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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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200
Marlin/src/libs/L64XX/L64XX_Marlin.cpp
View File

@@ -37,19 +37,27 @@ L64XX_Marlin L64xxManager;
#include "../../module/planner.h"
#include "../../HAL/shared/Delay.h"
static const char str_X[] PROGMEM = "X ", str_Y[] PROGMEM = "Y ", str_Z[] PROGMEM = "Z ",
static const char LINEAR_AXIS_LIST(
str_X[] PROGMEM = "X ", str_Y[] PROGMEM = "Y ", str_Z[] PROGMEM = "Z ",
str_I[] PROGMEM = AXIS4_STR " ", str_J[] PROGMEM = AXIS5_STR " ", str_K[] PROGMEM = AXIS6_STR " "
),
str_X2[] PROGMEM = "X2", str_Y2[] PROGMEM = "Y2",
str_Z2[] PROGMEM = "Z2", str_Z3[] PROGMEM = "Z3", str_Z4[] PROGMEM = "Z4",
str_E0[] PROGMEM = "E0", str_E1[] PROGMEM = "E1",
str_E2[] PROGMEM = "E2", str_E3[] PROGMEM = "E3",
str_E4[] PROGMEM = "E4", str_E5[] PROGMEM = "E5",
str_E6[] PROGMEM = "E6", str_E7[] PROGMEM = "E7"
LIST_N(EXTRUDERS,
str_E0[] PROGMEM = "E0", str_E1[] PROGMEM = "E1",
str_E2[] PROGMEM = "E2", str_E3[] PROGMEM = "E3",
str_E4[] PROGMEM = "E4", str_E5[] PROGMEM = "E5",
str_E6[] PROGMEM = "E6", str_E7[] PROGMEM = "E7"
)
;
#define _EN_ITEM(N) , str_E##N
PGM_P const L64XX_Marlin::index_to_axis[] PROGMEM = {
str_X, str_Y, str_Z, str_X2, str_Y2, str_Z2, str_Z3, str_Z4,
str_E0, str_E1, str_E2, str_E3, str_E4, str_E5, str_E6, str_E7
LINEAR_AXIS_LIST(str_X, str_Y, str_Z, str_I, str_J, str_K),
str_X2, str_Y2, str_Z2, str_Z3, str_Z4
REPEAT(E_STEPPERS, _EN_ITEM)
};
#undef _EN_ITEM
#define DEBUG_OUT ENABLED(L6470_CHITCHAT)
#include "../../core/debug_out.h"
@@ -58,16 +66,17 @@ void echo_yes_no(const bool yes) { DEBUG_ECHOPGM_P(yes ? PSTR(" YES") : PSTR(" N
uint8_t L64XX_Marlin::dir_commands[MAX_L64XX]; // array to hold direction command for each driver
#define _EN_ITEM(N) , INVERT_E##N##_DIR
const uint8_t L64XX_Marlin::index_to_dir[MAX_L64XX] = {
INVERT_X_DIR, INVERT_Y_DIR, INVERT_Z_DIR
LINEAR_AXIS_LIST(INVERT_X_DIR, INVERT_Y_DIR, INVERT_Z_DIR, INVERT_I_DIR, INVERT_J_DIR, INVERT_K_DIR)
, (INVERT_X_DIR) ^ BOTH(X_DUAL_STEPPER_DRIVERS, INVERT_X2_VS_X_DIR) // X2
, (INVERT_Y_DIR) ^ BOTH(Y_DUAL_STEPPER_DRIVERS, INVERT_Y2_VS_Y_DIR) // Y2
, (INVERT_Z_DIR) ^ ENABLED(INVERT_Z2_VS_Z_DIR) // Z2
, (INVERT_Z_DIR) ^ ENABLED(INVERT_Z3_VS_Z_DIR) // Z3
, (INVERT_Z_DIR) ^ ENABLED(INVERT_Z4_VS_Z_DIR) // Z4
, INVERT_E0_DIR, INVERT_E1_DIR, INVERT_E2_DIR, INVERT_E3_DIR
, INVERT_E4_DIR, INVERT_E5_DIR, INVERT_E6_DIR, INVERT_E7_DIR
REPEAT(E_STEPPERS, _EN_ITEM)
};
#undef _EN_ITEM
volatile uint8_t L64XX_Marlin::spi_abort = false;
uint8_t L64XX_Marlin::spi_active = false;
@@ -326,6 +335,15 @@ void L64XX_Marlin::set_param(const L64XX_axis_t axis, const uint8_t param, const
#if AXIS_IS_L64XX(Z)
case Z : SET_L6470_PARAM(Z); break;
#endif
#if AXIS_IS_L64XX(I)
case I : SET_L6470_PARAM(I); break;
#endif
#if AXIS_IS_L64XX(J)
case J : SET_L6470_PARAM(J); break;
#endif
#if AXIS_IS_L64XX(K)
case K : SET_L6470_PARAM(K); break;
#endif
#if AXIS_IS_L64XX(X2)
case X2: SET_L6470_PARAM(X2); break;
#endif
@@ -370,8 +388,7 @@ void L64XX_Marlin::set_param(const L64XX_axis_t axis, const uint8_t param, const
inline void echo_min_max(const char a, const_float_t min, const_float_t max) {
DEBUG_CHAR(' '); DEBUG_CHAR(a);
DEBUG_ECHOPAIR(" min = ", min);
DEBUG_ECHOLNPAIR(" max = ", max);
DEBUG_ECHOLNPAIR(" min = ", min, " max = ", max);
}
inline void echo_oct_used(const_float_t oct, const uint8_t stall) {
DEBUG_ECHOPAIR("over_current_threshold used : ", oct);
@@ -433,10 +450,15 @@ uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_in
// Position calcs & checks
//
const float X_center = LOGICAL_X_POSITION(current_position.x),
Y_center = LOGICAL_Y_POSITION(current_position.y),
Z_center = LOGICAL_Z_POSITION(current_position.z),
E_center = current_position.e;
const float LOGICAL_AXIS_LIST(
E_center = current_position.e,
X_center = LOGICAL_X_POSITION(current_position.x),
Y_center = LOGICAL_Y_POSITION(current_position.y),
Z_center = LOGICAL_Z_POSITION(current_position.z),
I_center = LOGICAL_I_POSITION(current_position.i),
J_center = LOGICAL_J_POSITION(current_position.j),
K_center = LOGICAL_K_POSITION(current_position.k)
);
switch (axis_mon[0][0]) {
default: position_max = position_min = 0; break;
@@ -451,31 +473,73 @@ uint8_t L64XX_Marlin::get_user_input(uint8_t &driver_count, L64XX_axis_t axis_in
}
} break;
case 'Y': {
position_min = Y_center - displacement;
position_max = Y_center + displacement;
echo_min_max('Y', position_min, position_max);
if (TERN0(HAS_ENDSTOPS, position_min < (Y_MIN_POS) || position_max > (Y_MAX_POS))) {
err_out_of_bounds();
return true;
}
} break;
#if HAS_Y_AXIS
case 'Y': {
position_min = Y_center - displacement;
position_max = Y_center + displacement;
echo_min_max('Y', position_min, position_max);
if (TERN0(HAS_ENDSTOPS, position_min < (Y_MIN_POS) || position_max > (Y_MAX_POS))) {
err_out_of_bounds();
return true;
}
} break;
#endif
case 'Z': {
position_min = Z_center - displacement;
position_max = Z_center + displacement;
echo_min_max('Z', position_min, position_max);
if (TERN0(HAS_ENDSTOPS, position_min < (Z_MIN_POS) || position_max > (Z_MAX_POS))) {
err_out_of_bounds();
return true;
}
} break;
#if HAS_Z_AXIS
case 'Z': {
position_min = Z_center - displacement;
position_max = Z_center + displacement;
echo_min_max('Z', position_min, position_max);
if (TERN0(HAS_ENDSTOPS, position_min < (Z_MIN_POS) || position_max > (Z_MAX_POS))) {
err_out_of_bounds();
return true;
}
} break;
#endif
case 'E': {
position_min = E_center - displacement;
position_max = E_center + displacement;
echo_min_max('E', position_min, position_max);
} break;
#if LINEAR_AXES >= 4
case AXIS4_NAME: {
position_min = I_center - displacement;
position_max = I_center + displacement;
echo_min_max(AXIS4_NAME, position_min, position_max);
if (TERN0(HAS_ENDSTOPS, position_min < (I_MIN_POS) || position_max > (I_MAX_POS))) {
err_out_of_bounds();
return true;
}
} break;
#endif
#if LINEAR_AXES >= 5
case AXIS5_NAME: {
position_min = J_center - displacement;
position_max = J_center + displacement;
echo_min_max(AXIS5_NAME, position_min, position_max);
if (TERN1(HAS_ENDSTOPS, position_min < (J_MIN_POS) || position_max > (J_MAX_POS))) {
err_out_of_bounds();
return true;
}
} break;
#endif
#if LINEAR_AXES >= 6
case AXIS6_NAME: {
position_min = K_center - displacement;
position_max = K_center + displacement;
echo_min_max(AXIS6_NAME, position_min, position_max);
if (TERN2(HAS_ENDSTOPS, position_min < (K_MIN_POS) || position_max > (K_MAX_POS))) {
err_out_of_bounds();
return true;
}
} break;
#endif
#if HAS_EXTRUDERS
case 'E': {
position_min = E_center - displacement;
position_max = E_center + displacement;
echo_min_max('E', position_min, position_max);
} break;
#endif
}
//
@@ -660,7 +724,7 @@ void L64XX_Marlin::say_axis(const L64XX_axis_t axis, const uint8_t label/*=true*
bool L64XX_Marlin::monitor_paused = false; // Flag to skip monitor during M122, M906, M916, M917, M918, etc.
struct L6470_driver_data {
uint8_t driver_index;
L64XX_axis_t driver_index;
uint32_t driver_status;
uint8_t is_otw;
uint8_t otw_counter;
@@ -671,52 +735,61 @@ void L64XX_Marlin::say_axis(const L64XX_axis_t axis, const uint8_t label/*=true*
L6470_driver_data driver_L6470_data[] = {
#if AXIS_IS_L64XX(X)
{ 0, 0, 0, 0, 0, 0, 0 },
{ X, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_IS_L64XX(Y)
{ 1, 0, 0, 0, 0, 0, 0 },
{ Y, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_IS_L64XX(Z)
{ 2, 0, 0, 0, 0, 0, 0 },
{ Z, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_IS_L64XX(I)
{ I, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_IS_L64XX(J)
{ J, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_IS_L64XX(K)
{ K, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_IS_L64XX(X2)
{ 3, 0, 0, 0, 0, 0, 0 },
{ X2, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_IS_L64XX(Y2)
{ 4, 0, 0, 0, 0, 0, 0 },
{ Y2, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_IS_L64XX(Z2)
{ 5, 0, 0, 0, 0, 0, 0 },
{ Z2, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_IS_L64XX(Z3)
{ 6, 0, 0, 0, 0, 0, 0 },
{ Z3, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_IS_L64XX(Z4)
{ 7, 0, 0, 0, 0, 0, 0 },
{ Z4, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_IS_L64XX(E0)
{ 8, 0, 0, 0, 0, 0, 0 },
{ E0, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_IS_L64XX(E1)
{ 9, 0, 0, 0, 0, 0, 0 },
{ E1, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_IS_L64XX(E2)
{ 10, 0, 0, 0, 0, 0, 0 },
{ E2, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_IS_L64XX(E3)
{ 11, 0, 0, 0, 0, 0, 0 },
{ E3, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_IS_L64XX(E4)
{ 12, 0, 0, 0, 0, 0, 0 },
{ E4, 0, 0, 0, 0, 0, 0 },
#endif
#if AXIS_IS_L64XX(E5)
{ 13, 0, 0, 0, 0, 0, 0 }
{ E5, 0, 0, 0, 0, 0, 0 }
#endif
#if AXIS_IS_L64XX(E6)
{ 14, 0, 0, 0, 0, 0, 0 }
{ E6, 0, 0, 0, 0, 0, 0 }
#endif
#if AXIS_IS_L64XX(E7)
{ 16, 0, 0, 0, 0, 0, 0 }
{ E7, 0, 0, 0, 0, 0, 0 }
#endif
};
@@ -863,6 +936,15 @@ void L64XX_Marlin::say_axis(const L64XX_axis_t axis, const uint8_t label/*=true*
#if AXIS_IS_L64XX(Z)
monitor_update(Z);
#endif
#if AXIS_IS_L64XX(I)
monitor_update(I);
#endif
#if AXIS_IS_L64XX(J)
monitor_update(J);
#endif
#if AXIS_IS_L64XX(K)
monitor_update(K);
#endif
#if AXIS_IS_L64XX(X2)
monitor_update(X2);
#endif
@@ -896,6 +978,12 @@ void L64XX_Marlin::say_axis(const L64XX_axis_t axis, const uint8_t label/*=true*
#if AXIS_IS_L64XX(E5)
monitor_update(E5);
#endif
#if AXIS_IS_L64XX(E6)
monitor_update(E6);
#endif
#if AXIS_IS_L64XX(E7)
monitor_update(E7);
#endif
if (TERN0(L6470_DEBUG, report_L6470_status)) DEBUG_EOL();

4
Marlin/src/libs/L64XX/L64XX_Marlin.h
View File

@@ -35,7 +35,9 @@
#define dSPIN_STEP_CLOCK_REV dSPIN_STEP_CLOCK+1
#define HAS_L64XX_EXTRUDER (AXIS_IS_L64XX(E0) || AXIS_IS_L64XX(E1) || AXIS_IS_L64XX(E2) || AXIS_IS_L64XX(E3) || AXIS_IS_L64XX(E4) || AXIS_IS_L64XX(E5) || AXIS_IS_L64XX(E6) || AXIS_IS_L64XX(E7))
enum L64XX_axis_t : uint8_t { X, Y, Z, X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7, MAX_L64XX };
#define _EN_ITEM(N) , E##N
enum L64XX_axis_t : uint8_t { LINEAR_AXIS_LIST(X, Y, Z, I, J, K), X2, Y2, Z2, Z3, Z4 REPEAT(E_STEPPERS, _EN_ITEM), MAX_L64XX };
#undef _EN_ITEM
class L64XX_Marlin : public L64XXHelper {
public: