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Fix IJK axis references and E stepper indices #22176

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merged 5 commits into from
Jun 21, 2021
Merged

Fix IJK axis references and E stepper indices #22176

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9614dbe
fixup E/I/J/K_AXIS references when EXTRUDERS 0 and/or LINEAR_AXES < 4
slowbro Jun 16, 2021
a5e3f5d
Update stepper_dac.cpp
thinkyhead Jun 20, 2021
078bf86
clean up and fix
thinkyhead Jun 20, 2021
aba330e
Fix code targeting e steppers directly
thinkyhead Jun 21, 2021
8626e22
Move M906 comment
thinkyhead Jun 21, 2021
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4 changes: 3 additions & 1 deletion Marlin/src/feature/dac/stepper_dac.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,7 +88,9 @@ void StepperDAC::print_values() {
SERIAL_ECHOPAIR_P( SP_X_LBL, dac_perc(X_AXIS), PSTR(" ("), dac_amps(X_AXIS), PSTR(")"));
SERIAL_ECHOPAIR_P( SP_Y_LBL, dac_perc(Y_AXIS), PSTR(" ("), dac_amps(Y_AXIS), PSTR(")"));
SERIAL_ECHOPAIR_P( SP_Z_LBL, dac_perc(Z_AXIS), PSTR(" ("), dac_amps(Z_AXIS), PSTR(")"));
SERIAL_ECHOLNPAIR_P(SP_E_LBL, dac_perc(E_AXIS), PSTR(" ("), dac_amps(E_AXIS), PSTR(")"));
#if HAS_EXTRUDERS
SERIAL_ECHOLNPAIR_P(SP_E_LBL, dac_perc(E_AXIS), PSTR(" ("), dac_amps(E_AXIS), PSTR(")"));
#endif
}

void StepperDAC::commit_eeprom() {
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2 changes: 1 addition & 1 deletion Marlin/src/gcode/feature/L6470/M906.cpp
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Expand Up @@ -281,7 +281,7 @@ void GcodeSuite::M906() {
break;
#endif

#if HAS_EXTRUDERS
#if E_STEPPERS
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case E_AXIS: {
const int8_t target_extruder = get_target_extruder_from_command();
if (target_extruder < 0) return;
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7 changes: 6 additions & 1 deletion Marlin/src/gcode/feature/pause/M125.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,12 @@
*/
void GcodeSuite::M125() {
// Initial retract before move to filament change position
const float retract = -ABS(parser.axisunitsval('L', E_AXIS, PAUSE_PARK_RETRACT_LENGTH));
const float retract =
#if HAS_EXTRUDERS
-ABS(parser.axisunitsval('L', E_AXIS, PAUSE_PARK_RETRACT_LENGTH));
#else
0;
#endif

xyz_pos_t park_point = NOZZLE_PARK_POINT;

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20 changes: 11 additions & 9 deletions Marlin/src/gcode/feature/trinamic/M569.cpp
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Expand Up @@ -82,17 +82,19 @@ static void set_stealth_status(const bool enable, const int8_t target_extruder)
case K_AXIS: TMC_SET_STEALTH(K); break;
#endif

#if HAS_EXTRUDERS
#if E_STEPPERS
case E_AXIS: {
if (target_extruder < 0) return;
OPTCODE(E0_HAS_STEALTHCHOP, else if (target_extruder == 0) TMC_SET_STEALTH(E0))
OPTCODE(E1_HAS_STEALTHCHOP, else if (target_extruder == 1) TMC_SET_STEALTH(E1))
OPTCODE(E2_HAS_STEALTHCHOP, else if (target_extruder == 2) TMC_SET_STEALTH(E2))
OPTCODE(E3_HAS_STEALTHCHOP, else if (target_extruder == 3) TMC_SET_STEALTH(E3))
OPTCODE(E4_HAS_STEALTHCHOP, else if (target_extruder == 4) TMC_SET_STEALTH(E4))
OPTCODE(E5_HAS_STEALTHCHOP, else if (target_extruder == 5) TMC_SET_STEALTH(E5))
OPTCODE(E6_HAS_STEALTHCHOP, else if (target_extruder == 6) TMC_SET_STEALTH(E6))
OPTCODE(E7_HAS_STEALTHCHOP, else if (target_extruder == 7) TMC_SET_STEALTH(E7))
switch (target_extruder) {
TERN_(E0_HAS_STEALTHCHOP, case 0: TMC_SET_STEALTH(E0); break;)
TERN_(E1_HAS_STEALTHCHOP, case 1: TMC_SET_STEALTH(E1); break;)
TERN_(E2_HAS_STEALTHCHOP, case 2: TMC_SET_STEALTH(E2); break;)
TERN_(E3_HAS_STEALTHCHOP, case 3: TMC_SET_STEALTH(E3); break;)
TERN_(E4_HAS_STEALTHCHOP, case 4: TMC_SET_STEALTH(E4); break;)
TERN_(E5_HAS_STEALTHCHOP, case 5: TMC_SET_STEALTH(E5); break;)
TERN_(E6_HAS_STEALTHCHOP, case 6: TMC_SET_STEALTH(E6); break;)
TERN_(E7_HAS_STEALTHCHOP, case 7: TMC_SET_STEALTH(E7); break;)
}
} break;
#endif
}
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2 changes: 1 addition & 1 deletion Marlin/src/gcode/feature/trinamic/M906.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,7 @@ void GcodeSuite::M906() {
case K_AXIS: TMC_SET_CURRENT(K); break;
#endif

#if HAS_EXTRUDERS
#if E_STEPPERS
case E_AXIS: {
const int8_t target_extruder = get_target_extruder_from_command();
if (target_extruder < 0) return;
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26 changes: 14 additions & 12 deletions Marlin/src/gcode/feature/trinamic/M911-M914.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -265,20 +265,22 @@
TERN_(Z3_HAS_STEALTCHOP, if (index == 0 || index == 3) TMC_SET_PWMTHRS(Z,Z3));
TERN_(Z4_HAS_STEALTCHOP, if (index == 0 || index == 4) TMC_SET_PWMTHRS(Z,Z4));
break;
case E_AXIS: {
#if E_STEPPERS
#if E_STEPPERS
case E_AXIS: {
const int8_t target_extruder = get_target_extruder_from_command();
if (target_extruder < 0) return;
TERN_(E0_HAS_STEALTHCHOP, else if (target_extruder == 0) TMC_SET_PWMTHRS_E(0));
TERN_(E1_HAS_STEALTHCHOP, else if (target_extruder == 1) TMC_SET_PWMTHRS_E(1));
TERN_(E2_HAS_STEALTHCHOP, else if (target_extruder == 2) TMC_SET_PWMTHRS_E(2));
TERN_(E3_HAS_STEALTHCHOP, else if (target_extruder == 3) TMC_SET_PWMTHRS_E(3));
TERN_(E4_HAS_STEALTHCHOP, else if (target_extruder == 4) TMC_SET_PWMTHRS_E(4));
TERN_(E5_HAS_STEALTHCHOP, else if (target_extruder == 5) TMC_SET_PWMTHRS_E(5));
TERN_(E6_HAS_STEALTHCHOP, else if (target_extruder == 6) TMC_SET_PWMTHRS_E(6));
TERN_(E7_HAS_STEALTHCHOP, else if (target_extruder == 7) TMC_SET_PWMTHRS_E(7));
#endif // E_STEPPERS
} break;
switch (target_extruder) {
TERN_(E0_HAS_STEALTHCHOP, case 0: TMC_SET_PWMTHRS_E(0); break;)
TERN_(E1_HAS_STEALTHCHOP, case 1: TMC_SET_PWMTHRS_E(1); break;)
TERN_(E2_HAS_STEALTHCHOP, case 2: TMC_SET_PWMTHRS_E(2); break;)
TERN_(E3_HAS_STEALTHCHOP, case 3: TMC_SET_PWMTHRS_E(3); break;)
TERN_(E4_HAS_STEALTHCHOP, case 4: TMC_SET_PWMTHRS_E(4); break;)
TERN_(E5_HAS_STEALTHCHOP, case 5: TMC_SET_PWMTHRS_E(5); break;)
TERN_(E6_HAS_STEALTHCHOP, case 6: TMC_SET_PWMTHRS_E(6); break;)
TERN_(E7_HAS_STEALTHCHOP, case 7: TMC_SET_PWMTHRS_E(7); break;)
}
} break;
#endif // E_STEPPERS
}
}

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26 changes: 18 additions & 8 deletions Marlin/src/gcode/host/M114.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -180,11 +180,19 @@
SERIAL_ECHOPGM("FromStp:");
get_cartesian_from_steppers(); // writes 'cartes' (with forward kinematics)
xyze_pos_t from_steppers = LOGICAL_AXIS_ARRAY(
planner.get_axis_position_mm(E_AXIS),
#if HAS_EXTRUDERS
planner.get_axis_position_mm(E_AXIS),
#endif
cartes.x, cartes.y, cartes.z,
planner.get_axis_position_mm(I_AXIS),
planner.get_axis_position_mm(J_AXIS),
planner.get_axis_position_mm(K_AXIS)
#if LINEAR_AXES >= 4
planner.get_axis_position_mm(I_AXIS),
#endif
#if LINEAR_AXES >= 5
planner.get_axis_position_mm(J_AXIS),
#endif
#if LINEAR_AXES >= 6
planner.get_axis_position_mm(K_AXIS)
#endif
);
report_all_axis_pos(from_steppers);

Expand Down Expand Up @@ -216,10 +224,12 @@ void GcodeSuite::M114() {
report_current_position_detail();
return;
}
if (parser.seen_test('E')) {
SERIAL_ECHOLNPAIR("Count E:", stepper.position(E_AXIS));
return;
}
#if HAS_EXTRUDERS
if (parser.seen_test('E')) {
SERIAL_ECHOLNPAIR("Count E:", stepper.position(E_AXIS));
return;
}
#endif
#endif

#if ENABLED(M114_REALTIME)
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2 changes: 1 addition & 1 deletion Marlin/src/gcode/parser.h
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Original file line number Diff line number Diff line change
Expand Up @@ -311,7 +311,7 @@ class GCodeParser {
}

static inline float axis_unit_factor(const AxisEnum axis) {
return (axis >= E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
return (TERN_(HAS_EXTRUDERS, axis >= E_AXIS && volumetric_enabled ? volumetric_unit_factor :) linear_unit_factor);
}

static inline float linear_value_to_mm(const_float_t v) { return v * linear_unit_factor; }
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11 changes: 8 additions & 3 deletions Marlin/src/module/motion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -266,7 +266,12 @@ void report_current_position_projected() {

get_cartesian_from_steppers();
const xyz_pos_t lpos = cartes.asLogical();
SERIAL_ECHOPAIR("X:", lpos.x, " Y:", lpos.y, " Z:", lpos.z, " E:", current_position.e);
SERIAL_ECHOPAIR(
"X:", lpos.x, " Y:", lpos.y, " Z:", lpos.z
#if HAS_EXTRUDERS
, " E:", current_position.e
#endif
);

stepper.report_positions();
#if IS_SCARA
Expand Down Expand Up @@ -929,7 +934,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
float cartesian_mm = diff.magnitude();

// If the move is very short, check the E move distance
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(diff.e);
TERN_(HAS_EXTRUDERS, if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(diff.e));

// No E move either? Game over.
if (UNEAR_ZERO(cartesian_mm)) return true;
Expand Down Expand Up @@ -1008,7 +1013,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
// If the move is very short, check the E move distance
// No E move either? Game over.
float cartesian_mm = diff.magnitude();
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(diff.e);
TERN_(HAS_EXTRUDERS, if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(diff.e));
if (UNEAR_ZERO(cartesian_mm)) return;

// The length divided by the segment size
Expand Down