✨ Support for up to 9 axes (linear, rotary) (#23112)
Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
This commit is contained in:
DerAndere
GitHub
@@ -87,6 +87,19 @@
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#if HAS_K_AXIS && !defined(AXIS6_NAME)
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#define AXIS6_NAME 'C'
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#endif
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#if HAS_U_AXIS && !defined(AXIS7_NAME)
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#define AXIS7_NAME 'U'
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#endif
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#if HAS_V_AXIS && !defined(AXIS8_NAME)
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#define AXIS8_NAME 'V'
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#endif
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#if HAS_W_AXIS && !defined(AXIS9_NAME)
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#define AXIS9_NAME 'W'
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#endif
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#if ANY(AXIS4_ROTATES, AXIS5_ROTATES, AXIS6_ROTATES, AXIS7_ROTATES, AXIS8_ROTATES, AXIS9_ROTATES)
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#define HAS_ROTATIONAL_AXES 1
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#endif
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#define X_MAX_LENGTH (X_MAX_POS - (X_MIN_POS))
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#if HAS_Y_AXIS
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@@ -106,6 +119,15 @@
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#if HAS_K_AXIS
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#define K_MAX_LENGTH (K_MAX_POS - (K_MIN_POS))
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#endif
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#if HAS_U_AXIS
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#define U_MAX_LENGTH (U_MAX_POS - (U_MIN_POS))
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#endif
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#if HAS_V_AXIS
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#define V_MAX_LENGTH (V_MAX_POS - (V_MIN_POS))
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#endif
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#if HAS_W_AXIS
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#define W_MAX_LENGTH (W_MAX_POS - (W_MIN_POS))
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#endif
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// Defined only if the sanity-check is bypassed
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#ifndef X_BED_SIZE
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@@ -123,6 +145,15 @@
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#if HAS_K_AXIS && !defined(K_BED_SIZE)
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#define K_BED_SIZE K_MAX_LENGTH
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#endif
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#if HAS_U_AXIS && !defined(U_BED_SIZE)
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#define U_BED_SIZE U_MAX_LENGTH
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#endif
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#if HAS_V_AXIS && !defined(V_BED_SIZE)
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#define V_BED_SIZE V_MAX_LENGTH
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#endif
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#if HAS_W_AXIS && !defined(W_BED_SIZE)
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#define W_BED_SIZE W_MAX_LENGTH
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#endif
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// Require 0,0 bed center for Delta and SCARA
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#if IS_KINEMATIC
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@@ -143,6 +174,15 @@
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#if HAS_K_AXIS
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#define _K_HALF_KMAX ((K_BED_SIZE) / 2)
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#endif
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#if HAS_U_AXIS
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#define _U_HALF_UMAX ((U_BED_SIZE) / 2)
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#endif
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#if HAS_V_AXIS
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#define _V_HALF_VMAX ((V_BED_SIZE) / 2)
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#endif
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#if HAS_W_AXIS
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#define _W_HALF_WMAX ((W_BED_SIZE) / 2)
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#endif
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#define X_CENTER TERN(BED_CENTER_AT_0_0, 0, _X_HALF_BED)
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#if HAS_Y_AXIS
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@@ -158,6 +198,15 @@
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#if HAS_K_AXIS
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#define K_CENTER TERN(BED_CENTER_AT_0_0, 0, _K_HALF_BED)
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#endif
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#if HAS_U_AXIS
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#define U_CENTER TERN(BED_CENTER_AT_0_0, 0, _U_HALF_BED)
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#endif
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#if HAS_V_AXIS
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#define V_CENTER TERN(BED_CENTER_AT_0_0, 0, _V_HALF_BED)
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#endif
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#if HAS_W_AXIS
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#define W_CENTER TERN(BED_CENTER_AT_0_0, 0, _W_HALF_BED)
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#endif
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// Get the linear boundaries of the bed
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#define X_MIN_BED (X_CENTER - _X_HALF_BED)
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@@ -178,6 +227,18 @@
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#define K_MINIM (K_CENTER - _K_HALF_BED_SIZE)
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#define K_MAXIM (K_MINIM + K_BED_SIZE)
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#endif
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#if HAS_U_AXIS
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#define U_MINIM (U_CENTER - _U_HALF_BED_SIZE)
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#define U_MAXIM (U_MINIM + U_BED_SIZE)
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#endif
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#if HAS_V_AXIS
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#define V_MINIM (V_CENTER - _V_HALF_BED_SIZE)
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#define V_MAXIM (V_MINIM + V_BED_SIZE)
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#endif
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#if HAS_W_AXIS
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#define W_MINIM (W_CENTER - _W_HALF_BED_SIZE)
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#define W_MAXIM (W_MINIM + W_BED_SIZE)
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#endif
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/**
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* Dual X Carriage
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@@ -274,6 +335,27 @@
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#define K_HOME_POS TERN(K_HOME_TO_MIN, K_MIN_POS, K_MAX_POS)
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#endif
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#endif
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#if HAS_U_AXIS
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#ifdef MANUAL_U_HOME_POS
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#define U_HOME_POS MANUAL_U_HOME_POS
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#else
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#define U_HOME_POS (U_HOME_DIR < 0 ? U_MIN_POS : U_MAX_POS)
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#endif
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#endif
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#if HAS_V_AXIS
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#ifdef MANUAL_V_HOME_POS
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#define V_HOME_POS MANUAL_V_HOME_POS
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#else
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#define V_HOME_POS (V_HOME_DIR < 0 ? V_MIN_POS : V_MAX_POS)
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#endif
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#endif
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#if HAS_W_AXIS
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#ifdef MANUAL_W_HOME_POS
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#define W_HOME_POS MANUAL_W_HOME_POS
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#else
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#define W_HOME_POS (W_HOME_DIR < 0 ? W_MIN_POS : W_MAX_POS)
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#endif
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#endif
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/**
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* If DELTA_HEIGHT isn't defined use the old setting
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@@ -1440,6 +1522,15 @@
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#if ENABLED(USE_KMAX_PLUG)
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#define ENDSTOPPULLUP_KMAX
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#endif
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#if ENABLED(USE_UMAX_PLUG)
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#define ENDSTOPPULLUP_UMAX
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#endif
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#if ENABLED(USE_VMAX_PLUG)
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#define ENDSTOPPULLUP_VMAX
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#endif
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#if ENABLED(USE_WMAX_PLUG)
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#define ENDSTOPPULLUP_WMAX
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#endif
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#if ENABLED(USE_XMIN_PLUG)
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#define ENDSTOPPULLUP_XMIN
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#endif
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@@ -1458,6 +1549,15 @@
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#if ENABLED(USE_KMIN_PLUG)
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#define ENDSTOPPULLUP_KMIN
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#endif
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#if ENABLED(USE_UMIN_PLUG)
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#define ENDSTOPPULLUP_UMIN
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#endif
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#if ENABLED(USE_VMIN_PLUG)
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#define ENDSTOPPULLUP_VMIN
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#endif
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#if ENABLED(USE_WMIN_PLUG)
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#define ENDSTOPPULLUP_WMIN
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#endif
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#endif
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/**
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@@ -1680,6 +1780,66 @@
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#undef DISABLE_INACTIVE_K
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#endif
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#if HAS_U_AXIS
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#if PIN_EXISTS(U_ENABLE) || AXIS_IS_L64XX(U) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(U))
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#define HAS_U_ENABLE 1
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#endif
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#if PIN_EXISTS(U_DIR)
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#define HAS_U_DIR 1
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#endif
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#if PIN_EXISTS(U_STEP)
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#define HAS_U_STEP 1
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#endif
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#if PIN_EXISTS(U_MS1)
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#define HAS_U_MS_PINS 1
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#endif
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#if !defined(DISABLE_INACTIVE_U) && ENABLED(DISABLE_U)
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#define DISABLE_INACTIVE_U 1
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#endif
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#else
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#undef DISABLE_INACTIVE_U
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#endif
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#if HAS_V_AXIS
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#if PIN_EXISTS(V_ENABLE) || AXIS_IS_L64XX(V) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(V))
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#define HAS_V_ENABLE 1
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#endif
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#if PIN_EXISTS(V_DIR)
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#define HAS_V_DIR 1
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#endif
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#if PIN_EXISTS(V_STEP)
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#define HAS_V_STEP 1
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#endif
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#if PIN_EXISTS(V_MS1)
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#define HAS_V_MS_PINS 1
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#endif
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#if !defined(DISABLE_INACTIVE_V) && ENABLED(DISABLE_V)
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#define DISABLE_INACTIVE_V 1
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#endif
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#else
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#undef DISABLE_INACTIVE_V
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#endif
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#if HAS_W_AXIS
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#if PIN_EXISTS(W_ENABLE) || AXIS_IS_L64XX(W) || (ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(W))
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#define HAS_W_ENABLE 1
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#endif
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#if PIN_EXISTS(W_DIR)
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#define HAS_W_DIR 1
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#endif
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#if PIN_EXISTS(W_STEP)
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#define HAS_W_STEP 1
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#endif
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#if PIN_EXISTS(W_MS1)
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#define HAS_W_MS_PINS 1
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#endif
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#if !defined(DISABLE_INACTIVE_W) && ENABLED(DISABLE_W)
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#define DISABLE_INACTIVE_W 1
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#endif
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#else
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#undef DISABLE_INACTIVE_W
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#endif
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// Extruder steppers and solenoids
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#if HAS_EXTRUDERS
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@@ -1848,7 +2008,7 @@
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//
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#if HAS_TRINAMIC_CONFIG
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#if ANY(STEALTHCHOP_E, STEALTHCHOP_XY, STEALTHCHOP_Z, STEALTHCHOP_I, STEALTHCHOP_J, STEALTHCHOP_K)
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#if ANY(STEALTHCHOP_E, STEALTHCHOP_XY, STEALTHCHOP_Z, STEALTHCHOP_I, STEALTHCHOP_J, STEALTHCHOP_K, STEALTHCHOP_U, STEALTHCHOP_V, STEALTHCHOP_W)
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#define STEALTHCHOP_ENABLED 1
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#endif
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#if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING)
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@@ -1937,6 +2097,15 @@
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#define Y2_SLAVE_ADDRESS 0
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#endif
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#endif
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#if HAS_U_AXIS
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#define U_SPI_SENSORLESS U_SENSORLESS
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#endif
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#if HAS_V_AXIS
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#define V_SPI_SENSORLESS V_SENSORLESS
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#endif
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#if HAS_W_AXIS
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#define W_SPI_SENSORLESS W_SENSORLESS
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#endif
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#endif
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#if AXIS_IS_TMC(Z)
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@@ -2074,6 +2243,69 @@
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#endif
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#endif
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#if AXIS_IS_TMC(U)
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#if defined(U_STALL_SENSITIVITY) && AXIS_HAS_STALLGUARD(U)
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#define U_SENSORLESS 1
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#endif
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#if AXIS_HAS_STEALTHCHOP(U)
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#define U_HAS_STEALTHCHOP 1
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#endif
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#if ENABLED(SPI_ENDSTOPS)
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#define U_SPI_SENSORLESS U_SENSORLESS
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#endif
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#ifndef U_INTERPOLATE
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#define U_INTERPOLATE INTERPOLATE
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#endif
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#ifndef U_HOLD_MULTIPLIER
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#define U_HOLD_MULTIPLIER HOLD_MULTIPLIER
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#endif
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#ifndef U_SLAVE_ADDRESS
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#define U_SLAVE_ADDRESS 0
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#endif
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#endif
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#if AXIS_IS_TMC(V)
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#if defined(V_STALL_SENSITIVITY) && AXIS_HAS_STALLGUARD(V)
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#define V_SENSORLESS 1
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#endif
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#if AXIS_HAS_STEALTHCHOP(V)
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#define V_HAS_STEALTHCHOP 1
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#endif
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#if ENABLED(SPI_ENDSTOPS)
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#define V_SPI_SENSORLESS V_SENSORLESS
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#endif
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#ifndef V_INTERPOLATE
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#define V_INTERPOLATE INTERPOLATE
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#endif
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#ifndef V_HOLD_MULTIPLIER
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#define V_HOLD_MULTIPLIER HOLD_MULTIPLIER
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#endif
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#ifndef V_SLAVE_ADDRESS
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#define V_SLAVE_ADDRESS 0
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#endif
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#endif
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#if AXIS_IS_TMC(W)
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#if defined(W_STALL_SENSITIVITY) && AXIS_HAS_STALLGUARD(W)
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#define W_SENSORLESS 1
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#endif
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#if AXIS_HAS_STEALTHCHOP(W)
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#define W_HAS_STEALTHCHOP 1
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#endif
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#if ENABLED(SPI_ENDSTOPS)
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#define W_SPI_SENSORLESS W_SENSORLESS
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#endif
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#ifndef W_INTERPOLATE
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#define W_INTERPOLATE INTERPOLATE
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#endif
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#ifndef W_HOLD_MULTIPLIER
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#define W_HOLD_MULTIPLIER HOLD_MULTIPLIER
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#endif
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#ifndef W_SLAVE_ADDRESS
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#define W_SLAVE_ADDRESS 0
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#endif
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#endif
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#if AXIS_IS_TMC(E0)
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#if AXIS_HAS_STEALTHCHOP(E0)
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#define E0_HAS_STEALTHCHOP 1
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@@ -2215,6 +2447,7 @@
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#define ANY_SERIAL_IS(N) ( CONF_SERIAL_IS(N) \
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|| TMC_UART_IS(X, N) || TMC_UART_IS(Y , N) || TMC_UART_IS(Z , N) \
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|| TMC_UART_IS(I, N) || TMC_UART_IS(J , N) || TMC_UART_IS(K , N) \
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|| TMC_UART_IS(U, N) || TMC_UART_IS(V , N) || TMC_UART_IS(W , N) \
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|| TMC_UART_IS(X2, N) || TMC_UART_IS(Y2, N) || TMC_UART_IS(Z2, N) || TMC_UART_IS(Z3, N) || TMC_UART_IS(Z4, N) \
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|| TMC_UART_IS(E0, N) || TMC_UART_IS(E1, N) || TMC_UART_IS(E2, N) || TMC_UART_IS(E3, N) || TMC_UART_IS(E4, N) )
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@@ -2349,6 +2582,24 @@
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#if _HAS_STOP(K,MAX)
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#define HAS_K_MAX 1
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#endif
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#if _HAS_STOP(U,MIN)
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#define HAS_U_MIN 1
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#endif
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#if _HAS_STOP(U,MAX)
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#define HAS_U_MAX 1
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#endif
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#if _HAS_STOP(V,MIN)
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#define HAS_V_MIN 1
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#endif
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#if _HAS_STOP(V,MAX)
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#define HAS_V_MAX 1
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#endif
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#if _HAS_STOP(W,MIN)
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#define HAS_W_MIN 1
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#endif
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#if _HAS_STOP(W,MAX)
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#define HAS_W_MAX 1
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#endif
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#if PIN_EXISTS(X2_MIN)
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#define HAS_X2_MIN 1
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#endif
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@@ -2849,7 +3100,7 @@
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#if HAS_EXTRUDERS && PIN_EXISTS(MOTOR_CURRENT_PWM_E)
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#define HAS_MOTOR_CURRENT_PWM_E 1
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#endif
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#if HAS_MOTOR_CURRENT_PWM_E || ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_Z, MOTOR_CURRENT_PWM_I, MOTOR_CURRENT_PWM_J, MOTOR_CURRENT_PWM_K)
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#if HAS_MOTOR_CURRENT_PWM_E || ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_Z, MOTOR_CURRENT_PWM_I, MOTOR_CURRENT_PWM_J, MOTOR_CURRENT_PWM_K, MOTOR_CURRENT_PWM_U, MOTOR_CURRENT_PWM_V, MOTOR_CURRENT_PWM_W)
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#define HAS_MOTOR_CURRENT_PWM 1
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#endif
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@@ -2859,7 +3110,7 @@
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#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)
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#define HAS_SOME_E_MS_PINS 1
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#endif
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#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)
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#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_U_MS_PINS, HAS_V_MS_PINS, HAS_W_MS_PINS, HAS_SOME_E_MS_PINS)
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#define HAS_MICROSTEPS 1
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#endif
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