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💥 Num Axes and Multi-Stepper based on Driver Types (#24120)

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Co-authored-by: Scott Lahteine <github@thinkyhead.com>
This commit is contained in:
Keith Bennett
2022-05-04 17:25:02 -07:00
committed by GitHub
parent 6237a6a6d3
commit df40181357
33 changed files with 266 additions and 259 deletions
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16
Marlin/src/module/endstops.cpp
View File

@@ -78,9 +78,9 @@ Endstops::endstop_mask_t Endstops::live_state = 0;
#endif
#if ENABLED(Z_MULTI_ENDSTOPS)
float Endstops::z2_endstop_adj;
#if NUM_Z_STEPPER_DRIVERS >= 3
#if NUM_Z_STEPPERS >= 3
float Endstops::z3_endstop_adj;
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
float Endstops::z4_endstop_adj;
#endif
#endif
@@ -792,14 +792,14 @@ void Endstops::update() {
#else
COPY_LIVE_STATE(Z_MIN, Z2_MIN);
#endif
#if NUM_Z_STEPPER_DRIVERS >= 3
#if NUM_Z_STEPPERS >= 3
#if HAS_Z3_MIN
UPDATE_ENDSTOP_BIT(Z3, MIN);
#else
COPY_LIVE_STATE(Z_MIN, Z3_MIN);
#endif
#endif
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
#if HAS_Z4_MIN
UPDATE_ENDSTOP_BIT(Z4, MIN);
#else
@@ -824,14 +824,14 @@ void Endstops::update() {
#else
COPY_LIVE_STATE(Z_MAX, Z2_MAX);
#endif
#if NUM_Z_STEPPER_DRIVERS >= 3
#if NUM_Z_STEPPERS >= 3
#if HAS_Z3_MAX
UPDATE_ENDSTOP_BIT(Z3, MAX);
#else
COPY_LIVE_STATE(Z_MAX, Z3_MAX);
#endif
#endif
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
#if HAS_Z4_MAX
UPDATE_ENDSTOP_BIT(Z4, MAX);
#else
@@ -1090,9 +1090,9 @@ void Endstops::update() {
#if DISABLED(Z_MULTI_ENDSTOPS)
#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_ENDSTOP(Z, MINMAX)
#elif NUM_Z_STEPPER_DRIVERS == 4
#elif NUM_Z_STEPPERS == 4
#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_QUAD_ENDSTOP(Z, MINMAX)
#elif NUM_Z_STEPPER_DRIVERS == 3
#elif NUM_Z_STEPPERS == 3
#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_TRIPLE_ENDSTOP(Z, MINMAX)
#else
#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_DUAL_ENDSTOP(Z, MINMAX)

8
Marlin/src/module/endstops.h
View File

@@ -64,11 +64,11 @@ enum EndstopEnum : char {
#if ENABLED(Z_MULTI_ENDSTOPS)
_ES_ITEM(HAS_Z_MIN, Z2_MIN)
_ES_ITEM(HAS_Z_MAX, Z2_MAX)
#if NUM_Z_STEPPER_DRIVERS >= 3
#if NUM_Z_STEPPERS >= 3
_ES_ITEM(HAS_Z_MIN, Z3_MIN)
_ES_ITEM(HAS_Z_MAX, Z3_MAX)
#endif
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
_ES_ITEM(HAS_Z_MIN, Z4_MIN)
_ES_ITEM(HAS_Z_MAX, Z4_MAX)
#endif
@@ -120,10 +120,10 @@ class Endstops {
#if ENABLED(Z_MULTI_ENDSTOPS)
static float z2_endstop_adj;
#endif
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPERS >= 3
static float z3_endstop_adj;
#endif
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPERS >= 4
static float z4_endstop_adj;
#endif

14
Marlin/src/module/motion.cpp
View File

@@ -2038,7 +2038,7 @@ void prepare_line_to_destination() {
#if ENABLED(Z_MULTI_ENDSTOPS)
if (axis == Z_AXIS) {
#if NUM_Z_STEPPER_DRIVERS == 2
#if NUM_Z_STEPPERS == 2
const float adj = ABS(endstops.z2_endstop_adj);
if (adj) {
@@ -2056,13 +2056,13 @@ void prepare_line_to_destination() {
adjustFunc_t lock[] = {
stepper.set_z1_lock, stepper.set_z2_lock, stepper.set_z3_lock
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
, stepper.set_z4_lock
#endif
};
float adj[] = {
0, endstops.z2_endstop_adj, endstops.z3_endstop_adj
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
, endstops.z4_endstop_adj
#endif
};
@@ -2081,7 +2081,7 @@ void prepare_line_to_destination() {
lock[1] = lock[2], adj[1] = adj[2];
lock[2] = tempLock, adj[2] = tempAdj;
}
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
if (adj[3] < adj[2]) {
tempLock = lock[2], tempAdj = adj[2];
lock[2] = lock[3], adj[2] = adj[3];
@@ -2106,14 +2106,14 @@ void prepare_line_to_destination() {
// lock the second stepper for the final correction
(*lock[1])(true);
do_homing_move(axis, adj[2] - adj[1]);
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
// lock the third stepper for the final correction
(*lock[2])(true);
do_homing_move(axis, adj[3] - adj[2]);
#endif
}
else {
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
(*lock[3])(true);
do_homing_move(axis, adj[2] - adj[3]);
#endif
@@ -2126,7 +2126,7 @@ void prepare_line_to_destination() {
stepper.set_z1_lock(false);
stepper.set_z2_lock(false);
stepper.set_z3_lock(false);
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
stepper.set_z4_lock(false);
#endif

16
Marlin/src/module/settings.cpp
View File

@@ -347,9 +347,9 @@ typedef struct SettingsDataStruct {
// Z_STEPPER_AUTO_ALIGN, HAS_Z_STEPPER_ALIGN_STEPPER_XY
//
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
xy_pos_t z_stepper_align_xy[NUM_Z_STEPPER_DRIVERS]; // M422 S X Y
xy_pos_t z_stepper_align_xy[NUM_Z_STEPPERS]; // M422 S X Y
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
xy_pos_t z_stepper_align_stepper_xy[NUM_Z_STEPPER_DRIVERS]; // M422 W X Y
xy_pos_t z_stepper_align_stepper_xy[NUM_Z_STEPPERS]; // M422 W X Y
#endif
#endif
@@ -1017,13 +1017,13 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(TERN(Y_DUAL_ENDSTOPS, endstops.y2_endstop_adj, dummyf)); // 1 float
EEPROM_WRITE(TERN(Z_MULTI_ENDSTOPS, endstops.z2_endstop_adj, dummyf)); // 1 float
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPERS >= 3
EEPROM_WRITE(endstops.z3_endstop_adj); // 1 float
#else
EEPROM_WRITE(dummyf);
#endif
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPERS >= 4
EEPROM_WRITE(endstops.z4_endstop_adj); // 1 float
#else
EEPROM_WRITE(dummyf);
@@ -1969,12 +1969,12 @@ void MarlinSettings::postprocess() {
EEPROM_READ(TERN(Y_DUAL_ENDSTOPS, endstops.y2_endstop_adj, dummyf)); // 1 float
EEPROM_READ(TERN(Z_MULTI_ENDSTOPS, endstops.z2_endstop_adj, dummyf)); // 1 float
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPERS >= 3
EEPROM_READ(endstops.z3_endstop_adj); // 1 float
#else
EEPROM_READ(dummyf);
#endif
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPERS >= 4
EEPROM_READ(endstops.z4_endstop_adj); // 1 float
#else
EEPROM_READ(dummyf);
@@ -3042,13 +3042,13 @@ void MarlinSettings::reset() {
#define Z2_ENDSTOP_ADJUSTMENT 0
#endif
endstops.z2_endstop_adj = Z2_ENDSTOP_ADJUSTMENT;
#if NUM_Z_STEPPER_DRIVERS >= 3
#if NUM_Z_STEPPERS >= 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
#if NUM_Z_STEPPERS >= 4
#ifndef Z4_ENDSTOP_ADJUSTMENT
#define Z4_ENDSTOP_ADJUSTMENT 0
#endif

40
Marlin/src/module/stepper.cpp
View File

@@ -177,9 +177,9 @@ bool Stepper::abort_current_block;
#if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
bool Stepper::locked_Z_motor = false, Stepper::locked_Z2_motor = false
#if NUM_Z_STEPPER_DRIVERS >= 3
#if NUM_Z_STEPPERS >= 3
, Stepper::locked_Z3_motor = false
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
, Stepper::locked_Z4_motor = false
#endif
#endif
@@ -365,7 +365,7 @@ xyze_int8_t Stepper::count_direction{0};
A##4_STEP_WRITE(V); \
}
#if ENABLED(X_DUAL_STEPPER_DRIVERS)
#if HAS_DUAL_X_STEPPERS
#define X_APPLY_DIR(v,Q) do{ X_DIR_WRITE(v); X2_DIR_WRITE((v) ^ ENABLED(INVERT_X2_VS_X_DIR)); }while(0)
#if ENABLED(X_DUAL_ENDSTOPS)
#define X_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(X,v)
@@ -386,7 +386,7 @@ xyze_int8_t Stepper::count_direction{0};
#define X_APPLY_STEP(v,Q) X_STEP_WRITE(v)
#endif
#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
#if HAS_DUAL_Y_STEPPERS
#define Y_APPLY_DIR(v,Q) do{ Y_DIR_WRITE(v); Y2_DIR_WRITE((v) ^ ENABLED(INVERT_Y2_VS_Y_DIR)); }while(0)
#if ENABLED(Y_DUAL_ENDSTOPS)
#define Y_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Y,v)
@@ -398,7 +398,7 @@ xyze_int8_t Stepper::count_direction{0};
#define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v)
#endif
#if NUM_Z_STEPPER_DRIVERS == 4
#if NUM_Z_STEPPERS == 4
#define Z_APPLY_DIR(v,Q) do{ \
Z_DIR_WRITE(v); Z2_DIR_WRITE((v) ^ ENABLED(INVERT_Z2_VS_Z_DIR)); \
Z3_DIR_WRITE((v) ^ ENABLED(INVERT_Z3_VS_Z_DIR)); Z4_DIR_WRITE((v) ^ ENABLED(INVERT_Z4_VS_Z_DIR)); \
@@ -410,7 +410,7 @@ xyze_int8_t Stepper::count_direction{0};
#else
#define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); Z3_STEP_WRITE(v); Z4_STEP_WRITE(v); }while(0)
#endif
#elif NUM_Z_STEPPER_DRIVERS == 3
#elif NUM_Z_STEPPERS == 3
#define Z_APPLY_DIR(v,Q) do{ \
Z_DIR_WRITE(v); Z2_DIR_WRITE((v) ^ ENABLED(INVERT_Z2_VS_Z_DIR)); Z3_DIR_WRITE((v) ^ ENABLED(INVERT_Z3_VS_Z_DIR)); \
}while(0)
@@ -421,7 +421,7 @@ xyze_int8_t Stepper::count_direction{0};
#else
#define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); Z3_STEP_WRITE(v); }while(0)
#endif
#elif NUM_Z_STEPPER_DRIVERS == 2
#elif NUM_Z_STEPPERS == 2
#define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE((v) ^ ENABLED(INVERT_Z2_VS_Z_DIR)); }while(0)
#if ENABLED(Z_MULTI_ENDSTOPS)
#define Z_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Z,v)
@@ -2613,19 +2613,19 @@ void Stepper::init() {
TERN_(HAS_X2_DIR, X2_DIR_INIT());
#if HAS_Y_DIR
Y_DIR_INIT();
#if BOTH(Y_DUAL_STEPPER_DRIVERS, HAS_Y2_DIR)
#if BOTH(HAS_DUAL_Y_STEPPERS, HAS_Y2_DIR)
Y2_DIR_INIT();
#endif
#endif
#if HAS_Z_DIR
Z_DIR_INIT();
#if NUM_Z_STEPPER_DRIVERS >= 2 && HAS_Z2_DIR
#if NUM_Z_STEPPERS >= 2 && HAS_Z2_DIR
Z2_DIR_INIT();
#endif
#if NUM_Z_STEPPER_DRIVERS >= 3 && HAS_Z3_DIR
#if NUM_Z_STEPPERS >= 3 && HAS_Z3_DIR
Z3_DIR_INIT();
#endif
#if NUM_Z_STEPPER_DRIVERS >= 4 && HAS_Z4_DIR
#if NUM_Z_STEPPERS >= 4 && HAS_Z4_DIR
Z4_DIR_INIT();
#endif
#endif
@@ -2684,7 +2684,7 @@ void Stepper::init() {
#if HAS_Y_ENABLE
Y_ENABLE_INIT();
if (!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH);
#if BOTH(Y_DUAL_STEPPER_DRIVERS, HAS_Y2_ENABLE)
#if BOTH(HAS_DUAL_Y_STEPPERS, HAS_Y2_ENABLE)
Y2_ENABLE_INIT();
if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
#endif
@@ -2692,15 +2692,15 @@ void Stepper::init() {
#if HAS_Z_ENABLE
Z_ENABLE_INIT();
if (!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH);
#if NUM_Z_STEPPER_DRIVERS >= 2 && HAS_Z2_ENABLE
#if NUM_Z_STEPPERS >= 2 && HAS_Z2_ENABLE
Z2_ENABLE_INIT();
if (!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH);
#endif
#if NUM_Z_STEPPER_DRIVERS >= 3 && HAS_Z3_ENABLE
#if NUM_Z_STEPPERS >= 3 && HAS_Z3_ENABLE
Z3_ENABLE_INIT();
if (!Z_ENABLE_ON) Z3_ENABLE_WRITE(HIGH);
#endif
#if NUM_Z_STEPPER_DRIVERS >= 4 && HAS_Z4_ENABLE
#if NUM_Z_STEPPERS >= 4 && HAS_Z4_ENABLE
Z4_ENABLE_INIT();
if (!Z_ENABLE_ON) Z4_ENABLE_WRITE(HIGH);
#endif
@@ -2775,7 +2775,7 @@ void Stepper::init() {
// Init Step Pins
#if HAS_X_STEP
#if EITHER(X_DUAL_STEPPER_DRIVERS, DUAL_X_CARRIAGE)
#if HAS_X2_STEPPER
X2_STEP_INIT();
X2_STEP_WRITE(INVERT_X_STEP_PIN);
#endif
@@ -2783,7 +2783,7 @@ void Stepper::init() {
#endif
#if HAS_Y_STEP
#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
#if HAS_DUAL_Y_STEPPERS
Y2_STEP_INIT();
Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
#endif
@@ -2791,15 +2791,15 @@ void Stepper::init() {
#endif
#if HAS_Z_STEP
#if NUM_Z_STEPPER_DRIVERS >= 2
#if NUM_Z_STEPPERS >= 2
Z2_STEP_INIT();
Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif
#if NUM_Z_STEPPER_DRIVERS >= 3
#if NUM_Z_STEPPERS >= 3
Z3_STEP_INIT();
Z3_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
Z4_STEP_INIT();
Z4_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif

12
Marlin/src/module/stepper.h
View File

@@ -366,9 +366,9 @@ class Stepper {
#endif
#if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
static bool locked_Z_motor, locked_Z2_motor
#if NUM_Z_STEPPER_DRIVERS >= 3
#if NUM_Z_STEPPERS >= 3
, locked_Z3_motor
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
, locked_Z4_motor
#endif
#endif
@@ -570,18 +570,18 @@ class Stepper {
#if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN)
FORCE_INLINE static void set_z1_lock(const bool state) { locked_Z_motor = state; }
FORCE_INLINE static void set_z2_lock(const bool state) { locked_Z2_motor = state; }
#if NUM_Z_STEPPER_DRIVERS >= 3
#if NUM_Z_STEPPERS >= 3
FORCE_INLINE static void set_z3_lock(const bool state) { locked_Z3_motor = state; }
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
FORCE_INLINE static void set_z4_lock(const bool state) { locked_Z4_motor = state; }
#endif
#endif
static void set_all_z_lock(const bool lock, const int8_t except=-1) {
set_z1_lock(lock ^ (except == 0));
set_z2_lock(lock ^ (except == 1));
#if NUM_Z_STEPPER_DRIVERS >= 3
#if NUM_Z_STEPPERS >= 3
set_z3_lock(lock ^ (except == 2));
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
set_z4_lock(lock ^ (except == 3));
#endif
#endif