From eca44371031e79cc6ef48a481ffc5ff19fe5308c Mon Sep 17 00:00:00 2001 From: DerAndere <26200979+DerAndere1@users.noreply.github.com> Date: Sat, 5 Jun 2021 15:28:55 +0200 Subject: [PATCH] fixes for LINEAR_AXES >= 3, fix SENSORLESS_BACKOFF_MM code in macros.h, resolve conflicting numbers for axis I and E1 in motion.h, fix functions do_blocking_move_to_[j/k] ... in planner.h, fix missing operator in sensitive_pins.h, make logic for I,J,K like for X,Y,Z in trinamic.cpp: add checks for axes I,J,K like for X,Y,Z --- Marlin/Configuration_adv.h | 4 +-- Marlin/src/core/macros.h | 12 +++---- Marlin/src/inc/SanityCheck.h | 4 +-- Marlin/src/module/motion.cpp | 45 +++++++++++++++----------- Marlin/src/module/motion.h | 2 +- Marlin/src/module/planner.cpp | 6 ++-- Marlin/src/module/stepper/trinamic.cpp | 6 +++- Marlin/src/pins/sensitive_pins.h | 6 ++-- 8 files changed, 49 insertions(+), 36 deletions(-) diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index e0c54dfbecf78..259a61cf2e661 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -734,7 +734,7 @@ * the position of the toolhead relative to the workspace. */ -//#define SENSORLESS_BACKOFF_MM { 2, 2 } // (mm) Backoff from endstops before sensorless homing +//#define SENSORLESS_BACKOFF_MM { 2, 2, 0 } // (mm) Backoff from endstops before sensorless homing #define HOMING_BUMP_MM { 5, 5, 2 } // (mm) Backoff from endstops after first bump #define HOMING_BUMP_DIVISOR { 2, 2, 4 } // Re-Bump Speed Divisor (Divides the Homing Feedrate) @@ -2253,7 +2253,7 @@ * Extra G-code to run while executing tool-change commands. Can be used to use an additional * stepper motor (I axis, see option LINEAR_AXES in Configuration.h) to drive the tool-changer. */ - //#define EVENT_GCODE_TOOLCHANGE_T0 "G28 A\nG1 I0" // Extra G-code to run while executing tool-change command T0 + //#define EVENT_GCODE_TOOLCHANGE_T0 "G28 A\nG1 A0" // Extra G-code to run while executing tool-change command T0 //#define EVENT_GCODE_TOOLCHANGE_T1 "G1 A10" // Extra G-code to run while executing tool-change command T1 /** diff --git a/Marlin/src/core/macros.h b/Marlin/src/core/macros.h index dc6147adb07f7..295eee9bcfa82 100644 --- a/Marlin/src/core/macros.h +++ b/Marlin/src/core/macros.h @@ -36,15 +36,15 @@ #define _XMIN_ 100 #define _YMIN_ 200 #define _ZMIN_ 300 -#define _IMIN_ 400 -#define _JMIN_ 500 -#define _KMIN_ 600 +#define _IMIN_ 500 +#define _JMIN_ 600 +#define _KMIN_ 700 #define _XMAX_ 101 #define _YMAX_ 201 #define _ZMAX_ 301 -#define _IMAX_ 401 -#define _JMAX_ 501 -#define _KMAX_ 601 +#define _IMAX_ 501 +#define _JMAX_ 601 +#define _KMAX_ 701 #define _XDIAG_ 102 #define _YDIAG_ 202 #define _ZDIAG_ 302 diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h index ee6fae09767b4..fe91e9c9aaabb 100644 --- a/Marlin/src/inc/SanityCheck.h +++ b/Marlin/src/inc/SanityCheck.h @@ -570,8 +570,8 @@ #error "NEOPIXEL_BKGD_LED_INDEX is now NEOPIXEL_BKGD_INDEX_FIRST." #endif -constexpr float sbm[] = AXIS_RELATIVE_MODES; -static_assert(COUNT(sbm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _LOGICAL_AXES_STR "elements."); +constexpr float relm[] = AXIS_RELATIVE_MODES; +static_assert(COUNT(relm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _LOGICAL_AXES_STR "elements."); /** * Probe temp compensation requirements diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index 1d40d3a253eec..53ce3526978e2 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -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( @@ -1456,9 +1459,6 @@ void prepare_line_to_destination() { 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; default: break; } #endif @@ -1734,11 +1734,11 @@ 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 +1777,15 @@ 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?"); diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h index 9095290cc7c89..d099246f17e38 100644 --- a/Marlin/src/module/motion.h +++ b/Marlin/src/module/motion.h @@ -180,7 +180,7 @@ inline float home_bump_mm(const AxisEnum axis) { TERN_(MAX_SOFTWARE_ENDSTOP_Z, amax = max.z); break; #endif - #if LINEAR_AXES >= 4 // TODO (DerAndere): Test for LINEAR_AXES >= 4 + #if LINEAR_AXES >= 4 case I_AXIS: TERN_(MIN_SOFTWARE_ENDSTOP_I, amin = min.i); TERN_(MIN_SOFTWARE_ENDSTOP_I, amax = max.i); diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index eb0d204cb0833..49b2d60b20b8f 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -1451,7 +1451,7 @@ void Planner::check_axes_activity() { float high = 0.0; for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) { block_t *block = &block_buffer[b]; - if (LINEAR_AXIS_GANG(block->steps.x, || block->steps.y, || block->steps.z, block->steps.i, || block->steps.j, || block->steps.k)) { + if (LINEAR_AXIS_GANG(block->steps.x, || block->steps.y, || block->steps.z, || block->steps.i, || block->steps.j, || block->steps.k)) { const float se = (float)block->steps.e / block->step_event_count * SQRT(block->nominal_speed_sqr); // mm/sec; NOLESS(high, se); } @@ -2852,7 +2852,7 @@ bool Planner::buffer_segment(const abce_pos_t &abce int32_t(LROUND(abce.a * settings.axis_steps_per_mm[A_AXIS])), int32_t(LROUND(abce.b * settings.axis_steps_per_mm[B_AXIS])), int32_t(LROUND(abce.c * settings.axis_steps_per_mm[C_AXIS])), - int32_t(LROUND(abce.i * settings.axis_steps_per_mm[I_AXIS])), // FIXME (DerAndere): Multiplication by 4.0 is a work-around for issue with wrong internal steps per mm + int32_t(LROUND(abce.i * settings.axis_steps_per_mm[I_AXIS])), int32_t(LROUND(abce.j * settings.axis_steps_per_mm[J_AXIS])), int32_t(LROUND(abce.k * settings.axis_steps_per_mm[K_AXIS])) ) @@ -2893,7 +2893,7 @@ bool Planner::buffer_segment(const abce_pos_t &abce #endif #if LINEAR_AXES >= 4 SERIAL_ECHOPAIR_P(SP_I_LBL, abce.i); - SERIAL_ECHOPAIR(" (", position.i, "->", target.i); // FIXME (DerAndere): Introduce work-around for issue with wrong internal steps per mm and feedrate for I_AXIS + SERIAL_ECHOPAIR(" (", position.i, "->", target.i); SERIAL_CHAR(')'); #endif #if LINEAR_AXES >= 5 diff --git a/Marlin/src/module/stepper/trinamic.cpp b/Marlin/src/module/stepper/trinamic.cpp index dbde6a5a04389..0e6d3251af6b5 100644 --- a/Marlin/src/module/stepper/trinamic.cpp +++ b/Marlin/src/module/stepper/trinamic.cpp @@ -976,6 +976,7 @@ void reset_trinamic_drivers() { TMC_HW_DETAIL(X), TMC_HW_DETAIL(X2), TMC_HW_DETAIL(Y), TMC_HW_DETAIL(Y2), TMC_HW_DETAIL(Z), TMC_HW_DETAIL(Z2), TMC_HW_DETAIL(Z3), TMC_HW_DETAIL(Z4), + TMC_HW_DETAIL(I), TMC_HW_DETAIL(J), TMC_HW_DETAIL(K), TMC_HW_DETAIL(E0), TMC_HW_DETAIL(E1), TMC_HW_DETAIL(E2), TMC_HW_DETAIL(E3), TMC_HW_DETAIL(E4), TMC_HW_DETAIL(E5), TMC_HW_DETAIL(E6), TMC_HW_DETAIL(E7) }; @@ -998,6 +999,7 @@ void reset_trinamic_drivers() { SA_NO_TMC_HW_C(X);SA_NO_TMC_HW_C(X2); SA_NO_TMC_HW_C(Y);SA_NO_TMC_HW_C(Y2); SA_NO_TMC_HW_C(Z);SA_NO_TMC_HW_C(Z2);SA_NO_TMC_HW_C(Z3);SA_NO_TMC_HW_C(Z4); + SA_NO_TMC_HW_C(I);SA_NO_TMC_HW_C(J);SA_NO_TMC_HW_C(K); SA_NO_TMC_HW_C(E0);SA_NO_TMC_HW_C(E1);SA_NO_TMC_HW_C(E2);SA_NO_TMC_HW_C(E3);SA_NO_TMC_HW_C(E4);SA_NO_TMC_HW_C(E5);SA_NO_TMC_HW_C(E6);SA_NO_TMC_HW_C(E7); #endif @@ -1009,7 +1011,8 @@ void reset_trinamic_drivers() { TMC_SW_DETAIL(X), TMC_SW_DETAIL(X2), TMC_SW_DETAIL(Y), TMC_SW_DETAIL(Y2), TMC_SW_DETAIL(Z), TMC_SW_DETAIL(Z2), TMC_SW_DETAIL(Z3), TMC_SW_DETAIL(Z4), - TMC_SW_DETAIL(E0), TMC_SW_DETAIL(E1), TMC_SW_DETAIL(E2), TMC_SW_DETAIL(E3), TMC_SW_DETAIL(E4), TMC_SW_DETAIL(E5), TMC_SW_DETAIL(E6), TMC_SW_DETAIL(E7) + TMC_SW_DETAIL(I), TMC_SW_DETAIL(J), TMC_SW_DETAIL(K), + TMC_SW_DETAIL(E0), TMC_SW_DETAIL(E1), TMC_SW_DETAIL(E2), TMC_SW_DETAIL(E3), TMC_SW_DETAIL(E4), TMC_SW_DETAIL(E5), TMC_SW_DETAIL(E6), TMC_SW_DETAIL(E7) }; constexpr bool sc_sw_done(size_t start, size_t end) { return start == end; } @@ -1026,6 +1029,7 @@ void reset_trinamic_drivers() { SA_NO_TMC_SW_C(X);SA_NO_TMC_SW_C(X2); SA_NO_TMC_SW_C(Y);SA_NO_TMC_SW_C(Y2); SA_NO_TMC_SW_C(Z);SA_NO_TMC_SW_C(Z2);SA_NO_TMC_SW_C(Z3);SA_NO_TMC_SW_C(Z4); + SA_NO_TMC_SW_C(I);SA_NO_TMC_SW_C(J);SA_NO_TMC_SW_C(K); SA_NO_TMC_SW_C(E0);SA_NO_TMC_SW_C(E1);SA_NO_TMC_SW_C(E2);SA_NO_TMC_SW_C(E3);SA_NO_TMC_SW_C(E4);SA_NO_TMC_SW_C(E5);SA_NO_TMC_SW_C(E6);SA_NO_TMC_SW_C(E7); #endif diff --git a/Marlin/src/pins/sensitive_pins.h b/Marlin/src/pins/sensitive_pins.h index de0f65c596886..e3049019404a4 100644 --- a/Marlin/src/pins/sensitive_pins.h +++ b/Marlin/src/pins/sensitive_pins.h @@ -167,7 +167,7 @@ #else #define _I_MAX #endif - #if PIN_EXISTS(I_CS) + #if PIN_EXISTS(I_CS) && AXIS_HAS_SPI(I) #define _I_CS I_CS_PIN, #else #define _I_CS @@ -208,7 +208,7 @@ #else #define _J_MAX #endif - #if PIN_EXISTS(J_CS) + #if PIN_EXISTS(J_CS) && AXIS_HAS_SPI(J) #define _J_CS J_CS_PIN, #else #define _J_CS @@ -249,7 +249,7 @@ #else #define _K_MAX #endif - #if PIN_EXISTS(K_CS) + #if PIN_EXISTS(K_CS) && AXIS_HAS_SPI(K) #define _K_CS K_CS_PIN, #else #define _K_CS