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

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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
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59
Marlin/src/module/motion.h
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@ -44,7 +44,7 @@ extern xyze_pos_t current_position, // High-level current tool position
// G60/G61 Position Save and Return
#if SAVED_POSITIONS
extern uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3]; // TODO: Add support for LINEAR_AXES >= 4
extern uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3]; // TODO: Add support for HAS_I_AXIS
extern xyze_pos_t stored_position[SAVED_POSITIONS];
#endif
@ -77,13 +77,16 @@ constexpr xyz_feedrate_t homing_feedrate_mm_m = HOMING_FEEDRATE_MM_M;
FORCE_INLINE feedRate_t homing_feedrate(const AxisEnum a) {
float v = TERN0(HAS_Z_AXIS, homing_feedrate_mm_m.z);
#if DISABLED(DELTA)
LINEAR_AXIS_CODE(
NUM_AXIS_CODE(
if (a == X_AXIS) v = homing_feedrate_mm_m.x,
else if (a == Y_AXIS) v = homing_feedrate_mm_m.y,
else if (a == Z_AXIS) v = homing_feedrate_mm_m.z,
else if (a == I_AXIS) v = homing_feedrate_mm_m.i,
else if (a == J_AXIS) v = homing_feedrate_mm_m.j,
else if (a == K_AXIS) v = homing_feedrate_mm_m.k
else if (a == K_AXIS) v = homing_feedrate_mm_m.k,
else if (a == U_AXIS) v = homing_feedrate_mm_m.u,
else if (a == V_AXIS) v = homing_feedrate_mm_m.v,
else if (a == W_AXIS) v = homing_feedrate_mm_m.w
);
#endif
return MMM_TO_MMS(v);
@ -124,7 +127,7 @@ inline int8_t pgm_read_any(const int8_t *p) { return TERN(__IMXRT1062__, *p, pgm
#define XYZ_DEFS(T, NAME, OPT) \
inline T NAME(const AxisEnum axis) { \
static const XYZval<T> NAME##_P DEFS_PROGMEM = LINEAR_AXIS_ARRAY(X_##OPT, Y_##OPT, Z_##OPT, I_##OPT, J_##OPT, K_##OPT); \
static const XYZval<T> NAME##_P DEFS_PROGMEM = NUM_AXIS_ARRAY(X_##OPT, Y_##OPT, Z_##OPT, I_##OPT, J_##OPT, K_##OPT, U_##OPT, V_##OPT, W_##OPT); \
return pgm_read_any(&NAME##_P[axis]); \
}
XYZ_DEFS(float, base_min_pos, MIN_POS);
@ -198,6 +201,24 @@ inline float home_bump_mm(const AxisEnum axis) {
TERN_(MIN_SOFTWARE_ENDSTOP_K, amax = max.k);
break;
#endif
#if HAS_U_AXIS
case U_AXIS:
TERN_(MIN_SOFTWARE_ENDSTOP_U, amin = min.u);
TERN_(MIN_SOFTWARE_ENDSTOP_U, amax = max.u);
break;
#endif
#if HAS_V_AXIS
case V_AXIS:
TERN_(MIN_SOFTWARE_ENDSTOP_V, amin = min.v);
TERN_(MIN_SOFTWARE_ENDSTOP_V, amax = max.v);
break;
#endif
#if HAS_W_AXIS
case W_AXIS:
TERN_(MIN_SOFTWARE_ENDSTOP_W, amin = min.w);
TERN_(MIN_SOFTWARE_ENDSTOP_W, amax = max.w);
break;
#endif
default: break;
}
#endif
@ -323,7 +344,7 @@ inline void prepare_internal_move_to_destination(const_feedRate_t fr_mm_s=0.0f)
/**
* Blocking movement and shorthand functions
*/
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);
void do_blocking_move_to(const xy_pos_t &raw, const_feedRate_t fr_mm_s=0.0f);
void do_blocking_move_to(const xyz_pos_t &raw, const_feedRate_t fr_mm_s=0.0f);
void do_blocking_move_to(const xyze_pos_t &raw, const_feedRate_t fr_mm_s=0.0f);
@ -347,6 +368,18 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s=0.0f);
void do_blocking_move_to_k(const_float_t rk, const_feedRate_t fr_mm_s=0.0f);
void do_blocking_move_to_xyzij_k(const xyze_pos_t &raw, const_float_t k, const_feedRate_t fr_mm_s=0.0f);
#endif
#if HAS_U_AXIS
void do_blocking_move_to_u(const_float_t ru, const_feedRate_t fr_mm_s=0.0f);
void do_blocking_move_to_xyzijk_u(const xyze_pos_t &raw, const_float_t u, const_feedRate_t fr_mm_s=0.0f);
#endif
#if HAS_V_AXIS
void do_blocking_move_to_v(const_float_t rv, const_feedRate_t fr_mm_s=0.0f);
void do_blocking_move_to_xyzijku_v(const xyze_pos_t &raw, const_float_t v, const_feedRate_t fr_mm_s=0.0f);
#endif
#if HAS_W_AXIS
void do_blocking_move_to_w(const float rw, const feedRate_t &fr_mm_s=0.0f);
void do_blocking_move_to_xyzijkuv_w(const xyze_pos_t &raw, const float w, const feedRate_t &fr_mm_s=0.0f);
#endif
#if HAS_Y_AXIS
void do_blocking_move_to_xy(const_float_t rx, const_float_t ry, const_feedRate_t fr_mm_s=0.0f);
@ -374,8 +407,8 @@ void restore_feedrate_and_scaling();
/**
* Homing and Trusted Axes
*/
typedef IF<(LINEAR_AXES > 8), uint16_t, uint8_t>::type linear_axis_bits_t;
constexpr linear_axis_bits_t linear_bits = _BV(LINEAR_AXES) - 1;
typedef IF<(NUM_AXES > 8), uint16_t, uint8_t>::type linear_axis_bits_t;
constexpr linear_axis_bits_t linear_bits = _BV(NUM_AXES) - 1;
void set_axis_is_at_home(const AxisEnum axis);
@ -490,6 +523,18 @@ void home_if_needed(const bool keeplev=false);
#define LOGICAL_K_POSITION(POS) NATIVE_TO_LOGICAL(POS, K_AXIS)
#define RAW_K_POSITION(POS) LOGICAL_TO_NATIVE(POS, K_AXIS)
#endif
#if HAS_U_AXIS
#define LOGICAL_U_POSITION(POS) NATIVE_TO_LOGICAL(POS, U_AXIS)
#define RAW_U_POSITION(POS) LOGICAL_TO_NATIVE(POS, U_AXIS)
#endif
#if HAS_V_AXIS
#define LOGICAL_V_POSITION(POS) NATIVE_TO_LOGICAL(POS, V_AXIS)
#define RAW_V_POSITION(POS) LOGICAL_TO_NATIVE(POS, V_AXIS)
#endif
#if HAS_W_AXIS
#define LOGICAL_W_POSITION(POS) NATIVE_TO_LOGICAL(POS, W_AXIS)
#define RAW_W_POSITION(POS) LOGICAL_TO_NATIVE(POS, W_AXIS)
#endif
/**
* position_is_reachable family of functions