From 40481947fc1f11a01235c5c55333a4437fc45c5f Mon Sep 17 00:00:00 2001
From: Scott Lahteine <thinkyhead@users.noreply.github.com>
Date: Fri, 14 Jan 2022 03:14:13 -0600
Subject: [PATCH] =?UTF-8?q?=F0=9F=A7=91=E2=80=8D=F0=9F=92=BB=20Misc.=20upd?=
=?UTF-8?q?ates=20for=20extra=20axes=20(#23521)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
Marlin/Configuration_adv.h | 6 +-
Marlin/src/HAL/AVR/endstop_interrupts.h | 1 +
Marlin/src/core/language.h | 28 ++----
Marlin/src/feature/direct_stepping.cpp | 10 +--
Marlin/src/feature/direct_stepping.h | 12 +--
Marlin/src/feature/tmc_util.cpp | 2 -
Marlin/src/gcode/calibrate/G28.cpp | 29 ++++--
Marlin/src/gcode/calibrate/G425.cpp | 18 ++--
Marlin/src/gcode/calibrate/M425.cpp | 2 +-
Marlin/src/gcode/config/M200-M205.cpp | 9 +-
Marlin/src/gcode/config/M217.cpp | 39 +++++++-
Marlin/src/gcode/config/M92.cpp | 2 +-
.../src/gcode/feature/digipot/M907-M910.cpp | 6 +-
Marlin/src/gcode/feature/pause/M125.cpp | 15 +++-
Marlin/src/gcode/feature/pause/M600.cpp | 18 ++--
Marlin/src/gcode/feature/trinamic/M906.cpp | 3 +
Marlin/src/gcode/geometry/G92.cpp | 8 +-
Marlin/src/inc/Conditionals_post.h | 1 +
Marlin/src/inc/SanityCheck.h | 35 +++-----
Marlin/src/module/endstops.cpp | 2 +-
Marlin/src/module/motion.cpp | 88 ++++++++++++-------
Marlin/src/module/planner.cpp | 30 ++-----
Marlin/src/module/probe.cpp | 5 +-
Marlin/src/module/stepper.cpp | 84 +++++++++---------
Marlin/src/module/stepper.h | 1 -
Marlin/src/pins/pinsDebug_list.h | 18 ++++
Marlin/src/pins/pins_postprocess.h | 22 +++--
27 files changed, 289 insertions(+), 205 deletions(-)
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index cf54cff991c..dae41f814fe 100644
--- a/Marlin/Configuration_adv.h
+++ b/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
diff --git a/Marlin/src/HAL/AVR/endstop_interrupts.h b/Marlin/src/HAL/AVR/endstop_interrupts.h
index 50f29c3356c..0ce8574c53d 100644
--- a/Marlin/src/HAL/AVR/endstop_interrupts.h
+++ b/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.
}
diff --git a/Marlin/src/core/language.h b/Marlin/src/core/language.h
index a540c9c7712..929992a62f4 100644
--- a/Marlin/src/core/language.h
+++ b/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 ""
diff --git a/Marlin/src/feature/direct_stepping.cpp b/Marlin/src/feature/direct_stepping.cpp
index b8ef04fcd90..052e79de41e 100644
--- a/Marlin/src/feature/direct_stepping.cpp
+++ b/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);
}
diff --git a/Marlin/src/feature/direct_stepping.h b/Marlin/src/feature/direct_stepping.h
index b3007731cdb..962310281ed 100644
--- a/Marlin/src/feature/direct_stepping.h
+++ b/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;
@@ -87,8 +87,8 @@ 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;
@@ -96,10 +96,10 @@ namespace DirectStepping {
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>
diff --git a/Marlin/src/feature/tmc_util.cpp b/Marlin/src/feature/tmc_util.cpp
index e793b4cf222..934c0b72644 100644
--- a/Marlin/src/feature/tmc_util.cpp
+++ b/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);
diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp
index bd651cd7d83..cda71a1c104 100644
--- a/Marlin/src/gcode/calibrate/G28.cpp
+++ b/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,
diff --git a/Marlin/src/gcode/calibrate/G425.cpp b/Marlin/src/gcode/calibrate/G425.cpp
index 9d630ba1e24..906f8cc4194 100644
--- a/Marlin/src/gcode/calibrate/G425.cpp
+++ b/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;
}
diff --git a/Marlin/src/gcode/calibrate/M425.cpp b/Marlin/src/gcode/calibrate/M425.cpp
index 190af0f71bb..2d36e0d410d 100644
--- a/Marlin/src/gcode/calibrate/M425.cpp
+++ b/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)
);
}
};
diff --git a/Marlin/src/gcode/config/M200-M205.cpp b/Marlin/src/gcode/config/M200-M205.cpp
index b26a2fe28bf..9490e3c625f 100644
--- a/Marlin/src/gcode/config/M200-M205.cpp
+++ b/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(
diff --git a/Marlin/src/gcode/config/M217.cpp b/Marlin/src/gcode/config/M217.cpp
index 7576272a48b..344adc34e32 100644
--- a/Marlin/src/gcode/config/M217.cpp
+++ b/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)
diff --git a/Marlin/src/gcode/config/M92.cpp b/Marlin/src/gcode/config/M92.cpp
index 54fe698f97b..8f527919fd8 100644
--- a/Marlin/src/gcode/config/M92.cpp
+++ b/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.
diff --git a/Marlin/src/gcode/feature/digipot/M907-M910.cpp b/Marlin/src/gcode/feature/digipot/M907-M910.cpp
index 757cffd4738..95adde3ea53 100644
--- a/Marlin/src/gcode/feature/digipot/M907-M910.cpp
+++ b/Marlin/src/gcode/feature/digipot/M907-M910.cpp
@@ -39,7 +39,9 @@
#endif
/**
- * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
+ * M907: Set digital trimpot motor current using axis codes X [Y] [Z] [E]
+ * B<current> - Special case for 4th (E) axis
+ * S<current> - Special case to set first 3 axes
*/
void GcodeSuite::M907() {
#if HAS_MOTOR_CURRENT_SPI
@@ -75,7 +77,7 @@ void GcodeSuite::M907() {
if (parser.seenval('E')) stepper.set_digipot_current(2, parser.value_int());
#endif
- #endif
+ #endif // HAS_MOTOR_CURRENT_PWM
#if HAS_MOTOR_CURRENT_I2C
// this one uses actual amps in floating point
diff --git a/Marlin/src/gcode/feature/pause/M125.cpp b/Marlin/src/gcode/feature/pause/M125.cpp
index bc31e1225d8..46ec6c552cc 100644
--- a/Marlin/src/gcode/feature/pause/M125.cpp
+++ b/Marlin/src/gcode/feature/pause/M125.cpp
@@ -49,6 +49,9 @@
* L<linear> = Override retract Length
* X<pos> = Override park position X
* Y<pos> = Override park position Y
+ * A<pos> = Override park position A (requires AXIS*_NAME 'A')
+ * B<pos> = Override park position B (requires AXIS*_NAME 'B')
+ * C<pos> = Override park position C (requires AXIS*_NAME 'C')
* Z<linear> = Override Z raise
*
* With an LCD menu:
@@ -60,9 +63,15 @@ void GcodeSuite::M125() {
xyz_pos_t park_point = NOZZLE_PARK_POINT;
- // Move XY axes to filament change position or given position
- if (parser.seenval('X')) park_point.x = RAW_X_POSITION(parser.linearval('X'));
- if (parser.seenval('Y')) park_point.y = RAW_X_POSITION(parser.linearval('Y'));
+ // Move to filament change position or given position
+ LINEAR_AXIS_CODE(
+ if (parser.seenval('X')) park_point.x = RAW_X_POSITION(parser.linearval('X')),
+ if (parser.seenval('Y')) park_point.y = RAW_Y_POSITION(parser.linearval('Y')),
+ NOOP,
+ if (parser.seenval(AXIS4_NAME)) park_point.i = RAW_I_POSITION(parser.linearval(AXIS4_NAME)),
+ if (parser.seenval(AXIS5_NAME)) park_point.j = RAW_J_POSITION(parser.linearval(AXIS5_NAME)),
+ if (parser.seenval(AXIS6_NAME)) park_point.k = RAW_K_POSITION(parser.linearval(AXIS6_NAME))
+ );
// Lift Z axis
if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
diff --git a/Marlin/src/gcode/feature/pause/M600.cpp b/Marlin/src/gcode/feature/pause/M600.cpp
index febb946befb..edb06aa947a 100644
--- a/Marlin/src/gcode/feature/pause/M600.cpp
+++ b/Marlin/src/gcode/feature/pause/M600.cpp
@@ -101,10 +101,8 @@ void GcodeSuite::M600() {
if (standardM600)
ui.pause_show_message(PAUSE_MESSAGE_CHANGING, PAUSE_MODE_PAUSE_PRINT, target_extruder);
- #if ENABLED(HOME_BEFORE_FILAMENT_CHANGE)
- // If needed, home before parking for filament change
- home_if_needed(true);
- #endif
+ // If needed, home before parking for filament change
+ TERN_(HOME_BEFORE_FILAMENT_CHANGE, home_if_needed(true));
#if HAS_MULTI_EXTRUDER
// Change toolhead if specified
@@ -118,12 +116,18 @@ void GcodeSuite::M600() {
xyz_pos_t park_point NOZZLE_PARK_POINT;
- // Lift Z axis
+ // Lift Z axis first
if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
// Move XY axes to filament change position or given position
- if (parser.seenval('X')) park_point.x = parser.linearval('X');
- if (parser.seenval('Y')) park_point.y = parser.linearval('Y');
+ LINEAR_AXIS_CODE(
+ if (parser.seenval('X')) park_point.x = parser.linearval('X'),
+ if (parser.seenval('Y')) park_point.y = parser.linearval('Y'),
+ NOOP,
+ if (parser.seenval(AXIS4_NAME)) park_point.i = parser.linearval(AXIS4_NAME);
+ if (parser.seenval(AXIS5_NAME)) park_point.j = parser.linearval(AXIS5_NAME);
+ if (parser.seenval(AXIS6_NAME)) park_point.k = parser.linearval(AXIS6_NAME);
+ );
#if HAS_HOTEND_OFFSET && NONE(DUAL_X_CARRIAGE, DELTA)
park_point += hotend_offset[active_extruder];
diff --git a/Marlin/src/gcode/feature/trinamic/M906.cpp b/Marlin/src/gcode/feature/trinamic/M906.cpp
index 92d2210645c..164ff001795 100644
--- a/Marlin/src/gcode/feature/trinamic/M906.cpp
+++ b/Marlin/src/gcode/feature/trinamic/M906.cpp
@@ -41,6 +41,9 @@ static void tmc_print_current(TMC &st) {
* X[current] - Set mA current for X driver(s)
* Y[current] - Set mA current for Y driver(s)
* Z[current] - Set mA current for Z driver(s)
+ * A[current] - Set mA current for A driver(s) (Requires AXIS*_NAME 'A')
+ * B[current] - Set mA current for B driver(s) (Requires AXIS*_NAME 'B')
+ * C[current] - Set mA current for C driver(s) (Requires AXIS*_NAME 'C')
* E[current] - Set mA current for E driver(s)
*
* I[index] - Axis sub-index (Omit or 0 for X, Y, Z; 1 for X2, Y2, Z2; 2 for Z3; 3 for Z4.)
diff --git a/Marlin/src/gcode/geometry/G92.cpp b/Marlin/src/gcode/geometry/G92.cpp
index 990236c0e87..3c49fe2a264 100644
--- a/Marlin/src/gcode/geometry/G92.cpp
+++ b/Marlin/src/gcode/geometry/G92.cpp
@@ -29,7 +29,7 @@
#endif
/**
- * G92: Set the Current Position to the given X Y Z E values.
+ * G92: Set the Current Position to the given X [Y [Z [A [B [C [E]]]]]] values.
*
* Behind the scenes the G92 command may modify the Current Position
* or the Position Shift depending on settings and sub-commands.
@@ -37,14 +37,14 @@
* Since E has no Workspace Offset, it is always set directly.
*
* Without Workspace Offsets (e.g., with NO_WORKSPACE_OFFSETS):
- * G92 : Set NATIVE Current Position to the given X Y Z E.
+ * G92 : Set NATIVE Current Position to the given X [Y [Z [A [B [C [E]]]]]].
*
* Using Workspace Offsets (default Marlin behavior):
- * G92 : Modify Workspace Offsets so the reported position shows the given X Y Z E.
+ * G92 : Modify Workspace Offsets so the reported position shows the given X [Y [Z [A [B [C [E]]]]]].
* G92.1 : Zero XYZ Workspace Offsets (so the reported position = the native position).
*
* With POWER_LOSS_RECOVERY:
- * G92.9 : Set NATIVE Current Position to the given X Y Z E.
+ * G92.9 : Set NATIVE Current Position to the given X [Y [Z [A [B [C [E]]]]]].
*/
void GcodeSuite::G92() {
diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
index 08130d31b7a..6d2a0e1f7d0 100644
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -2214,6 +2214,7 @@
#define TMC_UART_IS(A,N) (defined(A##_HARDWARE_SERIAL) && (CAT(HW_,A##_HARDWARE_SERIAL) == HW_Serial##N || CAT(HW_,A##_HARDWARE_SERIAL) == HW_MSerial##N))
#define ANY_SERIAL_IS(N) ( CONF_SERIAL_IS(N) \
|| TMC_UART_IS(X, N) || TMC_UART_IS(Y , N) || TMC_UART_IS(Z , N) \
+ || TMC_UART_IS(I, N) || TMC_UART_IS(J , N) || TMC_UART_IS(K , N) \
|| TMC_UART_IS(X2, N) || TMC_UART_IS(Y2, N) || TMC_UART_IS(Z2, N) || TMC_UART_IS(Z3, N) || TMC_UART_IS(Z4, N) \
|| TMC_UART_IS(E0, N) || TMC_UART_IS(E1, N) || TMC_UART_IS(E2, N) || TMC_UART_IS(E3, N) || TMC_UART_IS(E4, N) )
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index 06e0dfbb426..f44ef43f091 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -791,6 +791,12 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
#error "Enable only one of ENDSTOPPULLUP_Y_MAX or ENDSTOPPULLDOWN_Y_MAX."
#elif BOTH(ENDSTOPPULLUP_ZMAX, ENDSTOPPULLDOWN_ZMAX)
#error "Enable only one of ENDSTOPPULLUP_Z_MAX or ENDSTOPPULLDOWN_Z_MAX."
+#elif BOTH(ENDSTOPPULLUP_IMAX, ENDSTOPPULLDOWN_IMAX)
+ #error "Enable only one of ENDSTOPPULLUP_I_MAX or ENDSTOPPULLDOWN_I_MAX."
+#elif BOTH(ENDSTOPPULLUP_JMAX, ENDSTOPPULLDOWN_JMAX)
+ #error "Enable only one of ENDSTOPPULLUP_J_MAX or ENDSTOPPULLDOWN_J_MAX."
+#elif BOTH(ENDSTOPPULLUP_KMAX, ENDSTOPPULLDOWN_KMAX)
+ #error "Enable only one of ENDSTOPPULLUP_K_MAX or ENDSTOPPULLDOWN_K_MAX."
#elif BOTH(ENDSTOPPULLUP_XMIN, ENDSTOPPULLDOWN_XMIN)
#error "Enable only one of ENDSTOPPULLUP_X_MIN or ENDSTOPPULLDOWN_X_MIN."
#elif BOTH(ENDSTOPPULLUP_YMIN, ENDSTOPPULLDOWN_YMIN)
@@ -1417,9 +1423,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
* Allow only extra axis codes that do not conflict with G-code parameter names
*/
#if HAS_I_AXIS
- #if AXIS4_NAME != 'A' && AXIS4_NAME != 'B' && AXIS4_NAME != 'C' && AXIS4_NAME != 'U' && AXIS4_NAME != 'V' && AXIS4_NAME != 'W'
- #error "AXIS4_NAME can only be one of 'A', 'B', 'C', 'U', 'V', or 'W'."
- #elif !defined(I_MIN_POS) || !defined(I_MAX_POS)
+ #if !defined(I_MIN_POS) || !defined(I_MAX_POS)
#error "I_MIN_POS and I_MAX_POS are required with LINEAR_AXES >= 4."
#elif !defined(I_HOME_DIR)
#error "I_HOME_DIR is required with LINEAR_AXES >= 4."
@@ -1430,8 +1434,6 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
#if HAS_J_AXIS
#if AXIS5_NAME == AXIS4_NAME
#error "AXIS5_NAME must be unique."
- #elif AXIS5_NAME != 'A' && AXIS5_NAME != 'B' && AXIS5_NAME != 'C' && AXIS5_NAME != 'U' && AXIS5_NAME != 'V' && AXIS5_NAME != 'W'
- #error "AXIS5_NAME can only be one of 'A', 'B', 'C', 'U', 'V', or 'W'."
#elif !defined(J_MIN_POS) || !defined(J_MAX_POS)
#error "J_MIN_POS and J_MAX_POS are required with LINEAR_AXES >= 5."
#elif !defined(J_HOME_DIR)
@@ -1443,8 +1445,6 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
#if HAS_K_AXIS
#if AXIS6_NAME == AXIS5_NAME || AXIS6_NAME == AXIS4_NAME
#error "AXIS6_NAME must be unique."
- #elif AXIS6_NAME != 'A' && AXIS6_NAME != 'B' && AXIS6_NAME != 'C' && AXIS6_NAME != 'U' && AXIS6_NAME != 'V' && AXIS6_NAME != 'W'
- #error "AXIS6_NAME can only be one of 'A', 'B', 'C', 'U', 'V', or 'W'."
#elif !defined(K_MIN_POS) || !defined(K_MAX_POS)
#error "K_MIN_POS and K_MAX_POS are required with LINEAR_AXES >= 6."
#elif !defined(K_HOME_DIR)
@@ -3317,7 +3317,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
* L64XX requirement
*/
#if HAS_L64XX && HAS_I_AXIS
- #error "L64XX requires LINEAR_AXES 3. Homing with L64XX is not yet implemented for LINEAR_AXES > 3."
+ #error "L64XX requires LINEAR_AXES <= 3. Homing with L64XX is not yet implemented for LINEAR_AXES > 3."
#endif
/**
@@ -3793,22 +3793,15 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
#if _BAD_DRIVER(Z)
#error "Z_DRIVER_TYPE is not recognized."
#endif
-#if HAS_I_AXIS
- #if _BAD_DRIVER(I)
- #error "I_DRIVER_TYPE is not recognized."
- #endif
+#if _BAD_DRIVER(I)
+ #error "I_DRIVER_TYPE is not recognized."
#endif
-#if HAS_J_AXIS
- #if _BAD_DRIVER(J)
- #error "J_DRIVER_TYPE is not recognized."
- #endif
+#if _BAD_DRIVER(J)
+ #error "J_DRIVER_TYPE is not recognized."
#endif
-#if HAS_K_AXIS
- #if _BAD_DRIVER(K)
- #error "K_DRIVER_TYPE is not recognized."
- #endif
+#if _BAD_DRIVER(K)
+ #error "K_DRIVER_TYPE is not recognized."
#endif
-
#if _BAD_DRIVER(X2)
#error "X2_DRIVER_TYPE is not recognized."
#endif
diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp
index 939dd6d5376..bce27dc88a1 100644
--- a/Marlin/src/module/endstops.cpp
+++ b/Marlin/src/module/endstops.cpp
@@ -558,7 +558,7 @@ void _O2 Endstops::report_states() {
#if HAS_J_MAX
ES_REPORT(J_MAX);
#endif
- #if HAS_K_MIN
+ #if HAS_K_MIN
ES_REPORT(K_MIN);
#endif
#if HAS_K_MAX
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index a9c2ad6a7a7..51f0681a150 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -467,8 +467,8 @@ void _internal_move_to_destination(const_feedRate_t fr_mm_s/*=0.0f*/
}
/**
- * Plan a move to (X, Y, Z, [I, [J, [K]]]) and set the current_position
- * Plan a move to (X, Y, Z) with separation of Z from other components.
+ * Plan a move to (X, Y, Z, [I, [J, [K...]]]) and set the current_position
+ * Plan a move to (X, Y, Z, [I, [J, [K...]]]) with separation of Z from other components.
*
* - If Z is moving up, the Z move is done before XY, etc.
* - If Z is moving down, the Z move is done after XY, etc.
@@ -484,6 +484,15 @@ void do_blocking_move_to(LINEAR_AXIS_ARGS(const float), const_feedRate_t fr_mm_s
#if HAS_Z_AXIS
const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS);
#endif
+ #if HAS_I_AXIS
+ const feedRate_t i_feedrate = fr_mm_s ?: homing_feedrate(I_AXIS);
+ #endif
+ #if HAS_J_AXIS
+ const feedRate_t j_feedrate = fr_mm_s ?: homing_feedrate(J_AXIS);
+ #endif
+ #if HAS_K_AXIS
+ const feedRate_t k_feedrate = fr_mm_s ?: homing_feedrate(K_AXIS);
+ #endif
#if IS_KINEMATIC
if (!position_is_reachable(x, y)) return;
@@ -498,8 +507,8 @@ void do_blocking_move_to(LINEAR_AXIS_ARGS(const float), const_feedRate_t fr_mm_s
// when in the danger zone
if (current_position.z > delta_clip_start_height) {
- if (z > delta_clip_start_height) { // staying in the danger zone
- destination.set(x, y, z); // move directly (uninterpolated)
+ if (z > delta_clip_start_height) { // staying in the danger zone
+ destination.set(x, y, z); // move directly (uninterpolated)
prepare_internal_fast_move_to_destination(); // set current_position from destination
if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
return;
@@ -509,7 +518,7 @@ void do_blocking_move_to(LINEAR_AXIS_ARGS(const float), const_feedRate_t fr_mm_s
if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
}
- if (z > current_position.z) { // raising?
+ if (z > current_position.z) { // raising?
destination.z = z;
prepare_internal_fast_move_to_destination(z_feedrate); // set current_position from destination
if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
@@ -519,7 +528,7 @@ void do_blocking_move_to(LINEAR_AXIS_ARGS(const float), const_feedRate_t fr_mm_s
prepare_internal_move_to_destination(); // set current_position from destination
if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
- if (z < current_position.z) { // lowering?
+ if (z < current_position.z) { // lowering?
destination.z = z;
prepare_internal_fast_move_to_destination(z_feedrate); // set current_position from destination
if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
@@ -528,39 +537,32 @@ void do_blocking_move_to(LINEAR_AXIS_ARGS(const float), const_feedRate_t fr_mm_s
#elif IS_SCARA
// If Z needs to raise, do it before moving XY
- if (destination.z < z) {
- destination.z = z;
- prepare_internal_fast_move_to_destination(z_feedrate);
- }
+ if (destination.z < z) { destination.z = z; prepare_internal_fast_move_to_destination(z_feedrate); }
- destination.set(x, y);
- prepare_internal_fast_move_to_destination(xy_feedrate);
+ destination.set(x, y); prepare_internal_fast_move_to_destination(xy_feedrate);
// If Z needs to lower, do it after moving XY
- if (destination.z > z) {
- destination.z = z;
- prepare_internal_fast_move_to_destination(z_feedrate);
- }
+ if (destination.z > z) { destination.z = z; prepare_internal_fast_move_to_destination(z_feedrate); }
#else
- #if HAS_Z_AXIS
- // If Z needs to raise, do it before moving XY
- if (current_position.z < z) {
- current_position.z = z;
- line_to_current_position(z_feedrate);
- }
+ #if HAS_Z_AXIS // If Z needs to raise, do it before moving XY
+ if (current_position.z < z) { current_position.z = z; line_to_current_position(z_feedrate); }
#endif
- current_position.set(x, y);
- line_to_current_position(xy_feedrate);
+ current_position.set(x, y); line_to_current_position(xy_feedrate);
- #if HAS_Z_AXIS
- // If Z needs to lower, do it after moving XY
- if (current_position.z > z) {
- current_position.z = z;
- line_to_current_position(z_feedrate);
- }
+ #if HAS_I_AXIS
+ current_position.i = i; line_to_current_position(i_feedrate);
+ #endif
+ #if HAS_J_AXIS
+ current_position.j = j; line_to_current_position(j_feedrate);
+ #endif
+ #if HAS_K_AXIS
+ current_position.k = k; line_to_current_position(k_feedrate);
+ #endif
+ #if HAS_Z_AXIS // If Z needs to lower, do it after moving XY...
+ if (current_position.z > z) { current_position.z = z; line_to_current_position(z_feedrate); }
#endif
#endif
@@ -1402,6 +1404,15 @@ void prepare_line_to_destination() {
#endif
break;
#endif
+ #if I_SENSORLESS
+ case I_AXIS: stealth_states.i = tmc_enable_stallguard(stepperI); break;
+ #endif
+ #if J_SENSORLESS
+ case J_AXIS: stealth_states.j = tmc_enable_stallguard(stepperJ); break;
+ #endif
+ #if K_SENSORLESS
+ case K_AXIS: stealth_states.k = tmc_enable_stallguard(stepperK); break;
+ #endif
}
#if ENABLED(SPI_ENDSTOPS)
@@ -1479,6 +1490,15 @@ void prepare_line_to_destination() {
#endif
break;
#endif
+ #if I_SENSORLESS
+ case I_AXIS: tmc_disable_stallguard(stepperI, enable_stealth.i); break;
+ #endif
+ #if J_SENSORLESS
+ case J_AXIS: tmc_disable_stallguard(stepperJ, enable_stealth.j); break;
+ #endif
+ #if K_SENSORLESS
+ case K_AXIS: tmc_disable_stallguard(stepperK, enable_stealth.k); break;
+ #endif
}
#if ENABLED(SPI_ENDSTOPS)
@@ -1815,8 +1835,12 @@ void prepare_line_to_destination() {
switch (axis) {
default:
case X_AXIS: es = X_ENDSTOP; break;
- case Y_AXIS: es = Y_ENDSTOP; break;
- case Z_AXIS: es = Z_ENDSTOP; break;
+ #if HAS_Y_AXIS
+ case Y_AXIS: es = Y_ENDSTOP; break;
+ #endif
+ #if HAS_Z_AXIS
+ case Z_AXIS: es = Z_ENDSTOP; break;
+ #endif
#if HAS_I_AXIS
case I_AXIS: es = I_ENDSTOP; break;
#endif
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index 17d279cfa5f..6979fa6a80e 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -2041,15 +2041,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
steps_dist_mm.b = (db + dc) * mm_per_step[B_AXIS];
steps_dist_mm.c = CORESIGN(db - dc) * mm_per_step[C_AXIS];
#endif
- #if HAS_I_AXIS
- steps_dist_mm.i = di * mm_per_step[I_AXIS];
- #endif
- #if HAS_J_AXIS
- steps_dist_mm.j = dj * mm_per_step[J_AXIS];
- #endif
- #if HAS_K_AXIS
- steps_dist_mm.k = dk * mm_per_step[K_AXIS];
- #endif
+ TERN_(HAS_I_AXIS, steps_dist_mm.i = di * mm_per_step[I_AXIS]);
+ TERN_(HAS_J_AXIS, steps_dist_mm.j = dj * mm_per_step[J_AXIS]);
+ TERN_(HAS_K_AXIS, steps_dist_mm.k = dk * mm_per_step[K_AXIS]);
#elif ENABLED(MARKFORGED_XY)
steps_dist_mm.a = (da - db) * mm_per_step[A_AXIS];
steps_dist_mm.b = db * mm_per_step[B_AXIS];
@@ -2197,15 +2191,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
);
#endif
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
- #if HAS_I_AXIS
- if (block->steps.i) stepper.enable_axis(I_AXIS);
- #endif
- #if HAS_J_AXIS
- if (block->steps.j) stepper.enable_axis(J_AXIS);
- #endif
- #if HAS_K_AXIS
- if (block->steps.k) stepper.enable_axis(K_AXIS);
- #endif
+ TERN_(HAS_I_AXIS, if (block->steps.i) stepper.enable_axis(I_AXIS));
+ TERN_(HAS_J_AXIS, if (block->steps.j) stepper.enable_axis(J_AXIS));
+ TERN_(HAS_K_AXIS, if (block->steps.k) stepper.enable_axis(K_AXIS));
#endif
// Enable extruder(s)
@@ -2260,7 +2248,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
// Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
#if EITHER(SLOWDOWN, HAS_WIRED_LCD) || defined(XY_FREQUENCY_LIMIT)
- // Segment time im micro seconds
+ // Segment time in microseconds
int32_t segment_time_us = LROUND(1000000.0f / inverse_secs);
#endif
@@ -2419,7 +2407,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
accel = CEIL((esteps ? settings.acceleration : settings.travel_acceleration) * steps_per_mm);
#if ENABLED(LIN_ADVANCE)
-
+ // Linear advance is currently not ready for HAS_I_AXIS
#define MAX_E_JERK(N) TERN(HAS_LINEAR_E_JERK, max_e_jerk[E_INDEX_N(N)], max_jerk.e)
/**
@@ -2939,7 +2927,7 @@ bool Planner::buffer_segment(const abce_pos_t &abce
SERIAL_ECHOPGM_P(SP_Y_LBL, abce.b);
#endif
SERIAL_ECHOPGM(" (", position.y, "->", target.y);
- #if LINEAR_AXES >= ABC
+ #if HAS_Z_AXIS
#if ENABLED(DELTA)
SERIAL_ECHOPGM(") C:", abce.c);
#else
diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp
index d1f3eee2072..cc3851597bd 100644
--- a/Marlin/src/module/probe.cpp
+++ b/Marlin/src/module/probe.cpp
@@ -787,7 +787,10 @@ float Probe::probe_at_point(const_float_t rx, const_float_t ry, const ProbePtRai
#endif
// On delta keep Z below clip height or do_blocking_move_to will abort
- xyz_pos_t npos = { rx, ry, TERN(DELTA, _MIN(delta_clip_start_height, current_position.z), current_position.z) };
+ xyz_pos_t npos = LINEAR_AXIS_ARRAY(
+ rx, ry, TERN(DELTA, _MIN(delta_clip_start_height, current_position.z), current_position.z),
+ current_position.i, current_position.j, current_position.k
+ );
if (!can_reach(npos, probe_relative)) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Position Not Reachable");
return NAN;
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index 0221f4c8be5..ae8a1ef0784 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -522,7 +522,7 @@ bool Stepper::disable_axis(const AxisEnum axis) {
}
}
- bool Stepper::disable_extruder(E_TERN_(const uint8_t eindex)) {
+ bool Stepper::disable_extruder(E_TERN_(const uint8_t eindex/*=0*/)) {
IF_DISABLED(HAS_MULTI_EXTRUDER, constexpr uint8_t eindex = 0);
mark_axis_disabled(E_AXIS E_OPTARG(eindex));
const bool can_disable = can_axis_disable(E_AXIS E_OPTARG(eindex));
@@ -1688,7 +1688,7 @@ void Stepper::pulse_phase_isr() {
const bool is_page = IS_PAGE(current_block);
#if ENABLED(DIRECT_STEPPING)
- // TODO (DerAndere): Add support for HAS_I_AXIS
+ // Direct stepping is currently not ready for HAS_I_AXIS
if (is_page) {
#if STEPPER_PAGE_FORMAT == SP_4x4D_128
@@ -1929,7 +1929,7 @@ uint32_t Stepper::block_phase_isr() {
// If current block is finished, reset pointer and finalize state
if (step_events_completed >= step_event_count) {
#if ENABLED(DIRECT_STEPPING)
- // TODO (DerAndere): Add support for HAS_I_AXIS
+ // Direct stepping is currently not ready for HAS_I_AXIS
#if STEPPER_PAGE_FORMAT == SP_4x4D_128
#define PAGE_SEGMENT_UPDATE_POS(AXIS) \
count_position[_AXIS(AXIS)] += page_step_state.bd[_AXIS(AXIS)] - 128 * 7;
@@ -3352,113 +3352,115 @@ void Stepper::report_positions() {
void Stepper::microstep_init() {
#if HAS_X_MS_PINS
- SET_OUTPUT(X_MS1_PIN);
- SET_OUTPUT(X_MS2_PIN);
+ SET_OUTPUT(X_MS1_PIN); SET_OUTPUT(X_MS2_PIN);
#if PIN_EXISTS(X_MS3)
SET_OUTPUT(X_MS3_PIN);
#endif
#endif
#if HAS_X2_MS_PINS
- SET_OUTPUT(X2_MS1_PIN);
- SET_OUTPUT(X2_MS2_PIN);
+ SET_OUTPUT(X2_MS1_PIN); SET_OUTPUT(X2_MS2_PIN);
#if PIN_EXISTS(X2_MS3)
SET_OUTPUT(X2_MS3_PIN);
#endif
#endif
#if HAS_Y_MS_PINS
- SET_OUTPUT(Y_MS1_PIN);
- SET_OUTPUT(Y_MS2_PIN);
+ SET_OUTPUT(Y_MS1_PIN); SET_OUTPUT(Y_MS2_PIN);
#if PIN_EXISTS(Y_MS3)
SET_OUTPUT(Y_MS3_PIN);
#endif
#endif
#if HAS_Y2_MS_PINS
- SET_OUTPUT(Y2_MS1_PIN);
- SET_OUTPUT(Y2_MS2_PIN);
+ SET_OUTPUT(Y2_MS1_PIN); SET_OUTPUT(Y2_MS2_PIN);
#if PIN_EXISTS(Y2_MS3)
SET_OUTPUT(Y2_MS3_PIN);
#endif
#endif
#if HAS_Z_MS_PINS
- SET_OUTPUT(Z_MS1_PIN);
- SET_OUTPUT(Z_MS2_PIN);
+ SET_OUTPUT(Z_MS1_PIN); SET_OUTPUT(Z_MS2_PIN);
#if PIN_EXISTS(Z_MS3)
SET_OUTPUT(Z_MS3_PIN);
#endif
#endif
#if HAS_Z2_MS_PINS
- SET_OUTPUT(Z2_MS1_PIN);
- SET_OUTPUT(Z2_MS2_PIN);
+ SET_OUTPUT(Z2_MS1_PIN); SET_OUTPUT(Z2_MS2_PIN);
#if PIN_EXISTS(Z2_MS3)
SET_OUTPUT(Z2_MS3_PIN);
#endif
#endif
#if HAS_Z3_MS_PINS
- SET_OUTPUT(Z3_MS1_PIN);
- SET_OUTPUT(Z3_MS2_PIN);
+ SET_OUTPUT(Z3_MS1_PIN); SET_OUTPUT(Z3_MS2_PIN);
#if PIN_EXISTS(Z3_MS3)
SET_OUTPUT(Z3_MS3_PIN);
#endif
#endif
#if HAS_Z4_MS_PINS
- SET_OUTPUT(Z4_MS1_PIN);
- SET_OUTPUT(Z4_MS2_PIN);
+ SET_OUTPUT(Z4_MS1_PIN); SET_OUTPUT(Z4_MS2_PIN);
#if PIN_EXISTS(Z4_MS3)
SET_OUTPUT(Z4_MS3_PIN);
#endif
#endif
+ #if HAS_I_MS_PINS
+ SET_OUTPUT(I_MS1_PIN); SET_OUTPUT(I_MS2_PIN);
+ #if PIN_EXISTS(I_MS3)
+ SET_OUTPUT(I_MS3_PIN);
+ #endif
+ #endif
+ #if HAS_J_MS_PINS
+ SET_OUTPUT(J_MS1_PIN); SET_OUTPUT(J_MS2_PIN);
+ #if PIN_EXISTS(J_MS3)
+ SET_OUTPUT(J_MS3_PIN);
+ #endif
+ #endif
+ #if HAS_K_MS_PINS
+ SET_OUTPUT(K_MS1_PIN); SET_OUTPUT(K_MS2_PIN);
+ #if PIN_EXISTS(K_MS3)
+ SET_OUTPUT(K_MS3_PIN);
+ #endif
+ #endif
#if HAS_E0_MS_PINS
- SET_OUTPUT(E0_MS1_PIN);
- SET_OUTPUT(E0_MS2_PIN);
+ SET_OUTPUT(E0_MS1_PIN); SET_OUTPUT(E0_MS2_PIN);
#if PIN_EXISTS(E0_MS3)
SET_OUTPUT(E0_MS3_PIN);
#endif
#endif
#if HAS_E1_MS_PINS
- SET_OUTPUT(E1_MS1_PIN);
- SET_OUTPUT(E1_MS2_PIN);
+ SET_OUTPUT(E1_MS1_PIN); SET_OUTPUT(E1_MS2_PIN);
#if PIN_EXISTS(E1_MS3)
SET_OUTPUT(E1_MS3_PIN);
#endif
#endif
#if HAS_E2_MS_PINS
- SET_OUTPUT(E2_MS1_PIN);
- SET_OUTPUT(E2_MS2_PIN);
+ SET_OUTPUT(E2_MS1_PIN); SET_OUTPUT(E2_MS2_PIN);
#if PIN_EXISTS(E2_MS3)
SET_OUTPUT(E2_MS3_PIN);
#endif
#endif
#if HAS_E3_MS_PINS
- SET_OUTPUT(E3_MS1_PIN);
- SET_OUTPUT(E3_MS2_PIN);
+ SET_OUTPUT(E3_MS1_PIN); SET_OUTPUT(E3_MS2_PIN);
#if PIN_EXISTS(E3_MS3)
SET_OUTPUT(E3_MS3_PIN);
#endif
#endif
#if HAS_E4_MS_PINS
- SET_OUTPUT(E4_MS1_PIN);
- SET_OUTPUT(E4_MS2_PIN);
+ SET_OUTPUT(E4_MS1_PIN); SET_OUTPUT(E4_MS2_PIN);
#if PIN_EXISTS(E4_MS3)
SET_OUTPUT(E4_MS3_PIN);
#endif
#endif
#if HAS_E5_MS_PINS
- SET_OUTPUT(E5_MS1_PIN);
- SET_OUTPUT(E5_MS2_PIN);
+ SET_OUTPUT(E5_MS1_PIN); SET_OUTPUT(E5_MS2_PIN);
#if PIN_EXISTS(E5_MS3)
SET_OUTPUT(E5_MS3_PIN);
#endif
#endif
#if HAS_E6_MS_PINS
- SET_OUTPUT(E6_MS1_PIN);
- SET_OUTPUT(E6_MS2_PIN);
+ SET_OUTPUT(E6_MS1_PIN); SET_OUTPUT(E6_MS2_PIN);
#if PIN_EXISTS(E6_MS3)
SET_OUTPUT(E6_MS3_PIN);
#endif
#endif
#if HAS_E7_MS_PINS
- SET_OUTPUT(E7_MS1_PIN);
- SET_OUTPUT(E7_MS2_PIN);
+ SET_OUTPUT(E7_MS1_PIN); SET_OUTPUT(E7_MS2_PIN);
#if PIN_EXISTS(E7_MS3)
SET_OUTPUT(E7_MS3_PIN);
#endif
@@ -3531,13 +3533,13 @@ void Stepper::report_positions() {
#if HAS_E7_MS_PINS
case 10: WRITE(E7_MS1_PIN, ms1); break;
#endif
- #if HAS_I_MICROSTEPS
+ #if HAS_I_MS_PINS
case 11: WRITE(I_MS1_PIN, ms1); break
#endif
- #if HAS_J_MICROSTEPS
+ #if HAS_J_MS_PINS
case 12: WRITE(J_MS1_PIN, ms1); break
#endif
- #if HAS_K_MICROSTEPS
+ #if HAS_K_MS_PINS
case 13: WRITE(K_MS1_PIN, ms1); break
#endif
}
@@ -3602,13 +3604,13 @@ void Stepper::report_positions() {
#if HAS_E7_MS_PINS
case 10: WRITE(E7_MS2_PIN, ms2); break;
#endif
- #if HAS_I_M_PINS
+ #if HAS_I_MS_PINS
case 11: WRITE(I_MS2_PIN, ms2); break
#endif
- #if HAS_J_M_PINS
+ #if HAS_J_MS_PINS
case 12: WRITE(J_MS2_PIN, ms2); break
#endif
- #if HAS_K_M_PINS
+ #if HAS_K_MS_PINS
case 13: WRITE(K_MS2_PIN, ms2); break
#endif
}
diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h
index 7967e58c355..99aa714ca09 100644
--- a/Marlin/src/module/stepper.h
+++ b/Marlin/src/module/stepper.h
@@ -320,7 +320,6 @@ class Stepper {
#ifndef MOTOR_CURRENT_PWM_FREQUENCY
#define MOTOR_CURRENT_PWM_FREQUENCY 31400
#endif
-
#define MOTOR_CURRENT_COUNT LINEAR_AXES
#elif HAS_MOTOR_CURRENT_SPI
static constexpr uint32_t digipot_count[] = DIGIPOT_MOTOR_CURRENT;
diff --git a/Marlin/src/pins/pinsDebug_list.h b/Marlin/src/pins/pinsDebug_list.h
index dc0d5225db3..599ce319af2 100644
--- a/Marlin/src/pins/pinsDebug_list.h
+++ b/Marlin/src/pins/pinsDebug_list.h
@@ -1601,6 +1601,24 @@
#if PIN_EXISTS(Z4_SERIAL_RX)
REPORT_NAME_DIGITAL(__LINE__, Z4_SERIAL_RX_PIN)
#endif
+#if PIN_EXISTS(I_SERIAL_TX)
+ REPORT_NAME_DIGITAL(__LINE__, I_SERIAL_TX_PIN)
+#endif
+#if PIN_EXISTS(I_SERIAL_RX)
+ REPORT_NAME_DIGITAL(__LINE__, I_SERIAL_RX_PIN)
+#endif
+#if PIN_EXISTS(J_SERIAL_TX)
+ REPORT_NAME_DIGITAL(__LINE__, J_SERIAL_TX_PIN)
+#endif
+#if PIN_EXISTS(J_SERIAL_RX)
+ REPORT_NAME_DIGITAL(__LINE__, J_SERIAL_RX_PIN)
+#endif
+#if PIN_EXISTS(K_SERIAL_TX)
+ REPORT_NAME_DIGITAL(__LINE__, K_SERIAL_TX_PIN)
+#endif
+#if PIN_EXISTS(K_SERIAL_RX)
+ REPORT_NAME_DIGITAL(__LINE__, K_SERIAL_RX_PIN)
+#endif
#if PIN_EXISTS(E0_DIAG)
REPORT_NAME_DIGITAL(__LINE__, E0_DIAG_PIN)
#endif
diff --git a/Marlin/src/pins/pins_postprocess.h b/Marlin/src/pins/pins_postprocess.h
index aa1def0b40a..aabe0da8587 100644
--- a/Marlin/src/pins/pins_postprocess.h
+++ b/Marlin/src/pins/pins_postprocess.h
@@ -546,6 +546,7 @@
#undef K_MAX_PIN
#endif
+// Filament Sensor first pin alias
#if HAS_FILAMENT_SENSOR
#define FIL_RUNOUT1_PIN FIL_RUNOUT_PIN // Filament Sensor first pin alias
#else
@@ -598,12 +599,13 @@
#define X2_E_INDEX E_STEPPERS
#endif
-// The X2 axis, if any, should be the next open extruder port
#if HAS_X2_STEPPER && !defined(X2_DIAG_PIN) && !defined(X2_STEP_PIN) && !PIN_EXISTS(X2_CS_PIN)
#define Y2_E_INDEX INCREMENT(X2_E_INDEX)
#else
#define Y2_E_INDEX X2_E_INDEX
#endif
+
+// The X2 axis, if any, should be the next open extruder port
#if HAS_X2_STEPPER
#ifndef X2_STEP_PIN
#define X2_STEP_PIN _EPIN(X2_E_INDEX, STEP)
@@ -686,12 +688,13 @@
#define X2_MS3_PIN -1
#endif
-// The Y2 axis, if any, should be the next open extruder port
#if ENABLED(Y_DUAL_STEPPER_DRIVERS) && !defined(Y2_DIAG_PIN) && !defined(Y2_STEP_PIN) && !PIN_EXISTS(Y2_CS_PIN)
#define Z2_E_INDEX INCREMENT(Y2_E_INDEX)
#else
#define Z2_E_INDEX Y2_E_INDEX
#endif
+
+// The Y2 axis, if any, should be the next open extruder port
#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
#ifndef Y2_STEP_PIN
#define Y2_STEP_PIN _EPIN(Y2_E_INDEX, STEP)
@@ -771,12 +774,13 @@
#define Y2_MS3_PIN -1
#endif
-// The Z2 axis, if any, should be the next open extruder port
#if NUM_Z_STEPPER_DRIVERS >= 2 && !defined(Z2_DIAG_PIN) && !defined(Z2_STEP_PIN) && !PIN_EXISTS(Z2_CS_PIN)
#define Z3_E_INDEX INCREMENT(Z2_E_INDEX)
#else
#define Z3_E_INDEX Z2_E_INDEX
#endif
+
+// The Z2 axis, if any, should be the next open extruder port
#if NUM_Z_STEPPER_DRIVERS >= 2
#ifndef Z2_STEP_PIN
#define Z2_STEP_PIN _EPIN(Z2_E_INDEX, STEP)
@@ -856,12 +860,13 @@
#define Z2_MS3_PIN -1
#endif
-// The Z3 axis, if any, should be the next open extruder port
#if NUM_Z_STEPPER_DRIVERS >= 3 && !defined(Z3_DIAG_PIN) && !defined(Z3_STEP_PIN) && !PIN_EXISTS(Z3_CS_PIN)
#define Z4_E_INDEX INCREMENT(Z3_E_INDEX)
#else
#define Z4_E_INDEX Z3_E_INDEX
#endif
+
+// The Z3 axis, if any, should be the next open extruder port
#if NUM_Z_STEPPER_DRIVERS >= 3
#ifndef Z3_STEP_PIN
#define Z3_STEP_PIN _EPIN(Z3_E_INDEX, STEP)
@@ -941,12 +946,13 @@
#define Z3_MS3_PIN -1
#endif
-// The Z4 axis, if any, should be the next open extruder port
#if NUM_Z_STEPPER_DRIVERS >= 4 && !defined(Z4_DIAG_PIN) && !defined(Z4_STEP_PIN) && !PIN_EXISTS(Z4_CS_PIN)
#define I_E_INDEX INCREMENT(Z4_E_INDEX)
#else
#define I_E_INDEX Z4_E_INDEX
#endif
+
+// The Z4 axis, if any, should be the next open extruder port
#if NUM_Z_STEPPER_DRIVERS >= 4
#ifndef Z4_STEP_PIN
#define Z4_STEP_PIN _EPIN(Z4_E_INDEX, STEP)
@@ -1026,12 +1032,13 @@
#define Z4_MS3_PIN -1
#endif
-// The I axis, if any, should be the next open extruder port
#if HAS_I_AXIS && !defined(I_DIAG_PIN) && !defined(I_STEP_PIN) && !PIN_EXISTS(I_CS_PIN)
#define J_E_INDEX INCREMENT(I_E_INDEX)
#else
#define J_E_INDEX I_E_INDEX
#endif
+
+// The I axis, if any, should be the next open extruder port
#if HAS_I_AXIS
#ifndef I_STEP_PIN
#define I_STEP_PIN _EPIN(I_E_INDEX, STEP)
@@ -1111,12 +1118,13 @@
#define I_MS3_PIN -1
#endif
-// The J axis, if any, should be the next open extruder port
#if HAS_J_AXIS && !defined(J_DIAG_PIN) && !defined(J_STEP_PIN) && !PIN_EXISTS(J_CS_PIN)
#define K_E_INDEX INCREMENT(J_E_INDEX)
#else
#define K_E_INDEX J_E_INDEX
#endif
+
+// The J axis, if any, should be the next open extruder port
#if HAS_J_AXIS
#ifndef J_STEP_PIN
#define J_STEP_PIN _EPIN(J_E_INDEX, STEP)