🎨 Various multi-axis patches (#22823)
This commit is contained in:
Scott Lahteine
committed by
Scott Lahteine
Scott Lahteine
parent
3deb54d0fd
commit
2c30b75268
@@ -794,18 +794,18 @@
|
||||
#define ENDSTOPPULLUPS
|
||||
#if DISABLED(ENDSTOPPULLUPS)
|
||||
// Disable ENDSTOPPULLUPS to set pullups individually
|
||||
//#define ENDSTOPPULLUP_XMAX
|
||||
//#define ENDSTOPPULLUP_YMAX
|
||||
//#define ENDSTOPPULLUP_ZMAX
|
||||
//#define ENDSTOPPULLUP_IMAX
|
||||
//#define ENDSTOPPULLUP_JMAX
|
||||
//#define ENDSTOPPULLUP_KMAX
|
||||
//#define ENDSTOPPULLUP_XMIN
|
||||
//#define ENDSTOPPULLUP_YMIN
|
||||
//#define ENDSTOPPULLUP_ZMIN
|
||||
//#define ENDSTOPPULLUP_IMIN
|
||||
//#define ENDSTOPPULLUP_JMIN
|
||||
//#define ENDSTOPPULLUP_KMIN
|
||||
//#define ENDSTOPPULLUP_XMAX
|
||||
//#define ENDSTOPPULLUP_YMAX
|
||||
//#define ENDSTOPPULLUP_ZMAX
|
||||
//#define ENDSTOPPULLUP_IMAX
|
||||
//#define ENDSTOPPULLUP_JMAX
|
||||
//#define ENDSTOPPULLUP_KMAX
|
||||
//#define ENDSTOPPULLUP_ZMIN_PROBE
|
||||
#endif
|
||||
|
||||
@@ -813,18 +813,18 @@
|
||||
//#define ENDSTOPPULLDOWNS
|
||||
#if DISABLED(ENDSTOPPULLDOWNS)
|
||||
// Disable ENDSTOPPULLDOWNS to set pulldowns individually
|
||||
//#define ENDSTOPPULLDOWN_XMAX
|
||||
//#define ENDSTOPPULLDOWN_YMAX
|
||||
//#define ENDSTOPPULLDOWN_ZMAX
|
||||
//#define ENDSTOPPULLDOWN_IMAX
|
||||
//#define ENDSTOPPULLDOWN_JMAX
|
||||
//#define ENDSTOPPULLDOWN_KMAX
|
||||
//#define ENDSTOPPULLDOWN_XMIN
|
||||
//#define ENDSTOPPULLDOWN_YMIN
|
||||
//#define ENDSTOPPULLDOWN_ZMIN
|
||||
//#define ENDSTOPPULLDOWN_IMIN
|
||||
//#define ENDSTOPPULLDOWN_JMIN
|
||||
//#define ENDSTOPPULLDOWN_KMIN
|
||||
//#define ENDSTOPPULLDOWN_XMAX
|
||||
//#define ENDSTOPPULLDOWN_YMAX
|
||||
//#define ENDSTOPPULLDOWN_ZMAX
|
||||
//#define ENDSTOPPULLDOWN_IMAX
|
||||
//#define ENDSTOPPULLDOWN_JMAX
|
||||
//#define ENDSTOPPULLDOWN_KMAX
|
||||
//#define ENDSTOPPULLDOWN_ZMIN_PROBE
|
||||
#endif
|
||||
|
||||
|
||||
@@ -162,12 +162,14 @@ void setup_endstop_interrupts() {
|
||||
#error "Z_MIN_PROBE_PIN has no EXTINT line available."
|
||||
#endif
|
||||
_ATTACH(Z_MIN_PROBE_PIN);
|
||||
#elif HAS_I_MAX
|
||||
#endif
|
||||
#if HAS_I_MAX
|
||||
#if !AVAILABLE_EILINE(I_MAX_PIN)
|
||||
#error "I_MAX_PIN has no EXTINT line available."
|
||||
#endif
|
||||
attachInterrupt(I_MAX_PIN, endstop_ISR, CHANGE);
|
||||
#elif HAS_I_MIN
|
||||
#endif
|
||||
#if HAS_I_MIN
|
||||
#if !AVAILABLE_EILINE(I_MIN_PIN)
|
||||
#error "I_MIN_PIN has no EXTINT line available."
|
||||
#endif
|
||||
@@ -178,7 +180,8 @@ void setup_endstop_interrupts() {
|
||||
#error "J_MAX_PIN has no EXTINT line available."
|
||||
#endif
|
||||
attachInterrupt(J_MAX_PIN, endstop_ISR, CHANGE);
|
||||
#elif HAS_J_MIN
|
||||
#endif
|
||||
#if HAS_J_MIN
|
||||
#if !AVAILABLE_EILINE(J_MIN_PIN)
|
||||
#error "J_MIN_PIN has no EXTINT line available."
|
||||
#endif
|
||||
@@ -189,7 +192,8 @@ void setup_endstop_interrupts() {
|
||||
#error "K_MAX_PIN has no EXTINT line available."
|
||||
#endif
|
||||
attachInterrupt(K_MAX_PIN, endstop_ISR, CHANGE);
|
||||
#elif HAS_K_MIN
|
||||
#endif
|
||||
#if HAS_K_MIN
|
||||
#if !AVAILABLE_EILINE(K_MIN_PIN)
|
||||
#error "K_MIN_PIN has no EXTINT line available."
|
||||
#endif
|
||||
|
||||
@@ -33,32 +33,32 @@
|
||||
|
||||
#define _AXIS(A) (A##_AXIS)
|
||||
|
||||
#define _XMIN_ 100
|
||||
#define _YMIN_ 200
|
||||
#define _ZMIN_ 300
|
||||
#define _IMIN_ 500
|
||||
#define _JMIN_ 600
|
||||
#define _KMIN_ 700
|
||||
#define _XMAX_ 101
|
||||
#define _YMAX_ 201
|
||||
#define _ZMAX_ 301
|
||||
#define _IMAX_ 501
|
||||
#define _JMAX_ 601
|
||||
#define _KMAX_ 701
|
||||
#define _XDIAG_ 102
|
||||
#define _YDIAG_ 202
|
||||
#define _ZDIAG_ 302
|
||||
#define _IDIAG_ 502
|
||||
#define _JDIAG_ 602
|
||||
#define _KDIAG_ 702
|
||||
#define _E0DIAG_ 400
|
||||
#define _E1DIAG_ 401
|
||||
#define _E2DIAG_ 402
|
||||
#define _E3DIAG_ 403
|
||||
#define _E4DIAG_ 404
|
||||
#define _E5DIAG_ 405
|
||||
#define _E6DIAG_ 406
|
||||
#define _E7DIAG_ 407
|
||||
#define _XMIN_ 0x11
|
||||
#define _YMIN_ 0x12
|
||||
#define _ZMIN_ 0x13
|
||||
#define _IMIN_ 0x14
|
||||
#define _JMIN_ 0x15
|
||||
#define _KMIN_ 0x16
|
||||
#define _XMAX_ 0x21
|
||||
#define _YMAX_ 0x22
|
||||
#define _ZMAX_ 0x23
|
||||
#define _IMAX_ 0x24
|
||||
#define _JMAX_ 0x25
|
||||
#define _KMAX_ 0x26
|
||||
#define _XDIAG_ 0x31
|
||||
#define _YDIAG_ 0x32
|
||||
#define _ZDIAG_ 0x33
|
||||
#define _IDIAG_ 0x34
|
||||
#define _JDIAG_ 0x35
|
||||
#define _KDIAG_ 0x36
|
||||
#define _E0DIAG_ 0xE0
|
||||
#define _E1DIAG_ 0xE1
|
||||
#define _E2DIAG_ 0xE2
|
||||
#define _E3DIAG_ 0xE3
|
||||
#define _E4DIAG_ 0xE4
|
||||
#define _E5DIAG_ 0xE5
|
||||
#define _E6DIAG_ 0xE6
|
||||
#define _E7DIAG_ 0xE7
|
||||
|
||||
#define _FORCE_INLINE_ __attribute__((__always_inline__)) __inline__
|
||||
#define FORCE_INLINE __attribute__((always_inline)) inline
|
||||
@@ -251,6 +251,8 @@
|
||||
memcpy(&a[0],&b[0],_MIN(sizeof(a),sizeof(b))); \
|
||||
}while(0)
|
||||
|
||||
#define CODE_11( A,B,C,D,E,F,G,H,I,J,K,...) A; B; C; D; E; F; G; H; I; J; K
|
||||
#define CODE_10( A,B,C,D,E,F,G,H,I,J,...) A; B; C; D; E; F; G; H; I; J
|
||||
#define CODE_9( A,B,C,D,E,F,G,H,I,...) A; B; C; D; E; F; G; H; I
|
||||
#define CODE_8( A,B,C,D,E,F,G,H,...) A; B; C; D; E; F; G; H
|
||||
#define CODE_7( A,B,C,D,E,F,G,...) A; B; C; D; E; F; G
|
||||
@@ -286,6 +288,10 @@
|
||||
#define GANG_N_1(N,K) _GANG_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K)
|
||||
|
||||
// Macros for initializing arrays
|
||||
#define LIST_20(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T
|
||||
#define LIST_19(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S
|
||||
#define LIST_18(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R
|
||||
#define LIST_17(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q
|
||||
#define LIST_16(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P
|
||||
#define LIST_15(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O
|
||||
#define LIST_14(A,B,C,D,E,F,G,H,I,J,K,L,M,N,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N
|
||||
@@ -502,6 +508,11 @@
|
||||
#define INC_13 14
|
||||
#define INC_14 15
|
||||
#define INC_15 16
|
||||
#define INC_16 17
|
||||
#define INC_17 18
|
||||
#define INC_18 19
|
||||
#define INC_19 20
|
||||
#define INC_20 21
|
||||
#define INCREMENT_(n) INC_##n
|
||||
#define INCREMENT(n) INCREMENT_(n)
|
||||
|
||||
|
||||
@@ -60,9 +60,9 @@ Backlash backlash;
|
||||
* spread over multiple segments, smoothing out artifacts even more.
|
||||
*/
|
||||
|
||||
void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const uint8_t dm, block_t * const block) {
|
||||
static uint8_t last_direction_bits;
|
||||
uint8_t changed_dir = last_direction_bits ^ dm;
|
||||
void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const axis_bits_t dm, block_t * const block) {
|
||||
static axis_bits_t last_direction_bits;
|
||||
axis_bits_t changed_dir = last_direction_bits ^ dm;
|
||||
// Ignore direction change unless steps are taken in that direction
|
||||
#if DISABLED(CORE_BACKLASH) || ENABLED(MARKFORGED_XY)
|
||||
if (!da) CBI(changed_dir, X_AXIS);
|
||||
|
||||
@@ -71,7 +71,7 @@ public:
|
||||
return has_measurement(X_AXIS) || has_measurement(Y_AXIS) || has_measurement(Z_AXIS);
|
||||
}
|
||||
|
||||
void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const uint8_t dm, block_t * const block);
|
||||
void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const axis_bits_t dm, block_t * const block);
|
||||
};
|
||||
|
||||
extern Backlash backlash;
|
||||
|
||||
@@ -206,7 +206,8 @@ void GcodeSuite::M906_report(const bool forReplay/*=true*/) {
|
||||
SERIAL_ECHOPGM(" M906");
|
||||
};
|
||||
|
||||
#if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z)
|
||||
#if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z) \
|
||||
|| AXIS_IS_TMC(I) || AXIS_IS_TMC(J) || AXIS_IS_TMC(K)
|
||||
say_M906(forReplay);
|
||||
#if AXIS_IS_TMC(X)
|
||||
SERIAL_ECHOPGM_P(SP_X_STR, stepperX.getMilliamps());
|
||||
@@ -217,6 +218,15 @@ void GcodeSuite::M906_report(const bool forReplay/*=true*/) {
|
||||
#if AXIS_IS_TMC(Z)
|
||||
SERIAL_ECHOPGM_P(SP_Z_STR, stepperZ.getMilliamps());
|
||||
#endif
|
||||
#if AXIS_IS_TMC(I)
|
||||
SERIAL_ECHOPGM_P(SP_I_STR, stepperI.getMilliamps());
|
||||
#endif
|
||||
#if AXIS_IS_TMC(J)
|
||||
SERIAL_ECHOPGM_P(SP_J_STR, stepperJ.getMilliamps());
|
||||
#endif
|
||||
#if AXIS_IS_TMC(K)
|
||||
SERIAL_ECHOPGM_P(SP_K_STR, stepperK.getMilliamps());
|
||||
#endif
|
||||
SERIAL_EOL();
|
||||
#endif
|
||||
|
||||
@@ -239,25 +249,11 @@ void GcodeSuite::M906_report(const bool forReplay/*=true*/) {
|
||||
say_M906(forReplay);
|
||||
SERIAL_ECHOLNPGM(" I2 Z", stepperZ3.getMilliamps());
|
||||
#endif
|
||||
|
||||
#if AXIS_IS_TMC(Z4)
|
||||
say_M906(forReplay);
|
||||
SERIAL_ECHOLNPGM(" I3 Z", stepperZ4.getMilliamps());
|
||||
#endif
|
||||
|
||||
#if AXIS_IS_TMC(I)
|
||||
say_M906(forReplay);
|
||||
SERIAL_ECHOLNPGM_P(SP_I_STR, stepperI.getMilliamps());
|
||||
#endif
|
||||
#if AXIS_IS_TMC(J)
|
||||
say_M906(forReplay);
|
||||
SERIAL_ECHOLNPGM_P(SP_J_STR, stepperJ.getMilliamps());
|
||||
#endif
|
||||
#if AXIS_IS_TMC(K)
|
||||
say_M906(forReplay);
|
||||
SERIAL_ECHOLNPGM_P(SP_K_STR, stepperK.getMilliamps());
|
||||
#endif
|
||||
|
||||
#if AXIS_IS_TMC(E0)
|
||||
say_M906(forReplay);
|
||||
SERIAL_ECHOLNPGM(" T0 E", stepperE0.getMilliamps());
|
||||
|
||||
@@ -74,7 +74,7 @@ millis_t GcodeSuite::previous_move_ms = 0,
|
||||
|
||||
// Relative motion mode for each logical axis
|
||||
static constexpr xyze_bool_t ar_init = AXIS_RELATIVE_MODES;
|
||||
uint8_t GcodeSuite::axis_relative = 0 LOGICAL_AXIS_GANG(
|
||||
axis_bits_t GcodeSuite::axis_relative = 0 LOGICAL_AXIS_GANG(
|
||||
| (ar_init.e << REL_E),
|
||||
| (ar_init.x << REL_X),
|
||||
| (ar_init.y << REL_Y),
|
||||
|
||||
@@ -327,7 +327,7 @@ extern const char G28_STR[];
|
||||
class GcodeSuite {
|
||||
public:
|
||||
|
||||
static uint8_t axis_relative;
|
||||
static axis_bits_t axis_relative;
|
||||
|
||||
static inline bool axis_is_relative(const AxisEnum a) {
|
||||
#if HAS_EXTRUDERS
|
||||
|
||||
@@ -260,8 +260,7 @@ void GCodeQueue::RingBuffer::ok_to_send() {
|
||||
while (NUMERIC_SIGNED(*p))
|
||||
SERIAL_CHAR(*p++);
|
||||
}
|
||||
SERIAL_ECHOPGM_P(SP_P_STR, planner.moves_free(),
|
||||
SP_B_STR, BUFSIZE - length);
|
||||
SERIAL_ECHOPGM_P(SP_P_STR, planner.moves_free(), SP_B_STR, BUFSIZE - length);
|
||||
#endif
|
||||
SERIAL_EOL();
|
||||
}
|
||||
|
||||
@@ -1922,21 +1922,15 @@
|
||||
#ifndef Z4_INTERPOLATE
|
||||
#define Z4_INTERPOLATE INTERPOLATE
|
||||
#endif
|
||||
#if LINEAR_AXES >= 4
|
||||
#ifndef I_INTERPOLATE
|
||||
#if LINEAR_AXES >= 4 && !defined(I_INTERPOLATE)
|
||||
#define I_INTERPOLATE INTERPOLATE
|
||||
#endif
|
||||
#endif
|
||||
#if LINEAR_AXES >= 5
|
||||
#ifndef J_INTERPOLATE
|
||||
#if LINEAR_AXES >= 5 && !defined(J_INTERPOLATE)
|
||||
#define J_INTERPOLATE INTERPOLATE
|
||||
#endif
|
||||
#endif
|
||||
#if LINEAR_AXES >= 6
|
||||
#ifndef K_INTERPOLATE
|
||||
#if LINEAR_AXES >= 6 && !defined(K_INTERPOLATE)
|
||||
#define K_INTERPOLATE INTERPOLATE
|
||||
#endif
|
||||
#endif
|
||||
#ifndef E0_INTERPOLATE
|
||||
#define E0_INTERPOLATE INTERPOLATE
|
||||
#endif
|
||||
@@ -2660,7 +2654,7 @@
|
||||
#if HAS_EXTRUDERS && PIN_EXISTS(MOTOR_CURRENT_PWM_E)
|
||||
#define HAS_MOTOR_CURRENT_PWM_E 1
|
||||
#endif
|
||||
#if HAS_MOTOR_CURRENT_PWM_E || ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_Z)
|
||||
#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)
|
||||
#define HAS_MOTOR_CURRENT_PWM 1
|
||||
#endif
|
||||
|
||||
|
||||
@@ -1404,8 +1404,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
|
||||
#endif
|
||||
#endif
|
||||
#if LINEAR_AXES >= 5
|
||||
#if AXIS5_NAME == AXIS4_NAME || AXIS5_NAME == AXIS6_NAME
|
||||
#error "AXIS5_NAME must be different from AXIS4_NAME and AXIS6_NAME"
|
||||
#if AXIS5_NAME == AXIS4_NAME
|
||||
#error "AXIS5_NAME must be unique."
|
||||
#elif AXIS5_NAME != 'A' && AXIS5_NAME != 'B' && AXIS5_NAME != 'C' && AXIS5_NAME != 'U' && AXIS5_NAME != 'V' && AXIS5_NAME != 'W'
|
||||
#error "AXIS5_NAME can only be one of 'A', 'B', 'C', 'U', 'V', or 'W'."
|
||||
#elif !defined(J_MIN_POS) || !defined(J_MAX_POS)
|
||||
@@ -1418,7 +1418,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
|
||||
#endif
|
||||
#if LINEAR_AXES >= 6
|
||||
#if AXIS6_NAME == AXIS5_NAME || AXIS6_NAME == AXIS4_NAME
|
||||
#error "AXIS6_NAME must be different from AXIS5_NAME and AXIS4_NAME."
|
||||
#error "AXIS6_NAME must be unique."
|
||||
#elif AXIS6_NAME != 'A' && AXIS6_NAME != 'B' && AXIS6_NAME != 'C' && AXIS6_NAME != 'U' && AXIS6_NAME != 'V' && AXIS6_NAME != 'W'
|
||||
#error "AXIS6_NAME can only be one of 'A', 'B', 'C', 'U', 'V', or 'W'."
|
||||
#elif !defined(K_MIN_POS) || !defined(K_MAX_POS)
|
||||
@@ -3040,10 +3040,16 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
|
||||
#error "SENSORLESS_HOMING requires ENDSTOPPULLUP_ZMIN (or ENDSTOPPULLUPS) when homing to Z_MIN."
|
||||
#elif Z_SENSORLESS && Z_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_ZMAX)
|
||||
#error "SENSORLESS_HOMING requires ENDSTOPPULLUP_ZMAX (or ENDSTOPPULLUPS) when homing to Z_MAX."
|
||||
#elif LINEAR_AXES >= 4 && I_SENSORLESS && I_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_IMIN)
|
||||
#error "SENSORLESS_HOMING requires ENDSTOPPULLUP_IMIN (or ENDSTOPPULLUPS) when homing to I_MIN."
|
||||
#elif LINEAR_AXES >= 4 && I_SENSORLESS && I_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_IMAX)
|
||||
#error "SENSORLESS_HOMING requires ENDSTOPPULLUP_IMAX (or ENDSTOPPULLUPS) when homing to I_MAX."
|
||||
#elif LINEAR_AXES >= 5 && J_SENSORLESS && J_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_JMIN)
|
||||
#error "SENSORLESS_HOMING requires ENDSTOPPULLUP_JMIN (or ENDSTOPPULLUPS) when homing to J_MIN."
|
||||
#elif LINEAR_AXES >= 5 && J_SENSORLESS && J_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_JMAX)
|
||||
#error "SENSORLESS_HOMING requires ENDSTOPPULLUP_JMAX (or ENDSTOPPULLUPS) when homing to J_MAX."
|
||||
#elif LINEAR_AXES >= 6 && K_SENSORLESS && K_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_KMIN)
|
||||
#error "SENSORLESS_HOMING requires ENDSTOPPULLUP_KMIN (or ENDSTOPPULLUPS) when homing to K_MIN."
|
||||
#elif LINEAR_AXES >= 6 && K_SENSORLESS && K_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_KMAX)
|
||||
#error "SENSORLESS_HOMING requires ENDSTOPPULLUP_KMAX (or ENDSTOPPULLUPS) when homing to K_MAX."
|
||||
#endif
|
||||
|
||||
@@ -423,6 +423,12 @@ namespace ExtUI {
|
||||
#if AXIS_IS_TMC(Z2)
|
||||
case Z2: return stepperZ2.getMilliamps();
|
||||
#endif
|
||||
#if AXIS_IS_TMC(Z3)
|
||||
case Z3: return stepperZ3.getMilliamps();
|
||||
#endif
|
||||
#if AXIS_IS_TMC(Z4)
|
||||
case Z4: return stepperZ4.getMilliamps();
|
||||
#endif
|
||||
default: return NAN;
|
||||
};
|
||||
}
|
||||
@@ -486,6 +492,12 @@ namespace ExtUI {
|
||||
#if AXIS_IS_TMC(Z2)
|
||||
case Z2: stepperZ2.rms_current(constrain(mA, 400, 1500)); break;
|
||||
#endif
|
||||
#if AXIS_IS_TMC(Z3)
|
||||
case Z3: stepperZ3.rms_current(constrain(mA, 400, 1500)); break;
|
||||
#endif
|
||||
#if AXIS_IS_TMC(Z4)
|
||||
case Z4: stepperZ4.rms_current(constrain(mA, 400, 1500)); break;
|
||||
#endif
|
||||
default: break;
|
||||
};
|
||||
}
|
||||
|
||||
@@ -1310,7 +1310,7 @@ void Planner::recalculate() {
|
||||
*/
|
||||
void Planner::check_axes_activity() {
|
||||
|
||||
#if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z , DISABLE_I , DISABLE_J , DISABLE_K, DISABLE_E)
|
||||
#if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z, DISABLE_I, DISABLE_J, DISABLE_K, DISABLE_E)
|
||||
xyze_bool_t axis_active = { false };
|
||||
#endif
|
||||
|
||||
@@ -1913,7 +1913,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
|
||||
#endif // PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE
|
||||
|
||||
// Compute direction bit-mask for this block
|
||||
uint8_t dm = 0;
|
||||
axis_bits_t dm = 0;
|
||||
#if CORE_IS_XY
|
||||
if (da < 0) SBI(dm, X_HEAD); // Save the toolhead's true direction in X
|
||||
if (db < 0) SBI(dm, Y_HEAD); // ...and Y
|
||||
@@ -2345,11 +2345,11 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
|
||||
|
||||
#ifdef XY_FREQUENCY_LIMIT
|
||||
|
||||
static uint8_t old_direction_bits; // = 0
|
||||
static axis_bits_t old_direction_bits; // = 0
|
||||
|
||||
if (xy_freq_limit_hz) {
|
||||
// Check and limit the xy direction change frequency
|
||||
const uint8_t direction_change = block->direction_bits ^ old_direction_bits;
|
||||
const axis_bits_t direction_change = block->direction_bits ^ old_direction_bits;
|
||||
old_direction_bits = block->direction_bits;
|
||||
segment_time_us = LROUND(float(segment_time_us) / speed_factor);
|
||||
|
||||
|
||||
@@ -202,7 +202,7 @@ typedef struct block_t {
|
||||
uint32_t acceleration_rate; // The acceleration rate used for acceleration calculation
|
||||
#endif
|
||||
|
||||
uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
|
||||
axis_bits_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
|
||||
|
||||
// Advance extrusion
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
@@ -149,7 +149,7 @@ Stepper stepper; // Singleton
|
||||
|
||||
block_t* Stepper::current_block; // (= nullptr) A pointer to the block currently being traced
|
||||
|
||||
uint8_t Stepper::last_direction_bits, // = 0
|
||||
axis_bits_t Stepper::last_direction_bits, // = 0
|
||||
Stepper::axis_did_move; // = 0
|
||||
|
||||
bool Stepper::abort_current_block;
|
||||
@@ -503,17 +503,14 @@ void Stepper::set_directions() {
|
||||
#if HAS_Z_DIR
|
||||
SET_STEP_DIR(Z); // C
|
||||
#endif
|
||||
|
||||
#if HAS_I_DIR
|
||||
SET_STEP_DIR(I); // I
|
||||
SET_STEP_DIR(I);
|
||||
#endif
|
||||
|
||||
#if HAS_J_DIR
|
||||
SET_STEP_DIR(J); // J
|
||||
SET_STEP_DIR(J);
|
||||
#endif
|
||||
|
||||
#if HAS_K_DIR
|
||||
SET_STEP_DIR(K); // K
|
||||
SET_STEP_DIR(K);
|
||||
#endif
|
||||
|
||||
#if DISABLED(LIN_ADVANCE)
|
||||
@@ -1635,7 +1632,7 @@ void Stepper::pulse_phase_isr() {
|
||||
case 0: {
|
||||
const uint8_t low = page_step_state.page[page_step_state.segment_idx],
|
||||
high = page_step_state.page[page_step_state.segment_idx + 1];
|
||||
uint8_t dm = last_direction_bits;
|
||||
axis_bits_t dm = last_direction_bits;
|
||||
|
||||
PAGE_SEGMENT_UPDATE(X, low >> 4);
|
||||
PAGE_SEGMENT_UPDATE(Y, low & 0xF);
|
||||
@@ -2156,7 +2153,7 @@ uint32_t Stepper::block_phase_isr() {
|
||||
#define Z_MOVE_TEST !!current_block->steps.c
|
||||
#endif
|
||||
|
||||
uint8_t axis_bits = 0;
|
||||
axis_bits_t axis_bits = 0;
|
||||
LINEAR_AXIS_CODE(
|
||||
if (X_MOVE_TEST) SBI(axis_bits, A_AXIS),
|
||||
if (Y_MOVE_TEST) SBI(axis_bits, B_AXIS),
|
||||
@@ -3003,16 +3000,15 @@ void Stepper::report_positions() {
|
||||
|
||||
const bool z_direction = direction ^ BABYSTEP_INVERT_Z;
|
||||
|
||||
ENABLE_AXIS_X();
|
||||
ENABLE_AXIS_Y();
|
||||
ENABLE_AXIS_Z();
|
||||
ENABLE_AXIS_I();
|
||||
ENABLE_AXIS_J();
|
||||
ENABLE_AXIS_K();
|
||||
ENABLE_AXIS_X(); ENABLE_AXIS_Y(); ENABLE_AXIS_Z();
|
||||
ENABLE_AXIS_I(); ENABLE_AXIS_J(); ENABLE_AXIS_K();
|
||||
|
||||
DIR_WAIT_BEFORE();
|
||||
|
||||
const xyz_byte_t old_dir = LINEAR_AXIS_ARRAY(X_DIR_READ(), Y_DIR_READ(), Z_DIR_READ(), I_DIR_READ(), J_DIR_READ(), K_DIR_READ());
|
||||
const xyz_byte_t old_dir = LINEAR_AXIS_ARRAY(
|
||||
X_DIR_READ(), Y_DIR_READ(), Z_DIR_READ(),
|
||||
I_DIR_READ(), J_DIR_READ(), K_DIR_READ()
|
||||
);
|
||||
|
||||
X_DIR_WRITE(INVERT_X_DIR ^ z_direction);
|
||||
#ifdef Y_DIR_WRITE
|
||||
|
||||
@@ -276,7 +276,7 @@ class Stepper {
|
||||
|
||||
static block_t* current_block; // A pointer to the block currently being traced
|
||||
|
||||
static uint8_t last_direction_bits, // The next stepping-bits to be output
|
||||
static axis_bits_t last_direction_bits, // The next stepping-bits to be output
|
||||
axis_did_move; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner
|
||||
|
||||
static bool abort_current_block; // Signals to the stepper that current block should be aborted
|
||||
@@ -523,7 +523,7 @@ class Stepper {
|
||||
static void set_directions();
|
||||
|
||||
// Set direction bits and update all stepper DIR states
|
||||
static void set_directions(const uint8_t bits) {
|
||||
static void set_directions(const axis_bits_t bits) {
|
||||
last_direction_bits = bits;
|
||||
set_directions();
|
||||
}
|
||||
|
||||
@@ -164,6 +164,15 @@ enum StealthIndex : uint8_t {
|
||||
#ifndef TMC_Z4_BAUD_RATE
|
||||
#define TMC_Z4_BAUD_RATE TMC_BAUD_RATE
|
||||
#endif
|
||||
#ifndef TMC_I_BAUD_RATE
|
||||
#define TMC_I_BAUD_RATE TMC_BAUD_RATE
|
||||
#endif
|
||||
#ifndef TMC_J_BAUD_RATE
|
||||
#define TMC_J_BAUD_RATE TMC_BAUD_RATE
|
||||
#endif
|
||||
#ifndef TMC_K_BAUD_RATE
|
||||
#define TMC_K_BAUD_RATE TMC_BAUD_RATE
|
||||
#endif
|
||||
#ifndef TMC_E0_BAUD_RATE
|
||||
#define TMC_E0_BAUD_RATE TMC_BAUD_RATE
|
||||
#endif
|
||||
@@ -834,12 +843,8 @@ void restore_trinamic_drivers() {
|
||||
void reset_trinamic_drivers() {
|
||||
static constexpr bool stealthchop_by_axis[] = LOGICAL_AXIS_ARRAY(
|
||||
ENABLED(STEALTHCHOP_E),
|
||||
ENABLED(STEALTHCHOP_XY),
|
||||
ENABLED(STEALTHCHOP_XY),
|
||||
ENABLED(STEALTHCHOP_Z),
|
||||
ENABLED(STEALTHCHOP_I),
|
||||
ENABLED(STEALTHCHOP_J),
|
||||
ENABLED(STEALTHCHOP_K)
|
||||
ENABLED(STEALTHCHOP_XY), ENABLED(STEALTHCHOP_XY), ENABLED(STEALTHCHOP_Z),
|
||||
ENABLED(STEALTHCHOP_I), ENABLED(STEALTHCHOP_J), ENABLED(STEALTHCHOP_K)
|
||||
);
|
||||
|
||||
#if AXIS_IS_TMC(X)
|
||||
|
||||
@@ -464,11 +464,19 @@
|
||||
#ifdef I_STOP_PIN
|
||||
#if I_HOME_TO_MIN
|
||||
#define I_MIN_PIN I_STOP_PIN
|
||||
#ifndef I_MAX_PIN
|
||||
#define I_MAX_PIN -1
|
||||
#else
|
||||
#define I_MIN_PIN -1
|
||||
#define I_MAX_PIN I_STOP_PIN
|
||||
#endif
|
||||
#else
|
||||
#define I_MAX_PIN I_STOP_PIN
|
||||
#ifndef I_MIN_PIN
|
||||
#define I_MIN_PIN -1
|
||||
#endif
|
||||
#endif
|
||||
#elif I_HOME_TO_MIN
|
||||
#define I_STOP_PIN I_MIN_PIN
|
||||
#else
|
||||
#define I_STOP_PIN I_MAX_PIN
|
||||
#endif
|
||||
#else
|
||||
#undef I_MIN_PIN
|
||||
@@ -479,11 +487,19 @@
|
||||
#ifdef J_STOP_PIN
|
||||
#if J_HOME_TO_MIN
|
||||
#define J_MIN_PIN J_STOP_PIN
|
||||
#ifndef J_MAX_PIN
|
||||
#define J_MAX_PIN -1
|
||||
#else
|
||||
#define J_MIN_PIN -1
|
||||
#define J_MAX_PIN J_STOP_PIN
|
||||
#endif
|
||||
#else
|
||||
#define J_MAX_PIN J_STOP_PIN
|
||||
#ifndef J_MIN_PIN
|
||||
#define J_MIN_PIN -1
|
||||
#endif
|
||||
#endif
|
||||
#elif J_HOME_TO_MIN
|
||||
#define J_STOP_PIN J_MIN_PIN
|
||||
#else
|
||||
#define J_STOP_PIN J_MAX_PIN
|
||||
#endif
|
||||
#else
|
||||
#undef J_MIN_PIN
|
||||
@@ -494,11 +510,19 @@
|
||||
#ifdef K_STOP_PIN
|
||||
#if K_HOME_TO_MIN
|
||||
#define K_MIN_PIN K_STOP_PIN
|
||||
#ifndef K_MAX_PIN
|
||||
#define K_MAX_PIN -1
|
||||
#else
|
||||
#define K_MIN_PIN -1
|
||||
#define K_MAX_PIN K_STOP_PIN
|
||||
#endif
|
||||
#else
|
||||
#define K_MAX_PIN K_STOP_PIN
|
||||
#ifndef K_MIN_PIN
|
||||
#define K_MIN_PIN -1
|
||||
#endif
|
||||
#endif
|
||||
#elif K_HOME_TO_MIN
|
||||
#define K_STOP_PIN K_MIN_PIN
|
||||
#else
|
||||
#define K_STOP_PIN K_MAX_PIN
|
||||
#endif
|
||||
#else
|
||||
#undef K_MIN_PIN
|
||||
|
||||
Reference in New Issue
Block a user