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💥 Num Axes / Multi-Stepper based on Driver Types (#24106, #24120)

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This commit is contained in:
Scott Lahteine
2022-04-29 15:21:15 -05:00
parent 1e127a93c4
commit 1d8d8dccf4
36 changed files with 571 additions and 507 deletions
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2
Marlin/src/gcode/calibrate/G34.cpp
View File

@ -91,7 +91,7 @@ void GcodeSuite::G34() {
digipot_i2c.set_current(Z_AXIS, target_current)
#elif HAS_TRINAMIC_CONFIG
const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
static uint16_t previous_current_arr[NUM_Z_STEPPER_DRIVERS];
static uint16_t previous_current_arr[NUM_Z_STEPPERS];
#if AXIS_IS_TMC(Z)
previous_current_arr[0] = stepperZ.getMilliamps();
stepperZ.rms_current(target_current);

36
Marlin/src/gcode/calibrate/G34_M422.cpp
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@ -52,9 +52,9 @@
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h"
#if NUM_Z_STEPPER_DRIVERS >= 3
#if NUM_Z_STEPPERS >= 3
#define TRIPLE_Z 1
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
#define QUAD_Z 1
#endif
#endif
@ -180,11 +180,11 @@ void GcodeSuite::G34() {
// This hack is un-done at the end of G34 - either by re-homing, or by using the probed heights of the last iteration.
#if !HAS_Z_STEPPER_ALIGN_STEPPER_XY
float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N_1(NUM_Z_STEPPER_DRIVERS, 10000.0f);
float last_z_align_move[NUM_Z_STEPPERS] = ARRAY_N_1(NUM_Z_STEPPERS, 10000.0f);
#else
float last_z_align_level_indicator = 10000.0f;
#endif
float z_measured[NUM_Z_STEPPER_DRIVERS] = { 0 },
float z_measured[NUM_Z_STEPPERS] = { 0 },
z_maxdiff = 0.0f,
amplification = z_auto_align_amplification;
@ -217,9 +217,9 @@ void GcodeSuite::G34() {
float z_measured_max = -100000.0f;
// Probe all positions (one per Z-Stepper)
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
LOOP_L_N(i, NUM_Z_STEPPERS) {
// iteration odd/even --> downward / upward stepper sequence
const uint8_t iprobe = (iteration & 1) ? NUM_Z_STEPPER_DRIVERS - 1 - i : i;
const uint8_t iprobe = (iteration & 1) ? NUM_Z_STEPPERS - 1 - i : i;
// Safe clearance even on an incline
if ((iteration == 0 || i > 0) && z_probe > current_position.z) do_blocking_move_to_z(z_probe);
@ -270,20 +270,20 @@ void GcodeSuite::G34() {
// This allows the actual adjustment logic to be shared by both algorithms.
linear_fit_data lfd;
incremental_LSF_reset(&lfd);
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
LOOP_L_N(i, NUM_Z_STEPPERS) {
SERIAL_ECHOLNPGM("PROBEPT_", i, ": ", z_measured[i]);
incremental_LSF(&lfd, z_stepper_align.xy[i], z_measured[i]);
}
finish_incremental_LSF(&lfd);
z_measured_min = 100000.0f;
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
LOOP_L_N(i, NUM_Z_STEPPERS) {
z_measured[i] = -(lfd.A * z_stepper_align.stepper_xy[i].x + lfd.B * z_stepper_align.stepper_xy[i].y + lfd.D);
z_measured_min = _MIN(z_measured_min, z_measured[i]);
}
SERIAL_ECHOLNPGM(
LIST_N(DOUBLE(NUM_Z_STEPPER_DRIVERS),
LIST_N(DOUBLE(NUM_Z_STEPPERS),
"Calculated Z1=", z_measured[0],
" Z2=", z_measured[1],
" Z3=", z_measured[2],
@ -307,7 +307,7 @@ void GcodeSuite::G34() {
#if HAS_STATUS_MESSAGE
char fstr1[10];
char msg[6 + (6 + 5) * NUM_Z_STEPPER_DRIVERS + 1]
char msg[6 + (6 + 5) * NUM_Z_STEPPERS + 1]
#if TRIPLE_Z
, fstr2[10], fstr3[10]
#if QUAD_Z
@ -345,12 +345,12 @@ void GcodeSuite::G34() {
// Calculate mean value as a reference
float z_measured_mean = 0.0f;
LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) z_measured_mean += z_measured[zstepper];
z_measured_mean /= NUM_Z_STEPPER_DRIVERS;
LOOP_L_N(zstepper, NUM_Z_STEPPERS) z_measured_mean += z_measured[zstepper];
z_measured_mean /= NUM_Z_STEPPERS;
// Calculate the sum of the absolute deviations from the mean value
float z_align_level_indicator = 0.0f;
LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS)
LOOP_L_N(zstepper, NUM_Z_STEPPERS)
z_align_level_indicator += ABS(z_measured[zstepper] - z_measured_mean);
// If it's getting worse, stop and throw an error
@ -365,7 +365,7 @@ void GcodeSuite::G34() {
bool success_break = true;
// Correct the individual stepper offsets
LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) {
LOOP_L_N(zstepper, NUM_Z_STEPPERS) {
// Calculate current stepper move
float z_align_move = z_measured[zstepper] - z_measured_min;
const float z_align_abs = ABS(z_align_move);
@ -515,9 +515,9 @@ void GcodeSuite::M422() {
#endif
}
if (!WITHIN(position_index, 1, NUM_Z_STEPPER_DRIVERS)) {
if (!WITHIN(position_index, 1, NUM_Z_STEPPERS)) {
SERIAL_ECHOF(err_string);
SERIAL_ECHOLNPGM(" index invalid (1.." STRINGIFY(NUM_Z_STEPPER_DRIVERS) ").");
SERIAL_ECHOLNPGM(" index invalid (1.." STRINGIFY(NUM_Z_STEPPERS) ").");
return;
}
@ -544,7 +544,7 @@ void GcodeSuite::M422() {
void GcodeSuite::M422_report(const bool forReplay/*=true*/) {
report_heading(forReplay, F(STR_Z_AUTO_ALIGN));
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
LOOP_L_N(i, NUM_Z_STEPPERS) {
report_echo_start(forReplay);
SERIAL_ECHOLNPGM_P(
PSTR(" M422 S"), i + 1,
@ -553,7 +553,7 @@ void GcodeSuite::M422_report(const bool forReplay/*=true*/) {
);
}
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) {
LOOP_L_N(i, NUM_Z_STEPPERS) {
report_echo_start(forReplay);
SERIAL_ECHOLNPGM_P(
PSTR(" M422 W"), i + 1,

8
Marlin/src/gcode/calibrate/M666.cpp
View File

@ -93,12 +93,12 @@
#if ENABLED(Z_MULTI_ENDSTOPS)
if (parser.seenval('Z')) {
const float z_adj = parser.value_linear_units();
#if NUM_Z_STEPPER_DRIVERS == 2
#if NUM_Z_STEPPERS == 2
endstops.z2_endstop_adj = z_adj;
#else
const int ind = parser.intval('S');
#define _SET_ZADJ(N) if (!ind || ind == N) endstops.z##N##_endstop_adj = z_adj;
REPEAT_S(2, INCREMENT(NUM_Z_STEPPER_DRIVERS), _SET_ZADJ)
REPEAT_S(2, INCREMENT(NUM_Z_STEPPERS), _SET_ZADJ)
#endif
}
#endif
@ -114,11 +114,11 @@
SERIAL_ECHOLNPGM_P(SP_Y_STR, LINEAR_UNIT(endstops.y2_endstop_adj));
#endif
#if ENABLED(Z_MULTI_ENDSTOPS)
#if NUM_Z_STEPPER_DRIVERS >= 3
#if NUM_Z_STEPPERS >= 3
SERIAL_ECHOPGM(" S2 Z", LINEAR_UNIT(endstops.z3_endstop_adj));
report_echo_start(forReplay);
SERIAL_ECHOPGM(" M666 S3 Z", LINEAR_UNIT(endstops.z3_endstop_adj));
#if NUM_Z_STEPPER_DRIVERS >= 4
#if NUM_Z_STEPPERS >= 4
report_echo_start(forReplay);
SERIAL_ECHOPGM(" M666 S4 Z", LINEAR_UNIT(endstops.z4_endstop_adj));
#endif