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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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26
Marlin/src/module/motion.cpp
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@ -1634,7 +1634,7 @@ void prepare_line_to_destination() {
phasePerUStep = PHASE_PER_MICROSTEP(X);
phaseCurrent = stepperX.get_microstep_counter();
effectorBackoutDir = -X_HOME_DIR;
stepperBackoutDir = INVERT_X_DIR ? effectorBackoutDir : -effectorBackoutDir;
stepperBackoutDir = IF_DISABLED(INVERT_X_DIR, -)effectorBackoutDir;
break;
#endif
#ifdef Y_MICROSTEPS
@ -1642,7 +1642,7 @@ void prepare_line_to_destination() {
phasePerUStep = PHASE_PER_MICROSTEP(Y);
phaseCurrent = stepperY.get_microstep_counter();
effectorBackoutDir = -Y_HOME_DIR;
stepperBackoutDir = INVERT_Y_DIR ? effectorBackoutDir : -effectorBackoutDir;
stepperBackoutDir = IF_DISABLED(INVERT_Y_DIR, -)effectorBackoutDir;
break;
#endif
#ifdef Z_MICROSTEPS
@ -1650,7 +1650,7 @@ void prepare_line_to_destination() {
phasePerUStep = PHASE_PER_MICROSTEP(Z);
phaseCurrent = stepperZ.get_microstep_counter();
effectorBackoutDir = -Z_HOME_DIR;
stepperBackoutDir = INVERT_Z_DIR ? effectorBackoutDir : -effectorBackoutDir;
stepperBackoutDir = IF_DISABLED(INVERT_Z_DIR, -)effectorBackoutDir;
break;
#endif
#ifdef I_MICROSTEPS
@ -1658,7 +1658,7 @@ void prepare_line_to_destination() {
phasePerUStep = PHASE_PER_MICROSTEP(I);
phaseCurrent = stepperI.get_microstep_counter();
effectorBackoutDir = -I_HOME_DIR;
stepperBackoutDir = INVERT_I_DIR ? effectorBackoutDir : -effectorBackoutDir;
stepperBackoutDir = IF_DISABLED(INVERT_I_DIR, -)effectorBackoutDir;
break;
#endif
#ifdef J_MICROSTEPS
@ -1666,7 +1666,7 @@ void prepare_line_to_destination() {
phasePerUStep = PHASE_PER_MICROSTEP(J);
phaseCurrent = stepperJ.get_microstep_counter();
effectorBackoutDir = -J_HOME_DIR;
stepperBackoutDir = INVERT_J_DIR ? effectorBackoutDir : -effectorBackoutDir;
stepperBackoutDir = IF_DISABLED(INVERT_J_DIR, -)effectorBackoutDir;
break;
#endif
#ifdef K_MICROSTEPS
@ -1674,7 +1674,7 @@ void prepare_line_to_destination() {
phasePerUStep = PHASE_PER_MICROSTEP(K);
phaseCurrent = stepperK.get_microstep_counter();
effectorBackoutDir = -K_HOME_DIR;
stepperBackoutDir = INVERT_K_DIR ? effectorBackoutDir : -effectorBackoutDir;
stepperBackoutDir = IF_DISABLED(INVERT_K_DIR, -)effectorBackoutDir;
break;
#endif
default: return;
@ -1882,7 +1882,7 @@ 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) {
@ -1900,13 +1900,13 @@ 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
};
@ -1925,7 +1925,7 @@ 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];
@ -1950,14 +1950,14 @@ 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
@ -1970,7 +1970,7 @@ 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