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✏️ Followup to Six Linear Axes (#22056)

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DerAndere
2021-06-06 08:30:39 +02:00
committed by Scott Lahteine
parent c1fca91103
commit e3df7d7bc8
10 changed files with 132 additions and 80 deletions
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79
Marlin/src/module/motion.cpp
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@ -588,27 +588,27 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
}
#endif
#if LINEAR_AXES == 4
#if LINEAR_AXES >= 4
void do_blocking_move_to_i(const_float_t ri, const_feedRate_t fr_mm_s/*=0.0*/) {
do_blocking_move_to_xyz_i(current_position, ri, fr_mm_s);
}
void do_blocking_move_to_xyz_i(const xyze_pos_t &raw, const_float_t i, const_feedRate_t fr_mm_s/*=0.0f*/) {
do_blocking_move_to(raw.x, raw.y, raw.z, i, fr_mm_s);
do_blocking_move_to(
LINEAR_AXIS_LIST(raw.x, raw.y, raw.z, i, raw.j, raw.k),
fr_mm_s
);
}
#endif
#if LINEAR_AXES >= 5
void do_blocking_move_to_i(const_float_t ri, const_feedRate_t fr_mm_s/*=0.0*/) {
do_blocking_move_to_xyz_i(current_position, ri, fr_mm_s);
}
void do_blocking_move_to_xyz_i(const xyze_pos_t &raw, const_float_t i, const_feedRate_t fr_mm_s/*=0.0f*/) {
do_blocking_move_to(raw.x, raw.y, raw.z, i, raw.j, fr_mm_s);
}
void do_blocking_move_to_j(const_float_t rj, const_feedRate_t fr_mm_s/*=0.0*/) {
do_blocking_move_to_xyzi_j(current_position, rj, fr_mm_s);
}
void do_blocking_move_to_xyzi_j(const xyze_pos_t &raw, const_float_t j, const_feedRate_t fr_mm_s/*=0.0f*/) {
do_blocking_move_to(raw.x, raw.y, raw.z, raw.i, j, fr_mm_s);
do_blocking_move_to(
LINEAR_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, j, raw.k),
fr_mm_s
);
}
#endif
@ -617,7 +617,10 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
do_blocking_move_to_xyzij_k(current_position, rk, fr_mm_s);
}
void do_blocking_move_to_xyzij_k(const xyze_pos_t &raw, const_float_t k, const_feedRate_t fr_mm_s/*=0.0f*/) {
do_blocking_move_to(raw.x, raw.y, raw.z, raw.i, raw.j, k, fr_mm_s);
do_blocking_move_to(
LINEAR_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, raw.j, k),
fr_mm_s
);
}
#endif
@ -822,7 +825,7 @@ void restore_feedrate_and_scaling() {
#endif
}
#endif
#if LINEAR_AXES >= 4 // TODO (DerAndere): Find out why this was missing / removed
#if LINEAR_AXES >= 4
if (axis_was_homed(I_AXIS)) {
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_I)
NOLESS(target.i, soft_endstop.min.i);
@ -1295,7 +1298,7 @@ void prepare_line_to_destination() {
bool homing_needed_error(linear_axis_bits_t axis_bits/*=linear_bits*/) {
if ((axis_bits = axes_should_home(axis_bits))) {
PGM_P home_first = GET_TEXT(MSG_HOME_FIRST); // TODO: (DerAndere) Set this up for extra axes
PGM_P home_first = GET_TEXT(MSG_HOME_FIRST);
char msg[strlen_P(home_first)+1];
sprintf_P(msg, home_first,
LINEAR_AXIS_LIST(
@ -1390,8 +1393,21 @@ void prepare_line_to_destination() {
#if ENABLED(SPI_ENDSTOPS)
switch (axis) {
case X_AXIS: if (ENABLED(X_SPI_SENSORLESS)) endstops.tmc_spi_homing.x = true; break;
case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = true; break;
case Z_AXIS: if (ENABLED(Z_SPI_SENSORLESS)) endstops.tmc_spi_homing.z = true; break;
#if HAS_Y_AXIS
case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = true; break;
#endif
#if HAS_Z_AXIS
case Z_AXIS: if (ENABLED(Z_SPI_SENSORLESS)) endstops.tmc_spi_homing.z = true; break;
#endif
#if LINEAR_AXES >= 4
case I_AXIS: if (ENABLED(I_SPI_SENSORLESS)) endstops.tmc_spi_homing.i = true; break;
#endif
#if LINEAR_AXES >= 5
case J_AXIS: if (ENABLED(J_SPI_SENSORLESS)) endstops.tmc_spi_homing.j = true; break;
#endif
#if LINEAR_AXES >= 6
case K_AXIS: if (ENABLED(K_SPI_SENSORLESS)) endstops.tmc_spi_homing.k = true; break;
#endif
default: break;
}
#endif
@ -1454,11 +1470,21 @@ void prepare_line_to_destination() {
#if ENABLED(SPI_ENDSTOPS)
switch (axis) {
case X_AXIS: if (ENABLED(X_SPI_SENSORLESS)) endstops.tmc_spi_homing.x = false; break;
case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = false; break;
case Z_AXIS: if (ENABLED(Z_SPI_SENSORLESS)) endstops.tmc_spi_homing.z = false; break;
case I_AXIS: if (ENABLED(I_SPI_SENSORLESS)) endstops.tmc_spi_homing.i = false; break;
case J_AXIS: if (ENABLED(J_SPI_SENSORLESS)) endstops.tmc_spi_homing.j = false; break;
case K_AXIS: if (ENABLED(K_SPI_SENSORLESS)) endstops.tmc_spi_homing.k = false; break;
#if HAS_Y_AXIS
case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = false; break;
#endif
#if HAS_Z_AXIS
case Z_AXIS: if (ENABLED(Z_SPI_SENSORLESS)) endstops.tmc_spi_homing.z = false; break;
#endif
#if LINEAR_AXES >= 4
case I_AXIS: if (ENABLED(I_SPI_SENSORLESS)) endstops.tmc_spi_homing.i = false; break;
#endif
#if LINEAR_AXES >= 5
case J_AXIS: if (ENABLED(J_SPI_SENSORLESS)) endstops.tmc_spi_homing.j = false; break;
#endif
#if LINEAR_AXES >= 6
case K_AXIS: if (ENABLED(K_SPI_SENSORLESS)) endstops.tmc_spi_homing.k = false; break;
#endif
default: break;
}
#endif
@ -1734,11 +1760,11 @@ void prepare_line_to_destination() {
#endif
//
// Back away to prevent an early X/Y sensorless trigger
// Back away to prevent an early sensorless trigger
//
#if DISABLED(DELTA) && defined(SENSORLESS_BACKOFF_MM)
const xy_float_t backoff = SENSORLESS_BACKOFF_MM;
if ((TERN0(X_SENSORLESS, axis == X_AXIS) || TERN0(Y_SENSORLESS, axis == Y_AXIS)) && backoff[axis]) {
const xyz_float_t backoff = SENSORLESS_BACKOFF_MM;
if ((TERN0(X_SENSORLESS, axis == X_AXIS) || TERN0(Y_SENSORLESS, axis == Y_AXIS) || TERN0(Z_SENSORLESS, axis == Z_AXIS) || TERN0(I_SENSORLESS, axis == I_AXIS) || TERN0(J_SENSORLESS, axis == J_AXIS) || TERN0(K_SENSORLESS, axis == K_AXIS)) && backoff[axis]) {
const float backoff_length = -ABS(backoff[axis]) * axis_home_dir;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Sensorless backoff: ", backoff_length, "mm");
do_homing_move(axis, backoff_length, homing_feedrate(axis));
@ -1777,6 +1803,15 @@ void prepare_line_to_destination() {
case X_AXIS: es = X_ENDSTOP; break;
case Y_AXIS: es = Y_ENDSTOP; break;
case Z_AXIS: es = Z_ENDSTOP; break;
#if LINEAR_AXES >= 4
case I_AXIS: es = I_ENDSTOP; break;
#endif
#if LINEAR_AXES >= 5
case J_AXIS: es = J_ENDSTOP; break;
#endif
#if LINEAR_AXES >= 6
case K_AXIS: es = K_ENDSTOP; break;
#endif
}
if (TEST(endstops.state(), es)) {
SERIAL_ECHO_MSG("Bad ", AS_CHAR(AXIS_CHAR(axis)), " Endstop?");