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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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43
Marlin/src/gcode/calibrate/G34_M422.cpp
View File

@ -52,20 +52,22 @@ constexpr xy_pos_t test_z_stepper_align_xy[] = Z_STEPPER_ALIGN_XY;
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
static_assert(COUNT(test_z_stepper_align_xy) >= Z_STEPPER_COUNT,
static_assert(COUNT(test_z_stepper_align_xy) >= NUM_Z_STEPPER_DRIVERS,
"Z_STEPPER_ALIGN_XY requires at least three {X,Y} entries (Z, Z2, Z3, ...)."
);
constexpr float test_z_stepper_align_stepper_xy[][XY] = Z_STEPPER_ALIGN_STEPPER_XY;
static_assert(
COUNT(test_z_stepper_align_stepper_xy) == Z_STEPPER_COUNT,
COUNT(test_z_stepper_align_stepper_xy) == NUM_Z_STEPPER_DRIVERS,
"Z_STEPPER_ALIGN_STEPPER_XY requires three {X,Y} entries (one per Z stepper)."
);
#else
static_assert(COUNT(test_z_stepper_align_xy) == Z_STEPPER_COUNT,
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
static_assert(COUNT(test_z_stepper_align_xy) == NUM_Z_STEPPER_DRIVERS,
#if NUM_Z_STEPPER_DRIVERS == 4
"Z_STEPPER_ALIGN_XY requires four {X,Y} entries (Z, Z2, Z3, and Z4)."
#elif NUM_Z_STEPPER_DRIVERS == 3
"Z_STEPPER_ALIGN_XY requires three {X,Y} entries (Z, Z2, and Z3)."
#else
"Z_STEPPER_ALIGN_XY requires two {X,Y} entries (Z and Z2)."
@ -85,10 +87,13 @@ static_assert(LTEST(0) && RTEST(0), "The 1st Z_STEPPER_ALIGN_XY X is unreachable
static_assert(FTEST(0) && BTEST(0), "The 1st Z_STEPPER_ALIGN_XY Y is unreachable with the default probe Y offset.");
static_assert(LTEST(1) && RTEST(1), "The 2nd Z_STEPPER_ALIGN_XY X is unreachable with the default probe X offset.");
static_assert(FTEST(1) && BTEST(1), "The 2nd Z_STEPPER_ALIGN_XY Y is unreachable with the default probe Y offset.");
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
#if NUM_Z_STEPPER_DRIVERS >= 3
static_assert(LTEST(2) && RTEST(2), "The 3rd Z_STEPPER_ALIGN_XY X is unreachable with the default probe X offset.");
static_assert(FTEST(2) && BTEST(2), "The 3rd Z_STEPPER_ALIGN_XY Y is unreachable with the default probe Y offset.");
#if NUM_Z_STEPPER_DRIVERS >= 4
static_assert(LTEST(3) && RTEST(3), "The 4th Z_STEPPER_ALIGN_XY X is unreachable with the default probe X offset.");
static_assert(FTEST(3) && BTEST(3), "The 4th Z_STEPPER_ALIGN_XY Y is unreachable with the default probe Y offset.");
#endif
#endif
//
@ -105,8 +110,11 @@ static xy_pos_t z_stepper_align_pos[] = Z_STEPPER_ALIGN_XY;
inline void set_all_z_lock(const bool lock) {
stepper.set_z_lock(lock);
stepper.set_z2_lock(lock);
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
#if NUM_Z_STEPPER_DRIVERS >= 3
stepper.set_z3_lock(lock);
#if NUM_Z_STEPPER_DRIVERS >= 4
stepper.set_z4_lock(lock);
#endif
#endif
}
@ -125,6 +133,11 @@ void GcodeSuite::G34() {
do { // break out on error
#if NUM_Z_STEPPER_DRIVERS == 4
SERIAL_ECHOLNPGM("Quad Z Stepper Leveling not Yet Supported");
break;
#endif
const int8_t z_auto_align_iterations = parser.intval('I', Z_STEPPER_ALIGN_ITERATIONS);
if (!WITHIN(z_auto_align_iterations, 1, 30)) {
SERIAL_ECHOLNPGM("?(I)teration out of bounds (1-30).");
@ -187,7 +200,7 @@ void GcodeSuite::G34() {
// Compute a worst-case clearance height to probe from. After the first
// iteration this will be re-calculated based on the actual bed position
float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * (
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
#if NUM_Z_STEPPER_DRIVERS == 3
SQRT(_MAX(HYPOT2(z_stepper_align_pos[0].x - z_stepper_align_pos[0].y, z_stepper_align_pos[1].x - z_stepper_align_pos[1].y),
HYPOT2(z_stepper_align_pos[1].x - z_stepper_align_pos[1].y, z_stepper_align_pos[2].x - z_stepper_align_pos[2].y),
HYPOT2(z_stepper_align_pos[2].x - z_stepper_align_pos[2].y, z_stepper_align_pos[0].x - z_stepper_align_pos[0].y)))
@ -202,7 +215,7 @@ void GcodeSuite::G34() {
// Move the Z coordinate realm towards the positive - dirty trick
current_position.z -= z_probe * 0.5f;
float last_z_align_move[Z_STEPPER_COUNT] = ARRAY_N(Z_STEPPER_COUNT, 10000.0f, 10000.0f, 10000.0f),
float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N(NUM_Z_STEPPER_DRIVERS, 10000.0f, 10000.0f, 10000.0f),
z_measured[G34_PROBE_COUNT] = { 0 },
z_maxdiff = 0.0f,
amplification = z_auto_align_amplification;
@ -273,7 +286,7 @@ void GcodeSuite::G34() {
finish_incremental_LSF(&lfd);
z_measured_min = 100000.0f;
for (uint8_t i = 0; i < Z_STEPPER_COUNT; ++i) {
for (uint8_t i = 0; i < NUM_Z_STEPPER_DRIVERS; ++i) {
z_measured[i] = -(lfd.A * z_stepper_align_stepper_pos[i].x + lfd.B * z_stepper_align_stepper_pos[i].y);
z_measured_min = _MIN(z_measured_min, z_measured[i]);
}
@ -283,7 +296,7 @@ void GcodeSuite::G34() {
SERIAL_ECHOLNPAIR("\n"
"DIFFERENCE Z1-Z2=", ABS(z_measured[0] - z_measured[1])
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
#if NUM_Z_STEPPER_DRIVERS == 3
, " Z2-Z3=", ABS(z_measured[1] - z_measured[2])
, " Z3-Z1=", ABS(z_measured[2] - z_measured[0])
#endif
@ -294,7 +307,7 @@ void GcodeSuite::G34() {
bool success_break = true;
// Correct the individual stepper offsets
for (uint8_t zstepper = 0; zstepper < Z_STEPPER_COUNT; ++zstepper) {
for (uint8_t zstepper = 0; zstepper < NUM_Z_STEPPER_DRIVERS; ++zstepper) {
// Calculate current stepper move
const float z_align_move = z_measured[zstepper] - z_measured_min,
z_align_abs = ABS(z_align_move);
@ -324,7 +337,7 @@ void GcodeSuite::G34() {
switch (zstepper) {
case 0: stepper.set_z_lock(false); break;
case 1: stepper.set_z2_lock(false); break;
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
#if NUM_Z_STEPPER_DRIVERS == 3
case 2: stepper.set_z3_lock(false); break;
#endif
}
@ -397,7 +410,7 @@ void GcodeSuite::M422() {
for (uint8_t i = 0; i < G34_PROBE_COUNT; ++i)
SERIAL_ECHOLNPAIR_P(PSTR("M422 S"), i + 1, SP_X_STR, z_stepper_align_pos[i].x, SP_Y_STR, z_stepper_align_pos[i].y);
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
for (uint8_t i = 0; i < Z_STEPPER_COUNT; ++i)
for (uint8_t i = 0; i < NUM_Z_STEPPER_DRIVERS; ++i)
SERIAL_ECHOLNPAIR_P(PSTR("M422 W"), i + 1, SP_X_STR, z_stepper_align_stepper_pos[i].x, SP_Y_STR, z_stepper_align_stepper_pos[i].y);
#endif
return;
@ -446,7 +459,7 @@ void GcodeSuite::M422() {
else {
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
position_index = parser.intval('W') - 1;
if (!WITHIN(position_index, 0, Z_STEPPER_COUNT - 1)) {
if (!WITHIN(position_index, 0, NUM_Z_STEPPER_DRIVERS - 1)) {
SERIAL_ECHOLNPGM("?(W) Z-Stepper index invalid.");
return;
}

35
Marlin/src/gcode/calibrate/M666.cpp
View File

@ -57,10 +57,11 @@
* M666: Set Dual Endstops offsets for X, Y, and/or Z.
* With no parameters report current offsets.
*
* For Triple Z Endstops:
* For Triple / Quad Z Endstops:
* Set Z2 Only: M666 S2 Z<offset>
* Set Z3 Only: M666 S3 Z<offset>
* Set Both: M666 Z<offset>
* Set Z4 Only: M666 S4 Z<offset>
* Set All: M666 Z<offset>
*/
void GcodeSuite::M666() {
#if ENABLED(X_DUAL_ENDSTOPS)
@ -69,15 +70,20 @@
#if ENABLED(Y_DUAL_ENDSTOPS)
if (parser.seenval('Y')) endstops.y2_endstop_adj = parser.value_linear_units();
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
#if ENABLED(Z_MULTI_ENDSTOPS)
if (parser.seenval('Z')) {
const float z_adj = parser.value_linear_units();
const int ind = parser.intval('S');
if (!ind || ind == 2) endstops.z2_endstop_adj = z_adj;
if (!ind || ind == 3) endstops.z3_endstop_adj = z_adj;
#if NUM_Z_STEPPER_DRIVERS >= 3
const float z_adj = parser.value_linear_units();
const int ind = parser.intval('S');
if (!ind || ind == 2) endstops.z2_endstop_adj = z_adj;
if (!ind || ind == 3) endstops.z3_endstop_adj = z_adj;
#if NUM_Z_STEPPER_DRIVERS >= 4
if (!ind || ind == 4) endstops.z4_endstop_adj = z_adj;
#endif
#else
endstops.z2_endstop_adj = parser.value_linear_units();
#endif
}
#elif Z_MULTI_ENDSTOPS
if (parser.seen('Z')) endstops.z2_endstop_adj = parser.value_linear_units();
#endif
if (!parser.seen("XYZ")) {
SERIAL_ECHOPGM("Dual Endstop Adjustment (mm): ");
@ -87,11 +93,14 @@
#if ENABLED(Y_DUAL_ENDSTOPS)
SERIAL_ECHOPAIR(" Y2:", endstops.y2_endstop_adj);
#endif
#if Z_MULTI_ENDSTOPS
#if ENABLED(Z_MULTI_ENDSTOPS)
SERIAL_ECHOPAIR(" Z2:", endstops.z2_endstop_adj);
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
SERIAL_ECHOPAIR(" Z3:", endstops.z3_endstop_adj);
#if NUM_Z_STEPPER_DRIVERS >= 3
SERIAL_ECHOPAIR(" Z3:", endstops.z3_endstop_adj);
#if NUM_Z_STEPPER_DRIVERS >= 4
SERIAL_ECHOPAIR(" Z4:", endstops.z4_endstop_adj);
#endif
#endif
#endif
SERIAL_EOL();
}