bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Quad Z stepper support (#16277)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

113
Marlin/src/module/stepper.cpp
View File

@ -156,11 +156,16 @@ bool Stepper::abort_current_block;
#if ENABLED(Y_DUAL_ENDSTOPS)
bool Stepper::locked_Y_motor = false, Stepper::locked_Y2_motor = false;
#endif
#if Z_MULTI_ENDSTOPS || ENABLED(Z_STEPPER_AUTO_ALIGN)
bool Stepper::locked_Z_motor = false, Stepper::locked_Z2_motor = false;
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS) || BOTH(Z_STEPPER_AUTO_ALIGN, Z_TRIPLE_STEPPER_DRIVERS)
bool Stepper::locked_Z3_motor = false;
#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
, Stepper::locked_Z3_motor = false
#if NUM_Z_STEPPER_DRIVERS >= 4
, Stepper::locked_Z4_motor = false
#endif
#endif
;
#endif
uint32_t Stepper::acceleration_time, Stepper::deceleration_time;
@ -281,6 +286,42 @@ xyze_int8_t Stepper::count_direction{0};
A##3_STEP_WRITE(V); \
}
#define QUAD_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (A##_HOME_DIR < 0) { \
if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##3_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##3_motor) A##3_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##4_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##4_motor) A##4_STEP_WRITE(V); \
} \
else { \
if (!(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##3_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##3_motor) A##3_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##4_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##4_motor) A##4_STEP_WRITE(V); \
} \
} \
else { \
A##_STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
A##3_STEP_WRITE(V); \
A##4_STEP_WRITE(V); \
}
#define QUAD_SEPARATE_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (!locked_##A##_motor) A##_STEP_WRITE(V); \
if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \
if (!locked_##A##3_motor) A##3_STEP_WRITE(V); \
if (!locked_##A##4_motor) A##4_STEP_WRITE(V); \
} \
else { \
A##_STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
A##3_STEP_WRITE(V); \
A##4_STEP_WRITE(V); \
}
#if ENABLED(X_DUAL_STEPPER_DRIVERS)
#define X_APPLY_DIR(v,Q) do{ X_DIR_WRITE(v); X2_DIR_WRITE((v) != INVERT_X2_VS_X_DIR); }while(0)
#if ENABLED(X_DUAL_ENDSTOPS)
@ -314,18 +355,27 @@ xyze_int8_t Stepper::count_direction{0};
#define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v)
#endif
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
#if NUM_Z_STEPPER_DRIVERS == 4
#define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE(v); Z3_DIR_WRITE(v); Z4_DIR_WRITE(v); }while(0)
#if ENABLED(Z_MULTI_ENDSTOPS)
#define Z_APPLY_STEP(v,Q) QUAD_ENDSTOP_APPLY_STEP(Z,v)
#elif ENABLED(Z_STEPPER_AUTO_ALIGN)
#define Z_APPLY_STEP(v,Q) QUAD_SEPARATE_APPLY_STEP(Z,v)
#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
#define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE(v); Z3_DIR_WRITE(v); }while(0)
#if ENABLED(Z_TRIPLE_ENDSTOPS)
#if ENABLED(Z_MULTI_ENDSTOPS)
#define Z_APPLY_STEP(v,Q) TRIPLE_ENDSTOP_APPLY_STEP(Z,v)
#elif ENABLED(Z_STEPPER_AUTO_ALIGN)
#define Z_APPLY_STEP(v,Q) TRIPLE_SEPARATE_APPLY_STEP(Z,v)
#else
#define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); Z3_STEP_WRITE(v); }while(0)
#endif
#elif ENABLED(Z_DUAL_STEPPER_DRIVERS)
#elif NUM_Z_STEPPER_DRIVERS == 2
#define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE(v); }while(0)
#if ENABLED(Z_DUAL_ENDSTOPS)
#if ENABLED(Z_MULTI_ENDSTOPS)
#define Z_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Z,v)
#elif ENABLED(Z_STEPPER_AUTO_ALIGN)
#define Z_APPLY_STEP(v,Q) DUAL_SEPARATE_APPLY_STEP(Z,v)
@ -2062,12 +2112,15 @@ void Stepper::init() {
#endif
#if HAS_Z_DIR
Z_DIR_INIT();
#if Z_MULTI_STEPPER_DRIVERS && HAS_Z2_DIR
#if NUM_Z_STEPPER_DRIVERS >= 2 && HAS_Z2_DIR
Z2_DIR_INIT();
#endif
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS) && HAS_Z3_DIR
#if NUM_Z_STEPPER_DRIVERS >= 3 && HAS_Z3_DIR
Z3_DIR_INIT();
#endif
#if NUM_Z_STEPPER_DRIVERS >= 4 && HAS_Z4_DIR
Z4_DIR_INIT();
#endif
#endif
#if HAS_E0_DIR
E0_DIR_INIT();
@ -2108,14 +2161,18 @@ void Stepper::init() {
#if HAS_Z_ENABLE
Z_ENABLE_INIT();
if (!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH);
#if Z_MULTI_STEPPER_DRIVERS && HAS_Z2_ENABLE
#if NUM_Z_STEPPER_DRIVERS >= 2 && HAS_Z2_ENABLE
Z2_ENABLE_INIT();
if (!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH);
#endif
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS) && HAS_Z3_ENABLE
#if NUM_Z_STEPPER_DRIVERS >= 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
Z4_ENABLE_INIT();
if (!Z_ENABLE_ON) Z4_ENABLE_WRITE(HIGH);
#endif
#endif
#if HAS_E0_ENABLE
E0_ENABLE_INIT();
@ -2171,14 +2228,18 @@ void Stepper::init() {
#endif
#if HAS_Z_STEP
#if Z_MULTI_STEPPER_DRIVERS
#if NUM_Z_STEPPER_DRIVERS >= 2
Z2_STEP_INIT();
Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
#if NUM_Z_STEPPER_DRIVERS >= 3
Z3_STEP_INIT();
Z3_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif
#if NUM_Z_STEPPER_DRIVERS >= 4
Z4_STEP_INIT();
Z4_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif
AXIS_INIT(Z, Z);
#endif
@ -2692,6 +2753,13 @@ void Stepper::report_positions() {
SET_OUTPUT(Z3_MS3_PIN);
#endif
#endif
#if HAS_Z4_MICROSTEPS
SET_OUTPUT(Z4_MS1_PIN);
SET_OUTPUT(Z4_MS2_PIN);
#if PIN_EXISTS(Z4_MS3)
SET_OUTPUT(Z4_MS3_PIN);
#endif
#endif
#if HAS_E0_MICROSTEPS
SET_OUTPUT(E0_MS1_PIN);
SET_OUTPUT(E0_MS2_PIN);
@ -2762,7 +2830,7 @@ void Stepper::report_positions() {
#endif
break;
#endif
#if HAS_Z_MICROSTEPS || HAS_Z2_MICROSTEPS || HAS_Z3_MICROSTEPS
#if HAS_SOME_Z_MICROSTEPS
case 2:
#if HAS_Z_MICROSTEPS
WRITE(Z_MS1_PIN, ms1);
@ -2773,6 +2841,9 @@ void Stepper::report_positions() {
#if HAS_Z3_MICROSTEPS
WRITE(Z3_MS1_PIN, ms1);
#endif
#if HAS_Z4_MICROSTEPS
WRITE(Z4_MS1_PIN, ms1);
#endif
break;
#endif
#if HAS_E0_MICROSTEPS
@ -2815,7 +2886,7 @@ void Stepper::report_positions() {
#endif
break;
#endif
#if HAS_Z_MICROSTEPS || HAS_Z2_MICROSTEPS || HAS_Z3_MICROSTEPS
#if HAS_SOME_Z_MICROSTEPS
case 2:
#if HAS_Z_MICROSTEPS
WRITE(Z_MS2_PIN, ms2);
@ -2826,6 +2897,9 @@ void Stepper::report_positions() {
#if HAS_Z3_MICROSTEPS
WRITE(Z3_MS2_PIN, ms2);
#endif
#if HAS_Z4_MICROSTEPS
WRITE(Z4_MS2_PIN, ms2);
#endif
break;
#endif
#if HAS_E0_MICROSTEPS
@ -2868,7 +2942,7 @@ void Stepper::report_positions() {
#endif
break;
#endif
#if HAS_Z_MICROSTEPS || HAS_Z2_MICROSTEPS || HAS_Z3_MICROSTEPS
#if HAS_SOME_Z_MICROSTEPS
case 2:
#if HAS_Z_MICROSTEPS && PIN_EXISTS(Z_MS3)
WRITE(Z_MS3_PIN, ms3);
@ -2879,6 +2953,9 @@ void Stepper::report_positions() {
#if HAS_Z3_MICROSTEPS && PIN_EXISTS(Z3_MS3)
WRITE(Z3_MS3_PIN, ms3);
#endif
#if HAS_Z4_MICROSTEPS && PIN_EXISTS(Z4_MS3)
WRITE(Z4_MS3_PIN, ms3);
#endif
break;
#endif
#if HAS_E0_MICROSTEPS && PIN_EXISTS(E0_MS3)