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🏗️ Support for up to 6 linear axes (#19112)

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Co-authored-by: Scott Lahteine <github@thinkyhead.com>
This commit is contained in:
DerAndere
2021-06-05 09:18:47 +02:00
committed by Scott Lahteine
parent d3c56a76e7
commit c1fca91103
98 changed files with 5040 additions and 2256 deletions
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46
Marlin/src/HAL/AVR/endstop_interrupts.h
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@@ -168,6 +168,51 @@ void setup_endstop_interrupts() {
pciSetup(Z_MIN_PIN);
#endif
#endif
#if HAS_I_MAX
#if (digitalPinToInterrupt(I_MAX_PIN) != NOT_AN_INTERRUPT)
_ATTACH(I_MAX_PIN);
#else
static_assert(digitalPinHasPCICR(I_MAX_PIN), "I_MAX_PIN is not interrupt-capable");
pciSetup(I_MAX_PIN);
#endif
#elif HAS_I_MIN
#if (digitalPinToInterrupt(I_MIN_PIN) != NOT_AN_INTERRUPT)
_ATTACH(I_MIN_PIN);
#else
static_assert(digitalPinHasPCICR(I_MIN_PIN), "I_MIN_PIN is not interrupt-capable");
pciSetup(I_MIN_PIN);
#endif
#endif
#if HAS_J_MAX
#if (digitalPinToInterrupt(J_MAX_PIN) != NOT_AN_INTERRUPT)
_ATTACH(J_MAX_PIN);
#else
static_assert(digitalPinHasPCICR(J_MAX_PIN), "J_MAX_PIN is not interrupt-capable");
pciSetup(J_MAX_PIN);
#endif
#elif HAS_J_MIN
#if (digitalPinToInterrupt(J_MIN_PIN) != NOT_AN_INTERRUPT)
_ATTACH(J_MIN_PIN);
#else
static_assert(digitalPinHasPCICR(J_MIN_PIN), "J_MIN_PIN is not interrupt-capable");
pciSetup(J_MIN_PIN);
#endif
#endif
#if HAS_K_MAX
#if (digitalPinToInterrupt(K_MAX_PIN) != NOT_AN_INTERRUPT)
_ATTACH(K_MAX_PIN);
#else
static_assert(digitalPinHasPCICR(K_MAX_PIN), "K_MAX_PIN is not interrupt-capable");
pciSetup(K_MAX_PIN);
#endif
#elif HAS_K_MIN
#if (digitalPinToInterrupt(K_MIN_PIN) != NOT_AN_INTERRUPT)
_ATTACH(K_MIN_PIN);
#else
static_assert(digitalPinHasPCICR(K_MIN_PIN), "K_MIN_PIN is not interrupt-capable");
pciSetup(K_MIN_PIN);
#endif
#endif
#if HAS_X2_MAX
#if (digitalPinToInterrupt(X2_MAX_PIN) != NOT_AN_INTERRUPT)
_ATTACH(X2_MAX_PIN);
@@ -256,6 +301,5 @@ void setup_endstop_interrupts() {
pciSetup(Z_MIN_PROBE_PIN);
#endif
#endif
// If we arrive here without raising an assertion, each pin has either an EXT-interrupt or a PCI.
}

6
Marlin/src/HAL/DUE/endstop_interrupts.h
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@@ -64,4 +64,10 @@ void setup_endstop_interrupts() {
TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN));
TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN));
TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN));
TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
}

6
Marlin/src/HAL/ESP32/endstop_interrupts.h
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@@ -59,4 +59,10 @@ void setup_endstop_interrupts() {
TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN));
TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN));
TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN));
TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
}

33
Marlin/src/HAL/LPC1768/endstop_interrupts.h
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@@ -122,4 +122,37 @@ void setup_endstop_interrupts() {
#endif
_ATTACH(Z_MIN_PROBE_PIN);
#endif
#if HAS_I_MAX
#if !LPC1768_PIN_INTERRUPT_M(I_MAX_PIN)
#error "I_MAX_PIN is not INTERRUPT-capable."
#endif
_ATTACH(I_MAX_PIN);
#elif HAS_I_MIN
#if !LPC1768_PIN_INTERRUPT_M(I_MIN_PIN)
#error "I_MIN_PIN is not INTERRUPT-capable."
#endif
_ATTACH(I_MIN_PIN);
#endif
#if HAS_J_MAX
#if !LPC1768_PIN_INTERRUPT_M(J_MAX_PIN)
#error "J_MAX_PIN is not INTERRUPT-capable."
#endif
_ATTACH(J_MAX_PIN);
#elif HAS_J_MIN
#if !LPC1768_PIN_INTERRUPT_M(J_MIN_PIN)
#error "J_MIN_PIN is not INTERRUPT-capable."
#endif
_ATTACH(J_MIN_PIN);
#endif
#if HAS_K_MAX
#if !LPC1768_PIN_INTERRUPT_M(K_MAX_PIN)
#error "K_MAX_PIN is not INTERRUPT-capable."
#endif
_ATTACH(K_MAX_PIN);
#elif HAS_K_MIN
#if !LPC1768_PIN_INTERRUPT_M(K_MIN_PIN)
#error "K_MIN_PIN is not INTERRUPT-capable."
#endif
_ATTACH(K_MIN_PIN);
#endif
}

138
Marlin/src/HAL/SAMD51/endstop_interrupts.h
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@@ -47,80 +47,38 @@
#include "../../module/endstops.h"
#define MATCH_EILINE(P1,P2) (P1 != P2 && PIN_TO_EILINE(P1) == PIN_TO_EILINE(P2))
#if HAS_X_MAX
#define MATCH_X_MAX_EILINE(P) MATCH_EILINE(P, X_MAX_PIN)
#else
#define MATCH_X_MAX_EILINE(P) false
#endif
#if HAS_X_MIN
#define MATCH_X_MIN_EILINE(P) MATCH_EILINE(P, X_MIN_PIN)
#else
#define MATCH_X_MIN_EILINE(P) false
#endif
#if HAS_Y_MAX
#define MATCH_Y_MAX_EILINE(P) MATCH_EILINE(P, Y_MAX_PIN)
#else
#define MATCH_Y_MAX_EILINE(P) false
#endif
#if HAS_Y_MIN
#define MATCH_Y_MIN_EILINE(P) MATCH_EILINE(P, Y_MIN_PIN)
#else
#define MATCH_Y_MIN_EILINE(P) false
#endif
#if HAS_Z_MAX
#define MATCH_Z_MAX_EILINE(P) MATCH_EILINE(P, Z_MAX_PIN)
#else
#define MATCH_Z_MAX_EILINE(P) false
#endif
#if HAS_Z_MIN
#define MATCH_Z_MIN_EILINE(P) MATCH_EILINE(P, Z_MIN_PIN)
#else
#define MATCH_Z_MIN_EILINE(P) false
#endif
#if HAS_Z2_MAX
#define MATCH_Z2_MAX_EILINE(P) MATCH_EILINE(P, Z2_MAX_PIN)
#else
#define MATCH_Z2_MAX_EILINE(P) false
#endif
#if HAS_Z2_MIN
#define MATCH_Z2_MIN_EILINE(P) MATCH_EILINE(P, Z2_MIN_PIN)
#else
#define MATCH_Z2_MIN_EILINE(P) false
#endif
#if HAS_Z3_MAX
#define MATCH_Z3_MAX_EILINE(P) MATCH_EILINE(P, Z3_MAX_PIN)
#else
#define MATCH_Z3_MAX_EILINE(P) false
#endif
#if HAS_Z3_MIN
#define MATCH_Z3_MIN_EILINE(P) MATCH_EILINE(P, Z3_MIN_PIN)
#else
#define MATCH_Z3_MIN_EILINE(P) false
#endif
#if HAS_Z4_MAX
#define MATCH_Z4_MAX_EILINE(P) MATCH_EILINE(P, Z4_MAX_PIN)
#else
#define MATCH_Z4_MAX_EILINE(P) false
#endif
#if HAS_Z4_MIN
#define MATCH_Z4_MIN_EILINE(P) MATCH_EILINE(P, Z4_MIN_PIN)
#else
#define MATCH_Z4_MIN_EILINE(P) false
#endif
#if HAS_Z_MIN_PROBE_PIN
#define MATCH_Z_MIN_PROBE_EILINE(P) MATCH_EILINE(P, Z_MIN_PROBE_PIN)
#else
#define MATCH_Z_MIN_PROBE_EILINE(P) false
#endif
#define AVAILABLE_EILINE(P) (PIN_TO_EILINE(P) != -1 \
&& !MATCH_X_MAX_EILINE(P) && !MATCH_X_MIN_EILINE(P) \
&& !MATCH_Y_MAX_EILINE(P) && !MATCH_Y_MIN_EILINE(P) \
&& !MATCH_Z_MAX_EILINE(P) && !MATCH_Z_MIN_EILINE(P) \
&& !MATCH_Z2_MAX_EILINE(P) && !MATCH_Z2_MIN_EILINE(P) \
&& !MATCH_Z3_MAX_EILINE(P) && !MATCH_Z3_MIN_EILINE(P) \
&& !MATCH_Z4_MAX_EILINE(P) && !MATCH_Z4_MIN_EILINE(P) \
&& !MATCH_Z_MIN_PROBE_EILINE(P))
#define MATCH_EILINE(P1,P2) (P1 != P2 && PIN_TO_EILINE(P1) == PIN_TO_EILINE(P2))
#define MATCH_X_MAX_EILINE(P) TERN0(HAS_X_MAX, DEFER4(MATCH_EILINE)(P, X_MAX_PIN))
#define MATCH_X_MIN_EILINE(P) TERN0(HAS_X_MIN, DEFER4(MATCH_EILINE)(P, X_MIN_PIN))
#define MATCH_Y_MAX_EILINE(P) TERN0(HAS_Y_MAX, DEFER4(MATCH_EILINE)(P, Y_MAX_PIN))
#define MATCH_Y_MIN_EILINE(P) TERN0(HAS_Y_MIN, DEFER4(MATCH_EILINE)(P, Y_MIN_PIN))
#define MATCH_Z_MAX_EILINE(P) TERN0(HAS_Z_MAX, DEFER4(MATCH_EILINE)(P, Z_MAX_PIN))
#define MATCH_Z_MIN_EILINE(P) TERN0(HAS_Z_MIN, DEFER4(MATCH_EILINE)(P, Z_MIN_PIN))
#define MATCH_I_MAX_EILINE(P) TERN0(HAS_I_MAX, DEFER4(MATCH_EILINE)(P, I_MAX_PIN))
#define MATCH_I_MIN_EILINE(P) TERN0(HAS_I_MIN, DEFER4(MATCH_EILINE)(P, I_MIN_PIN))
#define MATCH_J_MAX_EILINE(P) TERN0(HAS_J_MAX, DEFER4(MATCH_EILINE)(P, J_MAX_PIN))
#define MATCH_J_MIN_EILINE(P) TERN0(HAS_J_MIN, DEFER4(MATCH_EILINE)(P, J_MIN_PIN))
#define MATCH_K_MAX_EILINE(P) TERN0(HAS_K_MAX, DEFER4(MATCH_EILINE)(P, K_MAX_PIN))
#define MATCH_K_MIN_EILINE(P) TERN0(HAS_K_MIN, DEFER4(MATCH_EILINE)(P, K_MIN_PIN))
#define MATCH_Z2_MAX_EILINE(P) TERN0(HAS_Z2_MAX, DEFER4(MATCH_EILINE)(P, Z2_MAX_PIN))
#define MATCH_Z2_MIN_EILINE(P) TERN0(HAS_Z2_MIN, DEFER4(MATCH_EILINE)(P, Z2_MIN_PIN))
#define MATCH_Z3_MAX_EILINE(P) TERN0(HAS_Z3_MAX, DEFER4(MATCH_EILINE)(P, Z3_MAX_PIN))
#define MATCH_Z3_MIN_EILINE(P) TERN0(HAS_Z3_MIN, DEFER4(MATCH_EILINE)(P, Z3_MIN_PIN))
#define MATCH_Z4_MAX_EILINE(P) TERN0(HAS_Z4_MAX, DEFER4(MATCH_EILINE)(P, Z4_MAX_PIN))
#define MATCH_Z4_MIN_EILINE(P) TERN0(HAS_Z4_MIN, DEFER4(MATCH_EILINE)(P, Z4_MIN_PIN))
#define MATCH_Z_MIN_PROBE_EILINE(P) TERN0(HAS_Z_MIN_PROBE_PIN, DEFER4(MATCH_EILINE)(P, Z_MIN_PROBE_PIN))
#define AVAILABLE_EILINE(P) ( PIN_TO_EILINE(P) != -1 \
&& !MATCH_X_MAX_EILINE(P) && !MATCH_X_MIN_EILINE(P) \
&& !MATCH_Y_MAX_EILINE(P) && !MATCH_Y_MIN_EILINE(P) \
&& !MATCH_Z_MAX_EILINE(P) && !MATCH_Z_MIN_EILINE(P) \
&& !MATCH_I_MAX_EILINE(P) && !MATCH_I_MIN_EILINE(P) \
&& !MATCH_J_MAX_EILINE(P) && !MATCH_J_MIN_EILINE(P) \
&& !MATCH_K_MAX_EILINE(P) && !MATCH_K_MIN_EILINE(P) \
&& !MATCH_Z2_MAX_EILINE(P) && !MATCH_Z2_MIN_EILINE(P) \
&& !MATCH_Z3_MAX_EILINE(P) && !MATCH_Z3_MIN_EILINE(P) \
&& !MATCH_Z4_MAX_EILINE(P) && !MATCH_Z4_MIN_EILINE(P) \
&& !MATCH_Z_MIN_PROBE_EILINE(P) )
// One ISR for all EXT-Interrupts
void endstop_ISR() { endstops.update(); }
@@ -204,5 +162,37 @@ void setup_endstop_interrupts() {
#error "Z_MIN_PROBE_PIN has no EXTINT line available."
#endif
_ATTACH(Z_MIN_PROBE_PIN);
#elif 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
#if !AVAILABLE_EILINE(I_MIN_PIN)
#error "I_MIN_PIN has no EXTINT line available."
#endif
attachInterrupt(I_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_J_MAX
#if !AVAILABLE_EILINE(J_MAX_PIN)
#error "J_MAX_PIN has no EXTINT line available."
#endif
attachInterrupt(J_MAX_PIN, endstop_ISR, CHANGE);
#elif HAS_J_MIN
#if !AVAILABLE_EILINE(J_MIN_PIN)
#error "J_MIN_PIN has no EXTINT line available."
#endif
attachInterrupt(J_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_K_MAX
#if !AVAILABLE_EILINE(K_MAX_PIN)
#error "K_MAX_PIN has no EXTINT line available."
#endif
attachInterrupt(K_MAX_PIN, endstop_ISR, CHANGE);
#elif HAS_K_MIN
#if !AVAILABLE_EILINE(K_MIN_PIN)
#error "K_MIN_PIN has no EXTINT line available."
#endif
attachInterrupt(K_MIN_PIN, endstop_ISR, CHANGE);
#endif
}

6
Marlin/src/HAL/STM32/endstop_interrupts.h
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@@ -46,4 +46,10 @@ void setup_endstop_interrupts() {
TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN));
TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN));
TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN));
TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
}

9
Marlin/src/HAL/STM32F1/MarlinSerial.cpp
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@@ -167,6 +167,15 @@ constexpr bool IsSerialClassAllowed(const HardwareSerial&) { return false; }
#if AXIS_HAS_HW_SERIAL(Z4)
CHECK_AXIS_SERIAL(Z4);
#endif
#if AXIS_HAS_HW_SERIAL(I)
CHECK_AXIS_SERIAL(I);
#endif
#if AXIS_HAS_HW_SERIAL(J)
CHECK_AXIS_SERIAL(J);
#endif
#if AXIS_HAS_HW_SERIAL(K)
CHECK_AXIS_SERIAL(K);
#endif
#if AXIS_HAS_HW_SERIAL(E0)
CHECK_AXIS_SERIAL(E0);
#endif

6
Marlin/src/HAL/STM32F1/endstop_interrupts.h
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@@ -71,4 +71,10 @@ void setup_endstop_interrupts() {
TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN));
TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN));
TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN));
TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
}

6
Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h
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@@ -64,4 +64,10 @@ void setup_endstop_interrupts() {
TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN));
TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN));
TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN));
TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
}

6
Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h
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@@ -63,4 +63,10 @@ void setup_endstop_interrupts() {
TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN));
TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN));
TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN));
TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
}

6
Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h
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@@ -63,4 +63,10 @@ void setup_endstop_interrupts() {
TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN));
TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN));
TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN));
TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN));
TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN));
TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN));
}