SunRed/Marlin-Artillery-M600
Archived
1
0
Fork 0
Code Issues Pull requests Projects Releases Wiki Activity

Add support for Triple-Z steppers/endstops

Browse source
This commit is contained in:
Holger Müller 2018-06-19 18:55:49 +02:00 committed by Scott Lahteine
parent bc06406d7d
commit 1a6f2b29b8
37 changed files with 901 additions and 155 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

1
Marlin/Configuration.h
View file

@ -587,6 +587,7 @@
//#define X2_DRIVER_TYPE A4988
//#define Y2_DRIVER_TYPE A4988
//#define Z2_DRIVER_TYPE A4988
//#define Z3_DRIVER_TYPE A4988
//#define E0_DRIVER_TYPE A4988
//#define E1_DRIVER_TYPE A4988
//#define E2_DRIVER_TYPE A4988

23
Marlin/Configuration_adv.h
View file

@ -338,6 +338,17 @@
#endif
#endif
//#define Z_TRIPLE_STEPPER_DRIVERS
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
//#define Z_TRIPLE_ENDSTOPS
#if ENABLED(Z_TRIPLE_ENDSTOPS)
#define Z2_USE_ENDSTOP _XMAX_
#define Z3_USE_ENDSTOP _YMAX_
#define Z_TRIPLE2_ENDSTOPS_ADJUSTMENT 0
#define Z_TRIPLE3_ENDSTOPS_ADJUSTMENT 0
#endif
#endif
/**
* Dual X Carriage
*
@ -1087,6 +1098,10 @@
#define Z2_SENSE_RESISTOR 91
#define Z2_MICROSTEPS 16
#define Z3_MAX_CURRENT 1000
#define Z3_SENSE_RESISTOR 91
#define Z3_MICROSTEPS 16
#define E0_MAX_CURRENT 1000
#define E0_SENSE_RESISTOR 91
#define E0_MICROSTEPS 16
@ -1153,6 +1168,9 @@
#define Z2_CURRENT 800
#define Z2_MICROSTEPS 16
#define Z3_CURRENT 800
#define Z3_MICROSTEPS 16
#define E0_CURRENT 800
#define E0_MICROSTEPS 16
@ -1217,6 +1235,7 @@
#define Y2_HYBRID_THRESHOLD 100
#define Z_HYBRID_THRESHOLD 3
#define Z2_HYBRID_THRESHOLD 3
#define Z3_HYBRID_THRESHOLD 3
#define E0_HYBRID_THRESHOLD 30
#define E1_HYBRID_THRESHOLD 30
#define E2_HYBRID_THRESHOLD 30
@ -1315,6 +1334,10 @@
#define Z2_OVERCURRENT 2000
#define Z2_STALLCURRENT 1500
#define Z3_MICROSTEPS 16
#define Z3_OVERCURRENT 2000
#define Z3_STALLCURRENT 1500
#define E0_MICROSTEPS 16
#define E0_OVERCURRENT 2000
#define E0_STALLCURRENT 1500

1
Marlin/src/HAL/HAL_AVR/SanityCheck.h
View file

@ -106,6 +106,7 @@
|| defined(Y2_HARDWARE_SERIAL) \
|| defined(Z_HARDWARE_SERIAL ) \
|| defined(Z2_HARDWARE_SERIAL) \
|| defined(Z3_HARDWARE_SERIAL) \
|| defined(E0_HARDWARE_SERIAL) \
|| defined(E1_HARDWARE_SERIAL) \
|| defined(E2_HARDWARE_SERIAL) \

20
Marlin/src/HAL/HAL_AVR/endstop_interrupts.h
View file

@ -225,6 +225,26 @@ void setup_endstop_interrupts( void ) {
#endif
#endif
#if HAS_Z3_MAX
#if (digitalPinToInterrupt(Z3_MAX_PIN) != NOT_AN_INTERRUPT)
attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
#else
// Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
static_assert(digitalPinToPCICR(Z3_MAX_PIN) != NULL, "Z3_MAX_PIN is not interrupt-capable");
pciSetup(Z3_MAX_PIN);
#endif
#endif
#if HAS_Z3_MIN
#if (digitalPinToInterrupt(Z3_MIN_PIN) != NOT_AN_INTERRUPT)
attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
#else
// Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
static_assert(digitalPinToPCICR(Z3_MIN_PIN) != NULL, "Z3_MIN_PIN is not interrupt-capable");
pciSetup(Z3_MIN_PIN);
#endif
#endif
#if HAS_Z_MIN_PROBE_PIN
#if (digitalPinToInterrupt(Z_MIN_PROBE_PIN) != NOT_AN_INTERRUPT)
attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);

6
Marlin/src/HAL/HAL_DUE/endstop_interrupts.h
View file

@ -72,6 +72,12 @@ void setup_endstop_interrupts(void) {
#if HAS_Z2_MIN
attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MAX
attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MIN
attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN_PROBE_PIN
attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
#endif

6
Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h
View file

@ -67,6 +67,12 @@ void setup_endstop_interrupts(void) {
#if HAS_Z2_MIN
attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MAX
attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MIN
attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN_PROBE_PIN
attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
#endif

6
Marlin/src/HAL/HAL_LPC1768/endstop_interrupts.h
View file

@ -91,6 +91,12 @@ void setup_endstop_interrupts(void) {
#endif
attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MAX
attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MIN
attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN_PROBE_PIN
#if !LPC1768_PIN_INTERRUPT_M(Z_MIN_PROBE_PIN)
#error "Z_MIN_PROBE_PIN is not an INTERRUPT capable pin."

6
Marlin/src/HAL/HAL_STM32F1/endstop_interrupts.h
View file

@ -79,6 +79,12 @@ void setup_endstop_interrupts(void) {
#if HAS_Z2_MIN
attachInterrupt(Z2_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MAX
attachInterrupt(Z3_MAX_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MIN
attachInterrupt(Z3_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN_PROBE_PIN
attachInterrupt(Z_MIN_PROBE_PIN, endstop_ISR, CHANGE);
#endif

6
Marlin/src/HAL/HAL_STM32F4/endstop_interrupts.h
View file

@ -54,6 +54,12 @@ void setup_endstop_interrupts(void) {
#if HAS_Z2_MIN
attachInterrupt(Z2_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MAX
attachInterrupt(Z3_MAX_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MIN
attachInterrupt(Z3_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN_PROBE_PIN
attachInterrupt(Z_MIN_PROBE_PIN, endstop_ISR, CHANGE);
#endif

6
Marlin/src/HAL/HAL_STM32F7/endstop_interrupts.h
View file

@ -56,6 +56,12 @@ void setup_endstop_interrupts(void) {
#if HAS_Z2_MIN
attachInterrupt(Z2_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MAX
attachInterrupt(Z3_MAX_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MIN
attachInterrupt(Z3_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN_PROBE_PIN
attachInterrupt(Z_MIN_PROBE_PIN, endstop_ISR, CHANGE);
#endif

20
Marlin/src/HAL/HAL_TEENSY35_36/endstop_interrupts.h
View file

@ -43,44 +43,40 @@
void endstop_ISR(void) { endstops.update(); }
/**
* Endstop interrupts for Due based targets.
* On Due, all pins support external interrupt capability.
* Endstop interrupts for Due based targets.
* On Due, all pins support external interrupt capability.
*/
void setup_endstop_interrupts( void ) {
#if HAS_X_MAX
attachInterrupt(digitalPinToInterrupt(X_MAX_PIN), endstop_ISR, CHANGE); // assign it
#endif
#if HAS_X_MIN
attachInterrupt(digitalPinToInterrupt(X_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Y_MAX
attachInterrupt(digitalPinToInterrupt(Y_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Y_MIN
attachInterrupt(digitalPinToInterrupt(Y_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z_MAX
attachInterrupt(digitalPinToInterrupt(Z_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN
attachInterrupt(digitalPinToInterrupt(Z_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z2_MAX
attachInterrupt(digitalPinToInterrupt(Z2_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z2_MIN
attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MAX
attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MIN
attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN_PROBE_PIN
attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
#endif

5
Marlin/src/Marlin.h
View file

@ -64,7 +64,10 @@ void manage_inactivity(const bool ignore_stepper_queue=false);
#define disable_Y() NOOP
#endif
#if HAS_Z2_ENABLE
#if HAS_Z3_ENABLE
#define enable_Z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); Z3_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
#define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); Z3_ENABLE_WRITE(!Z_ENABLE_ON); CBI(axis_known_position, Z_AXIS); }while(0)
#elif HAS_Z2_ENABLE
#define enable_Z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
#define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); CBI(axis_known_position, Z_AXIS); }while(0)
#elif HAS_Z_ENABLE

1
Marlin/src/config/default/Configuration.h
View file

@ -587,6 +587,7 @@
//#define X2_DRIVER_TYPE A4988
//#define Y2_DRIVER_TYPE A4988
//#define Z2_DRIVER_TYPE A4988
//#define Z3_DRIVER_TYPE A4988
//#define E0_DRIVER_TYPE A4988
//#define E1_DRIVER_TYPE A4988
//#define E2_DRIVER_TYPE A4988

23
Marlin/src/config/default/Configuration_adv.h
View file

@ -338,6 +338,17 @@
#endif
#endif
//#define Z_TRIPLE_STEPPER_DRIVERS
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
//#define Z_TRIPLE_ENDSTOPS
#if ENABLED(Z_TRIPLE_ENDSTOPS)
#define Z2_USE_ENDSTOP _XMAX_
#define Z3_USE_ENDSTOP _YMAX_
#define Z_TRIPLE_ENDSTOPS_ADJUSTMENT2 0
#define Z_TRIPLE_ENDSTOPS_ADJUSTMENT3 0
#endif
#endif
/**
* Dual X Carriage
*
@ -1087,6 +1098,10 @@
#define Z2_SENSE_RESISTOR 91
#define Z2_MICROSTEPS 16
#define Z3_MAX_CURRENT 1000
#define Z3_SENSE_RESISTOR 91
#define Z3_MICROSTEPS 16
#define E0_MAX_CURRENT 1000
#define E0_SENSE_RESISTOR 91
#define E0_MICROSTEPS 16
@ -1153,6 +1168,9 @@
#define Z2_CURRENT 800
#define Z2_MICROSTEPS 16
#define Z3_CURRENT 800
#define Z3_MICROSTEPS 16
#define E0_CURRENT 800
#define E0_MICROSTEPS 16
@ -1217,6 +1235,7 @@
#define Y2_HYBRID_THRESHOLD 100
#define Z_HYBRID_THRESHOLD 3
#define Z2_HYBRID_THRESHOLD 3
#define Z3_HYBRID_THRESHOLD 3
#define E0_HYBRID_THRESHOLD 30
#define E1_HYBRID_THRESHOLD 30
#define E2_HYBRID_THRESHOLD 30
@ -1315,6 +1334,10 @@
#define Z2_OVERCURRENT 2000
#define Z2_STALLCURRENT 1500
#define Z3_MICROSTEPS 16
#define Z3_OVERCURRENT 2000
#define Z3_STALLCURRENT 1500
#define E0_MICROSTEPS 16
#define E0_OVERCURRENT 2000
#define E0_STALLCURRENT 1500

5
Marlin/src/core/drivers.h
View file

@ -47,7 +47,8 @@
#define AXIS_DRIVER_TYPE_Z(T) _AXIS_DRIVER_TYPE(Z,T)
#define AXIS_DRIVER_TYPE_X2(T) (ENABLED(X_DUAL_STEPPER_DRIVERS) || ENABLED(DUAL_X_CARRIAGE)) && _AXIS_DRIVER_TYPE(X2,T)
#define AXIS_DRIVER_TYPE_Y2(T) (ENABLED(Y_DUAL_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Y2,T))
#define AXIS_DRIVER_TYPE_Z2(T) (ENABLED(Z_DUAL_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Z2,T))
#define AXIS_DRIVER_TYPE_Z2(T) (Z_MULTI_STEPPER_DRIVERS && _AXIS_DRIVER_TYPE(Z2,T))
#define AXIS_DRIVER_TYPE_Z3(T) (ENABLED(Z_TRIPLE_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Z3,T))
#define AXIS_DRIVER_TYPE_E0(T) (E_STEPPERS > 0 && _AXIS_DRIVER_TYPE(E0,T))
#define AXIS_DRIVER_TYPE_E1(T) (E_STEPPERS > 1 && _AXIS_DRIVER_TYPE(E1,T))
#define AXIS_DRIVER_TYPE_E2(T) (E_STEPPERS > 2 && _AXIS_DRIVER_TYPE(E2,T))
@ -58,7 +59,7 @@
#define HAS_DRIVER(T) (AXIS_DRIVER_TYPE_X(T) || AXIS_DRIVER_TYPE_X2(T) || \
AXIS_DRIVER_TYPE_Y(T) || AXIS_DRIVER_TYPE_Y2(T) || \
AXIS_DRIVER_TYPE_Z(T) || AXIS_DRIVER_TYPE_Z2(T) || \
AXIS_DRIVER_TYPE_Z(T) || AXIS_DRIVER_TYPE_Z2(T) || AXIS_DRIVER_TYPE_Z3(T) || \
AXIS_DRIVER_TYPE_E0(T) || AXIS_DRIVER_TYPE_E1(T) || \
AXIS_DRIVER_TYPE_E2(T) || AXIS_DRIVER_TYPE_E3(T) || \
AXIS_DRIVER_TYPE_E4(T) )

2
Marlin/src/core/language.h
View file

@ -151,6 +151,8 @@
#define MSG_Z_MAX "z_max: "
#define MSG_Z2_MIN "z2_min: "
#define MSG_Z2_MAX "z2_max: "
#define MSG_Z3_MIN "z3_min: "
#define MSG_Z3_MAX "z3_max: "
#define MSG_Z_PROBE "z_probe: "
#define MSG_PROBE_Z_OFFSET "Probe Z Offset"
#define MSG_SKEW_MIN "min_skew_factor: "

3
Marlin/src/feature/controllerfan.cpp
View file

@ -50,6 +50,9 @@ void controllerfan_update() {
#if HAS_Z2_ENABLE
|| Z2_ENABLE_READ == Z_ENABLE_ON
#endif
#if HAS_Z3_ENABLE
|| Z3_ENABLE_READ == Z_ENABLE_ON
#endif
|| E0_ENABLE_READ == E_ENABLE_ON
#if E_STEPPERS > 1
|| E1_ENABLE_READ == E_ENABLE_ON

78
Marlin/src/feature/tmc_util.cpp
View file

@ -189,6 +189,10 @@ bool report_tmc_status = false;
static uint8_t z2_otpw_cnt = 0;
monitor_tmc_driver(stepperZ2, TMC_Z, z2_otpw_cnt);
#endif
#if HAS_HW_COMMS(Z3)
static uint8_t z3_otpw_cnt = 0;
monitor_tmc_driver(stepperZ3, TMC_Z, z3_otpw_cnt);
#endif
#if HAS_HW_COMMS(E0)
static uint8_t e0_otpw_cnt = 0;
monitor_tmc_driver(stepperE0, TMC_E0, e0_otpw_cnt);
@ -217,12 +221,65 @@ bool report_tmc_status = false;
#endif // MONITOR_DRIVER_STATUS
void _tmc_say_axis(const TMC_AxisEnum axis) {
static const char ext_X[] PROGMEM = "X", ext_Y[] PROGMEM = "Y", ext_Z[] PROGMEM = "Z",
ext_X2[] PROGMEM = "X2", ext_Y2[] PROGMEM = "Y2", ext_Z2[] PROGMEM = "Z2",
ext_E0[] PROGMEM = "E0", ext_E1[] PROGMEM = "E1",
ext_E2[] PROGMEM = "E2", ext_E3[] PROGMEM = "E3",
ext_E4[] PROGMEM = "E4";
static const char* const tmc_axes[] PROGMEM = { ext_X, ext_Y, ext_Z, ext_X2, ext_Y2, ext_Z2, ext_E0, ext_E1, ext_E2, ext_E3, ext_E4 };
static const char ext_X[] PROGMEM = "X", ext_Y[] PROGMEM = "Y", ext_Z[] PROGMEM = "Z",
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(X_DUAL_STEPPER_DRIVERS)
, ext_X2[] PROGMEM = "X2"
#endif
#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
, ext_Y2[] PROGMEM = "Y2"
#endif
#if Z_MULTI_STEPPER_DRIVERS
, ext_Z2[] PROGMEM = "Z2"
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
, ext_Z3[] PROGMEM = "Z3"
#endif
#endif
#if E_STEPPERS
, ext_E0[] PROGMEM = "E0"
#if E_STEPPERS > 1
, ext_E1[] PROGMEM = "E1"
#if E_STEPPERS > 2
, ext_E2[] PROGMEM = "E2"
#if E_STEPPERS > 3
, ext_E3[] PROGMEM = "E3"
#if E_STEPPERS > 4
, ext_E4[] PROGMEM = "E4"
#endif
#endif
#endif
#endif
#endif
static const char* const tmc_axes[] PROGMEM = {
ext_X, ext_Y, ext_Z
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(X_DUAL_STEPPER_DRIVERS)
, ext_X2
#endif
#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
, ext_Y2
#endif
#if Z_MULTI_STEPPER_DRIVERS
, ext_Z2
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
, ext_Z3
#endif
#endif
#if E_STEPPERS
, ext_E0
#if E_STEPPERS > 1
, ext_E1
#if E_STEPPERS > 2
, ext_E2
#if E_STEPPERS > 3
, ext_E3
#if E_STEPPERS > 4
, ext_E4
#endif
#endif
#endif
#endif
#endif
};
serialprintPGM((char*)pgm_read_ptr(&tmc_axes[axis]));
}
@ -440,6 +497,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
#if AXIS_IS_TMC(Z2)
tmc_status(stepperZ2, TMC_Z2, i, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_IS_TMC(Z3)
tmc_status(stepperZ3, TMC_Z3, i, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_IS_TMC(E0)
tmc_status(stepperE0, TMC_E0, i, planner.axis_steps_per_mm[E_AXIS]);
@ -497,6 +557,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
#if AXIS_IS_TMC(Z2)
tmc_parse_drv_status(stepperZ2, TMC_Z2, i);
#endif
#if AXIS_IS_TMC(Z3)
tmc_parse_drv_status(stepperZ3, TMC_Z3, i);
#endif
#if AXIS_IS_TMC(E0)
tmc_parse_drv_status(stepperE0, TMC_E0, i);
@ -612,6 +675,9 @@ void _tmc_say_sgt(const TMC_AxisEnum axis, const int8_t sgt) {
#if AXIS_DRIVER_TYPE(Z2, TMC2130)
SET_CS_PIN(Z2);
#endif
#if AXIS_DRIVER_TYPE(Z3, TMC2130)
SET_CS_PIN(Z3);
#endif
#if AXIS_DRIVER_TYPE(E0, TMC2130)
SET_CS_PIN(E0);
#endif

29
Marlin/src/feature/tmc_util.h
View file

@ -35,7 +35,34 @@
extern bool report_tmc_status;
enum TMC_AxisEnum : char { TMC_X, TMC_Y, TMC_Z, TMC_X2, TMC_Y2, TMC_Z2, TMC_E0, TMC_E1, TMC_E2, TMC_E3, TMC_E4 };
enum TMC_AxisEnum : char {
TMC_X, TMC_Y, TMC_Z
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(X_DUAL_STEPPER_DRIVERS)
, TMC_X2
#endif
#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
, TMC_Y2
#endif
#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
, TMC_Z2
#endif
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
, TMC_Z3
#endif
, TMC_E0
#if E_STEPPERS > 1
, TMC_E1
#if E_STEPPERS > 2
, TMC_E2
#if E_STEPPERS > 3
, TMC_E3
#if E_STEPPERS > 4
, TMC_E4
#endif
#endif
#endif
#endif
};
constexpr uint32_t _tmc_thrs(const uint16_t msteps, const int32_t thrs, const uint32_t spmm) {
return 12650000UL * msteps / (256 * thrs * spmm);

34
Marlin/src/gcode/calibrate/M666.cpp
View file

@ -59,44 +59,60 @@
#endif
}
#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
#include "../../module/endstops.h"
/**
* M666: Set Dual Endstops offsets for X, Y, and/or Z.
* With no parameters report current offsets.
*
* For Triple Z Endstops:
* Set Z2 Only: M666 S2 Z<offset>
* Set Z3 Only: M666 S3 Z<offset>
* Set Both: M666 Z<offset>
*/
void GcodeSuite::M666() {
bool report = true;
#if ENABLED(X_DUAL_ENDSTOPS)
if (parser.seen('X')) {
endstops.x_endstop_adj = parser.value_linear_units();
endstops.x2_endstop_adj = parser.value_linear_units();
report = false;
}
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
if (parser.seen('Y')) {
endstops.y_endstop_adj = parser.value_linear_units();
endstops.y2_endstop_adj = parser.value_linear_units();
report = false;
}
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
#if ENABLED(Z_TRIPLE_ENDSTOPS)
if (parser.seen('Z')) {
endstops.z_endstop_adj = parser.value_linear_units();
const int ind = parser.intval('S');
const float z_adj = parser.value_linear_units();
if (!ind || ind == 2) endstops.z2_endstop_adj = z_adj;
if (!ind || ind == 3) endstops.z3_endstop_adj = z_adj;
report = false;
}
#elif Z_MULTI_ENDSTOPS
if (parser.seen('Z')) {
endstops.z2_endstop_adj = parser.value_linear_units();
report = false;
}
#endif
if (report) {
SERIAL_ECHOPGM("Dual Endstop Adjustment (mm): ");
#if ENABLED(X_DUAL_ENDSTOPS)
SERIAL_ECHOPAIR(" X", endstops.x_endstop_adj);
SERIAL_ECHOPAIR(" X2:", endstops.x2_endstop_adj);
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
SERIAL_ECHOPAIR(" Y", endstops.y_endstop_adj);
SERIAL_ECHOPAIR(" Y2:", endstops.y2_endstop_adj);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
SERIAL_ECHOPAIR(" Z", endstops.z_endstop_adj);
#if Z_MULTI_ENDSTOPS
SERIAL_ECHOPAIR(" Z2:", endstops.z2_endstop_adj);
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
SERIAL_ECHOPAIR(" Z3:", endstops.z3_endstop_adj);
#endif
SERIAL_EOL();
}

6
Marlin/src/gcode/feature/trinamic/M906.cpp
View file

@ -64,6 +64,9 @@ void GcodeSuite::M906() {
#if AXIS_IS_TMC(Z2)
if (index == 1) TMC_SET_CURRENT(Z2);
#endif
#if AXIS_IS_TMC(Z3)
if (index == 2) TMC_SET_CURRENT(Z3);
#endif
break;
case E_AXIS: {
if (get_target_extruder_from_command()) return;
@ -107,6 +110,9 @@ void GcodeSuite::M906() {
#if AXIS_IS_TMC(Z2)
TMC_SAY_CURRENT(Z2);
#endif
#if AXIS_IS_TMC(Z3)
TMC_SAY_CURRENT(Z3);
#endif
#if AXIS_IS_TMC(E0)
TMC_SAY_CURRENT(E0);
#endif

63
Marlin/src/gcode/feature/trinamic/M911-M915.cpp
View file

@ -56,6 +56,9 @@ void GcodeSuite::M911() {
#if M91x_USE(Z2)
tmc_report_otpw(stepperZ2, TMC_Z2);
#endif
#if M91x_USE(Z3)
tmc_report_otpw(stepperZ3, TMC_Z3);
#endif
#if M91x_USE_E(0)
tmc_report_otpw(stepperE0, TMC_E0);
#endif
@ -75,7 +78,7 @@ void GcodeSuite::M911() {
/**
* M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
* Specify one or more axes with X, Y, Z, X1, Y1, Z1, X2, Y2, Z2, and E[index].
* Specify one or more axes with X, Y, Z, X1, Y1, Z1, X2, Y2, Z2, Z3 and E[index].
* If no axes are given, clear all.
*
* Examples:
@ -93,51 +96,54 @@ void GcodeSuite::M912() {
hasNone = !hasX && !hasY && !hasZ && !hasE;
#if M91x_USE(X) || M91x_USE(X2)
const uint8_t xval = parser.byteval(axis_codes[X_AXIS], 10);
const int8_t xval = int8_t(parser.byteval(axis_codes[X_AXIS], 0xFF));
#if M91x_USE(X)
if (hasNone || xval == 1 || (hasX && xval == 10)) tmc_clear_otpw(stepperX, TMC_X);
if (hasNone || xval == 1 || (hasX && xval < 0)) tmc_clear_otpw(stepperX, TMC_X);
#endif
#if M91x_USE(X2)
if (hasNone || xval == 2 || (hasX && xval == 10)) tmc_clear_otpw(stepperX2, TMC_X2);
if (hasNone || xval == 2 || (hasX && xval < 0)) tmc_clear_otpw(stepperX2, TMC_X2);
#endif
#endif
#if M91x_USE(Y) || M91x_USE(Y2)
const uint8_t yval = parser.byteval(axis_codes[Y_AXIS], 10);
const int8_t yval = int8_t(parser.byteval(axis_codes[Y_AXIS], 0xFF));
#if M91x_USE(Y)
if (hasNone || yval == 1 || (hasY && yval == 10)) tmc_clear_otpw(stepperY, TMC_Y);
if (hasNone || yval == 1 || (hasY && yval < 0)) tmc_clear_otpw(stepperY, TMC_Y);
#endif
#if M91x_USE(Y2)
if (hasNone || yval == 2 || (hasY && yval == 10)) tmc_clear_otpw(stepperY2, TMC_Y2);
if (hasNone || yval == 2 || (hasY && yval < 0)) tmc_clear_otpw(stepperY2, TMC_Y2);
#endif
#endif
#if M91x_USE(Z) || M91x_USE(Z2)
const uint8_t zval = parser.byteval(axis_codes[Z_AXIS], 10);
#if M91x_USE(Z) || M91x_USE(Z2) || M91x_USE(Z3)
const int8_t zval = int8_t(parser.byteval(axis_codes[Z_AXIS], 0xFF));
#if M91x_USE(Z)
if (hasNone || zval == 1 || (hasZ && zval == 10)) tmc_clear_otpw(stepperZ, TMC_Z);
if (hasNone || zval == 1 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ, TMC_Z);
#endif
#if M91x_USE(Z2)
if (hasNone || zval == 2 || (hasZ && zval == 10)) tmc_clear_otpw(stepperZ2, TMC_Z2);
if (hasNone || zval == 2 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ2, TMC_Z2);
#endif
#if M91x_USE(Z3)
if (hasNone || zval == 3 || (hasZ && zval < 0)) tmc_clear_otpw(stepperZ3, TMC_Z3);
#endif
#endif
#if M91x_USE_E(0) || M91x_USE_E(1) || M91x_USE_E(2) || M91x_USE_E(3) || M91x_USE_E(4)
const uint8_t eval = parser.byteval(axis_codes[E_AXIS], 10);
const int8_t eval = int8_t(parser.byteval(axis_codes[E_AXIS], 0xFF));
#if M91x_USE_E(0)
if (hasNone || eval == 0 || (hasE && eval == 10)) tmc_clear_otpw(stepperE0, TMC_E0);
if (hasNone || eval == 0 || (hasE && eval < 0)) tmc_clear_otpw(stepperE0, TMC_E0);
#endif
#if M91x_USE_E(1)
if (hasNone || eval == 1 || (hasE && eval == 10)) tmc_clear_otpw(stepperE1, TMC_E1);
if (hasNone || eval == 1 || (hasE && eval < 0)) tmc_clear_otpw(stepperE1, TMC_E1);
#endif
#if M91x_USE_E(2)
if (hasNone || eval == 2 || (hasE && eval == 10)) tmc_clear_otpw(stepperE2, TMC_E2);
if (hasNone || eval == 2 || (hasE && eval < 0)) tmc_clear_otpw(stepperE2, TMC_E2);
#endif
#if M91x_USE_E(3)
if (hasNone || eval == 3 || (hasE && eval == 10)) tmc_clear_otpw(stepperE3, TMC_E3);
if (hasNone || eval == 3 || (hasE && eval < 0)) tmc_clear_otpw(stepperE3, TMC_E3);
#endif
#if M91x_USE_E(4)
if (hasNone || eval == 4 || (hasE && eval == 10)) tmc_clear_otpw(stepperE4, TMC_E4);
if (hasNone || eval == 4 || (hasE && eval < 0)) tmc_clear_otpw(stepperE4, TMC_E4);
#endif
#endif
}
@ -178,7 +184,10 @@ void GcodeSuite::M912() {
if (index < 2) TMC_SET_PWMTHRS(Z,Z);
#endif
#if AXIS_HAS_STEALTHCHOP(Z2)
if (!(index & 1)) TMC_SET_PWMTHRS(Z,Z2);
if (index == 0 || index == 2) TMC_SET_PWMTHRS(Z,Z2);
#endif
#if AXIS_HAS_STEALTHCHOP(Z3)
if (index == 0 || index == 3) TMC_SET_PWMTHRS(Z,Z3);
#endif
break;
case E_AXIS: {
@ -223,6 +232,9 @@ void GcodeSuite::M912() {
#if AXIS_HAS_STEALTHCHOP(Z2)
TMC_SAY_PWMTHRS(Z,Z2);
#endif
#if AXIS_HAS_STEALTHCHOP(Z3)
TMC_SAY_PWMTHRS(Z,Z3);
#endif
#if AXIS_HAS_STEALTHCHOP(E0)
TMC_SAY_PWMTHRS_E(0);
#endif
@ -282,7 +294,10 @@ void GcodeSuite::M912() {
if (index < 2) TMC_SET_SGT(Z);
#endif
#if AXIS_HAS_STALLGUARD(Z2)
if (!(index & 1)) TMC_SET_SGT(Z2);
if (index == 0 || index == 2) TMC_SET_SGT(Z2);
#endif
#if AXIS_HAS_STALLGUARD(Z3)
if (index == 0 || index == 3) TMC_SET_SGT(Z3);
#endif
break;
#endif
@ -313,6 +328,9 @@ void GcodeSuite::M912() {
#if AXIS_HAS_STALLGUARD(Z2)
TMC_SAY_SGT(Z2);
#endif
#if AXIS_HAS_STALLGUARD(Z3)
TMC_SAY_SGT(Z3);
#endif
#endif
}
}
@ -339,6 +357,10 @@ void GcodeSuite::M912() {
const uint16_t Z2_current_1 = stepperZ2.getCurrent();
stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
#endif
#if Z3_IS_TRINAMIC
const uint16_t Z3_current_1 = stepperZ3.getCurrent();
stepperZ3.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
#endif
SERIAL_ECHOPAIR("\nCalibration current: Z", _rms);
@ -352,6 +374,9 @@ void GcodeSuite::M912() {
#if AXIS_IS_TMC(Z2)
stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER);
#endif
#if AXIS_IS_TMC(Z3)
stepperZ3.setCurrent(Z3_current_1, R_SENSE, HOLD_MULTIPLIER);
#endif
do_blocking_move_to_z(Z_MAX_POS);
soft_endstops_enabled = true;

3
Marlin/src/inc/Conditionals_LCD.h
View file

@ -546,4 +546,7 @@
#define HAS_RESUME_CONTINUE (ENABLED(NEWPANEL) || ENABLED(EMERGENCY_PARSER))
#define HAS_COLOR_LEDS (ENABLED(BLINKM) || ENABLED(RGB_LED) || ENABLED(RGBW_LED) || ENABLED(PCA9632) || ENABLED(NEOPIXEL_LED))
#define Z_MULTI_STEPPER_DRIVERS (ENABLED(Z_DUAL_STEPPER_DRIVERS) || ENABLED(Z_TRIPLE_STEPPER_DRIVERS))
#define Z_MULTI_ENDSTOPS (ENABLED(Z_DUAL_ENDSTOPS) || ENABLED(Z_TRIPLE_ENDSTOPS))
#endif // CONDITIONALS_LCD_H

65
Marlin/src/inc/Conditionals_post.h
View file

@ -611,7 +611,7 @@
/**
* Z_DUAL_ENDSTOPS endstop reassignment
*/
#if ENABLED(Z_DUAL_ENDSTOPS)
#if Z_MULTI_ENDSTOPS
#if Z_HOME_DIR > 0
#if Z2_USE_ENDSTOP == _XMIN_
#define Z2_MAX_ENDSTOP_INVERTING X_MIN_ENDSTOP_INVERTING
@ -661,9 +661,64 @@
#endif
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
#if Z_HOME_DIR > 0
#if Z3_USE_ENDSTOP == _XMIN_
#define Z3_MAX_ENDSTOP_INVERTING X_MIN_ENDSTOP_INVERTING
#define Z3_MAX_PIN X_MIN_PIN
#elif Z3_USE_ENDSTOP == _XMAX_
#define Z3_MAX_ENDSTOP_INVERTING X_MAX_ENDSTOP_INVERTING
#define Z3_MAX_PIN X_MAX_PIN
#elif Z3_USE_ENDSTOP == _YMIN_
#define Z3_MAX_ENDSTOP_INVERTING Y_MIN_ENDSTOP_INVERTING
#define Z3_MAX_PIN Y_MIN_PIN
#elif Z3_USE_ENDSTOP == _YMAX_
#define Z3_MAX_ENDSTOP_INVERTING Y_MAX_ENDSTOP_INVERTING
#define Z3_MAX_PIN Y_MAX_PIN
#elif Z3_USE_ENDSTOP == _ZMIN_
#define Z3_MAX_ENDSTOP_INVERTING Z_MIN_ENDSTOP_INVERTING
#define Z3_MAX_PIN Z_MIN_PIN
#elif Z3_USE_ENDSTOP == _ZMAX_
#define Z3_MAX_ENDSTOP_INVERTING Z_MAX_ENDSTOP_INVERTING
#define Z3_MAX_PIN Z_MAX_PIN
#else
#define Z3_MAX_ENDSTOP_INVERTING false
#endif
#define Z3_MIN_ENDSTOP_INVERTING false
#else
#if Z3_USE_ENDSTOP == _XMIN_
#define Z3_MIN_ENDSTOP_INVERTING X_MIN_ENDSTOP_INVERTING
#define Z3_MIN_PIN X_MIN_PIN
#elif Z3_USE_ENDSTOP == _XMAX_
#define Z3_MIN_ENDSTOP_INVERTING X_MAX_ENDSTOP_INVERTING
#define Z3_MIN_PIN X_MAX_PIN
#elif Z3_USE_ENDSTOP == _YMIN_
#define Z3_MIN_ENDSTOP_INVERTING Y_MIN_ENDSTOP_INVERTING
#define Z3_MIN_PIN Y_MIN_PIN
#elif Z3_USE_ENDSTOP == _YMAX_
#define Z3_MIN_ENDSTOP_INVERTING Y_MAX_ENDSTOP_INVERTING
#define Z3_MIN_PIN Y_MAX_PIN
#elif Z3_USE_ENDSTOP == _ZMIN_
#define Z3_MIN_ENDSTOP_INVERTING Z_MIN_ENDSTOP_INVERTING
#define Z3_MIN_PIN Z_MIN_PIN
#elif Z3_USE_ENDSTOP == _ZMAX_
#define Z3_MIN_ENDSTOP_INVERTING Z_MAX_ENDSTOP_INVERTING
#define Z3_MIN_PIN Z_MAX_PIN
#else
#define Z3_MIN_ENDSTOP_INVERTING false
#endif
#define Z3_MAX_ENDSTOP_INVERTING false
#endif
#endif
// Is an endstop plug used for the Z2 endstop or the bed probe?
#define IS_Z2_OR_PROBE(A,M) ( \
(ENABLED(Z_DUAL_ENDSTOPS) && Z2_USE_ENDSTOP == _##A##M##_) \
(Z_MULTI_ENDSTOPS && Z2_USE_ENDSTOP == _##A##M##_) \
|| (ENABLED(Z_MIN_PROBE_ENDSTOP) && Z_MIN_PROBE_PIN == A##_##M##_PIN ) )
// Is an endstop plug used for the Z3 endstop or the bed probe?
#define IS_Z3_OR_PROBE(A,M) ( \
(ENABLED(Z_TRIPLE_ENDSTOPS) && Z3_USE_ENDSTOP == _##A##M##_) \
|| (ENABLED(Z_MIN_PROBE_ENDSTOP) && Z_MIN_PROBE_PIN == A##_##M##_PIN ) )
/**
@ -749,6 +804,10 @@
#define HAS_Z2_STEP (PIN_EXISTS(Z2_STEP))
#define HAS_Z2_MICROSTEPS (PIN_EXISTS(Z2_MS1))
#define HAS_Z3_ENABLE (PIN_EXISTS(Z3_ENABLE))
#define HAS_Z3_DIR (PIN_EXISTS(Z3_DIR))
#define HAS_Z3_STEP (PIN_EXISTS(Z3_STEP))
// Extruder steppers and solenoids
#define HAS_E0_ENABLE (PIN_EXISTS(E0_ENABLE))
#define HAS_E0_DIR (PIN_EXISTS(E0_DIR))
@ -810,6 +869,8 @@
#define HAS_Y2_MAX (PIN_EXISTS(Y2_MAX))
#define HAS_Z2_MIN (PIN_EXISTS(Z2_MIN))
#define HAS_Z2_MAX (PIN_EXISTS(Z2_MAX))
#define HAS_Z3_MIN (PIN_EXISTS(Z3_MIN))
#define HAS_Z3_MAX (PIN_EXISTS(Z3_MAX))
#define HAS_Z_MIN_PROBE_PIN (PIN_EXISTS(Z_MIN_PROBE))
// ADC Temp Sensors (Thermistor or Thermocouple with amplifier ADC interface)

82
Marlin/src/inc/SanityCheck.h
View file

@ -272,19 +272,19 @@
#error "HAVE_TMC2130 is now [AXIS]_DRIVER_TYPE TMC2130. Please update your Configuration.h."
#elif defined(HAVE_L6470DRIVER)
#error "HAVE_L6470DRIVER is now [AXIS]_DRIVER_TYPE L6470. Please update your Configuration.h."
#elif defined(X_IS_TMC) || defined(X2_IS_TMC) || defined(Y_IS_TMC) || defined(Y2_IS_TMC) || defined(Z_IS_TMC) || defined(Z2_IS_TMC) \
#elif defined(X_IS_TMC) || defined(X2_IS_TMC) || defined(Y_IS_TMC) || defined(Y2_IS_TMC) || defined(Z_IS_TMC) || defined(Z2_IS_TMC) || defined(Z3_IS_TMC) \
|| defined(E0_IS_TMC) || defined(E1_IS_TMC) || defined(E2_IS_TMC) || defined(E3_IS_TMC) || defined(E4_IS_TMC)
#error "[AXIS]_IS_TMC is now [AXIS]_DRIVER_TYPE TMC26X. Please update your Configuration.h."
#elif defined(X_IS_TMC26X) || defined(X2_IS_TMC26X) || defined(Y_IS_TMC26X) || defined(Y2_IS_TMC26X) || defined(Z_IS_TMC26X) || defined(Z2_IS_TMC26X) \
#elif defined(X_IS_TMC26X) || defined(X2_IS_TMC26X) || defined(Y_IS_TMC26X) || defined(Y2_IS_TMC26X) || defined(Z_IS_TMC26X) || defined(Z2_IS_TMC26X) || defined(Z3_IS_TMC26X) \
|| defined(E0_IS_TMC26X) || defined(E1_IS_TMC26X) || defined(E2_IS_TMC26X) || defined(E3_IS_TMC26X) || defined(E4_IS_TMC26X)
#error "[AXIS]_IS_TMC26X is now [AXIS]_DRIVER_TYPE TMC26X. Please update your Configuration.h."
#elif defined(X_IS_TMC2130) || defined(X2_IS_TMC2130) || defined(Y_IS_TMC2130) || defined(Y2_IS_TMC2130) || defined(Z_IS_TMC2130) || defined(Z2_IS_TMC2130) \
#elif defined(X_IS_TMC2130) || defined(X2_IS_TMC2130) || defined(Y_IS_TMC2130) || defined(Y2_IS_TMC2130) || defined(Z_IS_TMC2130) || defined(Z2_IS_TMC2130) || defined(Z3_IS_TMC2130) \
|| defined(E0_IS_TMC2130) || defined(E1_IS_TMC2130) || defined(E2_IS_TMC2130) || defined(E3_IS_TMC2130) || defined(E4_IS_TMC2130)
#error "[AXIS]_IS_TMC2130 is now [AXIS]_DRIVER_TYPE TMC2130. Please update your Configuration.h."
#elif defined(X_IS_TMC2208) || defined(X2_IS_TMC2208) || defined(Y_IS_TMC2208) || defined(Y2_IS_TMC2208) || defined(Z_IS_TMC2208) || defined(Z2_IS_TMC2208) \
#elif defined(X_IS_TMC2208) || defined(X2_IS_TMC2208) || defined(Y_IS_TMC2208) || defined(Y2_IS_TMC2208) || defined(Z_IS_TMC2208) || defined(Z2_IS_TMC2208) || defined(Z3_IS_TMC2208) \
|| defined(E0_IS_TMC2208) || defined(E1_IS_TMC2208) || defined(E2_IS_TMC2208) || defined(E3_IS_TMC2208) || defined(E4_IS_TMC2208)
#error "[AXIS]_IS_TMC2208 is now [AXIS]_DRIVER_TYPE TMC2208. Please update your Configuration.h."
#elif defined(X_IS_L6470) || defined(X2_IS_L6470) || defined(Y_IS_L6470) || defined(Y2_IS_L6470) || defined(Z_IS_L6470) || defined(Z2_IS_L6470) \
#elif defined(X_IS_L6470) || defined(X2_IS_L6470) || defined(Y_IS_L6470) || defined(Y2_IS_L6470) || defined(Z_IS_L6470) || defined(Z2_IS_L6470) || defined(Z3_IS_L6470) \
|| defined(E0_IS_L6470) || defined(E1_IS_L6470) || defined(E2_IS_L6470) || defined(E3_IS_L6470) || defined(E4_IS_L6470)
#error "[AXIS]_IS_L6470 is now [AXIS]_DRIVER_TYPE L6470. Please update your Configuration.h."
#elif defined(AUTOMATIC_CURRENT_CONTROL)
@ -365,16 +365,22 @@
#endif
/**
* Dual Stepper Drivers
* Dual / Triple Stepper Drivers
*/
#if ENABLED(X_DUAL_STEPPER_DRIVERS) && ENABLED(DUAL_X_CARRIAGE)
#error "DUAL_X_CARRIAGE is not compatible with X_DUAL_STEPPER_DRIVERS."
#elif ENABLED(X_DUAL_STEPPER_DRIVERS) && (!HAS_X2_ENABLE || !HAS_X2_STEP || !HAS_X2_DIR)
#elif ENABLED(X_DUAL_STEPPER_DRIVERS) && !(HAS_X2_ENABLE && HAS_X2_STEP && HAS_X2_DIR)
#error "X_DUAL_STEPPER_DRIVERS requires X2 pins (and an extra E plug)."
#elif ENABLED(Y_DUAL_STEPPER_DRIVERS) && (!HAS_Y2_ENABLE || !HAS_Y2_STEP || !HAS_Y2_DIR)
#elif ENABLED(Y_DUAL_STEPPER_DRIVERS) && !(HAS_Y2_ENABLE && HAS_Y2_STEP && HAS_Y2_DIR)
#error "Y_DUAL_STEPPER_DRIVERS requires Y2 pins (and an extra E plug)."
#elif ENABLED(Z_DUAL_STEPPER_DRIVERS) && (!HAS_Z2_ENABLE || !HAS_Z2_STEP || !HAS_Z2_DIR)
#error "Z_DUAL_STEPPER_DRIVERS requires Z2 pins (and an extra E plug)."
#elif ENABLED(Z_DUAL_STEPPER_DRIVERS)
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
#error "Please select either Z_TRIPLE_STEPPER_DRIVERS or Z_DUAL_STEPPER_DRIVERS, not both."
#elif !(HAS_Z2_ENABLE && HAS_Z2_STEP && HAS_Z2_DIR)
#error "Z_DUAL_STEPPER_DRIVERS requires Z2 pins (and an extra E plug)."
#endif
#elif ENABLED(Z_TRIPLE_STEPPER_DRIVERS) && !(HAS_Z2_ENABLE && HAS_Z2_STEP && HAS_Z2_DIR && HAS_Z3_ENABLE && HAS_Z3_STEP && HAS_Z3_DIR)
#error "Z_TRIPLE_STEPPER_DRIVERS requires Z3 pins (and two extra E plugs)."
#endif
/**
@ -1138,7 +1144,7 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
#error "DUAL_X_CARRIAGE requires 2 (or more) extruders."
#elif CORE_IS_XY || CORE_IS_XZ
#error "DUAL_X_CARRIAGE cannot be used with COREXY, COREYX, COREXZ, or COREZX."
#elif !HAS_X2_ENABLE || !HAS_X2_STEP || !HAS_X2_DIR
#elif !(HAS_X2_ENABLE && HAS_X2_STEP && HAS_X2_DIR)
#error "DUAL_X_CARRIAGE requires X2 stepper pins to be defined."
#elif !HAS_X_MAX
#error "DUAL_X_CARRIAGE requires USE_XMAX_PLUG and an X Max Endstop."
@ -1301,23 +1307,24 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
*/
#if DISABLED(MK2_MULTIPLEXER) // MK2_MULTIPLEXER uses E0 stepper only
#if E_STEPPERS > 4
#if !PIN_EXISTS(E4_STEP) || !PIN_EXISTS(E4_DIR) || !PIN_EXISTS(E4_ENABLE)
#if !(PIN_EXISTS(E4_STEP) && PIN_EXISTS(E4_DIR) && PIN_EXISTS(E4_ENABLE))
#error "E4_STEP_PIN, E4_DIR_PIN, or E4_ENABLE_PIN not defined for this board."
#endif
#elif E_STEPPERS > 3
#if !PIN_EXISTS(E3_STEP) || !PIN_EXISTS(E3_DIR) || !PIN_EXISTS(E3_ENABLE)
#if !(PIN_EXISTS(E3_STEP) && PIN_EXISTS(E3_DIR) && PIN_EXISTS(E3_ENABLE))
#error "E3_STEP_PIN, E3_DIR_PIN, or E3_ENABLE_PIN not defined for this board."
#endif
#elif E_STEPPERS > 2
#if !PIN_EXISTS(E2_STEP) || !PIN_EXISTS(E2_DIR) || !PIN_EXISTS(E2_ENABLE)
#if !(PIN_EXISTS(E2_STEP) && PIN_EXISTS(E2_DIR) && PIN_EXISTS(E2_ENABLE))
#error "E2_STEP_PIN, E2_DIR_PIN, or E2_ENABLE_PIN not defined for this board."
#endif
#elif E_STEPPERS > 1
#if !PIN_EXISTS(E1_STEP) || !PIN_EXISTS(E1_DIR) || !PIN_EXISTS(E1_ENABLE)
#if !(PIN_EXISTS(E1_STEP) && PIN_EXISTS(E1_DIR) && PIN_EXISTS(E1_ENABLE))
#error "E1_STEP_PIN, E1_DIR_PIN, or E1_ENABLE_PIN not defined for this board."
#endif
#endif
#endif
/**
* Endstop Tests
*/
@ -1418,6 +1425,46 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
#error "Z_DUAL_ENDSTOPS is not compatible with DELTA."
#endif
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
#if !Z2_USE_ENDSTOP
#error "You must set Z2_USE_ENDSTOP with Z_TRIPLE_ENDSTOPS."
#elif Z2_USE_ENDSTOP == _XMIN_ && DISABLED(USE_XMIN_PLUG)
#error "USE_XMIN_PLUG is required when Z2_USE_ENDSTOP is _XMIN_."
#elif Z2_USE_ENDSTOP == _XMAX_ && DISABLED(USE_XMAX_PLUG)
#error "USE_XMAX_PLUG is required when Z2_USE_ENDSTOP is _XMAX_."
#elif Z2_USE_ENDSTOP == _YMIN_ && DISABLED(USE_YMIN_PLUG)
#error "USE_YMIN_PLUG is required when Z2_USE_ENDSTOP is _YMIN_."
#elif Z2_USE_ENDSTOP == _YMAX_ && DISABLED(USE_YMAX_PLUG)
#error "USE_YMAX_PLUG is required when Z2_USE_ENDSTOP is _YMAX_."
#elif Z2_USE_ENDSTOP == _ZMIN_ && DISABLED(USE_ZMIN_PLUG)
#error "USE_ZMIN_PLUG is required when Z2_USE_ENDSTOP is _ZMIN_."
#elif Z2_USE_ENDSTOP == _ZMAX_ && DISABLED(USE_ZMAX_PLUG)
#error "USE_ZMAX_PLUG is required when Z2_USE_ENDSTOP is _ZMAX_."
#elif !HAS_Z2_MIN && !HAS_Z2_MAX
#error "Z2_USE_ENDSTOP has been assigned to a nonexistent endstop!"
#elif ENABLED(DELTA)
#error "Z_TRIPLE_ENDSTOPS is not compatible with DELTA."
#endif
#if !Z3_USE_ENDSTOP
#error "You must set Z3_USE_ENDSTOP with Z_TRIPLE_ENDSTOPS."
#elif Z3_USE_ENDSTOP == _XMIN_ && DISABLED(USE_XMIN_PLUG)
#error "USE_XMIN_PLUG is required when Z3_USE_ENDSTOP is _XMIN_."
#elif Z3_USE_ENDSTOP == _XMAX_ && DISABLED(USE_XMAX_PLUG)
#error "USE_XMAX_PLUG is required when Z3_USE_ENDSTOP is _XMAX_."
#elif Z3_USE_ENDSTOP == _YMIN_ && DISABLED(USE_YMIN_PLUG)
#error "USE_YMIN_PLUG is required when Z3_USE_ENDSTOP is _YMIN_."
#elif Z3_USE_ENDSTOP == _YMAX_ && DISABLED(USE_YMAX_PLUG)
#error "USE_YMAX_PLUG is required when Z3_USE_ENDSTOP is _YMAX_."
#elif Z3_USE_ENDSTOP == _ZMIN_ && DISABLED(USE_ZMIN_PLUG)
#error "USE_ZMIN_PLUG is required when Z3_USE_ENDSTOP is _ZMIN_."
#elif Z3_USE_ENDSTOP == _ZMAX_ && DISABLED(USE_ZMAX_PLUG)
#error "USE_ZMAX_PLUG is required when Z3_USE_ENDSTOP is _ZMAX_."
#elif !HAS_Z3_MIN && !HAS_Z3_MAX
#error "Z3_USE_ENDSTOP has been assigned to a nonexistent endstop!"
#elif ENABLED(DELTA)
#error "Z_TRIPLE_ENDSTOPS is not compatible with DELTA."
#endif
#endif
/**
* emergency-command parser
@ -1566,6 +1613,8 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
#error "Z_CS_PIN is required for TMC2130. Define Z_CS_PIN in Configuration_adv.h."
#elif AXIS_DRIVER_TYPE(Z2, TMC2130) && !PIN_EXISTS(Z2_CS)
#error "Z2_CS_PIN is required for TMC2130. Define Z2_CS_PIN in Configuration_adv.h."
#elif AXIS_DRIVER_TYPE(Z3, TMC2130) && !PIN_EXISTS(Z3_CS)
#error "Z3_CS_PIN is required for TMC2130. Define Z3_CS_PIN in Configuration_adv.h."
#elif AXIS_DRIVER_TYPE(E0, TMC2130) && !PIN_EXISTS(E0_CS)
#error "E0_CS_PIN is required for TMC2130. Define E0_CS_PIN in Configuration_adv.h."
#elif AXIS_DRIVER_TYPE(E1, TMC2130) && !PIN_EXISTS(E1_CS)
@ -1588,6 +1637,7 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
|| defined(Y2_HARDWARE_SERIAL) \
|| defined(Z_HARDWARE_SERIAL ) \
|| defined(Z2_HARDWARE_SERIAL) \
|| defined(Z3_HARDWARE_SERIAL) \
|| defined(E0_HARDWARE_SERIAL) \
|| defined(E1_HARDWARE_SERIAL) \
|| defined(E2_HARDWARE_SERIAL) \
@ -1650,7 +1700,7 @@ static_assert(X_MAX_LENGTH >= X_BED_SIZE && Y_MAX_LENGTH >= Y_BED_SIZE,
#if ENABLED(HYBRID_THRESHOLD) && DISABLED(STEALTHCHOP)
#error "Enable STEALTHCHOP to use HYBRID_THRESHOLD."
#endif
#if ENABLED(TMC_Z_CALIBRATION) && !AXIS_IS_TMC(Z) && !AXIS_IS_TMC(Z2)
#if ENABLED(TMC_Z_CALIBRATION) && !AXIS_IS_TMC(Z) && !AXIS_IS_TMC(Z2) && !AXIS_IS_TMC(Z3)
#error "TMC_Z_CALIBRATION requires at least one TMC driver on Z axis"
#endif

126
Marlin/src/module/configuration_store.cpp
View file

@ -194,10 +194,13 @@ typedef struct SettingsDataStruct {
delta_segments_per_second, // M665 S
delta_calibration_radius, // M665 B
delta_tower_angle_trim[ABC]; // M665 XYZ
#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
float x_endstop_adj, // M666 X
y_endstop_adj, // M666 Y
z_endstop_adj; // M666 Z
#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
float x2_endstop_adj, // M666 X
y2_endstop_adj, // M666 Y
z2_endstop_adj; // M666 Z
#if ENABLED(Z_TRIPLE_ENDSTOPS)
float z3_endstop_adj; // M666 Z
#endif
#endif
//
@ -246,9 +249,9 @@ typedef struct SettingsDataStruct {
//
// HAS_TRINAMIC
//
#define TMC_AXES (MAX_EXTRUDERS + 6)
uint16_t tmc_stepper_current[TMC_AXES]; // M906 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
uint32_t tmc_hybrid_threshold[TMC_AXES]; // M913 X Y Z X2 Y2 Z2 E0 E1 E2 E3 E4
#define TMC_AXES (MAX_EXTRUDERS + 7)
uint16_t tmc_stepper_current[TMC_AXES]; // M906 X Y Z X2 Y2 Z2 Z3 E0 E1 E2 E3 E4
uint32_t tmc_hybrid_threshold[TMC_AXES]; // M913 X Y Z X2 Y2 Z2 Z3 E0 E1 E2 E3 E4
int16_t tmc_sgt[XYZ]; // M914 X Y Z
//
@ -574,26 +577,32 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(delta_calibration_radius); // 1 float
EEPROM_WRITE(delta_tower_angle_trim); // 3 floats
#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
_FIELD_TEST(x_endstop_adj);
_FIELD_TEST(x2_endstop_adj);
// Write dual endstops in X, Y, Z order. Unused = 0.0
dummy = 0;
#if ENABLED(X_DUAL_ENDSTOPS)
EEPROM_WRITE(endstops.x_endstop_adj); // 1 float
EEPROM_WRITE(endstops.x2_endstop_adj); // 1 float
#else
EEPROM_WRITE(dummy);
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
EEPROM_WRITE(endstops.y_endstop_adj); // 1 float
EEPROM_WRITE(endstops.y2_endstop_adj); // 1 float
#else
EEPROM_WRITE(dummy);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
EEPROM_WRITE(endstops.z_endstop_adj); // 1 float
#if Z_MULTI_ENDSTOPS
EEPROM_WRITE(endstops.z2_endstop_adj); // 1 float
#else
EEPROM_WRITE(dummy);
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
EEPROM_WRITE(endstops.z3_endstop_adj); // 1 float
#else
EEPROM_WRITE(dummy);
#endif
@ -740,6 +749,11 @@ void MarlinSettings::postprocess() {
#else
0,
#endif
#if AXIS_IS_TMC(Z3)
stepperZ3.getCurrent(),
#else
0,
#endif
#if AXIS_IS_TMC(E0)
stepperE0.getCurrent(),
#else
@ -809,6 +823,11 @@ void MarlinSettings::postprocess() {
#else
Z2_HYBRID_THRESHOLD,
#endif
#if AXIS_HAS_STEALTHCHOP(Z3)
TMC_GET_PWMTHRS(Z, Z3),
#else
Z3_HYBRID_THRESHOLD,
#endif
#if AXIS_HAS_STEALTHCHOP(E0)
TMC_GET_PWMTHRS(E, E0),
#else
@ -836,7 +855,7 @@ void MarlinSettings::postprocess() {
#endif
#else
100, 100, 3, // X, Y, Z
100, 100, 3, // X2, Y2, Z2
100, 100, 3, 3, // X2, Y2, Z2, Z3
30, 30, 30, 30, 30 // E0, E1, E2, E3, E4
#endif
};
@ -1187,22 +1206,27 @@ void MarlinSettings::postprocess() {
EEPROM_READ(delta_calibration_radius); // 1 float
EEPROM_READ(delta_tower_angle_trim); // 3 floats
#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
_FIELD_TEST(x_endstop_adj);
_FIELD_TEST(x2_endstop_adj);
#if ENABLED(X_DUAL_ENDSTOPS)
EEPROM_READ(endstops.x_endstop_adj); // 1 float
EEPROM_READ(endstops.x2_endstop_adj); // 1 float
#else
EEPROM_READ(dummy);
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
EEPROM_READ(endstops.y_endstop_adj); // 1 float
EEPROM_READ(endstops.y2_endstop_adj); // 1 float
#else
EEPROM_READ(dummy);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
EEPROM_READ(endstops.z_endstop_adj); // 1 float
#if Z_MULTI_ENDSTOPS
EEPROM_READ(endstops.z2_endstop_adj); // 1 float
#else
EEPROM_READ(dummy);
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
EEPROM_READ(endstops.z3_endstop_adj); // 1 float
#else
EEPROM_READ(dummy);
#endif
@ -1365,6 +1389,9 @@ void MarlinSettings::postprocess() {
#if AXIS_IS_TMC(Z2)
SET_CURR(Z2);
#endif
#if AXIS_IS_TMC(Z3)
SET_CURR(Z3);
#endif
#if AXIS_IS_TMC(E0)
SET_CURR(E0);
#endif
@ -1409,6 +1436,9 @@ void MarlinSettings::postprocess() {
#if AXIS_HAS_STEALTHCHOP(Z2)
TMC_SET_PWMTHRS(Z, Z2);
#endif
#if AXIS_HAS_STEALTHCHOP(Z3)
TMC_SET_PWMTHRS(Z, Z3);
#endif
#if AXIS_HAS_STEALTHCHOP(E0)
TMC_SET_PWMTHRS(E, E0);
#endif
@ -1434,7 +1464,7 @@ void MarlinSettings::postprocess() {
* TMC2130 Sensorless homing threshold.
* X and X2 use the same value
* Y and Y2 use the same value
* Z and Z2 use the same value
* Z, Z2 and Z3 use the same value
*/
int16_t tmc_sgt[XYZ];
EEPROM_READ(tmc_sgt);
@ -1463,6 +1493,9 @@ void MarlinSettings::postprocess() {
#if AXIS_HAS_STALLGUARD(Z2)
stepperZ2.sgt(tmc_sgt[2]);
#endif
#if AXIS_HAS_STALLGUARD(Z3)
stepperZ3.sgt(tmc_sgt[2]);
#endif
#endif
}
#endif
@ -1860,10 +1893,10 @@ void MarlinSettings::reset(PORTARG_SOLO) {
delta_calibration_radius = DELTA_CALIBRATION_RADIUS;
COPY(delta_tower_angle_trim, dta);
#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
#if ENABLED(X_DUAL_ENDSTOPS)
endstops.x_endstop_adj = (
endstops.x2_endstop_adj = (
#ifdef X_DUAL_ENDSTOPS_ADJUSTMENT
X_DUAL_ENDSTOPS_ADJUSTMENT
#else
@ -1872,7 +1905,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
);
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
endstops.y_endstop_adj = (
endstops.y2_endstop_adj = (
#ifdef Y_DUAL_ENDSTOPS_ADJUSTMENT
Y_DUAL_ENDSTOPS_ADJUSTMENT
#else
@ -1881,13 +1914,28 @@ void MarlinSettings::reset(PORTARG_SOLO) {
);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
endstops.z_endstop_adj = (
endstops.z2_endstop_adj = (
#ifdef Z_DUAL_ENDSTOPS_ADJUSTMENT
Z_DUAL_ENDSTOPS_ADJUSTMENT
#else
0
#endif
);
#elif ENABLED(Z_TRIPLE_ENDSTOPS)
endstops.z2_endstop_adj = (
#ifdef Z_TRIPLE_ENDSTOPS_ADJUSTMENT2
Z_TRIPLE_ENDSTOPS_ADJUSTMENT2
#else
0
#endif
);
endstops.z3_endstop_adj = (
#ifdef Z_TRIPLE_ENDSTOPS_ADJUSTMENT3
Z_TRIPLE_ENDSTOPS_ADJUSTMENT3
#else
0
#endif
);
#endif
#endif
@ -2391,13 +2439,17 @@ void MarlinSettings::reset(PORTARG_SOLO) {
CONFIG_ECHO_START;
SERIAL_ECHOPGM_P(port, " M666");
#if ENABLED(X_DUAL_ENDSTOPS)
SERIAL_ECHOPAIR_P(port, " X", LINEAR_UNIT(endstops.x_endstop_adj));
SERIAL_ECHOPAIR_P(port, " X", LINEAR_UNIT(endstops.x2_endstop_adj));
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
SERIAL_ECHOPAIR_P(port, " Y", LINEAR_UNIT(endstops.y_endstop_adj));
SERIAL_ECHOPAIR_P(port, " Y", LINEAR_UNIT(endstops.y2_endstop_adj));
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
SERIAL_ECHOPAIR_P(port, " Z", LINEAR_UNIT(endstops.z_endstop_adj));
#if ENABLED(Z_TRIPLE_ENDSTOPS)
SERIAL_ECHOLNPAIR_P(port, "S1 Z", LINEAR_UNIT(endstops.z2_endstop_adj));
CONFIG_ECHO_START;
SERIAL_ECHOPAIR_P(port, " M666 S2 Z", LINEAR_UNIT(endstops.z3_endstop_adj));
#elif ENABLED(Z_DUAL_ENDSTOPS)
SERIAL_ECHOPAIR_P(port, " Z", LINEAR_UNIT(endstops.z2_endstop_adj));
#endif
SERIAL_EOL_P(port);
@ -2582,6 +2634,10 @@ void MarlinSettings::reset(PORTARG_SOLO) {
#if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
SERIAL_EOL_P(port);
#endif
#if AXIS_IS_TMC(Z3)
say_M906(PORTVAR_SOLO);
SERIAL_ECHOLNPAIR_P(port, " I2 Z", stepperZ3.getCurrent());
#endif
#if AXIS_IS_TMC(E0)
say_M906(PORTVAR_SOLO);
SERIAL_ECHOLNPAIR_P(port, " T0 E", stepperE0.getCurrent());
@ -2644,6 +2700,11 @@ void MarlinSettings::reset(PORTARG_SOLO) {
#if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2)
SERIAL_EOL_P(port);
#endif
#if AXIS_IS_TMC(Z3)
say_M913(PORTVAR_SOLO);
SERIAL_ECHOPGM_P(port, " I2");
SERIAL_ECHOLNPAIR_P(port, " Z", TMC_GET_PWMTHRS(Z, Z3));
#endif
#if AXIS_IS_TMC(E0)
say_M913(PORTVAR_SOLO);
SERIAL_ECHOLNPAIR_P(port, " T0 E", TMC_GET_PWMTHRS(E, E0));
@ -2693,6 +2754,7 @@ void MarlinSettings::reset(PORTARG_SOLO) {
#define HAS_X2_SENSORLESS (defined(X_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(X2))
#define HAS_Y2_SENSORLESS (defined(Y_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(Y2))
#define HAS_Z2_SENSORLESS (defined(Z_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(Z2))
#define HAS_Z3_SENSORLESS (defined(Z_HOMING_SENSITIVITY) && AXIS_HAS_STALLGUARD(Z3))
#if HAS_X2_SENSORLESS || HAS_Y2_SENSORLESS || HAS_Z2_SENSORLESS
say_M914(PORTVAR_SOLO);
SERIAL_ECHOPGM_P(port, " I1");
@ -2708,6 +2770,12 @@ void MarlinSettings::reset(PORTARG_SOLO) {
SERIAL_EOL_P(port);
#endif
#if HAS_Z3_SENSORLESS
say_M914(PORTVAR_SOLO);
SERIAL_ECHOPGM_P(port, " I2");
SERIAL_ECHOLNPAIR_P(port, " Z", stepperZ3.sgt());
#endif
#endif // SENSORLESS_HOMING
#endif // HAS_TRINAMIC

87
Marlin/src/module/endstops.cpp
View file

@ -56,13 +56,16 @@ Endstops::esbits_t Endstops::live_state = 0;
// Initialized by settings.load()
#if ENABLED(X_DUAL_ENDSTOPS)
float Endstops::x_endstop_adj;
float Endstops::x2_endstop_adj;
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
float Endstops::y_endstop_adj;
float Endstops::y2_endstop_adj;
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
float Endstops::z_endstop_adj;
#if Z_MULTI_ENDSTOPS
float Endstops::z2_endstop_adj;
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
float Endstops::z3_endstop_adj;
#endif
/**
@ -131,6 +134,16 @@ void Endstops::init() {
#endif
#endif
#if HAS_Z3_MIN
#if ENABLED(ENDSTOPPULLUP_ZMIN)
SET_INPUT_PULLUP(Z3_MIN_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_ZMIN)
SET_INPUT_PULLDOWN(Z3_MIN_PIN);
#else
SET_INPUT(Z3_MIN_PIN);
#endif
#endif
#if HAS_X_MAX
#if ENABLED(ENDSTOPPULLUP_XMAX)
SET_INPUT_PULLUP(X_MAX_PIN);
@ -191,6 +204,16 @@ void Endstops::init() {
#endif
#endif
#if HAS_Z3_MAX
#if ENABLED(ENDSTOPPULLUP_ZMAX)
SET_INPUT_PULLUP(Z3_MAX_PIN);
#elif ENABLED(ENDSTOPPULLDOWN_ZMAX)
SET_INPUT_PULLDOWN(Z3_MAX_PIN);
#else
SET_INPUT(Z3_MAX_PIN);
#endif
#endif
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
#if ENABLED(ENDSTOPPULLUP_ZMIN_PROBE)
SET_INPUT_PULLUP(Z_MIN_PROBE_PIN);
@ -371,12 +394,18 @@ void Endstops::M119() {
#if HAS_Z2_MIN
ES_REPORT(Z2_MIN);
#endif
#if HAS_Z3_MIN
ES_REPORT(Z3_MIN);
#endif
#if HAS_Z_MAX
ES_REPORT(Z_MAX);
#endif
#if HAS_Z2_MAX
ES_REPORT(Z2_MAX);
#endif
#if HAS_Z3_MAX
ES_REPORT(Z3_MAX);
#endif
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
SERIAL_PROTOCOLPGM(MSG_Z_PROBE);
SERIAL_PROTOCOLLN(((READ(Z_MIN_PROBE_PIN)^Z_MIN_PROBE_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
@ -492,13 +521,20 @@ void Endstops::update() {
#endif
#if HAS_Z_MIN
#if ENABLED(Z_DUAL_ENDSTOPS)
#if Z_MULTI_ENDSTOPS
UPDATE_ENDSTOP_BIT(Z, MIN);
#if HAS_Z2_MIN
UPDATE_ENDSTOP_BIT(Z2, MIN);
#else
COPY_LIVE_STATE(Z_MIN, Z2_MIN);
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
#if HAS_Z3_MIN
UPDATE_ENDSTOP_BIT(Z3, MIN);
#else
COPY_LIVE_STATE(Z_MIN, Z3_MIN);
#endif
#endif
#elif ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
UPDATE_ENDSTOP_BIT(Z, MIN);
#elif Z_HOME_DIR < 0
@ -513,13 +549,20 @@ void Endstops::update() {
#if HAS_Z_MAX
// Check both Z dual endstops
#if ENABLED(Z_DUAL_ENDSTOPS)
#if Z_MULTI_ENDSTOPS
UPDATE_ENDSTOP_BIT(Z, MAX);
#if HAS_Z2_MAX
UPDATE_ENDSTOP_BIT(Z2, MAX);
#else
COPY_LIVE_STATE(Z_MAX, Z2_MAX);
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
#if HAS_Z3_MAX
UPDATE_ENDSTOP_BIT(Z3, MAX);
#else
COPY_LIVE_STATE(Z_MAX, Z3_MAX);
#endif
#endif
#elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
// If this pin isn't the bed probe it's the Z endstop
UPDATE_ENDSTOP_BIT(Z, MAX);
@ -569,7 +612,17 @@ void Endstops::update() {
if (dual_hit) { \
_ENDSTOP_HIT(AXIS1, MINMAX); \
/* if not performing home or if both endstops were trigged during homing... */ \
if (!stepper.homing_dual_axis || dual_hit == 0b11) \
if (!stepper.separate_multi_axis || dual_hit == 0b11) \
planner.endstop_triggered(_AXIS(AXIS1)); \
} \
}while(0)
#define PROCESS_TRIPLE_ENDSTOP(AXIS1, AXIS2, AXIS3, MINMAX) do { \
const byte triple_hit = TEST_ENDSTOP(_ENDSTOP(AXIS1, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(AXIS2, MINMAX)) << 1) | (TEST_ENDSTOP(_ENDSTOP(AXIS3, MINMAX)) << 2); \
if (triple_hit) { \
_ENDSTOP_HIT(AXIS1, MINMAX); \
/* if not performing home or if both endstops were trigged during homing... */ \
if (!stepper.separate_multi_axis || triple_hit == 0x7) \
planner.endstop_triggered(_AXIS(AXIS1)); \
} \
}while(0)
@ -632,7 +685,9 @@ void Endstops::update() {
if (stepper.axis_is_moving(Z_AXIS)) {
if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
#if HAS_Z_MIN
#if ENABLED(Z_DUAL_ENDSTOPS)
#if ENABLED(Z_TRIPLE_ENDSTOPS)
PROCESS_TRIPLE_ENDSTOP(Z, Z2, Z3, MIN);
#elif ENABLED(Z_DUAL_ENDSTOPS)
PROCESS_DUAL_ENDSTOP(Z, Z2, MIN);
#else
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
@ -652,7 +707,9 @@ void Endstops::update() {
}
else { // Z +direction. Gantry up, bed down.
#if HAS_Z_MAX
#if ENABLED(Z_DUAL_ENDSTOPS)
#if ENABLED(Z_TRIPLE_ENDSTOPS)
PROCESS_TRIPLE_ENDSTOP(Z, Z2, Z3, MAX);
#elif ENABLED(Z_DUAL_ENDSTOPS)
PROCESS_DUAL_ENDSTOP(Z, Z2, MAX);
#elif DISABLED(Z_MIN_PROBE_ENDSTOP) || Z_MAX_PIN != Z_MIN_PROBE_PIN
// If this pin is not hijacked for the bed probe
@ -723,6 +780,12 @@ void Endstops::update() {
#if HAS_Z2_MAX
if (READ(Z2_MAX_PIN)) SBI(live_state_local, Z2_MAX);
#endif
#if HAS_Z3_MIN
if (READ(Z3_MIN_PIN)) SBI(live_state_local, Z3_MIN);
#endif
#if HAS_Z3_MAX
if (READ(Z3_MAX_PIN)) SBI(live_state_local, Z3_MAX);
#endif
uint16_t endstop_change = live_state_local ^ old_live_state_local;
@ -766,6 +829,12 @@ void Endstops::update() {
#if HAS_Z2_MAX
if (TEST(endstop_change, Z2_MAX)) SERIAL_PROTOCOLPAIR(" Z2_MAX:", TEST(live_state_local, Z2_MAX));
#endif
#if HAS_Z3_MIN
if (TEST(endstop_change, Z3_MIN)) SERIAL_PROTOCOLPAIR(" Z3_MIN:", TEST(live_state_local, Z3_MIN));
#endif
#if HAS_Z3_MAX
if (TEST(endstop_change, Z3_MAX)) SERIAL_PROTOCOLPAIR(" Z3_MAX:", TEST(live_state_local, Z3_MAX));
#endif
SERIAL_PROTOCOLPGM("\n\n");
analogWrite(LED_PIN, local_LED_status);
local_LED_status ^= 255;

17
Marlin/src/module/endstops.h
View file

@ -45,7 +45,9 @@ enum EndstopEnum : char {
Y2_MIN,
Y2_MAX,
Z2_MIN,
Z2_MAX
Z2_MAX,
Z3_MIN,
Z3_MAX
};
class Endstops {
@ -54,16 +56,19 @@ class Endstops {
static bool enabled, enabled_globally;
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
typedef uint16_t esbits_t;
#if ENABLED(X_DUAL_ENDSTOPS)
static float x_endstop_adj;
static float x2_endstop_adj;
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
static float y_endstop_adj;
static float y2_endstop_adj;
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
static float z_endstop_adj;
#if Z_MULTI_ENDSTOPS
static float z2_endstop_adj;
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
static float z3_endstop_adj;
#endif
#else
typedef uint8_t esbits_t;

76
Marlin/src/module/motion.cpp
View file

@ -1313,7 +1313,7 @@ void homeaxis(const AxisEnum axis) {
#endif
// Set flags for X, Y, Z motor locking
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
switch (axis) {
#if ENABLED(X_DUAL_ENDSTOPS)
case X_AXIS:
@ -1324,7 +1324,17 @@ void homeaxis(const AxisEnum axis) {
#if ENABLED(Z_DUAL_ENDSTOPS)
case Z_AXIS:
#endif
stepper.set_homing_dual_axis(true);
stepper.set_separate_multi_axis(true);
default: break;
}
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
switch (axis) {
#if ENABLED(Z_TRIPLE_ENDSTOPS)
case Z_AXIS:
#endif
stepper.set_separate_multi_axis(true);
default: break;
}
#endif
@ -1384,13 +1394,13 @@ void homeaxis(const AxisEnum axis) {
#endif
}
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
const bool pos_dir = axis_home_dir > 0;
#if ENABLED(X_DUAL_ENDSTOPS)
if (axis == X_AXIS) {
const float adj = ABS(endstops.x_endstop_adj);
const float adj = ABS(endstops.x2_endstop_adj);
if (adj) {
if (pos_dir ? (endstops.x_endstop_adj > 0) : (endstops.x_endstop_adj < 0)) stepper.set_x_lock(true); else stepper.set_x2_lock(true);
if (pos_dir ? (endstops.x2_endstop_adj > 0) : (endstops.x2_endstop_adj < 0)) stepper.set_x_lock(true); else stepper.set_x2_lock(true);
do_homing_move(axis, pos_dir ? -adj : adj);
stepper.set_x_lock(false);
stepper.set_x2_lock(false);
@ -1399,9 +1409,9 @@ void homeaxis(const AxisEnum axis) {
#endif
#if ENABLED(Y_DUAL_ENDSTOPS)
if (axis == Y_AXIS) {
const float adj = ABS(endstops.y_endstop_adj);
const float adj = ABS(endstops.y2_endstop_adj);
if (adj) {
if (pos_dir ? (endstops.y_endstop_adj > 0) : (endstops.y_endstop_adj < 0)) stepper.set_y_lock(true); else stepper.set_y2_lock(true);
if (pos_dir ? (endstops.y2_endstop_adj > 0) : (endstops.y2_endstop_adj < 0)) stepper.set_y_lock(true); else stepper.set_y2_lock(true);
do_homing_move(axis, pos_dir ? -adj : adj);
stepper.set_y_lock(false);
stepper.set_y2_lock(false);
@ -1410,16 +1420,62 @@ void homeaxis(const AxisEnum axis) {
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) {
const float adj = ABS(endstops.z_endstop_adj);
const float adj = ABS(endstops.z2_endstop_adj);
if (adj) {
if (pos_dir ? (endstops.z_endstop_adj > 0) : (endstops.z_endstop_adj < 0)) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
if (pos_dir ? (endstops.z2_endstop_adj > 0) : (endstops.z2_endstop_adj < 0)) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
do_homing_move(axis, pos_dir ? -adj : adj);
stepper.set_z_lock(false);
stepper.set_z2_lock(false);
}
}
#endif
stepper.set_homing_dual_axis(false);
#if ENABLED(Z_TRIPLE_ENDSTOPS)
if (axis == Z_AXIS) {
// we push the function pointers for the stepper lock function into an array
void (*lock[3]) (bool)= {&stepper.set_z_lock, &stepper.set_z2_lock, &stepper.set_z3_lock};
float adj[3] = {0, endstops.z2_endstop_adj, endstops.z3_endstop_adj};
void (*tempLock) (bool);
float tempAdj;
// manual bubble sort by adjust value
if (adj[1] < adj[0]) {
tempLock = lock[0], tempAdj = adj[0];
lock[0] = lock[1], adj[0] = adj[1];
lock[1] = tempLock, adj[1] = tempAdj;
}
if (adj[2] < adj[1]) {
tempLock = lock[1], tempAdj = adj[1];
lock[1] = lock[2], adj[1] = adj[2];
lock[2] = tempLock, adj[2] = tempAdj;
}
if (adj[1] < adj[0]) {
tempLock = lock[0], tempAdj = adj[0];
lock[0] = lock[1], adj[0] = adj[1];
lock[1] = tempLock, adj[1] = tempAdj;
}
if (pos_dir) {
// normalize adj to smallest value and do the first move
(*lock[0])(true);
do_homing_move(axis, adj[1] - adj[0]);
// lock the second stepper for the final correction
(*lock[1])(true);
do_homing_move(axis, adj[2] - adj[1]);
}
else {
(*lock[2])(true);
do_homing_move(axis, adj[1] - adj[2]);
(*lock[1])(true);
do_homing_move(axis, adj[0] - adj[1]);
}
stepper.set_z_lock(false);
stepper.set_z2_lock(false);
stepper.set_z3_lock(false);
}
#endif
#endif
#if IS_SCARA

86
Marlin/src/module/stepper.cpp
View file

@ -107,8 +107,8 @@ Stepper stepper; // Singleton
// public:
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
bool Stepper::homing_dual_axis = false;
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
bool Stepper::separate_multi_axis = false;
#endif
#if HAS_MOTOR_CURRENT_PWM
@ -134,9 +134,12 @@ bool Stepper::abort_current_block;
#if ENABLED(Y_DUAL_ENDSTOPS)
bool Stepper::locked_Y_motor = false, Stepper::locked_Y2_motor = false;
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
#if Z_MULTI_ENDSTOPS
bool Stepper::locked_Z_motor = false, Stepper::locked_Z2_motor = false;
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
bool Stepper::locked_Z3_motor = false;
#endif
uint32_t Stepper::acceleration_time, Stepper::deceleration_time;
uint8_t Stepper::steps_per_isr;
@ -202,23 +205,40 @@ volatile int32_t Stepper::endstops_trigsteps[XYZ];
volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
int8_t Stepper::count_direction[NUM_AXIS] = { 0, 0, 0, 0 };
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
if (homing_dual_axis) { \
if (A##_HOME_DIR < 0) { \
if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
} \
else { \
if (!(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
} \
} \
else { \
A##_STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
}
#endif
#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (A##_HOME_DIR < 0) { \
if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
} \
else { \
if (!(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
} \
} \
else { \
A##_STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
}
#define TRIPLE_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (A##_HOME_DIR < 0) { \
if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##3_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##3_motor) A##3_STEP_WRITE(V); \
} \
else { \
if (!(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
if (!(TEST(endstops.state(), A##3_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##3_motor) A##3_STEP_WRITE(V); \
} \
} \
else { \
A##_STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
A##3_STEP_WRITE(V); \
}
#if ENABLED(X_DUAL_STEPPER_DRIVERS)
#define X_APPLY_DIR(v,Q) do{ X_DIR_WRITE(v); X2_DIR_WRITE((v) != INVERT_X2_VS_X_DIR); }while(0)
@ -261,7 +281,14 @@ int8_t Stepper::count_direction[NUM_AXIS] = { 0, 0, 0, 0 };
#define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v)
#endif
#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
#define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE(v); Z3_DIR_WRITE(v); }while(0)
#if ENABLED(Z_TRIPLE_ENDSTOPS)
#define Z_APPLY_STEP(v,Q) TRIPLE_ENDSTOP_APPLY_STEP(Z,v)
#else
#define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); Z3_STEP_WRITE(v); }while(0)
#endif
#elif ENABLED(Z_DUAL_STEPPER_DRIVERS)
#define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE(v); }while(0)
#if ENABLED(Z_DUAL_ENDSTOPS)
#define Z_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Z,v)
@ -1933,9 +1960,12 @@ void Stepper::init() {
#endif
#if HAS_Z_DIR
Z_DIR_INIT;
#if ENABLED(Z_DUAL_STEPPER_DRIVERS) && HAS_Z2_DIR
#if Z_MULTI_STEPPER_DRIVERS && HAS_Z2_DIR
Z2_DIR_INIT;
#endif
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS) && HAS_Z3_DIR
Z3_DIR_INIT;
#endif
#endif
#if HAS_E0_DIR
E0_DIR_INIT;
@ -1973,10 +2003,14 @@ void Stepper::init() {
#if HAS_Z_ENABLE
Z_ENABLE_INIT;
if (!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH);
#if ENABLED(Z_DUAL_STEPPER_DRIVERS) && HAS_Z2_ENABLE
#if Z_MULTI_STEPPER_DRIVERS && HAS_Z2_ENABLE
Z2_ENABLE_INIT;
if (!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH);
#endif
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS) && HAS_Z3_ENABLE
Z3_ENABLE_INIT;
if (!Z_ENABLE_ON) Z3_ENABLE_WRITE(HIGH);
#endif
#endif
#if HAS_E0_ENABLE
E0_ENABLE_INIT;
@ -2028,10 +2062,14 @@ void Stepper::init() {
#endif
#if HAS_Z_STEP
#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
#if Z_MULTI_STEPPER_DRIVERS
Z2_STEP_INIT;
Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
Z3_STEP_INIT;
Z3_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif
AXIS_INIT(Z, Z);
#endif

18
Marlin/src/module/stepper.h
View file

@ -234,8 +234,8 @@ class Stepper {
public:
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
static bool homing_dual_axis;
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
static bool separate_multi_axis;
#endif
#if HAS_MOTOR_CURRENT_PWM
@ -267,9 +267,12 @@ class Stepper {
#if ENABLED(Y_DUAL_ENDSTOPS)
static bool locked_Y_motor, locked_Y2_motor;
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
#if Z_MULTI_ENDSTOPS
static bool locked_Z_motor, locked_Z2_motor;
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
static bool locked_Z3_motor;
#endif
static uint32_t acceleration_time, deceleration_time; // time measured in Stepper Timer ticks
static uint8_t steps_per_isr; // Count of steps to perform per Stepper ISR call
@ -415,8 +418,8 @@ class Stepper {
static void microstep_readings();
#endif
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
FORCE_INLINE static void set_homing_dual_axis(const bool state) { homing_dual_axis = state; }
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || Z_MULTI_ENDSTOPS
FORCE_INLINE static void set_separate_multi_axis(const bool state) { separate_multi_axis = state; }
#endif
#if ENABLED(X_DUAL_ENDSTOPS)
FORCE_INLINE static void set_x_lock(const bool state) { locked_X_motor = state; }
@ -426,10 +429,13 @@ class Stepper {
FORCE_INLINE static void set_y_lock(const bool state) { locked_Y_motor = state; }
FORCE_INLINE static void set_y2_lock(const bool state) { locked_Y2_motor = state; }
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
#if Z_MULTI_ENDSTOPS
FORCE_INLINE static void set_z_lock(const bool state) { locked_Z_motor = state; }
FORCE_INLINE static void set_z2_lock(const bool state) { locked_Z2_motor = state; }
#endif
#if ENABLED(Z_TRIPLE_ENDSTOPS)
FORCE_INLINE static void set_z3_lock(const bool state) { locked_Z3_motor = state; }
#endif
#if ENABLED(BABYSTEPPING)
static void babystep(const AxisEnum axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention

41
Marlin/src/module/stepper_indirection.cpp
View file

@ -69,6 +69,9 @@
#if AXIS_DRIVER_TYPE(Z2, TMC26X)
_TMC26X_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE(Z3, TMC26X)
_TMC26X_DEFINE(Z3);
#endif
#if AXIS_DRIVER_TYPE(E0, TMC26X)
_TMC26X_DEFINE(E0);
#endif
@ -109,6 +112,9 @@
#if AXIS_DRIVER_TYPE(Z2, TMC26X)
_TMC26X_INIT(Z2);
#endif
#if AXIS_DRIVER_TYPE(Z3, TMC26X)
_TMC26X_INIT(Z3);
#endif
#if AXIS_DRIVER_TYPE(E0, TMC26X)
_TMC26X_INIT(E0);
#endif
@ -166,6 +172,9 @@
#if AXIS_DRIVER_TYPE(Z2, TMC2130)
_TMC2130_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE(Z3, TMC2130)
_TMC2130_DEFINE(Z3);
#endif
#if AXIS_DRIVER_TYPE(E0, TMC2130)
_TMC2130_DEFINE(E0);
#endif
@ -233,6 +242,9 @@
#if AXIS_DRIVER_TYPE(Z2, TMC2130)
_TMC2130_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_DRIVER_TYPE(Z3, TMC2130)
_TMC2130_INIT(Z3, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_DRIVER_TYPE(E0, TMC2130)
_TMC2130_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
#endif
@ -274,6 +286,9 @@
#if AXIS_DRIVER_TYPE(Z2, TMC2130)
stepperZ2.sgt(Z_HOMING_SENSITIVITY);
#endif
#if ENABLED(Z3_IS_TMC2130)
stepperZ3.sgt(Z_HOMING_SENSITIVITY);
#endif
#endif
#endif
}
@ -337,6 +352,13 @@
_TMC2208_DEFINE_SOFTWARE(Z2);
#endif
#endif
#if AXIS_DRIVER_TYPE(Z3, TMC2208)
#ifdef Z3_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(Z3);
#else
_TMC2208_DEFINE_SOFTWARE(Z3);
#endif
#endif
#if AXIS_DRIVER_TYPE(E0, TMC2208)
#ifdef E0_HARDWARE_SERIAL
_TMC2208_DEFINE_HARDWARE(E0);
@ -416,6 +438,13 @@
stepperZ2.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE(Z3, TMC2208)
#ifdef Z3_HARDWARE_SERIAL
Z3_HARDWARE_SERIAL.begin(115200);
#else
stepperZ3.beginSerial(115200);
#endif
#endif
#if AXIS_DRIVER_TYPE(E0, TMC2208)
#ifdef E0_HARDWARE_SERIAL
E0_HARDWARE_SERIAL.begin(115200);
@ -510,6 +539,9 @@
#if AXIS_DRIVER_TYPE(Z2, TMC2208)
_TMC2208_INIT(Z2, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_DRIVER_TYPE(Z3, TMC2208)
_TMC2208_INIT(Z3, planner.axis_steps_per_mm[Z_AXIS]);
#endif
#if AXIS_DRIVER_TYPE(E0, TMC2208)
_TMC2208_INIT(E0, planner.axis_steps_per_mm[E_AXIS]);
#endif
@ -547,6 +579,9 @@ void restore_stepper_drivers() {
#if AXIS_IS_TMC(Z2)
stepperZ2.push();
#endif
#if AXIS_IS_TMC(Z3)
stepperZ3.push();
#endif
#if AXIS_IS_TMC(E0)
stepperE0.push();
#endif
@ -614,6 +649,9 @@ void reset_stepper_drivers() {
#if AXIS_DRIVER_TYPE(Z2, L6470)
_L6470_DEFINE(Z2);
#endif
#if AXIS_DRIVER_TYPE(Z3, L6470)
_L6470_DEFINE(Z3);
#endif
#if AXIS_DRIVER_TYPE(E0, L6470)
_L6470_DEFINE(E0);
#endif
@ -657,6 +695,9 @@ void reset_stepper_drivers() {
#if AXIS_DRIVER_TYPE(Z2, L6470)
_L6470_INIT(Z2);
#endif
#if AXIS_DRIVER_TYPE(Z3, L6470)
_L6470_INIT(Z3);
#endif
#if AXIS_DRIVER_TYPE(E0, L6470)
_L6470_INIT(E0);
#endif

35
Marlin/src/module/stepper_indirection.h
View file

@ -282,6 +282,41 @@ void reset_stepper_drivers(); // Called by settings.load / settings.reset
#define Z2_STEP_READ READ(Z2_STEP_PIN)
#endif
// Z3 Stepper
#if HAS_Z3_ENABLE
#if ENABLED(Z3_IS_L6470)
extern L6470 stepperZ3;
#define Z3_ENABLE_INIT NOOP
#define Z3_ENABLE_WRITE(STATE) do{ if (STATE) stepperZ3.Step_Clock(stepperZ3.getStatus() & STATUS_HIZ); else stepperZ3.softFree(); }while(0)
#define Z3_ENABLE_READ (stepperZ3.getStatus() & STATUS_HIZ)
#define Z3_DIR_INIT NOOP
#define Z3_DIR_WRITE(STATE) stepperZ3.Step_Clock(STATE)
#define Z3_DIR_READ (stepperZ3.getStatus() & STATUS_DIR)
#else
#if ENABLED(Z3_IS_TMC26X)
extern TMC26XStepper stepperZ3;
#define Z3_ENABLE_INIT NOOP
#define Z3_ENABLE_WRITE(STATE) stepperZ3.setEnabled(STATE)
#define Z3_ENABLE_READ stepperZ3.isEnabled()
#else
#if ENABLED(Z3_IS_TMC2130)
extern TMC2130Stepper stepperZ3;
#elif ENABLED(Z3_IS_TMC2208)
extern TMC2208Stepper stepperZ3;
#endif
#define Z3_ENABLE_INIT SET_OUTPUT(Z3_ENABLE_PIN)
#define Z3_ENABLE_WRITE(STATE) WRITE(Z3_ENABLE_PIN,STATE)
#define Z3_ENABLE_READ READ(Z3_ENABLE_PIN)
#endif
#define Z3_DIR_INIT SET_OUTPUT(Z3_DIR_PIN)
#define Z3_DIR_WRITE(STATE) WRITE(Z3_DIR_PIN,STATE)
#define Z3_DIR_READ READ(Z3_DIR_PIN)
#endif
#define Z3_STEP_INIT SET_OUTPUT(Z3_STEP_PIN)
#define Z3_STEP_WRITE(STATE) WRITE(Z3_STEP_PIN,STATE)
#define Z3_STEP_READ READ(Z3_STEP_PIN)
#endif
// E0 Stepper
#if AXIS_DRIVER_TYPE(E0, L6470)
extern L6470 stepperE0;

29
Marlin/src/pins/pins.h
View file

@ -842,6 +842,7 @@
#define _X2_PINS
#define _Y2_PINS
#define _Z2_PINS
#define _Z3_PINS
#define __EPIN(p,q) E##p##_##q##_PIN
#define _EPIN(p,q) __EPIN(p,q)
@ -897,7 +898,7 @@
#endif
// The Z2 axis, if any, should be the next open extruder port
#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
#if Z_MULTI_STEPPER_DRIVERS
#ifndef Z2_STEP_PIN
#define Z2_STEP_PIN _EPIN(Z2_E_INDEX, STEP)
#define Z2_DIR_PIN _EPIN(Z2_E_INDEX, DIR)
@ -916,6 +917,30 @@
#else
#define _Z2_PINS __Z2_PINS
#endif
#define Z3_E_INDEX INCREMENT(Z2_E_INDEX)
#else
#define Z3_E_INDEX Z2_E_INDEX
#endif
#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
#ifndef Z3_STEP_PIN
#define Z3_STEP_PIN _EPIN(Z3_E_INDEX, STEP)
#define Z3_DIR_PIN _EPIN(Z3_E_INDEX, DIR)
#define Z3_ENABLE_PIN _EPIN(Z3_E_INDEX, ENABLE)
#ifndef Z3_CS_PIN
#define Z3_CS_PIN _EPIN(Z3_E_INDEX, CS)
#endif
#if Z3_E_INDEX > 4 || !PIN_EXISTS(Z3_ENABLE)
#error "No E stepper plug left for Z3!"
#endif
#endif
#undef _Z3_PINS
#define __Z3_PINS Z3_STEP_PIN, Z3_DIR_PIN, Z3_ENABLE_PIN,
#ifdef Z3_CS_PIN
#define _Z3_PINS __Z3_PINS Z3_CS_PIN,
#else
#define _Z3_PINS __Z3_PINS
#endif
#endif
#ifndef HAL_SENSITIVE_PINS
@ -929,7 +954,7 @@
PS_ON_PIN, HEATER_BED_PIN, FAN_PIN, FAN1_PIN, FAN2_PIN, CONTROLLER_FAN_PIN, \
_E0_PINS _E1_PINS _E2_PINS _E3_PINS _E4_PINS BED_PINS \
_H0_PINS _H1_PINS _H2_PINS _H3_PINS _H4_PINS \
_X2_PINS _Y2_PINS _Z2_PINS \
_X2_PINS _Y2_PINS _Z2_PINS _Z3_PINS \
HAL_SENSITIVE_PINS \
}

27
Marlin/src/pins/pinsDebug_list.h
View file

@ -944,6 +944,27 @@
#if PIN_EXISTS(Z2_STEP)
REPORT_NAME_DIGITAL(__LINE__, Z2_STEP_PIN)
#endif
#if PIN_EXISTS(Z3_CS)
REPORT_NAME_DIGITAL(__LINE__, Z3_CS_PIN)
#endif
#if PIN_EXISTS(Z3_DIR)
REPORT_NAME_DIGITAL(__LINE__, Z3_DIR_PIN)
#endif
#if PIN_EXISTS(Z3_ENABLE)
REPORT_NAME_DIGITAL(__LINE__, Z3_ENABLE_PIN)
#endif
#if PIN_EXISTS(Z3_MS1)
REPORT_NAME_DIGITAL(__LINE__, Z3_MS1_PIN)
#endif
#if PIN_EXISTS(Z3_MS2)
REPORT_NAME_DIGITAL(__LINE__, Z3_MS2_PIN)
#endif
#if PIN_EXISTS(Z3_MS3)
REPORT_NAME_DIGITAL(__LINE__, Z3_MS3_PIN)
#endif
#if PIN_EXISTS(Z3_STEP)
REPORT_NAME_DIGITAL(__LINE__, Z3_STEP_PIN)
#endif
#if PIN_EXISTS(ZRIB_V20_D6)
REPORT_NAME_DIGITAL(__LINE__, ZRIB_V20_D6_PIN)
#endif
@ -986,6 +1007,12 @@
#if PIN_EXISTS(Z2_SERIAL_RX)
REPORT_NAME_DIGITAL(__LINE__, Z2_SERIAL_RX_PIN)
#endif
#if PIN_EXISTS(Z3_SERIAL_TX)
REPORT_NAME_DIGITAL(__LINE__, Z3_SERIAL_TX_PIN)
#endif
#if PIN_EXISTS(Z3_SERIAL_RX)
REPORT_NAME_DIGITAL(__LINE__, Z3_SERIAL_RX_PIN)
#endif
#if PIN_EXISTS(E0_SERIAL_TX)
REPORT_NAME_DIGITAL(__LINE__, E0_SERIAL_TX_PIN)
#endif

12
buildroot/share/tests/DUE_tests
View file

@ -9,3 +9,15 @@ opt_enable S_CURVE_ACCELERATION EEPROM_SETTINGS
opt_set E0_AUTO_FAN_PIN 8
opt_set EXTRUDER_AUTO_FAN_SPEED 100
exec_test $1 $2 "RAMPS4DUE_EFB S_CURVE_ACCELERATION EEPROM_SETTINGS"
restore_configs
opt_set MOTHERBOARD BOARD_RADDS
opt_enable USE_XMAX_PLUG USE_YMAX_PLUG
opt_enable_adv Z_TRIPLE_STEPPER_DRIVERS Z_TRIPLE_ENDSTOPS
opt_add_adv Z2_MAX_ENDSTOP_INVERTING false
opt_add_adv Z3_MAX_ENDSTOP_INVERTING false
pins_set RAMPS X_MAX_PIN -1
pins_set RAMPS Y_MAX_PIN -1
opt_add_adv Z2_MAX_PIN 2
opt_add_adv Z3_MAX_PIN 3
exec_test $1 $2 "RADDS Z_TRIPLE"

2
buildroot/share/tests/teensy35_tests
View file

@ -92,5 +92,5 @@ opt_add_adv Z2_MAX_PIN 2
opt_enable USE_XMAX_PLUG
exec_test $1 $2 "Z_DUAL_STEPPER_DRIVERS, Z_DUAL_ENDSTOPS"
#cleanup
# Clean up
restore_configs