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🏗️ Support for up to 6 linear axes (#19112)

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Co-authored-by: Scott Lahteine <github@thinkyhead.com>
This commit is contained in:
DerAndere
2021-06-05 09:18:47 +02:00
committed by GitHub
parent 733d5fd57d
commit 7726af9c53
98 changed files with 5040 additions and 2256 deletions
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303
Marlin/src/module/stepper.cpp
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@@ -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)