bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

✨ Support for up to 9 axes (#23112, #24036, #24231)

Browse Source
This commit is contained in:
Scott Lahteine
2022-04-29 15:21:15 -05:00
parent 369542db3b
commit fd13a928c1
103 changed files with 4553 additions and 799 deletions
Download Patch File Download Diff File Expand all files Collapse all files

249
Marlin/src/module/motion.cpp
View File

@ -84,7 +84,7 @@ bool relative_mode; // = false;
#define Z_INIT_POS Z_HOME_POS
#endif
xyze_pos_t current_position = LOGICAL_AXIS_ARRAY(0, X_HOME_POS, Y_HOME_POS, Z_INIT_POS, I_HOME_POS, J_HOME_POS, K_HOME_POS);
xyze_pos_t current_position = LOGICAL_AXIS_ARRAY(0, X_HOME_POS, Y_HOME_POS, Z_INIT_POS, I_HOME_POS, J_HOME_POS, K_HOME_POS, U_HOME_POS, V_HOME_POS, W_HOME_POS);
/**
* Cartesian Destination
@ -189,13 +189,16 @@ inline void report_more_positions() {
inline void report_logical_position(const xyze_pos_t &rpos) {
const xyze_pos_t lpos = rpos.asLogical();
SERIAL_ECHOPGM_P(
LIST_N(DOUBLE(LINEAR_AXES),
LIST_N(DOUBLE(NUM_AXES),
X_LBL, lpos.x,
SP_Y_LBL, lpos.y,
SP_Z_LBL, lpos.z,
SP_I_LBL, lpos.i,
SP_J_LBL, lpos.j,
SP_K_LBL, lpos.k
SP_K_LBL, lpos.k,
SP_U_LBL, lpos.u,
SP_V_LBL, lpos.v,
SP_W_LBL, lpos.w
)
#if HAS_EXTRUDERS
, SP_E_LBL, lpos.e
@ -210,7 +213,8 @@ void report_real_position() {
xyze_pos_t npos = LOGICAL_AXIS_ARRAY(
planner.get_axis_position_mm(E_AXIS),
cartes.x, cartes.y, cartes.z,
cartes.i, cartes.j, cartes.k
cartes.i, cartes.j, cartes.k,
cartes.u, cartes.v, cartes.w
);
TERN_(HAS_POSITION_MODIFIERS, planner.unapply_modifiers(npos, true));
@ -257,13 +261,16 @@ void report_current_position_projected() {
const xyz_pos_t lpos = cartes.asLogical();
SERIAL_ECHOPGM_P(
LIST_N(DOUBLE(LINEAR_AXES),
LIST_N(DOUBLE(NUM_AXES),
X_LBL, lpos.x,
SP_Y_LBL, lpos.y,
SP_Z_LBL, lpos.z,
SP_I_LBL, lpos.i,
SP_J_LBL, lpos.j,
SP_K_LBL, lpos.k
SP_K_LBL, lpos.k,
SP_U_LBL, lpos.u,
SP_V_LBL, lpos.v,
SP_W_LBL, lpos.w
)
#if HAS_EXTRUDERS
, SP_E_LBL, current_position.e
@ -354,13 +361,16 @@ void get_cartesian_from_steppers() {
);
cartes.z = planner.get_axis_position_mm(Z_AXIS);
#else
LINEAR_AXIS_CODE(
NUM_AXIS_CODE(
cartes.x = planner.get_axis_position_mm(X_AXIS),
cartes.y = planner.get_axis_position_mm(Y_AXIS),
cartes.z = planner.get_axis_position_mm(Z_AXIS),
cartes.i = planner.get_axis_position_mm(I_AXIS),
cartes.j = planner.get_axis_position_mm(J_AXIS),
cartes.k = planner.get_axis_position_mm(K_AXIS)
cartes.k = planner.get_axis_position_mm(K_AXIS),
cartes.u = planner.get_axis_position_mm(U_AXIS),
cartes.v = planner.get_axis_position_mm(V_AXIS),
cartes.w = planner.get_axis_position_mm(W_AXIS)
);
#endif
}
@ -467,24 +477,23 @@ void _internal_move_to_destination(const_feedRate_t fr_mm_s/*=0.0f*/
* - Delta may lower Z first to get into the free motion zone.
* - Before returning, wait for the planner buffer to empty.
*/
void do_blocking_move_to(LINEAR_AXIS_ARGS(const float), const_feedRate_t fr_mm_s/*=0.0f*/) {
void do_blocking_move_to(NUM_AXIS_ARGS(const float), const_feedRate_t fr_mm_s/*=0.0f*/) {
DEBUG_SECTION(log_move, "do_blocking_move_to", DEBUGGING(LEVELING));
if (DEBUGGING(LEVELING)) DEBUG_XYZ("> ", LINEAR_AXIS_ARGS());
if (DEBUGGING(LEVELING)) DEBUG_XYZ("> ", NUM_AXIS_ARGS());
const feedRate_t xy_feedrate = fr_mm_s ?: feedRate_t(XY_PROBE_FEEDRATE_MM_S);
#if HAS_Z_AXIS
const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS);
#endif
#if HAS_I_AXIS
const feedRate_t i_feedrate = fr_mm_s ?: homing_feedrate(I_AXIS);
#endif
#if HAS_J_AXIS
const feedRate_t j_feedrate = fr_mm_s ?: homing_feedrate(J_AXIS);
#endif
#if HAS_K_AXIS
const feedRate_t k_feedrate = fr_mm_s ?: homing_feedrate(K_AXIS);
#endif
SECONDARY_AXIS_CODE(
const feedRate_t i_feedrate = fr_mm_s ?: homing_feedrate(I_AXIS),
const feedRate_t j_feedrate = fr_mm_s ?: homing_feedrate(J_AXIS),
const feedRate_t k_feedrate = fr_mm_s ?: homing_feedrate(K_AXIS),
const feedRate_t u_feedrate = fr_mm_s ?: homing_feedrate(U_AXIS),
const feedRate_t v_feedrate = fr_mm_s ?: homing_feedrate(V_AXIS),
const feedRate_t w_feedrate = fr_mm_s ?: homing_feedrate(W_AXIS)
);
#if IS_KINEMATIC
if (!position_is_reachable(x, y)) return;
@ -553,7 +562,18 @@ void do_blocking_move_to(LINEAR_AXIS_ARGS(const float), const_feedRate_t fr_mm_s
#if HAS_K_AXIS
current_position.k = k; line_to_current_position(k_feedrate);
#endif
#if HAS_Z_AXIS // If Z needs to lower, do it after moving XY...
#if HAS_U_AXIS
current_position.u = u; line_to_current_position(u_feedrate);
#endif
#if HAS_V_AXIS
current_position.v = v; line_to_current_position(v_feedrate);
#endif
#if HAS_W_AXIS
current_position.w = w; line_to_current_position(w_feedrate);
#endif
#if HAS_Z_AXIS
// If Z needs to lower, do it after moving XY
if (current_position.z > z) { current_position.z = z; line_to_current_position(z_feedrate); }
#endif
@ -563,17 +583,19 @@ void do_blocking_move_to(LINEAR_AXIS_ARGS(const float), const_feedRate_t fr_mm_s
}
void do_blocking_move_to(const xy_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
do_blocking_move_to(LINEAR_AXIS_LIST(raw.x, raw.y, current_position.z, current_position.i, current_position.j, current_position.k), fr_mm_s);
do_blocking_move_to(NUM_AXIS_LIST(raw.x, raw.y, current_position.z, current_position.i, current_position.j, current_position.k,
current_position.u, current_position.v, current_position.w), fr_mm_s);
}
void do_blocking_move_to(const xyz_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
do_blocking_move_to(LINEAR_AXIS_ELEM(raw), fr_mm_s);
do_blocking_move_to(NUM_AXIS_ELEM(raw), fr_mm_s);
}
void do_blocking_move_to(const xyze_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
do_blocking_move_to(LINEAR_AXIS_ELEM(raw), fr_mm_s);
do_blocking_move_to(NUM_AXIS_ELEM(raw), fr_mm_s);
}
void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
do_blocking_move_to(
LINEAR_AXIS_LIST(rx, current_position.y, current_position.z, current_position.i, current_position.j, current_position.k),
NUM_AXIS_LIST(rx, current_position.y, current_position.z, current_position.i, current_position.j, current_position.k,
current_position.u, current_position.v, current_position.w),
fr_mm_s
);
}
@ -581,7 +603,8 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
#if HAS_Y_AXIS
void do_blocking_move_to_y(const_float_t ry, const_feedRate_t fr_mm_s/*=0.0*/) {
do_blocking_move_to(
LINEAR_AXIS_LIST(current_position.x, ry, current_position.z, current_position.i, current_position.j, current_position.k),
NUM_AXIS_LIST(current_position.x, ry, current_position.z, current_position.i, current_position.j, current_position.k,
current_position.u, current_position.v, current_position.w),
fr_mm_s
);
}
@ -599,7 +622,7 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
}
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(
LINEAR_AXIS_LIST(raw.x, raw.y, raw.z, i, raw.j, raw.k),
NUM_AXIS_LIST(raw.x, raw.y, raw.z, i, raw.j, raw.k, raw.u, raw.v, raw.w),
fr_mm_s
);
}
@ -611,7 +634,7 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
}
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(
LINEAR_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, j, raw.k),
NUM_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, j, raw.k, raw.u, raw.v, raw.w),
fr_mm_s
);
}
@ -623,7 +646,43 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
}
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(
LINEAR_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, raw.j, k),
NUM_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, raw.j, k, raw.u, raw.v, raw.w),
fr_mm_s
);
}
#endif
#if HAS_U_AXIS
void do_blocking_move_to_u(const_float_t ru, const_feedRate_t fr_mm_s/*=0.0*/) {
do_blocking_move_to_xyzijk_u(current_position, ru, fr_mm_s);
}
void do_blocking_move_to_xyzijk_u(const xyze_pos_t &raw, const_float_t u, const_feedRate_t fr_mm_s/*=0.0f*/) {
do_blocking_move_to(
NUM_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, raw.j, raw.k, u, raw.v, raw.w),
fr_mm_s
);
}
#endif
#if HAS_V_AXIS
void do_blocking_move_to_v(const_float_t rv, const_feedRate_t fr_mm_s/*=0.0*/) {
do_blocking_move_to_xyzijku_v(current_position, rv, fr_mm_s);
}
void do_blocking_move_to_xyzijku_v(const xyze_pos_t &raw, const_float_t v, const_feedRate_t fr_mm_s/*=0.0f*/) {
do_blocking_move_to(
NUM_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, raw.j, raw.k, raw.u, v, raw.w),
fr_mm_s
);
}
#endif
#if HAS_W_AXIS
void do_blocking_move_to_w(const_float_t rw, const_feedRate_t fr_mm_s/*=0.0*/) {
do_blocking_move_to_xyzijkuv_w(current_position, rw, fr_mm_s);
}
void do_blocking_move_to_xyzijkuv_w(const xyze_pos_t &raw, const_float_t w, const_feedRate_t fr_mm_s/*=0.0f*/) {
do_blocking_move_to(
NUM_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, raw.j, raw.k, raw.u, raw.v, w),
fr_mm_s
);
}
@ -632,7 +691,8 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
#if HAS_Y_AXIS
void do_blocking_move_to_xy(const_float_t rx, const_float_t ry, const_feedRate_t fr_mm_s/*=0.0*/) {
do_blocking_move_to(
LINEAR_AXIS_LIST(rx, ry, current_position.z, current_position.i, current_position.j, current_position.k),
NUM_AXIS_LIST(rx, ry, current_position.z, current_position.i, current_position.j, current_position.k,
current_position.u, current_position.v, current_position.w),
fr_mm_s
);
}
@ -644,7 +704,8 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
#if HAS_Z_AXIS
void do_blocking_move_to_xy_z(const xy_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s/*=0.0f*/) {
do_blocking_move_to(
LINEAR_AXIS_LIST(raw.x, raw.y, z, current_position.i, current_position.j, current_position.k),
NUM_AXIS_LIST(raw.x, raw.y, z, current_position.i, current_position.j, current_position.k,
current_position.u, current_position.v, current_position.w),
fr_mm_s
);
}
@ -679,8 +740,8 @@ void restore_feedrate_and_scaling() {
// Software Endstops are based on the configured limits.
soft_endstops_t soft_endstop = {
true, false,
LINEAR_AXIS_ARRAY(X_MIN_POS, Y_MIN_POS, Z_MIN_POS, I_MIN_POS, J_MIN_POS, K_MIN_POS),
LINEAR_AXIS_ARRAY(X_MAX_BED, Y_MAX_BED, Z_MAX_POS, I_MAX_POS, J_MAX_POS, K_MAX_POS)
NUM_AXIS_ARRAY(X_MIN_POS, Y_MIN_POS, Z_MIN_POS, I_MIN_POS, J_MIN_POS, K_MIN_POS, U_MIN_POS, V_MIN_POS, W_MIN_POS),
NUM_AXIS_ARRAY(X_MAX_BED, Y_MAX_BED, Z_MAX_POS, I_MAX_POS, J_MAX_POS, K_MAX_POS, U_MAX_POS, V_MAX_POS, W_MAX_POS)
};
/**
@ -859,6 +920,36 @@ void restore_feedrate_and_scaling() {
#endif
}
#endif
#if HAS_U_AXIS
if (axis_was_homed(U_AXIS)) {
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_U)
NOLESS(target.u, soft_endstop.min.u);
#endif
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_U)
NOMORE(target.u, soft_endstop.max.u);
#endif
}
#endif
#if HAS_V_AXIS
if (axis_was_homed(V_AXIS)) {
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_V)
NOLESS(target.v, soft_endstop.min.v);
#endif
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_V)
NOMORE(target.v, soft_endstop.max.v);
#endif
}
#endif
#if HAS_W_AXIS
if (axis_was_homed(W_AXIS)) {
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_W)
NOLESS(target.w, soft_endstop.min.w);
#endif
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_W)
NOMORE(target.w, soft_endstop.max.w);
#endif
}
#endif
}
#else // !HAS_SOFTWARE_ENDSTOPS
@ -1297,9 +1388,10 @@ void prepare_line_to_destination() {
CBI(b, a);
};
// Clear test bits that are trusted
LINEAR_AXIS_CODE(
NUM_AXIS_CODE(
set_should(axis_bits, X_AXIS), set_should(axis_bits, Y_AXIS), set_should(axis_bits, Z_AXIS),
set_should(axis_bits, I_AXIS), set_should(axis_bits, J_AXIS), set_should(axis_bits, K_AXIS)
set_should(axis_bits, I_AXIS), set_should(axis_bits, J_AXIS), set_should(axis_bits, K_AXIS),
set_should(axis_bits, U_AXIS), set_should(axis_bits, V_AXIS), set_should(axis_bits, W_AXIS)
);
return axis_bits;
}
@ -1309,13 +1401,16 @@ void prepare_line_to_destination() {
PGM_P home_first = GET_TEXT(MSG_HOME_FIRST);
char msg[strlen_P(home_first)+1];
sprintf_P(msg, home_first,
LINEAR_AXIS_LIST(
TEST(axis_bits, X_AXIS) ? "X" : "",
TEST(axis_bits, Y_AXIS) ? "Y" : "",
TEST(axis_bits, Z_AXIS) ? "Z" : "",
NUM_AXIS_LIST(
TEST(axis_bits, X_AXIS) ? STR_A : "",
TEST(axis_bits, Y_AXIS) ? STR_B : "",
TEST(axis_bits, Z_AXIS) ? STR_C : "",
TEST(axis_bits, I_AXIS) ? STR_I : "",
TEST(axis_bits, J_AXIS) ? STR_J : "",
TEST(axis_bits, K_AXIS) ? STR_K : ""
TEST(axis_bits, K_AXIS) ? STR_K : "",
TEST(axis_bits, U_AXIS) ? STR_U : "",
TEST(axis_bits, V_AXIS) ? STR_V : "",
TEST(axis_bits, W_AXIS) ? STR_W : ""
)
);
SERIAL_ECHO_START();
@ -1395,6 +1490,15 @@ void prepare_line_to_destination() {
#if K_SENSORLESS
case K_AXIS: stealth_states.k = tmc_enable_stallguard(stepperK); break;
#endif
#if U_SENSORLESS
case U_AXIS: stealth_states.u = tmc_enable_stallguard(stepperU); break;
#endif
#if V_SENSORLESS
case V_AXIS: stealth_states.v = tmc_enable_stallguard(stepperV); break;
#endif
#if W_SENSORLESS
case W_AXIS: stealth_states.w = tmc_enable_stallguard(stepperW); break;
#endif
}
#if ENABLED(SPI_ENDSTOPS)
@ -1415,6 +1519,15 @@ void prepare_line_to_destination() {
#if HAS_K_AXIS
case K_AXIS: if (ENABLED(K_SPI_SENSORLESS)) endstops.tmc_spi_homing.k = true; break;
#endif
#if HAS_U_AXIS
case U_AXIS: if (ENABLED(U_SPI_SENSORLESS)) endstops.tmc_spi_homing.u = true; break;
#endif
#if HAS_V_AXIS
case V_AXIS: if (ENABLED(V_SPI_SENSORLESS)) endstops.tmc_spi_homing.v = true; break;
#endif
#if HAS_W_AXIS
case W_AXIS: if (ENABLED(W_SPI_SENSORLESS)) endstops.tmc_spi_homing.w = true; break;
#endif
default: break;
}
#endif
@ -1471,6 +1584,15 @@ void prepare_line_to_destination() {
#if K_SENSORLESS
case K_AXIS: tmc_disable_stallguard(stepperK, enable_stealth.k); break;
#endif
#if U_SENSORLESS
case U_AXIS: tmc_disable_stallguard(stepperU, enable_stealth.u); break;
#endif
#if V_SENSORLESS
case V_AXIS: tmc_disable_stallguard(stepperV, enable_stealth.v); break;
#endif
#if W_SENSORLESS
case W_AXIS: tmc_disable_stallguard(stepperW, enable_stealth.w); break;
#endif
}
#if ENABLED(SPI_ENDSTOPS)
@ -1491,6 +1613,15 @@ void prepare_line_to_destination() {
#if HAS_K_AXIS
case K_AXIS: if (ENABLED(K_SPI_SENSORLESS)) endstops.tmc_spi_homing.k = false; break;
#endif
#if HAS_U_AXIS
case U_AXIS: if (ENABLED(U_SPI_SENSORLESS)) endstops.tmc_spi_homing.u = false; break;
#endif
#if HAS_V_AXIS
case V_AXIS: if (ENABLED(V_SPI_SENSORLESS)) endstops.tmc_spi_homing.v = false; break;
#endif
#if HAS_W_AXIS
case W_AXIS: if (ENABLED(W_SPI_SENSORLESS)) endstops.tmc_spi_homing.w = false; break;
#endif
default: break;
}
#endif
@ -1677,6 +1808,30 @@ void prepare_line_to_destination() {
stepperBackoutDir = IF_DISABLED(INVERT_K_DIR, -)effectorBackoutDir;
break;
#endif
#ifdef U_MICROSTEPS
case U_AXIS:
phasePerUStep = PHASE_PER_MICROSTEP(U);
phaseCurrent = stepperU.get_microstep_counter();
effectorBackoutDir = -U_HOME_DIR;
stepperBackoutDir = IF_DISABLED(INVERT_U_DIR, -)effectorBackoutDir;
break;
#endif
#ifdef V_MICROSTEPS
case V_AXIS:
phasePerUStep = PHASE_PER_MICROSTEP(V);
phaseCurrent = stepperV.get_microstep_counter();
effectorBackoutDir = -V_HOME_DIR;
stepperBackoutDir = IF_DISABLED(INVERT_V_DIR, -)effectorBackoutDir;
break;
#endif
#ifdef W_MICROSTEPS
case W_AXIS:
phasePerUStep = PHASE_PER_MICROSTEP(W);
phaseCurrent = stepperW.get_microstep_counter();
effectorBackoutDir = -W_HOME_DIR;
stepperBackoutDir = IF_DISABLED(INVERT_W_DIR, -)effectorBackoutDir;
break;
#endif
default: return;
}
@ -1733,13 +1888,16 @@ void prepare_line_to_destination() {
|| TERN0(A##_HOME_TO_MIN, A##_MIN_PIN > -1) \
|| TERN0(A##_HOME_TO_MAX, A##_MAX_PIN > -1) \
))
if (LINEAR_AXIS_GANG(
if (NUM_AXIS_GANG(
!_CAN_HOME(X),
&& !_CAN_HOME(Y),
&& !_CAN_HOME(Z),
&& !_CAN_HOME(I),
&& !_CAN_HOME(J),
&& !_CAN_HOME(K))
&& !_CAN_HOME(K),
&& !_CAN_HOME(U),
&& !_CAN_HOME(V),
&& !_CAN_HOME(W))
) return;
#endif
@ -1832,6 +1990,15 @@ void prepare_line_to_destination() {
#if HAS_K_AXIS
case K_AXIS: es = K_ENDSTOP; break;
#endif
#if HAS_U_AXIS
case U_AXIS: es = U_ENDSTOP; break;
#endif
#if HAS_V_AXIS
case V_AXIS: es = V_ENDSTOP; break;
#endif
#if HAS_W_AXIS
case W_AXIS: es = W_ENDSTOP; break;
#endif
}
if (TEST(endstops.state(), es)) {
SERIAL_ECHO_MSG("Bad ", AS_CHAR(AXIS_CHAR(axis)), " Endstop?");