🧑‍💻 Misc. updates for extra axes (MarlinFirmware#23521)

Marlin/Configuration_adv.h

@@ -3224,7 +3224,7 @@
     #define Z4_SLEW_RATE                 1
   #endif
 
-  #if AXIS_DRIVER_TYPE_I(L6470)
+  #if AXIS_IS_L64XX(I)
     #define I_MICROSTEPS      128
     #define I_OVERCURRENT    2000
     #define I_STALLCURRENT   1500
@@ -3233,7 +3233,7 @@
     #define I_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_J(L6470)
+  #if AXIS_IS_L64XX(J)
     #define J_MICROSTEPS      128
     #define J_OVERCURRENT    2000
     #define J_STALLCURRENT   1500
@@ -3242,7 +3242,7 @@
     #define J_SLEW_RATE         1
   #endif
 
-  #if AXIS_DRIVER_TYPE_K(L6470)
+  #if AXIS_IS_L64XX(K)
     #define K_MICROSTEPS      128
     #define K_OVERCURRENT    2000
     #define K_STALLCURRENT   1500

Marlin/src/HAL/AVR/endstop_interrupts.h

@@ -301,5 +301,6 @@ void setup_endstop_interrupts() {
       pciSetup(Z_MIN_PROBE_PIN);
     #endif
   #endif
+
   // If we arrive here without raising an assertion, each pin has either an EXT-interrupt or a PCI.
 }

Marlin/src/core/language.h

@@ -384,20 +384,14 @@
     #define STR_I_MIN "w_min"
     #define STR_I_MAX "w_max"
   #else
-    #define STR_I "A"
-    #define STR_I_MIN "a_min"
-    #define STR_I_MAX "a_max"
+    #error "AXIS4_NAME can only be one of 'A', 'B', 'C', 'U', 'V', or 'W'."
   #endif
 #else
   #define STR_I   ""
 #endif
 
 #if HAS_J_AXIS
-  #if AXIS5_NAME == 'A'
-    #define STR_J "A"
-    #define STR_J_MIN "a_min"
-    #define STR_J_MAX "a_max"
-  #elif AXIS5_NAME == 'B'
+  #if AXIS5_NAME == 'B'
     #define STR_J "B"
     #define STR_J_MIN "b_min"
     #define STR_J_MAX "b_max"
@@ -418,24 +412,14 @@
     #define STR_J_MIN "w_min"
     #define STR_J_MAX "w_max"
   #else
-    #define STR_J "B"
-    #define STR_J_MIN "b_min"
-    #define STR_J_MAX "b_max"
+    #error "AXIS5_NAME can only be one of 'B', 'C', 'U', 'V', or 'W'."
   #endif
 #else
   #define STR_J   ""
 #endif
 
 #if HAS_K_AXIS
-  #if AXIS6_NAME == 'A'
-    #define STR_K "A"
-    #define STR_K_MIN "a_min"
-    #define STR_K_MAX "a_max"
-  #elif AXIS6_NAME == 'B'
-    #define STR_K "B"
-    #define STR_K_MIN "b_min"
-    #define STR_K_MAX "b_max"
-  #elif AXIS6_NAME == 'C'
+  #if AXIS6_NAME == 'C'
     #define STR_K "C"
     #define STR_K_MIN "c_min"
     #define STR_K_MAX "c_max"
@@ -452,9 +436,7 @@
     #define STR_K_MIN "w_min"
     #define STR_K_MAX "w_max"
   #else
-    #define STR_K "C"
-    #define STR_K_MIN "c_min"
-    #define STR_K_MAX "c_max"
+    #error "AXIS6_NAME can only be one of 'C', 'U', 'V', or 'W'."
   #endif
 #else
   #define STR_K   ""

Marlin/src/feature/direct_stepping.cpp

@@ -52,13 +52,13 @@ namespace DirectStepping {
   volatile bool SerialPageManager<Cfg>::fatal_error;
 
   template<typename Cfg>
-  volatile PageState SerialPageManager<Cfg>::page_states[Cfg::NUM_PAGES];
+  volatile PageState SerialPageManager<Cfg>::page_states[Cfg::PAGE_COUNT];
 
   template<typename Cfg>
   volatile bool SerialPageManager<Cfg>::page_states_dirty;
 
   template<typename Cfg>
-  uint8_t SerialPageManager<Cfg>::pages[Cfg::NUM_PAGES][Cfg::PAGE_SIZE];
+  uint8_t SerialPageManager<Cfg>::pages[Cfg::PAGE_COUNT][Cfg::PAGE_SIZE];
 
   template<typename Cfg>
   uint8_t SerialPageManager<Cfg>::checksum;
@@ -74,7 +74,7 @@ namespace DirectStepping {
 
   template <typename Cfg>
   void SerialPageManager<Cfg>::init() {
-    for (int i = 0 ; i < Cfg::NUM_PAGES ; i++)
+    for (int i = 0 ; i < Cfg::PAGE_COUNT ; i++)
       page_states[i] = PageState::FREE;
 
     fatal_error = false;
@@ -183,10 +183,10 @@ namespace DirectStepping {
 
     SERIAL_CHAR(Cfg::CONTROL_CHAR);
     constexpr int state_bits = 2;
-    constexpr int n_bytes = Cfg::NUM_PAGES >> state_bits;
+    constexpr int n_bytes = Cfg::PAGE_COUNT >> state_bits;
     volatile uint8_t bits_b[n_bytes] = { 0 };
 
-    for (page_idx_t i = 0 ; i < Cfg::NUM_PAGES ; i++) {
+    for (page_idx_t i = 0 ; i < Cfg::PAGE_COUNT ; i++) {
       bits_b[i >> state_bits] |= page_states[i] << ((i * state_bits) & 0x7);
     }
 

Marlin/src/feature/direct_stepping.h

@@ -68,10 +68,10 @@ namespace DirectStepping {
     static State state;
     static volatile bool fatal_error;
 
-    static volatile PageState page_states[Cfg::NUM_PAGES];
+    static volatile PageState page_states[Cfg::PAGE_COUNT];
     static volatile bool page_states_dirty;
 
-    static uint8_t pages[Cfg::NUM_PAGES][Cfg::PAGE_SIZE];
+    static uint8_t pages[Cfg::PAGE_COUNT][Cfg::PAGE_SIZE];
     static uint8_t checksum;
     static write_byte_idx_t write_byte_idx;
     static page_idx_t write_page_idx;
@@ -87,19 +87,19 @@ namespace DirectStepping {
   struct config_t {
     static constexpr char CONTROL_CHAR  = '!';
 
-    static constexpr int NUM_PAGES      = num_pages;
-    static constexpr int NUM_AXES       = num_axes;
+    static constexpr int PAGE_COUNT     = num_pages;
+    static constexpr int AXIS_COUNT     = num_axes;
     static constexpr int BITS_SEGMENT   = bits_segment;
     static constexpr int DIRECTIONAL    = dir ? 1 : 0;
     static constexpr int SEGMENTS       = segments;
 
     static constexpr int NUM_SEGMENTS   = _BV(BITS_SEGMENT);
     static constexpr int SEGMENT_STEPS  = _BV(BITS_SEGMENT - DIRECTIONAL) - 1;
     static constexpr int TOTAL_STEPS    = SEGMENT_STEPS * SEGMENTS;
-    static constexpr int PAGE_SIZE      = (NUM_AXES * BITS_SEGMENT * SEGMENTS) / 8;
+    static constexpr int PAGE_SIZE      = (AXIS_COUNT * BITS_SEGMENT * SEGMENTS) / 8;
 
     typedef typename TypeSelector<(PAGE_SIZE>256), uint16_t, uint8_t>::type write_byte_idx_t;
-    typedef typename TypeSelector<(NUM_PAGES>256), uint16_t, uint8_t>::type page_idx_t;
+    typedef typename TypeSelector<(PAGE_COUNT>256), uint16_t, uint8_t>::type page_idx_t;
   };
 
   template <uint8_t num_pages>

Marlin/src/feature/tmc_util.cpp

@@ -421,12 +421,10 @@
         if (monitor_tmc_driver(stepperI, need_update_error_counters, need_debug_reporting))
           step_current_down(stepperI);
       #endif
-
       #if AXIS_IS_TMC(J)
         if (monitor_tmc_driver(stepperJ, need_update_error_counters, need_debug_reporting))
           step_current_down(stepperJ);
       #endif
-
       #if AXIS_IS_TMC(K)
         if (monitor_tmc_driver(stepperK, need_update_error_counters, need_debug_reporting))
           step_current_down(stepperK);

Marlin/src/gcode/calibrate/G28.cpp

@@ -262,7 +262,7 @@ void GcodeSuite::G28() {
   reset_stepper_timeout();
 
   #define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT)
-  #if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2) || HAS_CURRENT_HOME(I) || HAS_CURRENT_HOME(J) || HAS_CURRENT_HOME(K) || (ENABLED(DELTA) && HAS_CURRENT_HOME(Z))
+  #if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2) || (ENABLED(DELTA) && HAS_CURRENT_HOME(Z)) || HAS_CURRENT_HOME(I) || HAS_CURRENT_HOME(J) || HAS_CURRENT_HOME(K)
     #define HAS_HOMING_CURRENT 1
   #endif
 
@@ -273,22 +273,22 @@ void GcodeSuite::G28() {
     #if HAS_CURRENT_HOME(X)
       const int16_t tmc_save_current_X = stepperX.getMilliamps();
       stepperX.rms_current(X_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F("X"), tmc_save_current_X, X_CURRENT_HOME);
+      if (DEBUGGING(LEVELING)) debug_current(F(STR_X), tmc_save_current_X, X_CURRENT_HOME);
     #endif
     #if HAS_CURRENT_HOME(X2)
       const int16_t tmc_save_current_X2 = stepperX2.getMilliamps();
       stepperX2.rms_current(X2_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F("X2"), tmc_save_current_X2, X2_CURRENT_HOME);
+      if (DEBUGGING(LEVELING)) debug_current(F(STR_X2), tmc_save_current_X2, X2_CURRENT_HOME);
     #endif
     #if HAS_CURRENT_HOME(Y)
       const int16_t tmc_save_current_Y = stepperY.getMilliamps();
       stepperY.rms_current(Y_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F("Y"), tmc_save_current_Y, Y_CURRENT_HOME);
+      if (DEBUGGING(LEVELING)) debug_current(F(STR_Y), tmc_save_current_Y, Y_CURRENT_HOME);
     #endif
     #if HAS_CURRENT_HOME(Y2)
       const int16_t tmc_save_current_Y2 = stepperY2.getMilliamps();
       stepperY2.rms_current(Y2_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F("Y2"), tmc_save_current_Y2, Y2_CURRENT_HOME);
+      if (DEBUGGING(LEVELING)) debug_current(F(STR_Y2), tmc_save_current_Y2, Y2_CURRENT_HOME);
     #endif
     #if HAS_CURRENT_HOME(I)
       const int16_t tmc_save_current_I = stepperI.getMilliamps();
@@ -308,7 +308,22 @@ void GcodeSuite::G28() {
     #if HAS_CURRENT_HOME(Z) && ENABLED(DELTA)
       const int16_t tmc_save_current_Z = stepperZ.getMilliamps();
       stepperZ.rms_current(Z_CURRENT_HOME);
-      if (DEBUGGING(LEVELING)) debug_current(F("Z"), tmc_save_current_Z, Z_CURRENT_HOME);
+      if (DEBUGGING(LEVELING)) debug_current(F(STR_Z), tmc_save_current_Z, Z_CURRENT_HOME);
+    #endif
+    #if HAS_CURRENT_HOME(I)
+      const int16_t tmc_save_current_I = stepperI.getMilliamps();
+      stepperI.rms_current(I_CURRENT_HOME);
+      if (DEBUGGING(LEVELING)) debug_current(F(STR_I), tmc_save_current_I, I_CURRENT_HOME);
+    #endif
+    #if HAS_CURRENT_HOME(J)
+      const int16_t tmc_save_current_J = stepperJ.getMilliamps();
+      stepperJ.rms_current(J_CURRENT_HOME);
+      if (DEBUGGING(LEVELING)) debug_current(F(STR_J), tmc_save_current_J, J_CURRENT_HOME);
+    #endif
+    #if HAS_CURRENT_HOME(K)
+      const int16_t tmc_save_current_K = stepperK.getMilliamps();
+      stepperK.rms_current(K_CURRENT_HOME);
+      if (DEBUGGING(LEVELING)) debug_current(F(STR_K), tmc_save_current_K, K_CURRENT_HOME);
     #endif
   #endif
 
@@ -361,7 +376,7 @@ void GcodeSuite::G28() {
                  homeX = needX || parser.seen_test('X'),
                  homeY = needY || parser.seen_test('Y'),
                  homeZZ = homeZ,
-                 homeI = needI || parser.seen_test(AXIS4_NAME), homeJ = needJ || parser.seen_test(AXIS5_NAME), homeK = needK || parser.seen_test(AXIS6_NAME),
+                 homeI = needI || parser.seen_test(AXIS4_NAME), homeJ = needJ || parser.seen_test(AXIS5_NAME), homeK = needK || parser.seen_test(AXIS6_NAME)
                ),
                home_all = LINEAR_AXIS_GANG(   // Home-all if all or none are flagged
                     homeX == homeX, && homeY == homeX, && homeZ == homeX,

Marlin/src/gcode/calibrate/G425.cpp

@@ -241,14 +241,15 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t
 
   park_above_object(m, uncertainty);
 
+  #define _ACASE(N,A,B) case A: dir = -1; case B: axis = N##_AXIS; break
+  #define _PCASE(N) _ACASE(N, N##MINIMUM, N##MAXIMUM)
+
   switch (side) {
     #if AXIS_CAN_CALIBRATE(X)
-      case RIGHT: dir = -1;
-      case LEFT:  axis = X_AXIS; break;
+      _ACASE(X, RIGHT, LEFT);
     #endif
     #if HAS_Y_AXIS && AXIS_CAN_CALIBRATE(Y)
-      case BACK:  dir = -1;
-      case FRONT: axis = Y_AXIS; break;
+      _ACASE(Y, BACK, FRONT);
     #endif
     #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z)
       case TOP: {
@@ -259,16 +260,13 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t
       }
     #endif
     #if HAS_I_AXIS && AXIS_CAN_CALIBRATE(I)
-      case IMINIMUM: dir = -1;
-      case IMAXIMUM: axis = I_AXIS; break;
+      _PCASE(I);
     #endif
     #if HAS_J_AXIS && AXIS_CAN_CALIBRATE(J)
-      case JMINIMUM: dir = -1;
-      case JMAXIMUM: axis = J_AXIS; break;
+      _PCASE(J);
     #endif
     #if HAS_K_AXIS && AXIS_CAN_CALIBRATE(K)
-      case KMINIMUM: dir = -1;
-      case KMAXIMUM: axis = K_AXIS; break;
+      _PCASE(K);
     #endif
     default: return;
   }

Marlin/src/gcode/calibrate/M425.cpp

@@ -55,7 +55,7 @@ void GcodeSuite::M425() {
         case Z_AXIS: return AXIS_CAN_CALIBRATE(Z),
         case I_AXIS: return AXIS_CAN_CALIBRATE(I),
         case J_AXIS: return AXIS_CAN_CALIBRATE(J),
-        case K_AXIS: return AXIS_CAN_CALIBRATE(K),
+        case K_AXIS: return AXIS_CAN_CALIBRATE(K)
       );
     }
   };

Marlin/src/gcode/config/M200-M205.cpp

@@ -288,8 +288,13 @@ void GcodeSuite::M205_report(const bool forReplay/*=true*/) {
   report_heading_etc(forReplay, F(
     "Advanced (B<min_segment_time_us> S<min_feedrate> T<min_travel_feedrate>"
     TERN_(HAS_JUNCTION_DEVIATION, " J<junc_dev>")
-    TERN_(HAS_CLASSIC_JERK, " X<max_x_jerk> Y<max_y_jerk> Z<max_z_jerk>")
-    TERN_(HAS_CLASSIC_E_JERK, " E<max_e_jerk>")
+    #if HAS_CLASSIC_JERK
+      LINEAR_AXIS_GANG(
+        " X<max_jerk>", " Y<max_jerk>", " Z<max_jerk>",
+        " " STR_I "<max_jerk>", " " STR_J "<max_jerk>", " " STR_K "<max_jerk>"
+      )
+    #endif
+    TERN_(HAS_CLASSIC_E_JERK, " E<max_jerk>")
     ")"
   ));
   SERIAL_ECHOLNPGM_P(

Marlin/src/gcode/config/M217.cpp

@@ -50,6 +50,9 @@
  *  W[linear]   0/1 Enable park & Z Raise
  *  X[linear]   Park X (Requires TOOLCHANGE_PARK)
  *  Y[linear]   Park Y (Requires TOOLCHANGE_PARK)
+ *  I[linear]   Park I (Requires TOOLCHANGE_PARK and LINEAR_AXES >= 4)
+ *  J[linear]   Park J (Requires TOOLCHANGE_PARK and LINEAR_AXES >= 5)
+ *  K[linear]   Park K (Requires TOOLCHANGE_PARK and LINEAR_AXES >= 6)
  *  Z[linear]   Z Raise
  *  F[linear]   Fan Speed 0-255
  *  G[linear/s] Fan time
@@ -88,10 +91,23 @@ void GcodeSuite::M217() {
   #if ENABLED(TOOLCHANGE_PARK)
     if (parser.seenval('W')) { toolchange_settings.enable_park = parser.value_linear_units(); }
     if (parser.seenval('X')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.x = constrain(v, X_MIN_POS, X_MAX_POS); }
-    if (parser.seenval('Y')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.y = constrain(v, Y_MIN_POS, Y_MAX_POS); }
+    #if HAS_Y_AXIS
+      if (parser.seenval('Y')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.y = constrain(v, Y_MIN_POS, Y_MAX_POS); }
+    #endif
+    #if HAS_I_AXIS
+      if (parser.seenval('I')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.i = constrain(v, I_MIN_POS, I_MAX_POS); }
+    #endif
+    #if HAS_J_AXIS
+      if (parser.seenval('J')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.j = constrain(v, J_MIN_POS, J_MAX_POS); }
+    #endif
+    #if HAS_K_AXIS
+      if (parser.seenval('K')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.k = constrain(v, K_MIN_POS, K_MAX_POS); }
+    #endif
   #endif
 
-  if (parser.seenval('Z')) { toolchange_settings.z_raise = parser.value_linear_units(); }
+  #if HAS_Z_AXIS
+    if (parser.seenval('Z')) { toolchange_settings.z_raise = parser.value_linear_units(); }
+  #endif
 
   #if ENABLED(TOOLCHANGE_MIGRATION_FEATURE)
     migration.target = 0;       // 0 = disabled
@@ -151,9 +167,24 @@ void GcodeSuite::M217_report(const bool forReplay/*=true*/) {
     #endif
 
     #if ENABLED(TOOLCHANGE_PARK)
+    {
       SERIAL_ECHOPGM(" W", LINEAR_UNIT(toolchange_settings.enable_park));
-      SERIAL_ECHOPGM_P(SP_X_STR, LINEAR_UNIT(toolchange_settings.change_point.x));
-      SERIAL_ECHOPGM_P(SP_Y_STR, LINEAR_UNIT(toolchange_settings.change_point.y));
+      SERIAL_ECHOPGM_P(
+            SP_X_STR, LINEAR_UNIT(toolchange_settings.change_point.x)
+        #if HAS_Y_AXIS
+          , SP_Y_STR, LINEAR_UNIT(toolchange_settings.change_point.y)
+        #endif
+        #if HAS_I_AXIS
+          , SP_I_STR, LINEAR_UNIT(toolchange_settings.change_point.i)
+        #endif
+        #if HAS_J_AXIS
+          , SP_J_STR, LINEAR_UNIT(toolchange_settings.change_point.j)
+        #endif
+        #if HAS_K_AXIS
+          , SP_K_STR, LINEAR_UNIT(toolchange_settings.change_point.k)
+        #endif
+      );
+    }
     #endif
 
     #if ENABLED(TOOLCHANGE_FS_PRIME_FIRST_USED)

Marlin/src/gcode/config/M92.cpp

@@ -24,7 +24,7 @@
 #include "../../module/planner.h"
 
 /**
- * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
+ * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, [I, [J, [K]]] and E.
  *      (Follows the same syntax as G92)
  *
  *      With multiple extruders use T to specify which one.