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Quad Z stepper support (#16277)

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This commit is contained in:
InsanityAutomation
2020-01-20 00:35:07 -05:00
committed by Scott Lahteine
parent f36f084465
commit 0fcf2b1110
52 changed files with 1198 additions and 415 deletions
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186
Marlin/src/module/configuration_store.cpp
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@@ -37,7 +37,7 @@
*/
// Change EEPROM version if the structure changes
#define EEPROM_VERSION "V74"
#define EEPROM_VERSION "V75"
#define EEPROM_OFFSET 100
// Check the integrity of data offsets.
@@ -120,10 +120,10 @@
#pragma pack(push, 1) // No padding between variables
typedef struct { uint16_t X, Y, Z, X2, Y2, Z2, Z3, E0, E1, E2, E3, E4, E5; } tmc_stepper_current_t;
typedef struct { uint32_t X, Y, Z, X2, Y2, Z2, Z3, E0, E1, E2, E3, E4, E5; } tmc_hybrid_threshold_t;
typedef struct { uint16_t X, Y, Z, X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5; } tmc_stepper_current_t;
typedef struct { uint32_t X, Y, Z, X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5; } tmc_hybrid_threshold_t;
typedef struct { int16_t X, Y, Z, X2; } tmc_sgt_t;
typedef struct { bool X, Y, Z, X2, Y2, Z2, Z3, E0, E1, E2, E3, E4, E5; } tmc_stealth_enabled_t;
typedef struct { bool X, Y, Z, X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5; } tmc_stealth_enabled_t;
// Limit an index to an array size
#define ALIM(I,ARR) _MIN(I, COUNT(ARR) - 1)
@@ -243,11 +243,12 @@ typedef struct SettingsDataStruct {
delta_diagonal_rod, // M665 L
delta_segments_per_second; // M665 S
abc_float_t delta_tower_angle_trim; // M665 XYZ
#elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
#elif HAS_EXTRA_ENDSTOPS
float x2_endstop_adj, // M666 X
y2_endstop_adj, // M666 Y
z2_endstop_adj, // M666 Z (S2)
z3_endstop_adj; // M666 Z (S3)
z2_endstop_adj, // M666 (S2) Z
z3_endstop_adj, // M666 (S3) Z
z4_endstop_adj; // M666 (S4) Z
#endif
//
@@ -300,10 +301,10 @@ typedef struct SettingsDataStruct {
//
// HAS_TRINAMIC
//
tmc_stepper_current_t tmc_stepper_current; // M906 X Y Z X2 Y2 Z2 Z3 E0 E1 E2 E3 E4 E5
tmc_hybrid_threshold_t tmc_hybrid_threshold; // M913 X Y Z X2 Y2 Z2 Z3 E0 E1 E2 E3 E4 E5
tmc_stepper_current_t tmc_stepper_current; // M906 X Y Z X2 Y2 Z2 Z3 Z4 E0 E1 E2 E3 E4 E5
tmc_hybrid_threshold_t tmc_hybrid_threshold; // M913 X Y Z X2 Y2 Z2 Z3 Z4 E0 E1 E2 E3 E4 E5
tmc_sgt_t tmc_sgt; // M914 X Y Z X2
tmc_stealth_enabled_t tmc_stealth_enabled; // M569 X Y Z X2 Y2 Z2 Z3 E0 E1 E2 E3 E4 E5
tmc_stealth_enabled_t tmc_stealth_enabled; // M569 X Y Z X2 Y2 Z2 Z3 Z4 E0 E1 E2 E3 E4 E5
//
// LIN_ADVANCE
@@ -756,7 +757,7 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(delta_segments_per_second); // 1 float
EEPROM_WRITE(delta_tower_angle_trim); // 3 floats
#elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
#elif HAS_EXTRA_ENDSTOPS
_FIELD_TEST(x2_endstop_adj);
@@ -774,18 +775,24 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(dummy);
#endif
#if Z_MULTI_ENDSTOPS
#if ENABLED(Z_MULTI_ENDSTOPS)
EEPROM_WRITE(endstops.z2_endstop_adj); // 1 float
#else
EEPROM_WRITE(dummy);
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
EEPROM_WRITE(endstops.z3_endstop_adj); // 1 float
#else
EEPROM_WRITE(dummy);
#endif
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
EEPROM_WRITE(endstops.z4_endstop_adj); // 1 float
#else
EEPROM_WRITE(dummy);
#endif
#endif
}
@@ -974,6 +981,9 @@ void MarlinSettings::postprocess() {
#if AXIS_IS_TMC(Z3)
tmc_stepper_current.Z3 = stepperZ3.getMilliamps();
#endif
#if AXIS_IS_TMC(Z4)
tmc_stepper_current.Z4 = stepperZ4.getMilliamps();
#endif
#if MAX_EXTRUDERS
#if AXIS_IS_TMC(E0)
tmc_stepper_current.E0 = stepperE0.getMilliamps();
@@ -1037,6 +1047,9 @@ void MarlinSettings::postprocess() {
#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 MAX_EXTRUDERS
#if AXIS_HAS_STEALTHCHOP(E0)
tmc_hybrid_threshold.E0 = stepperE0.get_pwm_thrs();
@@ -1070,7 +1083,7 @@ void MarlinSettings::postprocess() {
#else
const tmc_hybrid_threshold_t tmc_hybrid_threshold = {
.X = 100, .Y = 100, .Z = 3,
.X2 = 100, .Y2 = 100, .Z2 = 3, .Z3 = 3,
.X2 = 100, .Y2 = 100, .Z2 = 3, .Z3 = 3, .Z4 = 3,
.E0 = 30, .E1 = 30, .E2 = 30,
.E3 = 30, .E4 = 30, .E5 = 30
};
@@ -1130,6 +1143,9 @@ void MarlinSettings::postprocess() {
#if AXIS_HAS_STEALTHCHOP(Z3)
tmc_stealth_enabled.Z3 = stepperZ3.get_stealthChop_status();
#endif
#if AXIS_HAS_STEALTHCHOP(Z4)
tmc_stealth_enabled.Z4 = stepperZ4.get_stealthChop_status();
#endif
#if MAX_EXTRUDERS
#if AXIS_HAS_STEALTHCHOP(E0)
tmc_stealth_enabled.E0 = stepperE0.get_stealthChop_status();
@@ -1585,7 +1601,7 @@ void MarlinSettings::postprocess() {
EEPROM_READ(delta_segments_per_second); // 1 float
EEPROM_READ(delta_tower_angle_trim); // 3 floats
#elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
#elif HAS_EXTRA_ENDSTOPS
_FIELD_TEST(x2_endstop_adj);
@@ -1599,16 +1615,21 @@ void MarlinSettings::postprocess() {
#else
EEPROM_READ(dummy);
#endif
#if Z_MULTI_ENDSTOPS
#if ENABLED(Z_MULTI_ENDSTOPS)
EEPROM_READ(endstops.z2_endstop_adj); // 1 float
#else
EEPROM_READ(dummy);
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
EEPROM_READ(endstops.z3_endstop_adj); // 1 float
#else
EEPROM_READ(dummy);
#endif
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
EEPROM_READ(endstops.z4_endstop_adj); // 1 float
#else
EEPROM_READ(dummy);
#endif
#endif
}
@@ -1800,6 +1821,9 @@ void MarlinSettings::postprocess() {
#if AXIS_IS_TMC(Z3)
SET_CURR(Z3);
#endif
#if AXIS_IS_TMC(Z4)
SET_CURR(Z4);
#endif
#if AXIS_IS_TMC(E0)
SET_CURR(E0);
#endif
@@ -1851,6 +1875,9 @@ void MarlinSettings::postprocess() {
#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
@@ -1877,7 +1904,7 @@ void MarlinSettings::postprocess() {
// TMC StallGuard threshold.
// X and X2 use the same value
// Y and Y2 use the same value
// Z, Z2 and Z3 use the same value
// Z, Z2, Z3 and Z4 use the same value
//
{
tmc_sgt_t tmc_sgt;
@@ -1914,6 +1941,9 @@ void MarlinSettings::postprocess() {
#if AXIS_HAS_STALLGUARD(Z3)
stepperZ3.homing_threshold(tmc_sgt.Z);
#endif
#if AXIS_HAS_STALLGUARD(Z4)
stepperZ4.homing_threshold(tmc_sgt.Z);
#endif
#endif
}
#endif
@@ -1951,6 +1981,9 @@ void MarlinSettings::postprocess() {
#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
@@ -2433,51 +2466,39 @@ void MarlinSettings::reset() {
delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
delta_tower_angle_trim = dta;
#elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
#endif
#if ENABLED(X_DUAL_ENDSTOPS)
endstops.x2_endstop_adj = (
#ifdef X_DUAL_ENDSTOPS_ADJUSTMENT
X_DUAL_ENDSTOPS_ADJUSTMENT
#else
0
#endif
);
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
endstops.y2_endstop_adj = (
#ifdef Y_DUAL_ENDSTOPS_ADJUSTMENT
Y_DUAL_ENDSTOPS_ADJUSTMENT
#else
0
#endif
);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
endstops.z2_endstop_adj = (
#ifdef Z_DUAL_ENDSTOPS_ADJUSTMENT
Z_DUAL_ENDSTOPS_ADJUSTMENT
#else
0
#endif
);
#elif ENABLED(Z_TRIPLE_ENDSTOPS)
endstops.z2_endstop_adj = (
#ifdef Z_TRIPLE_ENDSTOPS_ADJUSTMENT2
Z_TRIPLE_ENDSTOPS_ADJUSTMENT2
#else
0
#endif
);
endstops.z3_endstop_adj = (
#ifdef Z_TRIPLE_ENDSTOPS_ADJUSTMENT3
Z_TRIPLE_ENDSTOPS_ADJUSTMENT3
#else
0
#endif
);
#if ENABLED(X_DUAL_ENDSTOPS)
#ifndef X2_ENDSTOP_ADJUSTMENT
#define X2_ENDSTOP_ADJUSTMENT 0
#endif
endstops.x2_endstop_adj = X2_ENDSTOP_ADJUSTMENT;
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
#ifndef Y2_ENDSTOP_ADJUSTMENT
#define Y2_ENDSTOP_ADJUSTMENT 0
#endif
endstops.y2_endstop_adj = Y2_ENDSTOP_ADJUSTMENT;
#endif
#if ENABLED(Z_MULTI_ENDSTOPS)
#ifndef Z2_ENDSTOP_ADJUSTMENT
#define Z2_ENDSTOP_ADJUSTMENT 0
#endif
endstops.z2_endstop_adj = Z2_ENDSTOP_ADJUSTMENT;
#if NUM_Z_STEPPER_DRIVERS >= 3
#ifndef Z3_ENDSTOP_ADJUSTMENT
#define Z3_ENDSTOP_ADJUSTMENT 0
#endif
endstops.z3_endstop_adj = Z3_ENDSTOP_ADJUSTMENT;
#endif
#if NUM_Z_STEPPER_DRIVERS >= 4
#ifndef Z4_ENDSTOP_ADJUSTMENT
#define Z4_ENDSTOP_ADJUSTMENT 0
#endif
endstops.z4_endstop_adj = Z4_ENDSTOP_ADJUSTMENT;
#endif
#endif
//
@@ -3016,25 +3037,30 @@ void MarlinSettings::reset() {
, SP_Z_STR, LINEAR_UNIT(delta_tower_angle_trim.c)
);
#elif EITHER(X_DUAL_ENDSTOPS, Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
#elif HAS_EXTRA_ENDSTOPS
CONFIG_ECHO_HEADING("Endstop adjustment:");
CONFIG_ECHO_START();
SERIAL_ECHOPGM(" M666");
#if ENABLED(X_DUAL_ENDSTOPS)
SERIAL_ECHOPAIR_P(SP_X_STR, LINEAR_UNIT(endstops.x2_endstop_adj));
SERIAL_ECHOLNPAIR_P(SP_X_STR, LINEAR_UNIT(endstops.x2_endstop_adj));
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
SERIAL_ECHOPAIR_P(SP_Y_STR, LINEAR_UNIT(endstops.y2_endstop_adj));
SERIAL_ECHOLNPAIR_P(SP_Y_STR, LINEAR_UNIT(endstops.y2_endstop_adj));
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
SERIAL_ECHOLNPAIR("S1 Z", LINEAR_UNIT(endstops.z2_endstop_adj));
CONFIG_ECHO_START();
SERIAL_ECHOPAIR(" M666 S2 Z", LINEAR_UNIT(endstops.z3_endstop_adj));
#elif ENABLED(Z_DUAL_ENDSTOPS)
SERIAL_ECHOPAIR_P(SP_Z_STR, LINEAR_UNIT(endstops.z2_endstop_adj));
#if ENABLED(Z_MULTI_ENDSTOPS)
#if NUM_Z_STEPPER_DRIVERS >= 3
SERIAL_ECHOPAIR(" S2 Z", LINEAR_UNIT(endstops.z3_endstop_adj));
CONFIG_ECHO_START();
SERIAL_ECHOPAIR(" M666 S3 Z", LINEAR_UNIT(endstops.z3_endstop_adj));
#if NUM_Z_STEPPER_DRIVERS >= 4
CONFIG_ECHO_START();
SERIAL_ECHOPAIR(" M666 S4 Z", LINEAR_UNIT(endstops.z4_endstop_adj));
#endif
#else
SERIAL_ECHOLNPAIR_P(SP_Z_STR, LINEAR_UNIT(endstops.z2_endstop_adj));
#endif
#endif
SERIAL_EOL();
#endif // [XYZ]_DUAL_ENDSTOPS
@@ -3218,6 +3244,11 @@ void MarlinSettings::reset() {
SERIAL_ECHOLNPAIR(" I2 Z", stepperZ3.getMilliamps());
#endif
#if AXIS_IS_TMC(Z4)
say_M906(forReplay);
SERIAL_ECHOLNPAIR(" I3 Z", stepperZ4.getMilliamps());
#endif
#if AXIS_IS_TMC(E0)
say_M906(forReplay);
SERIAL_ECHOLNPAIR(" T0 E", stepperE0.getMilliamps());
@@ -3287,6 +3318,11 @@ void MarlinSettings::reset() {
SERIAL_ECHOLNPAIR(" I2 Z", stepperZ3.get_pwm_thrs());
#endif
#if AXIS_HAS_STEALTHCHOP(Z4)
say_M913(forReplay);
SERIAL_ECHOLNPAIR(" I3 Z", stepperZ4.get_pwm_thrs());
#endif
#if AXIS_HAS_STEALTHCHOP(E0)
say_M913(forReplay);
SERIAL_ECHOLNPAIR(" T0 E", stepperE0.get_pwm_thrs());
@@ -3356,6 +3392,12 @@ void MarlinSettings::reset() {
SERIAL_ECHOLNPAIR(" I2 Z", stepperZ3.homing_threshold());
#endif
#if Z4_SENSORLESS
CONFIG_ECHO_START();
say_M914();
SERIAL_ECHOLNPAIR(" I3 Z", stepperZ4.homing_threshold());
#endif
#endif // USE_SENSORLESS
/**
@@ -3415,6 +3457,10 @@ void MarlinSettings::reset() {
if (stepperZ3.get_stealthChop_status()) { say_M569(forReplay, PSTR("I2 Z"), true); }
#endif
#if AXIS_HAS_STEALTHCHOP(Z4)
if (stepperZ4.get_stealthChop_status()) { say_M569(forReplay, PSTR("I3 Z"), true); }
#endif
#if AXIS_HAS_STEALTHCHOP(E0)
if (stepperE0.get_stealthChop_status()) { say_M569(forReplay, PSTR("T0 E"), true); }
#endif