_AXIS_LIST(DEFAULT_XJERK, DEFAULT_YJERK, DEFAULT_ZJERK, DEFAULT_IJERK, DEFAULT_JJERK, DEFAULT_KJERK) + ); + TERN_(HAS_CLASSIC_E_JERK, planner.max_jerk.e = DEFAULT_EJERK); #endif #if HAS_JUNCTION_DEVIATION @@ -2703,11 +2631,11 @@ void MarlinSettings::reset() { #if HAS_BED_PROBE constexpr float dpo[] = NOZZLE_TO_PROBE_OFFSET; - static_assert(COUNT(dpo) == 3, "NOZZLE_TO_PROBE_OFFSET must contain offsets for X, Y, and Z."); + static_assert(COUNT(dpo) == LINEAR_AXES, "NOZZLE_TO_PROBE_OFFSET must contain offsets for each linear axis X, Y, Z...."); #if HAS_PROBE_XY_OFFSET LOOP_LINEAR_AXES(a) probe.offset[a] = dpo[a]; #else - probe.offset.set(0, 0, dpo[Z_AXIS]); + probe.offset.set(LINEAR_AXIS_LIST(0, 0, dpo[Z_AXIS], 0, 0, 0)); #endif #endif @@ -3145,7 +3073,10 @@ void MarlinSettings::reset() { LIST_N(DOUBLE(LINEAR_AXES), PSTR(" M203 X"), LINEAR_UNIT(planner.settings.max_feedrate_mm_s[X_AXIS]), SP_Y_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[Y_AXIS]), - SP_Z_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[Z_AXIS]) + SP_Z_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[Z_AXIS]), + SP_I_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[I_AXIS]), + SP_J_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[J_AXIS]), + SP_K_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[K_AXIS]) ) #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS) , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_feedrate_mm_s[E_AXIS]) @@ -3167,7 +3098,10 @@ void MarlinSettings::reset() { LIST_N(DOUBLE(LINEAR_AXES), PSTR(" M201 X"), LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[X_AXIS]), SP_Y_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[Y_AXIS]), - SP_Z_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[Z_AXIS]) + SP_Z_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[Z_AXIS]), + SP_I_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[I_AXIS]), + SP_J_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[J_AXIS]), + SP_K_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[K_AXIS]) ) #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS) , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_acceleration_mm_per_s2[E_AXIS]) @@ -3210,9 +3144,14 @@ void MarlinSettings::reset() { , PSTR(" J"), LINEAR_UNIT(planner.junction_deviation_mm) #endif #if HAS_CLASSIC_JERK - , SP_X_STR, LINEAR_UNIT(planner.max_jerk.x) - , SP_Y_STR, LINEAR_UNIT(planner.max_jerk.y) - , SP_Z_STR, LINEAR_UNIT(planner.max_jerk.z) + , LIST_N(DOUBLE(LINEAR_AXES), + SP_X_STR, LINEAR_UNIT(planner.max_jerk.x), + SP_Y_STR, LINEAR_UNIT(planner.max_jerk.y), + SP_Z_STR, LINEAR_UNIT(planner.max_jerk.z), + SP_I_STR, LINEAR_UNIT(planner.max_jerk.i), + SP_J_STR, LINEAR_UNIT(planner.max_jerk.j), + SP_K_STR, LINEAR_UNIT(planner.max_jerk.k) + ) #if HAS_CLASSIC_E_JERK , SP_E_STR, LINEAR_UNIT(planner.max_jerk.e) #endif @@ -3224,13 +3163,17 @@ void MarlinSettings::reset() { CONFIG_ECHO_START(); SERIAL_ECHOLNPAIR_P( #if IS_CARTESIAN - PSTR(" M206 X"), LINEAR_UNIT(home_offset.x) - , SP_Y_STR, LINEAR_UNIT(home_offset.y) - , SP_Z_STR + LIST_N(LINEAR_AXES, + PSTR(" M206 X"), LINEAR_UNIT(home_offset.x), + SP_Y_STR, LINEAR_UNIT(home_offset.y), + SP_Z_STR, LINEAR_UNIT(home_offset.z), + SP_I_STR, LINEAR_UNIT(home_offset.i), + SP_J_STR, LINEAR_UNIT(home_offset.j), + SP_K_STR, LINEAR_UNIT(home_offset.k) + ) #else - PSTR(" M206 Z") + PSTR(" M206 Z"), LINEAR_UNIT(home_offset.z) #endif - , LINEAR_UNIT(home_offset.z) ); #endif @@ -3582,6 +3525,19 @@ void MarlinSettings::reset() { SERIAL_ECHOLNPAIR(" I3 Z", stepperZ4.getMilliamps()); #endif + #if AXIS_IS_TMC(I) + say_M906(forReplay); + SERIAL_ECHOLNPAIR_P(SP_I_STR, stepperI.getMilliamps()); + #endif + #if AXIS_IS_TMC(J) + say_M906(forReplay); + SERIAL_ECHOLNPAIR_P(SP_J_STR, stepperJ.getMilliamps()); + #endif + #if AXIS_IS_TMC(K) + say_M906(forReplay); + SERIAL_ECHOLNPAIR_P(SP_K_STR, stepperK.getMilliamps()); + #endif + #if AXIS_IS_TMC(E0) say_M906(forReplay); SERIAL_ECHOLNPAIR(" T0 E", stepperE0.getMilliamps()); @@ -3621,74 +3577,87 @@ void MarlinSettings::reset() { */ #if ENABLED(HYBRID_THRESHOLD) CONFIG_ECHO_HEADING("Hybrid Threshold:"); - #if AXIS_HAS_STEALTHCHOP(X) || AXIS_HAS_STEALTHCHOP(Y) || AXIS_HAS_STEALTHCHOP(Z) + #if X_HAS_STEALTHCHOP || Y_HAS_STEALTHCHOP || Z_HAS_STEALTHCHOP say_M913(forReplay); - #if AXIS_HAS_STEALTHCHOP(X) + #if X_HAS_STEALTHCHOP SERIAL_ECHOPAIR_P(SP_X_STR, stepperX.get_pwm_thrs()); #endif - #if AXIS_HAS_STEALTHCHOP(Y) + #if Y_HAS_STEALTHCHOP SERIAL_ECHOPAIR_P(SP_Y_STR, stepperY.get_pwm_thrs()); #endif - #if AXIS_HAS_STEALTHCHOP(Z) + #if Z_HAS_STEALTHCHOP SERIAL_ECHOPAIR_P(SP_Z_STR, stepperZ.get_pwm_thrs()); #endif SERIAL_EOL(); #endif - #if AXIS_HAS_STEALTHCHOP(X2) || AXIS_HAS_STEALTHCHOP(Y2) || AXIS_HAS_STEALTHCHOP(Z2) + #if X2_HAS_STEALTHCHOP || Y2_HAS_STEALTHCHOP || Z2_HAS_STEALTHCHOP say_M913(forReplay); SERIAL_ECHOPGM(" I1"); - #if AXIS_HAS_STEALTHCHOP(X2) + #if X2_HAS_STEALTHCHOP SERIAL_ECHOPAIR_P(SP_X_STR, stepperX2.get_pwm_thrs()); #endif - #if AXIS_HAS_STEALTHCHOP(Y2) + #if Y2_HAS_STEALTHCHOP SERIAL_ECHOPAIR_P(SP_Y_STR, stepperY2.get_pwm_thrs()); #endif - #if AXIS_HAS_STEALTHCHOP(Z2) + #if Z2_HAS_STEALTHCHOP SERIAL_ECHOPAIR_P(SP_Z_STR, stepperZ2.get_pwm_thrs()); #endif SERIAL_EOL(); #endif - #if AXIS_HAS_STEALTHCHOP(Z3) + #if Z3_HAS_STEALTHCHOP say_M913(forReplay); SERIAL_ECHOLNPAIR(" I2 Z", stepperZ3.get_pwm_thrs()); #endif - #if AXIS_HAS_STEALTHCHOP(Z4) + #if Z4_HAS_STEALTHCHOP say_M913(forReplay); SERIAL_ECHOLNPAIR(" I3 Z", stepperZ4.get_pwm_thrs()); #endif - #if AXIS_HAS_STEALTHCHOP(E0) + #if I_HAS_STEALTHCHOP + say_M913(forReplay); + SERIAL_ECHOLNPAIR_P(SP_I_STR, stepperI.get_pwm_thrs()); + #endif + #if J_HAS_STEALTHCHOP + say_M913(forReplay); + SERIAL_ECHOLNPAIR_P(SP_J_STR, stepperJ.get_pwm_thrs()); + #endif + #if K_HAS_STEALTHCHOP + say_M913(forReplay); + SERIAL_ECHOLNPAIR_P(SP_K_STR, stepperK.get_pwm_thrs()); + #endif + + #if E0_HAS_STEALTHCHOP say_M913(forReplay); SERIAL_ECHOLNPAIR(" T0 E", stepperE0.get_pwm_thrs()); #endif - #if AXIS_HAS_STEALTHCHOP(E1) + #if E1_HAS_STEALTHCHOP say_M913(forReplay); SERIAL_ECHOLNPAIR(" T1 E", stepperE1.get_pwm_thrs()); #endif - #if AXIS_HAS_STEALTHCHOP(E2) + #if E2_HAS_STEALTHCHOP say_M913(forReplay); SERIAL_ECHOLNPAIR(" T2 E", stepperE2.get_pwm_thrs()); #endif - #if AXIS_HAS_STEALTHCHOP(E3) + #if E3_HAS_STEALTHCHOP say_M913(forReplay); SERIAL_ECHOLNPAIR(" T3 E", stepperE3.get_pwm_thrs()); #endif - #if AXIS_HAS_STEALTHCHOP(E4) + #if E4_HAS_STEALTHCHOP say_M913(forReplay); SERIAL_ECHOLNPAIR(" T4 E", stepperE4.get_pwm_thrs()); #endif - #if AXIS_HAS_STEALTHCHOP(E5) + #if E5_HAS_STEALTHCHOP say_M913(forReplay); SERIAL_ECHOLNPAIR(" T5 E", stepperE5.get_pwm_thrs()); #endif - #if AXIS_HAS_STEALTHCHOP(E6) + #if E6_HAS_STEALTHCHOP say_M913(forReplay); SERIAL_ECHOLNPAIR(" T6 E", stepperE6.get_pwm_thrs()); #endif - #if AXIS_HAS_STEALTHCHOP(E7) + #if E7_HAS_STEALTHCHOP say_M913(forReplay); SERIAL_ECHOLNPAIR(" T7 E", stepperE7.get_pwm_thrs()); #endif @@ -3743,6 +3712,22 @@ void MarlinSettings::reset() { SERIAL_ECHOLNPAIR(" I3 Z", stepperZ4.homing_threshold()); #endif + #if I_SENSORLESS + CONFIG_ECHO_START(); + say_M914(); + SERIAL_ECHOLNPAIR_P(SP_I_STR, stepperI.homing_threshold()); + #endif + #if J_SENSORLESS + CONFIG_ECHO_START(); + say_M914(); + SERIAL_ECHOLNPAIR_P(SP_J_STR, stepperJ.homing_threshold()); + #endif + #if K_SENSORLESS + CONFIG_ECHO_START(); + say_M914(); + SERIAL_ECHOLNPAIR_P(SP_K_STR, stepperK.homing_threshold()); + #endif + #endif // USE_SENSORLESS /** @@ -3750,45 +3735,29 @@ void MarlinSettings::reset() { */ #if HAS_STEALTHCHOP CONFIG_ECHO_HEADING("Driver stepping mode:"); - #if AXIS_HAS_STEALTHCHOP(X) - const bool chop_x = stepperX.get_stored_stealthChop(); - #else - constexpr bool chop_x = false; - #endif - #if AXIS_HAS_STEALTHCHOP(Y) - const bool chop_y = stepperY.get_stored_stealthChop(); - #else - constexpr bool chop_y = false; - #endif - #if AXIS_HAS_STEALTHCHOP(Z) - const bool chop_z = stepperZ.get_stored_stealthChop(); - #else - constexpr bool chop_z = false; - #endif - - if (chop_x || chop_y || chop_z) { + const bool chop_x = TERN0(X_HAS_STEALTHCHOP, stepperX.get_stored_stealthChop()), + chop_y = TERN0(Y_HAS_STEALTHCHOP, stepperY.get_stored_stealthChop()), + chop_z = TERN0(Z_HAS_STEALTHCHOP, stepperZ.get_stored_stealthChop()), + chop_i = TERN0(I_HAS_STEALTHCHOP, stepperI.get_stored_stealthChop()), + chop_j = TERN0(J_HAS_STEALTHCHOP, stepperJ.get_stored_stealthChop()), + chop_k = TERN0(K_HAS_STEALTHCHOP, stepperK.get_stored_stealthChop()); + + if (chop_x || chop_y || chop_z || chop_i || chop_j || chop_k) { say_M569(forReplay); - if (chop_x) SERIAL_ECHOPGM_P(SP_X_STR); - if (chop_y) SERIAL_ECHOPGM_P(SP_Y_STR); - if (chop_z) SERIAL_ECHOPGM_P(SP_Z_STR); + LINEAR_AXIS_CODE( + if (chop_x) SERIAL_ECHOPGM_P(SP_X_STR), + if (chop_y) SERIAL_ECHOPGM_P(SP_Y_STR), + if (chop_z) SERIAL_ECHOPGM_P(SP_Z_STR), + if (chop_i) SERIAL_ECHOPGM_P(SP_I_STR), + if (chop_j) SERIAL_ECHOPGM_P(SP_J_STR), + if (chop_k) SERIAL_ECHOPGM_P(SP_K_STR) + ); SERIAL_EOL(); } - #if AXIS_HAS_STEALTHCHOP(X2) - const bool chop_x2 = stepperX2.get_stored_stealthChop(); - #else - constexpr bool chop_x2 = false; - #endif - #if AXIS_HAS_STEALTHCHOP(Y2) - const bool chop_y2 = stepperY2.get_stored_stealthChop(); - #else - constexpr bool chop_y2 = false; - #endif - #if AXIS_HAS_STEALTHCHOP(Z2) - const bool chop_z2 = stepperZ2.get_stored_stealthChop(); - #else - constexpr bool chop_z2 = false; - #endif + const bool chop_x2 = TERN0(X2_HAS_STEALTHCHOP, stepperX2.get_stored_stealthChop()), + chop_y2 = TERN0(Y2_HAS_STEALTHCHOP, stepperY2.get_stored_stealthChop()), + chop_z2 = TERN0(Z2_HAS_STEALTHCHOP, stepperZ2.get_stored_stealthChop()); if (chop_x2 || chop_y2 || chop_z2) { say_M569(forReplay, PSTR("I1")); @@ -3798,38 +3767,21 @@ void MarlinSettings::reset() { SERIAL_EOL(); } - #if AXIS_HAS_STEALTHCHOP(Z3) - if (stepperZ3.get_stored_stealthChop()) { say_M569(forReplay, PSTR("I2 Z"), true); } - #endif + if (TERN0(Z3_HAS_STEALTHCHOP, stepperZ3.get_stored_stealthChop())) { say_M569(forReplay, PSTR("I2 Z"), true); } + if (TERN0(Z4_HAS_STEALTHCHOP, stepperZ4.get_stored_stealthChop())) { say_M569(forReplay, PSTR("I3 Z"), true); } - #if AXIS_HAS_STEALTHCHOP(Z4) - if (stepperZ4.get_stored_stealthChop()) { say_M569(forReplay, PSTR("I3 Z"), true); } - #endif + if (TERN0( I_HAS_STEALTHCHOP, stepperI.get_stored_stealthChop())) { say_M569(forReplay, SP_I_STR, true); } + if (TERN0( J_HAS_STEALTHCHOP, stepperJ.get_stored_stealthChop())) { say_M569(forReplay, SP_J_STR, true); } + if (TERN0( K_HAS_STEALTHCHOP, stepperK.get_stored_stealthChop())) { say_M569(forReplay, SP_K_STR, true); } - #if AXIS_HAS_STEALTHCHOP(E0) - if (stepperE0.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T0 E"), true); } - #endif - #if AXIS_HAS_STEALTHCHOP(E1) - if (stepperE1.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T1 E"), true); } - #endif - #if AXIS_HAS_STEALTHCHOP(E2) - if (stepperE2.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T2 E"), true); } - #endif - #if AXIS_HAS_STEALTHCHOP(E3) - if (stepperE3.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T3 E"), true); } - #endif - #if AXIS_HAS_STEALTHCHOP(E4) - if (stepperE4.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T4 E"), true); } - #endif - #if AXIS_HAS_STEALTHCHOP(E5) - if (stepperE5.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T5 E"), true); } - #endif - #if AXIS_HAS_STEALTHCHOP(E6) - if (stepperE6.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T6 E"), true); } - #endif - #if AXIS_HAS_STEALTHCHOP(E7) - if (stepperE7.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T7 E"), true); } - #endif + if (TERN0(E0_HAS_STEALTHCHOP, stepperE0.get_stored_stealthChop())) { say_M569(forReplay, PSTR("T0 E"), true); } + if (TERN0(E1_HAS_STEALTHCHOP, stepperE1.get_stored_stealthChop())) { say_M569(forReplay, PSTR("T1 E"), true); } + if (TERN0(E2_HAS_STEALTHCHOP, stepperE2.get_stored_stealthChop())) { say_M569(forReplay, PSTR("T2 E"), true); } + if (TERN0(E3_HAS_STEALTHCHOP, stepperE3.get_stored_stealthChop())) { say_M569(forReplay, PSTR("T3 E"), true); } + if (TERN0(E4_HAS_STEALTHCHOP, stepperE4.get_stored_stealthChop())) { say_M569(forReplay, PSTR("T4 E"), true); } + if (TERN0(E5_HAS_STEALTHCHOP, stepperE5.get_stored_stealthChop())) { say_M569(forReplay, PSTR("T5 E"), true); } + if (TERN0(E6_HAS_STEALTHCHOP, stepperE6.get_stored_stealthChop())) { say_M569(forReplay, PSTR("T6 E"), true); } + if (TERN0(E7_HAS_STEALTHCHOP, stepperE7.get_stored_stealthChop())) { say_M569(forReplay, PSTR("T7 E"), true); } #endif // HAS_STEALTHCHOP @@ -3859,7 +3811,7 @@ void MarlinSettings::reset() { ); #elif HAS_MOTOR_CURRENT_SPI SERIAL_ECHOPGM(" M907"); // SPI-based has 5 values: - LOOP_LOGICAL_AXES(q) { // X Y Z E (map to X Y Z E0 by default) + LOOP_LOGICAL_AXES(q) { // X Y Z (I J K) E (map to X Y Z (I J K) E0 by default) SERIAL_CHAR(' ', axis_codes[q]); SERIAL_ECHO(stepper.motor_current_setting[q]); } @@ -3869,7 +3821,7 @@ void MarlinSettings::reset() { #elif ENABLED(HAS_MOTOR_CURRENT_I2C) // i2c-based has any number of values // Values sent over i2c are not stored. // Indexes map directly to drivers, not axes. - #elif ENABLED(HAS_MOTOR_CURRENT_DAC) // DAC-based has 4 values, for X Y Z E + #elif ENABLED(HAS_MOTOR_CURRENT_DAC) // DAC-based has 4 values, for X Y Z (I J K) E // Values sent over i2c are not stored. Uses indirect mapping. #endif @@ -3901,7 +3853,10 @@ void MarlinSettings::reset() { , LIST_N(DOUBLE(LINEAR_AXES), SP_X_STR, LINEAR_UNIT(backlash.distance_mm.x), SP_Y_STR, LINEAR_UNIT(backlash.distance_mm.y), - SP_Z_STR, LINEAR_UNIT(backlash.distance_mm.z) + SP_Z_STR, LINEAR_UNIT(backlash.distance_mm.z), + SP_I_STR, LINEAR_UNIT(backlash.distance_mm.i), + SP_J_STR, LINEAR_UNIT(backlash.distance_mm.j), + SP_K_STR, LINEAR_UNIT(backlash.distance_mm.k) ) #ifdef BACKLASH_SMOOTHING_MM , PSTR(" S"), LINEAR_UNIT(backlash.smoothing_mm) diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp index 05286a6566..062049ec77 100644 --- a/Marlin/src/module/stepper.cpp +++ b/Marlin/src/module/stepper.cpp @@ -378,7 +378,7 @@ xyze_int8_t Stepper::count_direction{0}; #else #define Y_APPLY_STEP(v,Q) do{ Y_STEP_WRITE(v); Y2_STEP_WRITE(v); }while(0) #endif -#else +#elif HAS_Y_AXIS #define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v) #define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v) #endif @@ -415,11 +415,24 @@ xyze_int8_t Stepper::count_direction{0}; #else #define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); }while(0) #endif -#else +#elif HAS_Z_AXIS #define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v) #define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v) #endif +#if LINEAR_AXES >= 4 + #define I_APPLY_DIR(v,Q) I_DIR_WRITE(v) + #define I_APPLY_STEP(v,Q) I_STEP_WRITE(v) +#endif +#if LINEAR_AXES >= 5 + #define J_APPLY_DIR(v,Q) J_DIR_WRITE(v) + #define J_APPLY_STEP(v,Q) J_STEP_WRITE(v) +#endif +#if LINEAR_AXES >= 6 + #define K_APPLY_DIR(v,Q) K_DIR_WRITE(v) + #define K_APPLY_STEP(v,Q) K_STEP_WRITE(v) +#endif + #if DISABLED(MIXING_EXTRUDER) #define E_APPLY_STEP(v,Q) E_STEP_WRITE(stepper_extruder, v) #endif @@ -486,6 +499,18 @@ void Stepper::set_directions() { SET_STEP_DIR(Z); // C #endif + #if HAS_I_DIR + SET_STEP_DIR(I); // I + #endif + + #if HAS_J_DIR + SET_STEP_DIR(J); // J + #endif + + #if HAS_K_DIR + SET_STEP_DIR(K); // K + #endif + #if DISABLED(LIN_ADVANCE) #if ENABLED(MIXING_EXTRUDER) // Because this is valid for the whole block we don't know @@ -1584,7 +1609,7 @@ void Stepper::pulse_phase_isr() { const bool is_page = IS_PAGE(current_block); #if ENABLED(DIRECT_STEPPING) - + // TODO (DerAndere): Add support for LINEAR_AXES >= 4 if (is_page) { #if STEPPER_PAGE_FORMAT == SP_4x4D_128 @@ -1700,6 +1725,15 @@ void Stepper::pulse_phase_isr() { #if HAS_Z_STEP PULSE_PREP(Z); #endif + #if HAS_I_STEP + PULSE_PREP(I); + #endif + #if HAS_J_STEP + PULSE_PREP(J); + #endif + #if HAS_K_STEP + PULSE_PREP(K); + #endif #if EITHER(LIN_ADVANCE, MIXING_EXTRUDER) delta_error.e += advance_dividend.e; @@ -1735,6 +1769,15 @@ void Stepper::pulse_phase_isr() { #if HAS_Z_STEP PULSE_START(Z); #endif + #if HAS_I_STEP + PULSE_START(I); + #endif + #if HAS_J_STEP + PULSE_START(J); + #endif + #if HAS_K_STEP + PULSE_START(K); + #endif #if DISABLED(LIN_ADVANCE) #if ENABLED(MIXING_EXTRUDER) @@ -1764,6 +1807,15 @@ void Stepper::pulse_phase_isr() { #if HAS_Z_STEP PULSE_STOP(Z); #endif + #if HAS_I_STEP + PULSE_STOP(I); + #endif + #if HAS_J_STEP + PULSE_STOP(J); + #endif + #if HAS_K_STEP + PULSE_STOP(K); + #endif #if DISABLED(LIN_ADVANCE) #if ENABLED(MIXING_EXTRUDER) @@ -1798,6 +1850,7 @@ uint32_t Stepper::block_phase_isr() { // If current block is finished, reset pointer and finalize state if (step_events_completed >= step_event_count) { #if ENABLED(DIRECT_STEPPING) + // TODO (DerAndere): Add support for LINEAR_AXES >= 4 #if STEPPER_PAGE_FORMAT == SP_4x4D_128 #define PAGE_SEGMENT_UPDATE_POS(AXIS) \ count_position[_AXIS(AXIS)] += page_step_state.bd[_AXIS(AXIS)] - 128 * 7; @@ -2104,9 +2157,12 @@ uint32_t Stepper::block_phase_isr() { uint8_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), - if (Z_MOVE_TEST) SBI(axis_bits, C_AXIS) + if (X_MOVE_TEST) SBI(axis_bits, A_AXIS), + if (Y_MOVE_TEST) SBI(axis_bits, B_AXIS), + if (Z_MOVE_TEST) SBI(axis_bits, C_AXIS), + if (current_block->steps.i) SBI(axis_bits, I_AXIS), + if (current_block->steps.j) SBI(axis_bits, J_AXIS), + if (current_block->steps.k) SBI(axis_bits, K_AXIS) ); //if (current_block->steps.e) SBI(axis_bits, E_AXIS); //if (current_block->steps.a) SBI(axis_bits, X_HEAD); @@ -2441,6 +2497,15 @@ void Stepper::init() { Z4_DIR_INIT(); #endif #endif + #if HAS_I_DIR + I_DIR_INIT(); + #endif + #if HAS_J_DIR + J_DIR_INIT(); + #endif + #if HAS_K_DIR + K_DIR_INIT(); + #endif #if HAS_E0_DIR E0_DIR_INIT(); #endif @@ -2499,6 +2564,18 @@ void Stepper::init() { if (!Z_ENABLE_ON) Z4_ENABLE_WRITE(HIGH); #endif #endif + #if HAS_I_ENABLE + I_ENABLE_INIT(); + if (!I_ENABLE_ON) I_ENABLE_WRITE(HIGH); + #endif + #if HAS_J_ENABLE + J_ENABLE_INIT(); + if (!J_ENABLE_ON) J_ENABLE_WRITE(HIGH); + #endif + #if HAS_K_ENABLE + K_ENABLE_INIT(); + if (!K_ENABLE_ON) K_ENABLE_WRITE(HIGH); + #endif #if HAS_E0_ENABLE E0_ENABLE_INIT(); if (!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH); @@ -2575,6 +2652,15 @@ void Stepper::init() { #endif AXIS_INIT(Z, Z); #endif + #if HAS_I_STEP + AXIS_INIT(I, I); + #endif + #if HAS_J_STEP + AXIS_INIT(J, J); + #endif + #if HAS_K_STEP + AXIS_INIT(K, K); + #endif #if E_STEPPERS && HAS_E0_STEP E_AXIS_INIT(0); @@ -2612,7 +2698,10 @@ void Stepper::init() { LINEAR_AXIS_GANG( | TERN0(INVERT_X_DIR, _BV(X_AXIS)), | TERN0(INVERT_Y_DIR, _BV(Y_AXIS)), - | TERN0(INVERT_Z_DIR, _BV(Z_AXIS)) + | TERN0(INVERT_Z_DIR, _BV(Z_AXIS)), + | TERN0(INVERT_I_DIR, _BV(I_AXIS)), + | TERN0(INVERT_J_DIR, _BV(J_AXIS)), + | TERN0(INVERT_K_DIR, _BV(K_AXIS)) ) ); @@ -2625,32 +2714,32 @@ void Stepper::init() { /** * Set the stepper positions directly in steps * - * The input is based on the typical per-axis XYZ steps. + * The input is based on the typical per-axis XYZE steps. * For CORE machines XYZ needs to be translated to ABC. * * This allows get_axis_position_mm to correctly - * derive the current XYZ position later on. + * derive the current XYZE position later on. */ -void Stepper::_set_position( - LOGICAL_AXIS_LIST(const int32_t &e, const int32_t &a, const int32_t &b, const int32_t &c) -) { - #if CORE_IS_XY - // corexy positioning - // these equations follow the form of the dA and dB equations on https://www.corexy.com/theory.html - count_position.set(a + b, CORESIGN(a - b), c); - #elif CORE_IS_XZ - // corexz planning - count_position.set(a + c, b, CORESIGN(a - c)); - #elif CORE_IS_YZ - // coreyz planning - count_position.set(a, b + c, CORESIGN(b - c)); - #elif ENABLED(MARKFORGED_XY) - count_position.set(a - b, b, c); +void Stepper::_set_position(const abce_long_t &spos) { + #if EITHER(IS_CORE, MARKFORGED_XY) + #if CORE_IS_XY + // corexy positioning + // these equations follow the form of the dA and dB equations on https://www.corexy.com/theory.html + count_position.set(spos.a + spos.b, CORESIGN(spos.a - spos.b), spos.c); + #elif CORE_IS_XZ + // corexz planning + count_position.set(spos.a + spos.c, spos.b, CORESIGN(spos.a - spos.c)); + #elif CORE_IS_YZ + // coreyz planning + count_position.set(spos.a, spos.b + spos.c, CORESIGN(spos.b - spos.c)); + #elif ENABLED(MARKFORGED_XY) + count_position.set(spos.a - spos.b, spos.b, spos.c); + #endif + TERN_(HAS_EXTRUDERS, count_position.e = spos.e); #else // default non-h-bot planning - count_position.set(LINEAR_AXIS_LIST(a, b, c)); + count_position = spos; #endif - TERN_(HAS_EXTRUDERS, count_position.e = e); } /** @@ -2673,13 +2762,10 @@ int32_t Stepper::position(const AxisEnum axis) { } // Set the current position in steps -//TODO: Test for LINEAR_AXES >= 4 -void Stepper::set_position( - LOGICAL_AXIS_LIST(const int32_t &e, const int32_t &a, const int32_t &b, const int32_t &c) -) { +void Stepper::set_position(const xyze_long_t &spos) { planner.synchronize(); const bool was_enabled = suspend(); - _set_position(LOGICAL_AXIS_LIST(e, a, b, c)); + _set_position(spos); if (was_enabled) wake_up(); } @@ -2747,18 +2833,24 @@ int32_t Stepper::triggered_position(const AxisEnum axis) { return v; } +#if ANY(CORE_IS_XZ, CORE_IS_YZ, DELTA) + #define USES_ABC 1 +#endif +#if ANY(USES_ABC, MARKFORGED_XY, IS_SCARA) + #define USES_AB 1 +#endif + void Stepper::report_a_position(const xyz_long_t &pos) { - #if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, DELTA, IS_SCARA) - SERIAL_ECHOPAIR(STR_COUNT_A, pos.x, " B:", pos.y); - #else - SERIAL_ECHOPAIR_P(PSTR(STR_COUNT_X), pos.x, SP_Y_LBL, pos.y); - #endif - #if ANY(CORE_IS_XZ, CORE_IS_YZ, DELTA) - SERIAL_ECHOPAIR(" C:", pos.z); - #elif LINEAR_AXES >= 3 - SERIAL_ECHOPAIR_P(SP_Z_LBL, pos.z); - #endif - SERIAL_EOL(); + SERIAL_ECHOLNPAIR_P( + LIST_N(DOUBLE(LINEAR_AXES), + TERN(USES_AB, PSTR(STR_COUNT_A), PSTR(STR_COUNT_X)), pos.x, + TERN(USES_AB, PSTR("B:"), SP_Y_LBL), pos.y, + TERN(USES_ABC, PSTR("C:"), SP_Z_LBL), pos.z, + SP_I_LBL, pos.i, + SP_J_LBL, pos.j, + SP_K_LBL, pos.k + ) + ); } void Stepper::report_positions() { @@ -2866,9 +2958,7 @@ void Stepper::report_positions() { // No other ISR should ever interrupt this! void Stepper::do_babystep(const AxisEnum axis, const bool direction) { - #if DISABLED(INTEGRATED_BABYSTEPPING) - cli(); - #endif + IF_DISABLED(INTEGRATED_BABYSTEPPING, cli()); switch (axis) { @@ -2912,35 +3002,90 @@ void Stepper::report_positions() { 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()); + 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); - Y_DIR_WRITE(INVERT_Y_DIR ^ z_direction); - Z_DIR_WRITE(INVERT_Z_DIR ^ z_direction); + #ifdef Y_DIR_WRITE + Y_DIR_WRITE(INVERT_Y_DIR ^ z_direction); + #endif + #ifdef Z_DIR_WRITE + Z_DIR_WRITE(INVERT_Z_DIR ^ z_direction); + #endif + #ifdef I_DIR_WRITE + I_DIR_WRITE(INVERT_I_DIR ^ z_direction); + #endif + #ifdef J_DIR_WRITE + J_DIR_WRITE(INVERT_J_DIR ^ z_direction); + #endif + #ifdef K_DIR_WRITE + K_DIR_WRITE(INVERT_K_DIR ^ z_direction); + #endif DIR_WAIT_AFTER(); _SAVE_START(); X_STEP_WRITE(!INVERT_X_STEP_PIN); - Y_STEP_WRITE(!INVERT_Y_STEP_PIN); - Z_STEP_WRITE(!INVERT_Z_STEP_PIN); + #ifdef Y_STEP_WRITE + Y_STEP_WRITE(!INVERT_Y_STEP_PIN); + #endif + #ifdef Z_STEP_WRITE + Z_STEP_WRITE(!INVERT_Z_STEP_PIN); + #endif + #ifdef I_STEP_WRITE + I_STEP_WRITE(!INVERT_I_STEP_PIN); + #endif + #ifdef J_STEP_WRITE + J_STEP_WRITE(!INVERT_J_STEP_PIN); + #endif + #ifdef K_STEP_WRITE + K_STEP_WRITE(!INVERT_K_STEP_PIN); + #endif _PULSE_WAIT(); X_STEP_WRITE(INVERT_X_STEP_PIN); - Y_STEP_WRITE(INVERT_Y_STEP_PIN); - Z_STEP_WRITE(INVERT_Z_STEP_PIN); + #ifdef Y_STEP_WRITE + Y_STEP_WRITE(INVERT_Y_STEP_PIN); + #endif + #ifdef Z_STEP_WRITE + Z_STEP_WRITE(INVERT_Z_STEP_PIN); + #endif + #ifdef I_STEP_WRITE + I_STEP_WRITE(INVERT_I_STEP_PIN); + #endif + #ifdef J_STEP_WRITE + J_STEP_WRITE(INVERT_J_STEP_PIN); + #endif + #ifdef K_STEP_WRITE + K_STEP_WRITE(INVERT_K_STEP_PIN); + #endif // Restore direction bits EXTRA_DIR_WAIT_BEFORE(); X_DIR_WRITE(old_dir.x); - Y_DIR_WRITE(old_dir.y); - Z_DIR_WRITE(old_dir.z); + #ifdef Y_DIR_WRITE + Y_DIR_WRITE(old_dir.y); + #endif + #ifdef Z_DIR_WRITE + Z_DIR_WRITE(old_dir.z); + #endif + #ifdef I_DIR_WRITE + I_DIR_WRITE(old_dir.i); + #endif + #ifdef J_DIR_WRITE + J_DIR_WRITE(old_dir.j); + #endif + #ifdef K_DIR_WRITE + K_DIR_WRITE(old_dir.k); + #endif EXTRA_DIR_WAIT_AFTER(); @@ -2948,12 +3093,20 @@ void Stepper::report_positions() { } break; + #if LINEAR_AXES >= 4 + case I_AXIS: BABYSTEP_AXIS(I, 0, direction); break; + #endif + #if LINEAR_AXES >= 5 + case J_AXIS: BABYSTEP_AXIS(J, 0, direction); break; + #endif + #if LINEAR_AXES >= 6 + case K_AXIS: BABYSTEP_AXIS(K, 0, direction); break; + #endif + default: break; } - #if DISABLED(INTEGRATED_BABYSTEPPING) - sei(); - #endif + IF_DISABLED(INTEGRATED_BABYSTEPPING, sei()); } #endif // BABYSTEPPING @@ -3288,6 +3441,15 @@ void Stepper::report_positions() { #if HAS_E7_MS_PINS case 10: WRITE(E7_MS1_PIN, ms1); break; #endif + #if HAS_I_MICROSTEPS + case 11: WRITE(I_MS1_PIN, ms1); break + #endif + #if HAS_J_MICROSTEPS + case 12: WRITE(J_MS1_PIN, ms1); break + #endif + #if HAS_K_MICROSTEPS + case 13: WRITE(K_MS1_PIN, ms1); break + #endif } if (ms2 >= 0) switch (driver) { #if HAS_X_MS_PINS || HAS_X2_MS_PINS @@ -3350,6 +3512,15 @@ void Stepper::report_positions() { #if HAS_E7_MS_PINS case 10: WRITE(E7_MS2_PIN, ms2); break; #endif + #if HAS_I_M_PINS + case 11: WRITE(I_MS2_PIN, ms2); break + #endif + #if HAS_J_M_PINS + case 12: WRITE(J_MS2_PIN, ms2); break + #endif + #if HAS_K_M_PINS + case 13: WRITE(K_MS2_PIN, ms2); break + #endif } if (ms3 >= 0) switch (driver) { #if HAS_X_MS_PINS || HAS_X2_MS_PINS @@ -3468,6 +3639,24 @@ void Stepper::report_positions() { PIN_CHAR(Z_MS3); #endif #endif + #if HAS_I_MS_PINS + MS_LINE(I); + #if PIN_EXISTS(I_MS3) + PIN_CHAR(I_MS3); + #endif + #endif + #if HAS_J_MS_PINS + MS_LINE(J); + #if PIN_EXISTS(J_MS3) + PIN_CHAR(J_MS3); + #endif + #endif + #if HAS_K_MS_PINS + MS_LINE(K); + #if PIN_EXISTS(K_MS3) + PIN_CHAR(K_MS3); + #endif + #endif #if HAS_E0_MS_PINS MS_LINE(E0); #if PIN_EXISTS(E0_MS3) diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h index 67ca6fa433..236ba5ee98 100644 --- a/Marlin/src/module/stepper.h +++ b/Marlin/src/module/stepper.h @@ -133,36 +133,38 @@ #endif +// If linear advance is disabled, the loop also handles them +#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER) + #define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES)) +#else + #define ISR_MIXING_STEPPER_CYCLES 0UL +#endif + // Add time for each stepper #if HAS_X_STEP - #define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES -#else - #define ISR_X_STEPPER_CYCLES 0UL + #define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES #endif #if HAS_Y_STEP - #define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES -#else - #define ISR_START_Y_STEPPER_CYCLES 0UL - #define ISR_Y_STEPPER_CYCLES 0UL + #define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES #endif #if HAS_Z_STEP - #define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES -#else - #define ISR_Z_STEPPER_CYCLES 0UL + #define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES #endif - -// E is always interpolated, even for mixing extruders -#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES - -// If linear advance is disabled, the loop also handles them -#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER) - #define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES)) -#else - #define ISR_MIXING_STEPPER_CYCLES 0UL +#if HAS_I_STEP + #define ISR_I_STEPPER_CYCLES ISR_STEPPER_CYCLES +#endif +#if HAS_J_STEP + #define ISR_J_STEPPER_CYCLES ISR_STEPPER_CYCLES +#endif +#if HAS_K_STEP + #define ISR_K_STEPPER_CYCLES ISR_STEPPER_CYCLES +#endif +#if HAS_EXTRUDERS + #define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES // E is always interpolated, even for mixing extruders #endif // And the total minimum loop time, not including the base -#define MIN_ISR_LOOP_CYCLES (ISR_X_STEPPER_CYCLES + ISR_Y_STEPPER_CYCLES + ISR_Z_STEPPER_CYCLES + ISR_E_STEPPER_CYCLES + ISR_MIXING_STEPPER_CYCLES) +#define MIN_ISR_LOOP_CYCLES (ISR_MIXING_STEPPER_CYCLES LOGICAL_AXIS_GANG(+ ISR_E_STEPPER_CYCLES, + ISR_X_STEPPER_CYCLES, + ISR_Y_STEPPER_CYCLES, + ISR_Z_STEPPER_CYCLES, + ISR_I_STEPPER_CYCLES, + ISR_J_STEPPER_CYCLES, + ISR_K_STEPPER_CYCLES)) // Calculate the minimum MPU cycles needed per pulse to enforce, limited to the max stepper rate #define _MIN_STEPPER_PULSE_CYCLES(N) _MAX(uint32_t((F_CPU) / (MAXIMUM_STEPPER_RATE)), ((F_CPU) / 500000UL) * (N)) @@ -433,12 +435,7 @@ class Stepper { static int32_t position(const AxisEnum axis); // Set the current position in steps - static void set_position( - LOGICAL_AXIS_LIST(const int32_t &e, const int32_t &a, const int32_t &b, const int32_t &c) - ); - static inline void set_position(const xyze_long_t &abce) { - set_position(LOGICAL_AXIS_LIST(abce.e, abce.a, abce.b, abce.c)); - } + static void set_position(const xyze_long_t &spos); static void set_axis_position(const AxisEnum a, const int32_t &v); // Report the positions of the steppers, in steps @@ -534,12 +531,7 @@ class Stepper { private: // Set the current position in steps - static void _set_position( - LOGICAL_AXIS_LIST(const int32_t &e, const int32_t &a, const int32_t &b, const int32_t &c) - ); - FORCE_INLINE static void _set_position(const abce_long_t &spos) { - _set_position(LOGICAL_AXIS_LIST(spos.e, spos.a, spos.b, spos.c)); - } + static void _set_position(const abce_long_t &spos); FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t *loops) { uint32_t timer; diff --git a/Marlin/src/module/stepper/L64xx.cpp b/Marlin/src/module/stepper/L64xx.cpp index 004e17a3fd..27816fb4f7 100644 --- a/Marlin/src/module/stepper/L64xx.cpp +++ b/Marlin/src/module/stepper/L64xx.cpp @@ -55,6 +55,15 @@ #if AXIS_IS_L64XX(Z4) L64XX_CLASS(Z4) stepperZ4(L6470_CHAIN_SS_PIN); #endif +#if AXIS_IS_L64XX(I) + L64XX_CLASS(I) stepperI(L6470_CHAIN_SS_PIN); +#endif +#if AXIS_IS_L64XX(J) + L64XX_CLASS(J) stepperJ(L6470_CHAIN_SS_PIN); +#endif +#if AXIS_IS_L64XX(K) + L64XX_CLASS(K) stepperK(L6470_CHAIN_SS_PIN); +#endif #if AXIS_IS_L64XX(E0) L64XX_CLASS(E0) stepperE0(L6470_CHAIN_SS_PIN); #endif @@ -199,6 +208,15 @@ void L64XX_Marlin::init_to_defaults() { #if AXIS_IS_L64XX(Z4) L6470_INIT_CHIP(Z4); #endif + #if AXIS_IS_L64XX(I) + L6470_INIT_CHIP(I); + #endif + #if AXIS_IS_L64XX(J) + L6470_INIT_CHIP(J); + #endif + #if AXIS_IS_L64XX(K) + L6470_INIT_CHIP(K); + #endif #if AXIS_IS_L64XX(E0) L6470_INIT_CHIP(E0); #endif diff --git a/Marlin/src/module/stepper/L64xx.h b/Marlin/src/module/stepper/L64xx.h index 9c8b0b1bdd..9f7e6623b1 100644 --- a/Marlin/src/module/stepper/L64xx.h +++ b/Marlin/src/module/stepper/L64xx.h @@ -206,6 +206,66 @@ #define DISABLE_STEPPER_Z4() stepperZ4.free() #endif +// I Stepper +#if AXIS_IS_L64XX(I) + extern L64XX_CLASS(I) stepperI; + #define I_ENABLE_INIT() NOOP + #define I_ENABLE_WRITE(STATE) (STATE ? stepperI.hardStop() : stepperI.free()) + #define I_ENABLE_READ() (stepperI.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_I(L6474) + #define I_DIR_INIT() SET_OUTPUT(I_DIR_PIN) + #define I_DIR_WRITE(STATE) L6474_DIR_WRITE(I, STATE) + #define I_DIR_READ() READ(I_DIR_PIN) + #else + #define I_DIR_INIT() NOOP + #define I_DIR_WRITE(STATE) L64XX_DIR_WRITE(I, STATE) + #define I_DIR_READ() (stepper##I.getStatus() & STATUS_DIR); + #if AXIS_DRIVER_TYPE_I(L6470) + #define DISABLE_STEPPER_I() stepperI.free() + #endif + #endif +#endif + +// J Stepper +#if AXIS_IS_L64XX(J) + extern L64XX_CLASS(J) stepperJ; + #define J_ENABLE_INIT() NOOP + #define J_ENABLE_WRITE(STATE) (STATE ? stepperJ.hardStop() : stepperJ.free()) + #define J_ENABLE_READ() (stepperJ.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_J(L6474) + #define J_DIR_INIT() SET_OUTPUT(J_DIR_PIN) + #define J_DIR_WRITE(STATE) L6474_DIR_WRITE(J, STATE) + #define J_DIR_READ() READ(J_DIR_PIN) + #else + #define J_DIR_INIT() NOOP + #define J_DIR_WRITE(STATE) L64XX_DIR_WRITE(J, STATE) + #define J_DIR_READ() (stepper##J.getStatus() & STATUS_DIR); + #if AXIS_DRIVER_TYPE_J(L6470) + #define DISABLE_STEPPER_J() stepperJ.free() + #endif + #endif +#endif + +// K Stepper +#if AXIS_IS_L64XX(K) + extern L64XX_CLASS(K) stepperK; + #define K_ENABLE_INIT() NOOP + #define K_ENABLE_WRITE(STATE) (STATE ? stepperK.hardStop() : stepperK.free()) + #define K_ENABLE_READ() (stepperK.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_K(L6474) + #define K_DIR_INIT() SET_OUTPUT(K_DIR_PIN) + #define K_DIR_WRITE(STATE) L6474_DIR_WRITE(K, STATE) + #define K_DIR_READ() READ(K_DIR_PIN) + #else + #define K_DIR_INIT() NOOP + #define K_DIR_WRITE(STATE) L64XX_DIR_WRITE(K, STATE) + #define K_DIR_READ() (stepper##K.getStatus() & STATUS_DIR); + #if AXIS_DRIVER_TYPE_K(L6470) + #define DISABLE_STEPPER_K() stepperK.free() + #endif + #endif +#endif + // E0 Stepper #if AXIS_IS_L64XX(E0) extern L64XX_CLASS(E0) stepperE0; diff --git a/Marlin/src/module/stepper/TMC26X.cpp b/Marlin/src/module/stepper/TMC26X.cpp index 926f1a4e08..26f91bfeb9 100644 --- a/Marlin/src/module/stepper/TMC26X.cpp +++ b/Marlin/src/module/stepper/TMC26X.cpp @@ -60,6 +60,15 @@ #if AXIS_DRIVER_TYPE_Z4(TMC26X) _TMC26X_DEFINE(Z4); #endif +#if AXIS_DRIVER_TYPE_I(TMC26X) + _TMC26X_DEFINE(I); +#endif +#if AXIS_DRIVER_TYPE_J(TMC26X) + _TMC26X_DEFINE(J); +#endif +#if AXIS_DRIVER_TYPE_K(TMC26X) + _TMC26X_DEFINE(K); +#endif #if AXIS_DRIVER_TYPE_E0(TMC26X) _TMC26X_DEFINE(E0); #endif @@ -115,6 +124,15 @@ void tmc26x_init_to_defaults() { #if AXIS_DRIVER_TYPE_Z4(TMC26X) _TMC26X_INIT(Z4); #endif + #if AXIS_DRIVER_TYPE_I(TMC26X) + _TMC26X_INIT(I); + #endif + #if AXIS_DRIVER_TYPE_J(TMC26X) + _TMC26X_INIT(J); + #endif + #if AXIS_DRIVER_TYPE_K(TMC26X) + _TMC26X_INIT(K); + #endif #if AXIS_DRIVER_TYPE_E0(TMC26X) _TMC26X_INIT(E0); #endif diff --git a/Marlin/src/module/stepper/TMC26X.h b/Marlin/src/module/stepper/TMC26X.h index 547eb6521f..988bebe0f2 100644 --- a/Marlin/src/module/stepper/TMC26X.h +++ b/Marlin/src/module/stepper/TMC26X.h @@ -99,6 +99,30 @@ void tmc26x_init_to_defaults(); #define Z4_ENABLE_READ() stepperZ4.isEnabled() #endif +// I Stepper +#if HAS_I_ENABLE && AXIS_DRIVER_TYPE_I(TMC26X) + extern TMC26XStepper stepperI; + #define I_ENABLE_INIT() NOOP + #define I_ENABLE_WRITE(STATE) stepperI.setEnabled(STATE) + #define I_ENABLE_READ() stepperI.isEnabled() +#endif + +// J Stepper +#if HAS_J_ENABLE && AXIS_DRIVER_TYPE_J(TMC26X) + extern TMC26XStepper stepperJ; + #define J_ENABLE_INIT() NOOP + #define J_ENABLE_WRITE(STATE) stepperJ.setEnabled(STATE) + #define J_ENABLE_READ() stepperJ.isEnabled() +#endif + +// K Stepper +#if HAS_K_ENABLE && AXIS_DRIVER_TYPE_K(TMC26X) + extern TMC26XStepper stepperK; + #define K_ENABLE_INIT() NOOP + #define K_ENABLE_WRITE(STATE) stepperK.setEnabled(STATE) + #define K_ENABLE_READ() stepperK.isEnabled() +#endif + // E0 Stepper #if AXIS_DRIVER_TYPE_E0(TMC26X) extern TMC26XStepper stepperE0; diff --git a/Marlin/src/module/stepper/indirection.cpp b/Marlin/src/module/stepper/indirection.cpp index 6297d83366..e44496d022 100644 --- a/Marlin/src/module/stepper/indirection.cpp +++ b/Marlin/src/module/stepper/indirection.cpp @@ -37,9 +37,7 @@ void restore_stepper_drivers() { } void reset_stepper_drivers() { - #if HAS_DRIVER(TMC26X) - tmc26x_init_to_defaults(); - #endif + TERN_(HAS_TMC26X, tmc26x_init_to_defaults()); TERN_(HAS_L64XX, L64xxManager.init_to_defaults()); TERN_(HAS_TRINAMIC_CONFIG, reset_trinamic_drivers()); } diff --git a/Marlin/src/module/stepper/indirection.h b/Marlin/src/module/stepper/indirection.h index 6f9fd24ce8..4770fd4dc1 100644 --- a/Marlin/src/module/stepper/indirection.h +++ b/Marlin/src/module/stepper/indirection.h @@ -36,7 +36,7 @@ #include "L64xx.h" #endif -#if HAS_DRIVER(TMC26X) +#if HAS_TMC26X #include "TMC26X.h" #endif @@ -65,38 +65,42 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset #define X_STEP_READ() bool(READ(X_STEP_PIN)) // Y Stepper -#ifndef Y_ENABLE_INIT - #define Y_ENABLE_INIT() SET_OUTPUT(Y_ENABLE_PIN) - #define Y_ENABLE_WRITE(STATE) WRITE(Y_ENABLE_PIN,STATE) - #define Y_ENABLE_READ() bool(READ(Y_ENABLE_PIN)) -#endif -#ifndef Y_DIR_INIT - #define Y_DIR_INIT() SET_OUTPUT(Y_DIR_PIN) - #define Y_DIR_WRITE(STATE) WRITE(Y_DIR_PIN,STATE) - #define Y_DIR_READ() bool(READ(Y_DIR_PIN)) -#endif -#define Y_STEP_INIT() SET_OUTPUT(Y_STEP_PIN) -#ifndef Y_STEP_WRITE - #define Y_STEP_WRITE(STATE) WRITE(Y_STEP_PIN,STATE) +#if HAS_Y_AXIS + #ifndef Y_ENABLE_INIT + #define Y_ENABLE_INIT() SET_OUTPUT(Y_ENABLE_PIN) + #define Y_ENABLE_WRITE(STATE) WRITE(Y_ENABLE_PIN,STATE) + #define Y_ENABLE_READ() bool(READ(Y_ENABLE_PIN)) + #endif + #ifndef Y_DIR_INIT + #define Y_DIR_INIT() SET_OUTPUT(Y_DIR_PIN) + #define Y_DIR_WRITE(STATE) WRITE(Y_DIR_PIN,STATE) + #define Y_DIR_READ() bool(READ(Y_DIR_PIN)) + #endif + #define Y_STEP_INIT() SET_OUTPUT(Y_STEP_PIN) + #ifndef Y_STEP_WRITE + #define Y_STEP_WRITE(STATE) WRITE(Y_STEP_PIN,STATE) + #endif + #define Y_STEP_READ() bool(READ(Y_STEP_PIN)) #endif -#define Y_STEP_READ() bool(READ(Y_STEP_PIN)) // Z Stepper -#ifndef Z_ENABLE_INIT - #define Z_ENABLE_INIT() SET_OUTPUT(Z_ENABLE_PIN) - #define Z_ENABLE_WRITE(STATE) WRITE(Z_ENABLE_PIN,STATE) - #define Z_ENABLE_READ() bool(READ(Z_ENABLE_PIN)) -#endif -#ifndef Z_DIR_INIT - #define Z_DIR_INIT() SET_OUTPUT(Z_DIR_PIN) - #define Z_DIR_WRITE(STATE) WRITE(Z_DIR_PIN,STATE) - #define Z_DIR_READ() bool(READ(Z_DIR_PIN)) -#endif -#define Z_STEP_INIT() SET_OUTPUT(Z_STEP_PIN) -#ifndef Z_STEP_WRITE - #define Z_STEP_WRITE(STATE) WRITE(Z_STEP_PIN,STATE) +#if HAS_Z_AXIS + #ifndef Z_ENABLE_INIT + #define Z_ENABLE_INIT() SET_OUTPUT(Z_ENABLE_PIN) + #define Z_ENABLE_WRITE(STATE) WRITE(Z_ENABLE_PIN,STATE) + #define Z_ENABLE_READ() bool(READ(Z_ENABLE_PIN)) + #endif + #ifndef Z_DIR_INIT + #define Z_DIR_INIT() SET_OUTPUT(Z_DIR_PIN) + #define Z_DIR_WRITE(STATE) WRITE(Z_DIR_PIN,STATE) + #define Z_DIR_READ() bool(READ(Z_DIR_PIN)) + #endif + #define Z_STEP_INIT() SET_OUTPUT(Z_STEP_PIN) + #ifndef Z_STEP_WRITE + #define Z_STEP_WRITE(STATE) WRITE(Z_STEP_PIN,STATE) + #endif + #define Z_STEP_READ() bool(READ(Z_STEP_PIN)) #endif -#define Z_STEP_READ() bool(READ(Z_STEP_PIN)) // X2 Stepper #if HAS_X2_ENABLE @@ -201,6 +205,63 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset #define Z4_DIR_WRITE(STATE) NOOP #endif +// I Stepper +#if LINEAR_AXES >= 4 + #ifndef I_ENABLE_INIT + #define I_ENABLE_INIT() SET_OUTPUT(I_ENABLE_PIN) + #define I_ENABLE_WRITE(STATE) WRITE(I_ENABLE_PIN,STATE) + #define I_ENABLE_READ() bool(READ(I_ENABLE_PIN)) + #endif + #ifndef I_DIR_INIT + #define I_DIR_INIT() SET_OUTPUT(I_DIR_PIN) + #define I_DIR_WRITE(STATE) WRITE(I_DIR_PIN,STATE) + #define I_DIR_READ() bool(READ(I_DIR_PIN)) + #endif + #define I_STEP_INIT() SET_OUTPUT(I_STEP_PIN) + #ifndef I_STEP_WRITE + #define I_STEP_WRITE(STATE) WRITE(I_STEP_PIN,STATE) + #endif + #define I_STEP_READ() bool(READ(I_STEP_PIN)) +#endif + +// J Stepper +#if LINEAR_AXES >= 5 + #ifndef J_ENABLE_INIT + #define J_ENABLE_INIT() SET_OUTPUT(J_ENABLE_PIN) + #define J_ENABLE_WRITE(STATE) WRITE(J_ENABLE_PIN,STATE) + #define J_ENABLE_READ() bool(READ(J_ENABLE_PIN)) + #endif + #ifndef J_DIR_INIT + #define J_DIR_INIT() SET_OUTPUT(J_DIR_PIN) + #define J_DIR_WRITE(STATE) WRITE(J_DIR_PIN,STATE) + #define J_DIR_READ() bool(READ(J_DIR_PIN)) + #endif + #define J_STEP_INIT() SET_OUTPUT(J_STEP_PIN) + #ifndef J_STEP_WRITE + #define J_STEP_WRITE(STATE) WRITE(J_STEP_PIN,STATE) + #endif + #define J_STEP_READ() bool(READ(J_STEP_PIN)) +#endif + +// K Stepper +#if LINEAR_AXES >= 6 + #ifndef K_ENABLE_INIT + #define K_ENABLE_INIT() SET_OUTPUT(K_ENABLE_PIN) + #define K_ENABLE_WRITE(STATE) WRITE(K_ENABLE_PIN,STATE) + #define K_ENABLE_READ() bool(READ(K_ENABLE_PIN)) + #endif + #ifndef K_DIR_INIT + #define K_DIR_INIT() SET_OUTPUT(K_DIR_PIN) + #define K_DIR_WRITE(STATE) WRITE(K_DIR_PIN,STATE) + #define K_DIR_READ() bool(READ(K_DIR_PIN)) + #endif + #define K_STEP_INIT() SET_OUTPUT(K_STEP_PIN) + #ifndef K_STEP_WRITE + #define K_STEP_WRITE(STATE) WRITE(K_STEP_PIN,STATE) + #endif + #define K_STEP_READ() bool(READ(K_STEP_PIN)) +#endif + // E0 Stepper #ifndef E0_ENABLE_INIT #define E0_ENABLE_INIT() SET_OUTPUT(E0_ENABLE_PIN) @@ -720,6 +781,51 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset #endif #endif +#ifndef ENABLE_STEPPER_I + #if HAS_I_ENABLE + #define ENABLE_STEPPER_I() I_ENABLE_WRITE( I_ENABLE_ON) + #else + #define ENABLE_STEPPER_I() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_I + #if HAS_I_ENABLE + #define DISABLE_STEPPER_I() I_ENABLE_WRITE(!I_ENABLE_ON) + #else + #define DISABLE_STEPPER_I() NOOP + #endif +#endif + +#ifndef ENABLE_STEPPER_J + #if HAS_J_ENABLE + #define ENABLE_STEPPER_J() J_ENABLE_WRITE( J_ENABLE_ON) + #else + #define ENABLE_STEPPER_J() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_J + #if HAS_J_ENABLE + #define DISABLE_STEPPER_J() J_ENABLE_WRITE(!J_ENABLE_ON) + #else + #define DISABLE_STEPPER_J() NOOP + #endif +#endif + +#ifndef ENABLE_STEPPER_K + #if HAS_K_ENABLE + #define ENABLE_STEPPER_K() K_ENABLE_WRITE( K_ENABLE_ON) + #else + #define ENABLE_STEPPER_K() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_K + #if HAS_K_ENABLE + #define DISABLE_STEPPER_K() K_ENABLE_WRITE(!K_ENABLE_ON) + #else + #define DISABLE_STEPPER_K() NOOP + #endif +#endif + #ifndef ENABLE_STEPPER_E0 #if HAS_E0_ENABLE #define ENABLE_STEPPER_E0() E0_ENABLE_WRITE( E_ENABLE_ON) @@ -857,10 +963,22 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset #define ENABLE_AXIS_X() if (SHOULD_ENABLE(x)) { ENABLE_STEPPER_X(); ENABLE_STEPPER_X2(); AFTER_CHANGE(x, true); } #define DISABLE_AXIS_X() if (SHOULD_DISABLE(x)) { DISABLE_STEPPER_X(); DISABLE_STEPPER_X2(); AFTER_CHANGE(x, false); set_axis_untrusted(X_AXIS); } -#define ENABLE_AXIS_Y() if (SHOULD_ENABLE(y)) { ENABLE_STEPPER_Y(); ENABLE_STEPPER_Y2(); AFTER_CHANGE(y, true); } -#define DISABLE_AXIS_Y() if (SHOULD_DISABLE(y)) { DISABLE_STEPPER_Y(); DISABLE_STEPPER_Y2(); AFTER_CHANGE(y, false); set_axis_untrusted(Y_AXIS); } -#define ENABLE_AXIS_Z() if (SHOULD_ENABLE(z)) { ENABLE_STEPPER_Z(); ENABLE_STEPPER_Z2(); ENABLE_STEPPER_Z3(); ENABLE_STEPPER_Z4(); AFTER_CHANGE(z, true); } -#define DISABLE_AXIS_Z() if (SHOULD_DISABLE(z)) { DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); DISABLE_STEPPER_Z4(); AFTER_CHANGE(z, false); set_axis_untrusted(Z_AXIS); Z_RESET(); } + +#if HAS_Y_AXIS + #define ENABLE_AXIS_Y() if (SHOULD_ENABLE(y)) { ENABLE_STEPPER_Y(); ENABLE_STEPPER_Y2(); AFTER_CHANGE(y, true); } + #define DISABLE_AXIS_Y() if (SHOULD_DISABLE(y)) { DISABLE_STEPPER_Y(); DISABLE_STEPPER_Y2(); AFTER_CHANGE(y, false); set_axis_untrusted(Y_AXIS); } +#else + #define ENABLE_AXIS_Y() NOOP + #define DISABLE_AXIS_Y() NOOP +#endif + +#if HAS_Z_AXIS + #define ENABLE_AXIS_Z() if (SHOULD_ENABLE(z)) { ENABLE_STEPPER_Z(); ENABLE_STEPPER_Z2(); ENABLE_STEPPER_Z3(); ENABLE_STEPPER_Z4(); AFTER_CHANGE(z, true); } + #define DISABLE_AXIS_Z() if (SHOULD_DISABLE(z)) { DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); DISABLE_STEPPER_Z4(); AFTER_CHANGE(z, false); set_axis_untrusted(Z_AXIS); Z_RESET(); } +#else + #define ENABLE_AXIS_Z() NOOP + #define DISABLE_AXIS_Z() NOOP +#endif #ifdef Z_IDLE_HEIGHT #define Z_RESET() do{ current_position.z = Z_IDLE_HEIGHT; sync_plan_position(); }while(0) @@ -868,6 +986,28 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset #define Z_RESET() #endif +#if LINEAR_AXES >= 4 + #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 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 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 + #define DISABLE_AXIS_K() NOOP +#endif + // // Extruder steppers enable / disable macros // diff --git a/Marlin/src/module/stepper/trinamic.cpp b/Marlin/src/module/stepper/trinamic.cpp index dab60e42a2..dbde6a5a04 100644 --- a/Marlin/src/module/stepper/trinamic.cpp +++ b/Marlin/src/module/stepper/trinamic.cpp @@ -36,7 +36,7 @@ #include enum StealthIndex : uint8_t { - LOGICAL_AXIS_LIST(STEALTH_AXIS_E, STEALTH_AXIS_X, STEALTH_AXIS_Y, STEALTH_AXIS_Z) + LOGICAL_AXIS_LIST(STEALTH_AXIS_E, STEALTH_AXIS_X, STEALTH_AXIS_Y, STEALTH_AXIS_Z, STEALTH_AXIS_I, STEALTH_AXIS_J, STEALTH_AXIS_K) }; #define TMC_INIT(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, stealthchop_by_axis[STEALTH_INDEX], chopper_timing_##ST, ST##_INTERPOLATE) @@ -97,6 +97,15 @@ enum StealthIndex : uint8_t { #if AXIS_HAS_SPI(Z4) TMC_SPI_DEFINE(Z4, Z); #endif +#if AXIS_HAS_SPI(I) + TMC_SPI_DEFINE(I, I); +#endif +#if AXIS_HAS_SPI(J) + TMC_SPI_DEFINE(J, J); +#endif +#if AXIS_HAS_SPI(K) + TMC_SPI_DEFINE(K, K); +#endif #if AXIS_HAS_SPI(E0) TMC_SPI_DEFINE_E(0); #endif @@ -329,6 +338,34 @@ enum StealthIndex : uint8_t { #define Z4_HAS_SW_SERIAL 1 #endif #endif + #if AXIS_HAS_UART(I) + #ifdef I_HARDWARE_SERIAL + TMC_UART_DEFINE(HW, I, I); + #define I_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE(SW, I, I); + #define I_HAS_SW_SERIAL 1 + #endif + #endif + #if AXIS_HAS_UART(J) + #ifdef J_HARDWARE_SERIAL + TMC_UART_DEFINE(HW, J, J); + #define J_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE(SW, J, J); + #define J_HAS_SW_SERIAL 1 + #endif + #endif + #if AXIS_HAS_UART(K) + #ifdef K_HARDWARE_SERIAL + TMC_UART_DEFINE(HW, K, K); + #define K_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE(SW, K, K); + #define K_HAS_SW_SERIAL 1 + #endif + #endif + #if AXIS_HAS_UART(E0) #ifdef E0_HARDWARE_SERIAL TMC_UART_DEFINE_E(HW, 0); @@ -402,7 +439,9 @@ enum StealthIndex : uint8_t { #endif #endif - enum TMCAxis : uint8_t { LINEAR_AXIS_LIST(X, Y, Z), X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7, TOTAL }; + #define _EN_ITEM(N) , E##N + enum TMCAxis : uint8_t { LINEAR_AXIS_LIST(X, Y, Z, I, J, K), X2, Y2, Z2, Z3, Z4 REPEAT(EXTRUDERS, _EN_ITEM), TOTAL }; + #undef _EN_ITEM void tmc_serial_begin() { #if HAS_TMC_HW_SERIAL @@ -474,6 +513,27 @@ enum StealthIndex : uint8_t { stepperZ4.beginSerial(TMC_BAUD_RATE); #endif #endif + #if AXIS_HAS_UART(I) + #ifdef I_HARDWARE_SERIAL + HW_SERIAL_BEGIN(I); + #else + stepperI.beginSerial(TMC_BAUD_RATE); + #endif + #endif + #if AXIS_HAS_UART(J) + #ifdef J_HARDWARE_SERIAL + HW_SERIAL_BEGIN(J); + #else + stepperJ.beginSerial(TMC_BAUD_RATE); + #endif + #endif + #if AXIS_HAS_UART(K) + #ifdef K_HARDWARE_SERIAL + HW_SERIAL_BEGIN(K); + #else + stepperK.beginSerial(TMC_BAUD_RATE); + #endif + #endif #if AXIS_HAS_UART(E0) #ifdef E0_HARDWARE_SERIAL HW_SERIAL_BEGIN(E0); @@ -740,6 +800,15 @@ void restore_trinamic_drivers() { #if AXIS_IS_TMC(Z4) stepperZ4.push(); #endif + #if AXIS_IS_TMC(I) + stepperI.push(); + #endif + #if AXIS_IS_TMC(J) + stepperJ.push(); + #endif + #if AXIS_IS_TMC(K) + stepperK.push(); + #endif #if AXIS_IS_TMC(E0) stepperE0.push(); #endif @@ -771,7 +840,10 @@ void reset_trinamic_drivers() { ENABLED(STEALTHCHOP_E), ENABLED(STEALTHCHOP_XY), ENABLED(STEALTHCHOP_XY), - ENABLED(STEALTHCHOP_Z) + ENABLED(STEALTHCHOP_Z), + ENABLED(STEALTHCHOP_I), + ENABLED(STEALTHCHOP_J), + ENABLED(STEALTHCHOP_K) ); #if AXIS_IS_TMC(X) @@ -798,6 +870,15 @@ void reset_trinamic_drivers() { #if AXIS_IS_TMC(Z4) TMC_INIT(Z4, STEALTH_AXIS_Z); #endif + #if AXIS_IS_TMC(I) + TMC_INIT(I, STEALTH_AXIS_I); + #endif + #if AXIS_IS_TMC(J) + TMC_INIT(J, STEALTH_AXIS_J); + #endif + #if AXIS_IS_TMC(K) + TMC_INIT(K, STEALTH_AXIS_K); + #endif #if AXIS_IS_TMC(E0) TMC_INIT(E0, STEALTH_AXIS_E); #endif @@ -848,6 +929,24 @@ void reset_trinamic_drivers() { stepperZ4.homing_threshold(CAT(TERN(Z4_SENSORLESS, Z4, Z), _STALL_SENSITIVITY)); #endif #endif + #if I_SENSORLESS + stepperI.homing_threshold(I_STALL_SENSITIVITY); + #if AXIS_HAS_STALLGUARD(I) + stepperI.homing_threshold(CAT(TERN(I_SENSORLESS, I, I), _STALL_SENSITIVITY)); + #endif + #endif + #if J_SENSORLESS + stepperJ.homing_threshold(J_STALL_SENSITIVITY); + #if AXIS_HAS_STALLGUARD(J) + stepperJ.homing_threshold(CAT(TERN(J_SENSORLESS, J, J), _STALL_SENSITIVITY)); + #endif + #endif + #if K_SENSORLESS + stepperK.homing_threshold(K_STALL_SENSITIVITY); + #if AXIS_HAS_STALLGUARD(K) + stepperK.homing_threshold(CAT(TERN(K_SENSORLESS, K, K), _STALL_SENSITIVITY)); + #endif + #endif #endif // USE SENSORLESS #ifdef TMC_ADV diff --git a/Marlin/src/module/stepper/trinamic.h b/Marlin/src/module/stepper/trinamic.h index 9f7445e4fd..766f8fced2 100644 --- a/Marlin/src/module/stepper/trinamic.h +++ b/Marlin/src/module/stepper/trinamic.h @@ -46,6 +46,10 @@ #define TMC_Y_LABEL 'Y', '0' #define TMC_Z_LABEL 'Z', '0' +#define TMC_I_LABEL 'I', '0' +#define TMC_J_LABEL 'J', '0' +#define TMC_K_LABEL 'K', '0' + #define TMC_X2_LABEL 'X', '2' #define TMC_Y2_LABEL 'Y', '2' #define TMC_Z2_LABEL 'Z', '2' @@ -79,13 +83,22 @@ typedef struct { #ifndef CHOPPER_TIMING_X #define CHOPPER_TIMING_X CHOPPER_TIMING #endif -#ifndef CHOPPER_TIMING_Y +#if HAS_Y_AXIS && !defined(CHOPPER_TIMING_Y) #define CHOPPER_TIMING_Y CHOPPER_TIMING #endif -#ifndef CHOPPER_TIMING_Z +#if HAS_Z_AXIS && !defined(CHOPPER_TIMING_Z) #define CHOPPER_TIMING_Z CHOPPER_TIMING #endif -#ifndef CHOPPER_TIMING_E +#if LINEAR_AXES >= 4 && !defined(CHOPPER_TIMING_I) + #define CHOPPER_TIMING_I CHOPPER_TIMING +#endif +#if LINEAR_AXES >= 5 && !defined(CHOPPER_TIMING_J) + #define CHOPPER_TIMING_J CHOPPER_TIMING +#endif +#if LINEAR_AXES >= 6 && !defined(CHOPPER_TIMING_K) + #define CHOPPER_TIMING_K CHOPPER_TIMING +#endif +#if HAS_EXTRUDERS && !defined(CHOPPER_TIMING_E) #define CHOPPER_TIMING_E CHOPPER_TIMING #endif @@ -225,6 +238,48 @@ void reset_trinamic_drivers(); #endif #endif +// I Stepper +#if AXIS_IS_TMC(I) + extern TMC_CLASS(I, I) stepperI; + static constexpr chopper_timing_t chopper_timing_I = CHOPPER_TIMING_I; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) + #define I_ENABLE_INIT() NOOP + #define I_ENABLE_WRITE(STATE) stepperI.toff((STATE)==I_ENABLE_ON ? chopper_timing.toff : 0) + #define I_ENABLE_READ() stepperI.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(I) + #define I_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(I_STEP_PIN); }while(0) + #endif +#endif + +// J Stepper +#if AXIS_IS_TMC(J) + extern TMC_CLASS(J, J) stepperJ; + static constexpr chopper_timing_t chopper_timing_J = CHOPPER_TIMING_J; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) + #define J_ENABLE_INIT() NOOP + #define J_ENABLE_WRITE(STATE) stepperJ.toff((STATE)==J_ENABLE_ON ? chopper_timing.toff : 0) + #define J_ENABLE_READ() stepperJ.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(J) + #define J_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(J_STEP_PIN); }while(0) + #endif +#endif + +// K Stepper +#if AXIS_IS_TMC(K) + extern TMC_CLASS(K, K) stepperK; + static constexpr chopper_timing_t chopper_timing_K = CHOPPER_TIMING_K; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) + #define K_ENABLE_INIT() NOOP + #define K_ENABLE_WRITE(STATE) stepperK.toff((STATE)==K_ENABLE_ON ? chopper_timing.toff : 0) + #define K_ENABLE_READ() stepperK.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(K) + #define K_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(K_STEP_PIN); }while(0) + #endif +#endif + // E0 Stepper #if AXIS_IS_TMC(E0) extern TMC_CLASS_E(0) stepperE0; diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp index 3abab802ab..5b478caa1a 100644 --- a/Marlin/src/module/tool_change.cpp +++ b/Marlin/src/module/tool_change.cpp @@ -49,7 +49,9 @@ bool toolchange_extruder_ready[EXTRUDERS]; #endif -#if EITHER(MAGNETIC_PARKING_EXTRUDER, TOOL_SENSOR) || defined(EVENT_GCODE_AFTER_TOOLCHANGE) || (ENABLED(PARKING_EXTRUDER) && PARKING_EXTRUDER_SOLENOIDS_DELAY > 0) +#if EITHER(MAGNETIC_PARKING_EXTRUDER, TOOL_SENSOR) \ + || defined(EVENT_GCODE_TOOLCHANGE_T0) || defined(EVENT_GCODE_TOOLCHANGE_T1) || defined(EVENT_GCODE_AFTER_TOOLCHANGE) \ + || (ENABLED(PARKING_EXTRUDER) && PARKING_EXTRUDER_SOLENOIDS_DELAY > 0) #include "../gcode/gcode.h" #endif @@ -1311,10 +1313,22 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) { TERN_(HAS_FANMUX, fanmux_switch(active_extruder)); - #ifdef EVENT_GCODE_AFTER_TOOLCHANGE - if (!no_move && TERN1(DUAL_X_CARRIAGE, dual_x_carriage_mode == DXC_AUTO_PARK_MODE)) - gcode.process_subcommands_now_P(PSTR(EVENT_GCODE_AFTER_TOOLCHANGE)); - #endif + if (!no_move) { + #ifdef EVENT_GCODE_TOOLCHANGE_T0 + if (new_tool == 0) + gcode.process_subcommands_now_P(PSTR(EVENT_GCODE_TOOLCHANGE_T0)); + #endif + + #ifdef EVENT_GCODE_TOOLCHANGE_T1 + if (new_tool == 1) + gcode.process_subcommands_now_P(PSTR(EVENT_GCODE_TOOLCHANGE_T1)); + #endif + + #ifdef EVENT_GCODE_AFTER_TOOLCHANGE + if (TERN1(DUAL_X_CARRIAGE, dual_x_carriage_mode == DXC_AUTO_PARK_MODE)) + gcode.process_subcommands_now_P(PSTR(EVENT_GCODE_AFTER_TOOLCHANGE)); + #endif + } SERIAL_ECHO_MSG(STR_ACTIVE_EXTRUDER, active_extruder); diff --git a/Marlin/src/pins/pinsDebug_list.h b/Marlin/src/pins/pinsDebug_list.h index 8eee4f18fb..1ab7188b70 100644 --- a/Marlin/src/pins/pinsDebug_list.h +++ b/Marlin/src/pins/pinsDebug_list.h @@ -1319,6 +1319,105 @@ #if PIN_EXISTS(Z_MIN_PROBE) REPORT_NAME_DIGITAL(__LINE__, Z_MIN_PROBE_PIN) #endif +#if PIN_EXISTS(I_ATT) + REPORT_NAME_DIGITAL(__LINE__, I_ATT_PIN) +#endif +#if PIN_EXISTS(I_CS) + REPORT_NAME_DIGITAL(__LINE__, I_CS_PIN) +#endif +#if PIN_EXISTS(I_DIR) + REPORT_NAME_DIGITAL(__LINE__, I_DIR_PIN) +#endif +#if PIN_EXISTS(I_ENABLE) + REPORT_NAME_DIGITAL(__LINE__, I_ENABLE_PIN) +#endif +#if PIN_EXISTS(I_MAX) + REPORT_NAME_DIGITAL(__LINE__, I_MAX_PIN) +#endif +#if PIN_EXISTS(I_MIN) + REPORT_NAME_DIGITAL(__LINE__, I_MIN_PIN) +#endif +#if PIN_EXISTS(I_MS1) + REPORT_NAME_DIGITAL(__LINE__, I_MS1_PIN) +#endif +#if PIN_EXISTS(I_MS2) + REPORT_NAME_DIGITAL(__LINE__, I_MS2_PIN) +#endif +#if PIN_EXISTS(I_MS3) + REPORT_NAME_DIGITAL(__LINE__, I_MS3_PIN) +#endif +#if PIN_EXISTS(I_STEP) + REPORT_NAME_DIGITAL(__LINE__, I_STEP_PIN) +#endif +#if PIN_EXISTS(I_STOP) + REPORT_NAME_DIGITAL(__LINE__, I_STOP_PIN) +#endif +#if PIN_EXISTS(J_ATT) + REPORT_NAME_DIGITAL(__LINE__, J_ATT_PIN) +#endif +#if PIN_EXISTS(J_CS) + REPORT_NAME_DIGITAL(__LINE__, J_CS_PIN) +#endif +#if PIN_EXISTS(J_DIR) + REPORT_NAME_DIGITAL(__LINE__, J_DIR_PIN) +#endif +#if PIN_EXISTS(J_ENABLE) + REPORT_NAME_DIGITAL(__LINE__, J_ENABLE_PIN) +#endif +#if PIN_EXISTS(J_MAX) + REPORT_NAME_DIGITAL(__LINE__, J_MAX_PIN) +#endif +#if PIN_EXISTS(J_MIN) + REPORT_NAME_DIGITAL(__LINE__, J_MIN_PIN) +#endif +#if PIN_EXISTS(J_MS1) + REPORT_NAME_DIGITAL(__LINE__, J_MS1_PIN) +#endif +#if PIN_EXISTS(J_MS2) + REPORT_NAME_DIGITAL(__LINE__, J_MS2_PIN) +#endif +#if PIN_EXISTS(J_MS3) + REPORT_NAME_DIGITAL(__LINE__, J_MS3_PIN) +#endif +#if PIN_EXISTS(J_STEP) + REPORT_NAME_DIGITAL(__LINE__, J_STEP_PIN) +#endif +#if PIN_EXISTS(J_STOP) + REPORT_NAME_DIGITAL(__LINE__, J_STOP_PIN) +#endif +#if PIN_EXISTS(K_ATT) + REPORT_NAME_DIGITAL(__LINE__, K_ATT_PIN) +#endif +#if PIN_EXISTS(K_CS) + REPORT_NAME_DIGITAL(__LINE__, K_CS_PIN) +#endif +#if PIN_EXISTS(K_DIR) + REPORT_NAME_DIGITAL(__LINE__, K_DIR_PIN) +#endif +#if PIN_EXISTS(K_ENABLE) + REPORT_NAME_DIGITAL(__LINE__, K_ENABLE_PIN) +#endif +#if PIN_EXISTS(K_MAX) + REPORT_NAME_DIGITAL(__LINE__, K_MAX_PIN) +#endif +#if PIN_EXISTS(K_MIN) + REPORT_NAME_DIGITAL(__LINE__, K_MIN_PIN) +#endif +#if PIN_EXISTS(K_MS1) + REPORT_NAME_DIGITAL(__LINE__, K_MS1_PIN) +#endif +#if PIN_EXISTS(K_MS2) + REPORT_NAME_DIGITAL(__LINE__, K_MS2_PIN) +#endif +#if PIN_EXISTS(K_MS3) + REPORT_NAME_DIGITAL(__LINE__, K_MS3_PIN) +#endif +#if PIN_EXISTS(K_STEP) + REPORT_NAME_DIGITAL(__LINE__, K_STEP_PIN) +#endif +#if PIN_EXISTS(K_STOP) + REPORT_NAME_DIGITAL(__LINE__, K_STOP_PIN) +#endif #if PIN_EXISTS(ZRIB_V20_D6) REPORT_NAME_DIGITAL(__LINE__, ZRIB_V20_D6_PIN) #endif diff --git a/Marlin/src/pins/pins_postprocess.h b/Marlin/src/pins/pins_postprocess.h index 8cc19678f1..31031c9589 100644 --- a/Marlin/src/pins/pins_postprocess.h +++ b/Marlin/src/pins/pins_postprocess.h @@ -402,40 +402,89 @@ #define X_STOP_PIN X_MAX_PIN #endif -#ifdef Y_STOP_PIN - #if Y_HOME_TO_MIN - #define Y_MIN_PIN Y_STOP_PIN - #ifndef Y_MAX_PIN - #define Y_MAX_PIN -1 +#if HAS_Y_AXIS + #ifdef Y_STOP_PIN + #if Y_HOME_TO_MIN + #define Y_MIN_PIN Y_STOP_PIN + #ifndef Y_MAX_PIN + #define Y_MAX_PIN -1 + #endif + #else + #define Y_MAX_PIN Y_STOP_PIN + #ifndef Y_MIN_PIN + #define Y_MIN_PIN -1 + #endif #endif + #elif Y_HOME_TO_MIN + #define Y_STOP_PIN Y_MIN_PIN #else - #define Y_MAX_PIN Y_STOP_PIN - #ifndef Y_MIN_PIN - #define Y_MIN_PIN -1 + #define Y_STOP_PIN Y_MAX_PIN + #endif +#endif + +#if HAS_Z_AXIS + #ifdef Z_STOP_PIN + #if Z_HOME_TO_MIN + #define Z_MIN_PIN Z_STOP_PIN + #ifndef Z_MAX_PIN + #define Z_MAX_PIN -1 + #endif + #else + #define Z_MAX_PIN Z_STOP_PIN + #ifndef Z_MIN_PIN + #define Z_MIN_PIN -1 + #endif + #endif + #elif Z_HOME_TO_MIN + #define Z_STOP_PIN Z_MIN_PIN + #else + #define Z_STOP_PIN Z_MAX_PIN + #endif +#endif + +#if LINEAR_AXES >= 4 + #ifdef I_STOP_PIN + #if I_HOME_TO_MIN + #define I_MIN_PIN I_STOP_PIN + #define I_MAX_PIN -1 + #else + #define I_MIN_PIN -1 + #define I_MAX_PIN I_STOP_PIN #endif #endif -#elif Y_HOME_TO_MIN - #define Y_STOP_PIN Y_MIN_PIN #else - #define Y_STOP_PIN Y_MAX_PIN + #undef I_MIN_PIN + #undef I_MAX_PIN #endif -#ifdef Z_STOP_PIN - #if Z_HOME_TO_MIN - #define Z_MIN_PIN Z_STOP_PIN - #ifndef Z_MAX_PIN - #define Z_MAX_PIN -1 +#if LINEAR_AXES >= 5 + #ifdef J_STOP_PIN + #if J_HOME_TO_MIN + #define J_MIN_PIN J_STOP_PIN + #define J_MAX_PIN -1 + #else + #define J_MIN_PIN -1 + #define J_MAX_PIN J_STOP_PIN #endif - #else - #define Z_MAX_PIN Z_STOP_PIN - #ifndef Z_MIN_PIN - #define Z_MIN_PIN -1 + #endif +#else + #undef J_MIN_PIN + #undef J_MAX_PIN +#endif + +#if LINEAR_AXES >= 6 + #ifdef K_STOP_PIN + #if K_HOME_TO_MIN + #define K_MIN_PIN K_STOP_PIN + #define K_MAX_PIN -1 + #else + #define K_MIN_PIN -1 + #define K_MAX_PIN K_STOP_PIN #endif #endif -#elif Z_HOME_TO_MIN - #define Z_STOP_PIN Z_MIN_PIN #else - #define Z_STOP_PIN Z_MAX_PIN + #undef K_MIN_PIN + #undef K_MAX_PIN #endif // Filament Sensor first pin alias @@ -863,6 +912,19 @@ #undef Z_MAX_PIN #define Z_MAX_PIN -1 #endif +#if DISABLED(USE_IMAX_PLUG) + #undef I_MAX_PIN + #define I_MAX_PIN -1 +#endif +#if DISABLED(USE_JMAX_PLUG) + #undef J_MAX_PIN + #define J_MAX_PIN -1 +#endif +#if DISABLED(USE_KMAX_PLUG) + #undef K_MAX_PIN + #define K_MAX_PIN -1 +#endif + #if DISABLED(USE_XMIN_PLUG) #undef X_MIN_PIN #define X_MIN_PIN -1 @@ -906,6 +968,19 @@ #undef Z4_MAX_PIN #endif +#if DISABLED(USE_IMIN_PLUG) + #undef I_MIN_PIN + #define I_MIN_PIN -1 +#endif +#if DISABLED(USE_JMIN_PLUG) + #undef J_MIN_PIN + #define J_MIN_PIN -1 +#endif +#if DISABLED(USE_KMIN_PLUG) + #undef K_MIN_PIN + #define K_MIN_PIN -1 +#endif + // // Default DOGLCD SPI delays // diff --git a/Marlin/src/pins/sensitive_pins.h b/Marlin/src/pins/sensitive_pins.h index 21ba87e8f6..de0f65c596 100644 --- a/Marlin/src/pins/sensitive_pins.h +++ b/Marlin/src/pins/sensitive_pins.h @@ -63,81 +63,220 @@ #define _X_PINS X_STEP_PIN, X_DIR_PIN, _X_ENABLE_PIN _X_MIN _X_MAX _X_MS1 _X_MS2 _X_MS3 _X_CS -#if PIN_EXISTS(Y_MIN) - #define _Y_MIN Y_MIN_PIN, -#else - #define _Y_MIN -#endif -#if PIN_EXISTS(Y_MAX) - #define _Y_MAX Y_MAX_PIN, -#else - #define _Y_MAX -#endif -#if PIN_EXISTS(Y_CS) && AXIS_HAS_SPI(Y) - #define _Y_CS Y_CS_PIN, -#else - #define _Y_CS -#endif -#if PIN_EXISTS(Y_MS1) - #define _Y_MS1 Y_MS1_PIN, -#else - #define _Y_MS1 -#endif -#if PIN_EXISTS(Y_MS2) - #define _Y_MS2 Y_MS2_PIN, -#else - #define _Y_MS2 -#endif -#if PIN_EXISTS(Y_MS3) - #define _Y_MS3 Y_MS3_PIN, -#else - #define _Y_MS3 -#endif -#if PIN_EXISTS(Y_ENABLE) - #define _Y_ENABLE_PIN Y_ENABLE_PIN, -#else - #define _Y_ENABLE_PIN -#endif +#if HAS_Y_AXIS -#define _Y_PINS Y_STEP_PIN, Y_DIR_PIN, _Y_ENABLE_PIN _Y_MIN _Y_MAX _Y_MS1 _Y_MS2 _Y_MS3 _Y_CS + #if PIN_EXISTS(Y_MIN) + #define _Y_MIN Y_MIN_PIN, + #else + #define _Y_MIN + #endif + #if PIN_EXISTS(Y_MAX) + #define _Y_MAX Y_MAX_PIN, + #else + #define _Y_MAX + #endif + #if PIN_EXISTS(Y_CS) && AXIS_HAS_SPI(Y) + #define _Y_CS Y_CS_PIN, + #else + #define _Y_CS + #endif + #if PIN_EXISTS(Y_MS1) + #define _Y_MS1 Y_MS1_PIN, + #else + #define _Y_MS1 + #endif + #if PIN_EXISTS(Y_MS2) + #define _Y_MS2 Y_MS2_PIN, + #else + #define _Y_MS2 + #endif + #if PIN_EXISTS(Y_MS3) + #define _Y_MS3 Y_MS3_PIN, + #else + #define _Y_MS3 + #endif + #if PIN_EXISTS(Y_ENABLE) + #define _Y_ENABLE_PIN Y_ENABLE_PIN, + #else + #define _Y_ENABLE_PIN + #endif + + #define _Y_PINS Y_STEP_PIN, Y_DIR_PIN, _Y_ENABLE_PIN _Y_MIN _Y_MAX _Y_MS1 _Y_MS2 _Y_MS3 _Y_CS -#if PIN_EXISTS(Z_MIN) - #define _Z_MIN Z_MIN_PIN, -#else - #define _Z_MIN -#endif -#if PIN_EXISTS(Z_MAX) - #define _Z_MAX Z_MAX_PIN, -#else - #define _Z_MAX -#endif -#if PIN_EXISTS(Z_CS) && AXIS_HAS_SPI(Z) - #define _Z_CS Z_CS_PIN, #else - #define _Z_CS + + #define _Y_PINS + #endif -#if PIN_EXISTS(Z_MS1) - #define _Z_MS1 Z_MS1_PIN, + +#if HAS_Z_AXIS + + #if PIN_EXISTS(Z_MIN) + #define _Z_MIN Z_MIN_PIN, + #else + #define _Z_MIN + #endif + #if PIN_EXISTS(Z_MAX) + #define _Z_MAX Z_MAX_PIN, + #else + #define _Z_MAX + #endif + #if PIN_EXISTS(Z_CS) && AXIS_HAS_SPI(Z) + #define _Z_CS Z_CS_PIN, + #else + #define _Z_CS + #endif + #if PIN_EXISTS(Z_MS1) + #define _Z_MS1 Z_MS1_PIN, + #else + #define _Z_MS1 + #endif + #if PIN_EXISTS(Z_MS2) + #define _Z_MS2 Z_MS2_PIN, + #else + #define _Z_MS2 + #endif + #if PIN_EXISTS(Z_MS3) + #define _Z_MS3 Z_MS3_PIN, + #else + #define _Z_MS3 + #endif + #if PIN_EXISTS(Z_ENABLE) + #define _Z_ENABLE_PIN Z_ENABLE_PIN, + #else + #define _Z_ENABLE_PIN + #endif + + #define _Z_PINS Z_STEP_PIN, Z_DIR_PIN, _Z_ENABLE_PIN _Z_MIN _Z_MAX _Z_MS1 _Z_MS2 _Z_MS3 _Z_CS + #else - #define _Z_MS1 + + #define _Z_PINS + #endif -#if PIN_EXISTS(Z_MS2) - #define _Z_MS2 Z_MS2_PIN, + +#if LINEAR_AXES >= 4 + + #if PIN_EXISTS(I_MIN) + #define _I_MIN I_MIN_PIN, + #else + #define _I_MIN + #endif + #if PIN_EXISTS(I_MAX) + #define _I_MAX I_MAX_PIN, + #else + #define _I_MAX + #endif + #if PIN_EXISTS(I_CS) + #define _I_CS I_CS_PIN, + #else + #define _I_CS + #endif + #if PIN_EXISTS(I_MS1) + #define _I_MS1 I_MS1_PIN, + #else + #define _I_MS1 + #endif + #if PIN_EXISTS(I_MS2) + #define _I_MS2 I_MS2_PIN, + #else + #define _I_MS2 + #endif + #if PIN_EXISTS(I_MS3) + #define _I_MS3 I_MS3_PIN, + #else + #define _I_MS3 + #endif + + #define _I_PINS I_STEP_PIN, I_DIR_PIN, I_ENABLE_PIN, _I_MIN _I_MAX _I_MS1 _I_MS2 _I_MS3 _I_CS + #else - #define _Z_MS2 + + #define _I_PINS + #endif -#if PIN_EXISTS(Z_MS3) - #define _Z_MS3 Z_MS3_PIN, + +#if LINEAR_AXES >= 5 + + #if PIN_EXISTS(J_MIN) + #define _J_MIN J_MIN_PIN, + #else + #define _J_MIN + #endif + #if PIN_EXISTS(J_MAX) + #define _J_MAX J_MAX_PIN, + #else + #define _J_MAX + #endif + #if PIN_EXISTS(J_CS) + #define _J_CS J_CS_PIN, + #else + #define _J_CS + #endif + #if PIN_EXISTS(J_MS1) + #define _J_MS1 J_MS1_PIN, + #else + #define _J_MS1 + #endif + #if PIN_EXISTS(J_MS2) + #define _J_MS2 J_MS2_PIN, + #else + #define _J_MS2 + #endif + #if PIN_EXISTS(J_MS3) + #define _J_MS3 J_MS3_PIN, + #else + #define _J_MS3 + #endif + + #define _J_PINS J_STEP_PIN, J_DIR_PIN, J_ENABLE_PIN, _J_MIN _J_MAX _J_MS1 _J_MS2 _J_MS3 _J_CS + #else - #define _Z_MS3 + + #define _J_PINS + #endif -#if PIN_EXISTS(Z_ENABLE) - #define _Z_ENABLE_PIN Z_ENABLE_PIN, + +#if LINEAR_AXES >= 6 + + #if PIN_EXISTS(K_MIN) + #define _K_MIN K_MIN_PIN, + #else + #define _K_MIN + #endif + #if PIN_EXISTS(K_MAX) + #define _K_MAX K_MAX_PIN, + #else + #define _K_MAX + #endif + #if PIN_EXISTS(K_CS) + #define _K_CS K_CS_PIN, + #else + #define _K_CS + #endif + #if PIN_EXISTS(K_MS1) + #define _K_MS1 K_MS1_PIN, + #else + #define _K_MS1 + #endif + #if PIN_EXISTS(K_MS2) + #define _K_MS2 K_MS2_PIN, + #else + #define _K_MS2 + #endif + #if PIN_EXISTS(K_MS3) + #define _K_MS3 K_MS3_PIN, + #else + #define _K_MS3 + #endif + + #define _K_PINS K_STEP_PIN, K_DIR_PIN, K_ENABLE_PIN, _K_MIN _K_MAX _K_MS1 _K_MS2 _K_MS3 _K_CS + #else - #define _Z_ENABLE_PIN -#endif -#define _Z_PINS Z_STEP_PIN, Z_DIR_PIN, _Z_ENABLE_PIN _Z_MIN _Z_MAX _Z_MS1 _Z_MS2 _Z_MS3 _Z_CS + #define _K_PINS + +#endif // // Extruder Chip Select, Digital Micro-steps @@ -714,7 +853,8 @@ #endif #define SENSITIVE_PINS { \ - _X_PINS _Y_PINS _Z_PINS _X2_PINS _Y2_PINS _Z2_PINS _Z3_PINS _Z4_PINS _Z_PROBE \ + _X_PINS _Y_PINS _Z_PINS _I_PINS _J_PINS _K_PINS \ + _X2_PINS _Y2_PINS _Z2_PINS _Z3_PINS _Z4_PINS _Z_PROBE \ _E0_PINS _E1_PINS _E2_PINS _E3_PINS _E4_PINS _E5_PINS _E6_PINS _E7_PINS \ _H0_PINS _H1_PINS _H2_PINS _H3_PINS _H4_PINS _H5_PINS _H6_PINS _H7_PINS \ _PS_ON _FAN0 _FAN1 _FAN2 _FAN3 _FAN4 _FAN5 _FAN6 _FAN7 _FANC \ diff --git a/Marlin/src/sd/cardreader.cpp b/Marlin/src/sd/cardreader.cpp index 3890b08147..dc3df482b5 100644 --- a/Marlin/src/sd/cardreader.cpp +++ b/Marlin/src/sd/cardreader.cpp @@ -59,6 +59,7 @@ // extern +PGMSTR(M21_STR, "M21"); PGMSTR(M23_STR, "M23 %s"); PGMSTR(M24_STR, "M24");