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G34 Auto-align multi-stepper Z axis (#11302)

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This commit is contained in:
TheLongAndOnly
2018-10-29 20:01:36 +01:00
committed by Scott Lahteine
parent f9b80e7217
commit 5536228359
72 changed files with 1434 additions and 29 deletions
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40
Marlin/src/module/motion.cpp
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@ -1209,6 +1209,34 @@ void set_axis_is_at_home(const AxisEnum axis) {
#endif
}
/**
* Set an axis' to be unhomed.
*/
void set_axis_is_not_at_home(const AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> set_axis_is_not_at_home(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
CBI(axis_known_position, axis);
CBI(axis_homed, axis);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("<<< set_axis_is_not_at_home(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
#if ENABLED(I2C_POSITION_ENCODERS)
I2CPEM.unhomed(axis);
#endif
}
/**
* Home an individual "raw axis" to its endstop.
* This applies to XYZ on Cartesian and Core robots, and
@ -1260,17 +1288,7 @@ void homeaxis(const AxisEnum axis) {
#if ENABLED(Y_DUAL_ENDSTOPS)
case Y_AXIS:
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
case Z_AXIS:
#endif
stepper.set_separate_multi_axis(true);
default: break;
}
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
switch (axis) {
#if ENABLED(Z_TRIPLE_ENDSTOPS)
#if Z_MULTI_ENDSTOPS
case Z_AXIS:
#endif
stepper.set_separate_multi_axis(true);

2
Marlin/src/module/motion.h
View File

@ -197,6 +197,8 @@ void clean_up_after_endstop_or_probe_move();
void set_axis_is_at_home(const AxisEnum axis);
void set_axis_is_not_at_home(const AxisEnum axis);
void homeaxis(const AxisEnum axis);
#if ENABLED(SENSORLESS_HOMING)

22
Marlin/src/module/stepper.cpp
View File

@ -115,7 +115,7 @@ Stepper stepper; // Singleton
// public:
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS || ENABLED(Z_STEPPER_AUTO_ALIGN)
bool Stepper::separate_multi_axis = false;
#endif
@ -142,10 +142,10 @@ 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
#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)
#if ENABLED(Z_TRIPLE_ENDSTOPS) || (ENABLED(Z_STEPPER_AUTO_ALIGN) && ENABLED(Z_TRIPLE_STEPPER_DRIVERS))
bool Stepper::locked_Z3_motor = false;
#endif
@ -211,7 +211,7 @@ volatile int32_t Stepper::endstops_trigsteps[XYZ];
volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
int8_t Stepper::count_direction[NUM_AXIS] = { 0, 0, 0, 0 };
#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
#define DUAL_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); \
@ -227,7 +227,17 @@ int8_t Stepper::count_direction[NUM_AXIS] = { 0, 0, 0, 0 };
A##2_STEP_WRITE(V); \
}
#define TRIPLE_ENDSTOP_APPLY_STEP(A,V) \
#define DUAL_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); \
} \
else { \
A##_STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
}
#define TRIPLE_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); \
@ -298,6 +308,8 @@ int8_t Stepper::count_direction[NUM_AXIS] = { 0, 0, 0, 0 };
#define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE(v); }while(0)
#if ENABLED(Z_DUAL_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)
#else
#define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); }while(0)
#endif

12
Marlin/src/module/stepper.h
View File

@ -244,7 +244,7 @@ class Stepper {
public:
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS || ENABLED(Z_STEPPER_AUTO_ALIGN)
static bool separate_multi_axis;
#endif
@ -277,10 +277,10 @@ class Stepper {
#if ENABLED(Y_DUAL_ENDSTOPS)
static bool locked_Y_motor, locked_Y2_motor;
#endif
#if Z_MULTI_ENDSTOPS
#if Z_MULTI_ENDSTOPS || ENABLED(Z_STEPPER_AUTO_ALIGN)
static bool locked_Z_motor, locked_Z2_motor;
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
#if ENABLED(Z_TRIPLE_ENDSTOPS) || (ENABLED(Z_STEPPER_AUTO_ALIGN) && ENABLED(Z_TRIPLE_STEPPER_DRIVERS))
static bool locked_Z3_motor;
#endif
@ -421,7 +421,7 @@ class Stepper {
static void microstep_readings();
#endif
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS || ENABLED(Z_STEPPER_AUTO_ALIGN)
FORCE_INLINE static void set_separate_multi_axis(const bool state) { separate_multi_axis = state; }
#endif
#if ENABLED(X_DUAL_ENDSTOPS)
@ -432,11 +432,11 @@ class Stepper {
FORCE_INLINE static void set_y_lock(const bool state) { locked_Y_motor = state; }
FORCE_INLINE static void set_y2_lock(const bool state) { locked_Y2_motor = state; }
#endif
#if Z_MULTI_ENDSTOPS
#if Z_MULTI_ENDSTOPS || (ENABLED(Z_STEPPER_AUTO_ALIGN) && Z_MULTI_STEPPER_DRIVERS)
FORCE_INLINE static void set_z_lock(const bool state) { locked_Z_motor = state; }
FORCE_INLINE static void set_z2_lock(const bool state) { locked_Z2_motor = state; }
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
#if ENABLED(Z_TRIPLE_ENDSTOPS) || (ENABLED(Z_STEPPER_AUTO_ALIGN) && ENABLED(Z_TRIPLE_STEPPER_DRIVERS))
FORCE_INLINE static void set_z3_lock(const bool state) { locked_Z3_motor = state; }
#endif