Multi-axis support for up to six non-extruder axes plus extruders

NON_E_AXES benefit from endstops and homing. Axis codes are configurable: X,Y,Z and (I,J,K or U/V/W/A/B/C). Internal axis IDs are always X,Y,Z,I,J,K, (and E). No Tool Center Point Control, no 5/6 DOF robot arm kinematics yet. Issues: https://github.com/DerAndere1/Marlin/issues Contributions: DerAndere (26200979+DerAndere1@users.noreply.github.com): main developer, idea, initial implementation, ASYNC_SECONDARY_AXES kinematics Gabriel Beraldo (gabrielgbst@hotmail.com): hardware debugging, bug fixes Olivier Briand (48122416+hobiseven@users.noreply.github.com): testing, compile error fixes, FOAMCUTTER_XYUV kinematics Wolverine (MohammadSDGHN@users.noreply.github.com): added compatibility with BigTreeTech SKR Pro v1.1, Trinamic TMC drivers, STEALTHCHOP, SENSORLESS_HOMING) Co-authored-by: DerAndere <26200979+DerAndere1@users.noreply.github.com> Co-authored-by: GabrielBeraldo <gabrielgbst@hotmail.com> Co-authored-by: Olivier Briand <48122416+hobiseven@users.noreply.github.com> Co-authored-by: Wolverine <MohammadSDGHN@users.noreply.github.com>
MarlinFirmware · Aug 23, 2020 · 768e9dd · 768e9dd
1 parent 434e43c
commit 768e9dd
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diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
@@ -629,10 +629,27 @@
 
 //#define SENSORLESS_BACKOFF_MM  { 2, 2 }     // (mm) Backoff from endstops before sensorless homing
 
-#define HOMING_BUMP_MM      { 5, 5, 2 }       // (mm) Backoff from endstops after first bump
-#define HOMING_BUMP_DIVISOR { 2, 2, 4 }       // Re-Bump Speed Divisor (Divides the Homing Feedrate)
+#if NON_E_AXES == 6
+  #define HOMING_BUMP_MM      { 5, 5, 2, 2, 2, 2 }       // (mm) Backoff from endstops after first bump
+  #define HOMING_BUMP_DIVISOR { 2, 2, 4, 4, 4, 4 }       // Re-Bump Speed Divisor (Divides the Homing Feedrate)
 
-//#define HOMING_BACKOFF_POST_MM { 2, 2, 2 }  // (mm) Backoff from endstops after homing
+  //#define HOMING_BACKOFF_POST_MM { 2, 2, 2, 2, 2, 2 }  // (mm) Backoff from endstops after homing
+#elif NON_E_AXES == 5
+  #define HOMING_BUMP_MM      { 5, 5, 2, 2, 2 }       // (mm) Backoff from endstops after first bump
+  #define HOMING_BUMP_DIVISOR { 2, 2, 4, 4, 4 }       // Re-Bump Speed Divisor (Divides the Homing Feedrate)
+
+  //#define HOMING_BACKOFF_POST_MM { 2, 2, 2, 2, 2 }  // (mm) Backoff from endstops after homing
+#elif NON_E_AXES == 4
+  #define HOMING_BUMP_MM      { 5, 5, 2, 2 }       // (mm) Backoff from endstops after first bump
+  #define HOMING_BUMP_DIVISOR { 2, 2, 4, 4 }       // Re-Bump Speed Divisor (Divides the Homing Feedrate)
+
+  //#define HOMING_BACKOFF_POST_MM { 2, 2, 2, 2 }  // (mm) Backoff from endstops after homing
+#else
+  #define HOMING_BUMP_MM      { 5, 5, 2 }       // (mm) Backoff from endstops after first bump
+  #define HOMING_BUMP_DIVISOR { 2, 2, 4 }       // Re-Bump Speed Divisor (Divides the Homing Feedrate)
+
+  //#define HOMING_BACKOFF_POST_MM { 2, 2, 2 }  // (mm) Backoff from endstops after homing
+#endif
 
 //#define QUICK_HOME                          // If G28 contains XY do a diagonal move first
 //#define HOME_Y_BEFORE_X                     // If G28 contains XY home Y before X
@@ -797,16 +814,31 @@
 #endif
 
 // @section motion
-
-#define AXIS_RELATIVE_MODES { false, false, false, false }
-
+#if NON_E_AXES == 6
+  #define AXIS_RELATIVE_MODES { false, false, false, false, false, false, false }
+#elif NON_E_AXES == 5
+  #define AXIS_RELATIVE_MODES { false, false, false, false, false, false }
+#elif NON_E_AXES == 4
+  #define AXIS_RELATIVE_MODES { false, false, false, false, false }
+#else
+  #define AXIS_RELATIVE_MODES { false, false, false, false }
+#endif
 // Add a Duplicate option for well-separated conjoined nozzles
 //#define MULTI_NOZZLE_DUPLICATION
 
 // By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step.
 #define INVERT_X_STEP_PIN false
 #define INVERT_Y_STEP_PIN false
 #define INVERT_Z_STEP_PIN false
+#if NON_E_AXES > 3
+  #define INVERT_I_STEP_PIN false
+#endif
+  #if NON_E_AXES > 4
+  #define INVERT_J_STEP_PIN false
+#endif
+#if NON_E_AXES > 5
+  #define INVERT_K_STEP_PIN false
+#endif
 #define INVERT_E_STEP_PIN false
 
 /**
@@ -818,6 +850,15 @@
 #define DISABLE_INACTIVE_X true
 #define DISABLE_INACTIVE_Y true
 #define DISABLE_INACTIVE_Z true  // Set 'false' if the nozzle could fall onto your printed part!
+#if NON_E_AXES > 3
+  #define DISABLE_INACTIVE_I true
+#endif
+#if NON_E_AXES > 4
+  #define DISABLE_INACTIVE_J true
+#endif
+#if NON_E_AXES > 5
+  #define DISABLE_INACTIVE_K true
+#endif
 #define DISABLE_INACTIVE_E true
 
 // If the Nozzle or Bed falls when the Z stepper is disabled, set its resting position here.
@@ -863,7 +904,15 @@
 #if ENABLED(BACKLASH_COMPENSATION)
   // Define values for backlash distance and correction.
   // If BACKLASH_GCODE is enabled these values are the defaults.
-  #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #if NON_E_AXES == 6
+    #define BACKLASH_DISTANCE_MM { 0, 0, 0, 0, 0, 0 } // (mm)
+  #elif NON_E_AXES == 5
+    #define BACKLASH_DISTANCE_MM { 0, 0, 0, 0, 0 } // (mm)
+  #elif NON_E_AXES == 4
+    #define BACKLASH_DISTANCE_MM { 0, 0, 0, 0 } // (mm)
+  #else
+    #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm)
+  #endif
   #define BACKLASH_CORRECTION    0.0       // 0.0 = no correction; 1.0 = full correction
 
   // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments
@@ -930,6 +979,18 @@
   #define CALIBRATION_MEASURE_FRONT
   #define CALIBRATION_MEASURE_LEFT
   #define CALIBRATION_MEASURE_BACK
+  #if NON_E_AXES > 3
+    #define CALIBRATION_MEASURE_IMIN
+    #define CALIBRATION_MEASURE_IMAX
+  #endif
+  #if NON_E_AXES > 4
+    #define CALIBRATION_MEASURE_JMIN
+    #define CALIBRATION_MEASURE_JMAX
+  #endif
+  #if NON_E_AXES > 5
+    #define CALIBRATION_MEASURE_KMIN
+    #define CALIBRATION_MEASURE_KMAX
+  #endif
 
   // Probing at the exact top center only works if the center is flat. If
   // probing on a screwhead or hollow washer, probe near the edges.
@@ -964,7 +1025,15 @@
 //#define MICROSTEP32 HIGH,LOW,HIGH
 
 // Microstep settings (Requires a board with pins named X_MS1, X_MS2, etc.)
-#define MICROSTEP_MODES { 16, 16, 16, 16, 16, 16 } // [1,2,4,8,16]
+#if NON_E_AXES == 6
+  #define MICROSTEP_MODES { 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16 } // [1,2,4,8,16]
+#elif NON_E_AXES == 5
+  #define MICROSTEP_MODES { 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16 } // [1,2,4,8,16]
+#elif NON_E_AXES == 4
+  #define MICROSTEP_MODES { 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16 } // [1,2,4,8,16]
+#else
+  #define MICROSTEP_MODES { 16, 16, 16, 16, 16, 16 } // [1,2,4,8,16]
+#endif
 
 /**
  *  @section  stepper motor current
@@ -986,9 +1055,23 @@
  *    M908 - BQ_ZUM_MEGA_3D, RAMBO, PRINTRBOARD_REVF, RIGIDBOARD_V2 & SCOOVO_X9H
  *    M909, M910 & LCD - only PRINTRBOARD_REVF & RIGIDBOARD_V2
  */
-//#define PWM_MOTOR_CURRENT { 1300, 1300, 1250 }          // Values in milliamps
-//#define DIGIPOT_MOTOR_CURRENT { 135,135,135,135,135 }   // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
-//#define DAC_MOTOR_CURRENT_DEFAULT { 70, 80, 90, 80 }    // Default drive percent - X, Y, Z, E axis
+#if NON_E_AXES == 6
+  //#define PWM_MOTOR_CURRENT { 1300, 1300, 1250, 1250, 1250, 1250 }          // Values in milliamps
+  //#define DIGIPOT_MOTOR_CURRENT { 135,135,135,135,135,135,135,135 }   // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
+  //#define DAC_MOTOR_CURRENT_DEFAULT { 70, 80, 90, 90, 90, 90, 80 }    // Default drive percent - X, Y, Z, I, J, K, E axis
+#elif NON_E_AXES == 5
+  //#define PWM_MOTOR_CURRENT { 1300, 1300, 1250, 1250, 1250 }          // Values in milliamps
+  //#define DIGIPOT_MOTOR_CURRENT { 135,135,135,135,135,135,135 }   // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
+  //#define DAC_MOTOR_CURRENT_DEFAULT { 70, 80, 90, 90, 90, 80 }    // Default drive percent - X, Y, Z, I, J, E axis
+#elif NON_E_AXES == 4
+  //#define PWM_MOTOR_CURRENT { 1300, 1300, 1250, 1250 }          // Values in milliamps
+  //#define DIGIPOT_MOTOR_CURRENT { 135,135,135,135,135,135 }   // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
+  //#define DAC_MOTOR_CURRENT_DEFAULT { 70, 80, 90, 90, 80 }    // Default drive percent - X, Y, Z, I, E axis
+#else
+ //#define PWM_MOTOR_CURRENT { 1300, 1300, 1250 }          // Values in milliamps
+  //#define DIGIPOT_MOTOR_CURRENT { 135,135,135,135,135 }   // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
+  //#define DAC_MOTOR_CURRENT_DEFAULT { 70, 80, 90, 80 }    // Default drive percent - X, Y, Z, E axis
+#endif
 
 /**
  * I2C-based DIGIPOTs (e.g., Azteeg X3 Pro)
@@ -1025,7 +1108,15 @@
 // @section lcd
 
 #if EITHER(ULTIPANEL, EXTENSIBLE_UI)
-  #define MANUAL_FEEDRATE { 50*60, 50*60, 4*60, 2*60 } // (mm/min) Feedrates for manual moves along X, Y, Z, E from panel
+  #if NON_E_AXES == 6
+    #define MANUAL_FEEDRATE { 50*60, 50*60, 4*60, 4*60, 4*60, 4*60, 2*60 } // (mm/min) Feedrates for manual moves along X, Y, Z, I, J, K, E from panel
+  #elif NON_E_AXES == 5
+    #define MANUAL_FEEDRATE { 50*60, 50*60, 4*60, 4*60, 4*60, 2*60 } // (mm/min) Feedrates for manual moves along X, Y, Z, I, J, E from panel
+  #elif NON_E_AXES == 4
+    #define MANUAL_FEEDRATE { 50*60, 50*60, 4*60, 4*60, 2*60 } // (mm/min) Feedrates for manual moves along X, Y, Z, I, E from panel
+  #else
+    #define MANUAL_FEEDRATE { 50*60, 50*60, 4*60, 2*60 } // (mm/min) Feedrates for manual moves along X, Y, Z, E from panel
+  #endif
   #define SHORT_MANUAL_Z_MOVE 0.025 // (mm) Smallest manual Z move (< 0.1mm)
   #if ENABLED(ULTIPANEL)
     #define MANUAL_E_MOVES_RELATIVE // Display extruder move distance rather than "position"
@@ -2146,6 +2237,30 @@
     #define Z4_MICROSTEPS       16
   #endif
 
+#if NON_E_AXES > 3
+  #if AXIS_DRIVER_TYPE_I(TMC26X)
+    #define I_MAX_CURRENT    1000
+    #define I_SENSE_RESISTOR   91
+    #define I_MICROSTEPS       16
+  #endif
+#endif
+
+#if NON_E_AXES > 4
+  #if AXIS_DRIVER_TYPE_J(TMC26X)
+    #define J_MAX_CURRENT    1000
+    #define J_SENSE_RESISTOR   91
+    #define J_MICROSTEPS       16
+  #endif
+#endif
+
+#if NON_E_AXES > 5
+  #if AXIS_DRIVER_TYPE_K(TMC26X)
+    #define K_MAX_CURRENT    1000
+    #define K_SENSE_RESISTOR   91
+    #define K_MICROSTEPS       16
+  #endif
+#endif
+
   #if AXIS_DRIVER_TYPE_E0(TMC26X)
     #define E0_MAX_CURRENT    1000
     #define E0_SENSE_RESISTOR   91
@@ -2283,6 +2398,36 @@
     #define Z4_CHAIN_POS     -1
   #endif
 
+  #if NON_E_AXES > 3
+    #if AXIS_IS_TMC(I)
+      #define I_CURRENT      800
+      #define I_CURRENT_HOME I_CURRENT
+      #define I_MICROSTEPS    16
+      #define I_RSENSE         0.11
+      #define I_CHAIN_POS     -1
+    #endif
+  #endif
+
+  #if NON_E_AXES > 4
+    #if AXIS_IS_TMC(J)
+      #define J_CURRENT      800
+      #define J_CURRENT_HOME J_CURRENT
+      #define J_MICROSTEPS    16
+      #define J_RSENSE         0.11
+      #define J_CHAIN_POS     -1
+    #endif
+  #endif
+
+  #if NON_E_AXES > 5
+    #if AXIS_IS_TMC(K)
+      #define K_CURRENT      800
+      #define K_CURRENT_HOME K_CURRENT
+      #define K_MICROSTEPS    16
+      #define K_RSENSE         0.11
+      #define K_CHAIN_POS     -1
+    #endif
+  #endif
+
   #if AXIS_IS_TMC(E0)
     #define E0_CURRENT      800
     #define E0_MICROSTEPS    16
@@ -2350,6 +2495,9 @@
   //#define Y2_CS_PIN         -1
   //#define Z2_CS_PIN         -1
   //#define Z3_CS_PIN         -1
+  //#define I_CS_PIN          -1
+  //#define J_CS_PIN          -1
+  //#define K_CS_PIN          -1
   //#define E0_CS_PIN         -1
   //#define E1_CS_PIN         -1
   //#define E2_CS_PIN         -1
@@ -2389,6 +2537,15 @@
   #define Z2_SLAVE_ADDRESS 0
   #define Z3_SLAVE_ADDRESS 0
   #define Z4_SLAVE_ADDRESS 0
+  #if NON_E_AXES > 3
+    #define I_SLAVE_ADDRESS 0
+  #endif
+  #if NON_E_AXES > 4
+    #define J_SLAVE_ADDRESS 0
+  #endif
+  #if NON_E_AXES > 5
+    #define K_SLAVE_ADDRESS 0
+  #endif
   #define E0_SLAVE_ADDRESS 0
   #define E1_SLAVE_ADDRESS 0
   #define E2_SLAVE_ADDRESS 0
@@ -2413,6 +2570,15 @@
    */
   #define STEALTHCHOP_XY
   #define STEALTHCHOP_Z
+  #if NON_E_AXES > 3
+    #define STEALTHCHOP_I
+  #endif
+  #if NON_E_AXES > 4
+    #define STEALTHCHOP_J
+  #endif
+  #if NON_E_AXES > 5
+    #define STEALTHCHOP_K
+  #endif
   #define STEALTHCHOP_E
 
   /**
@@ -2468,6 +2634,15 @@
   #define Z2_HYBRID_THRESHOLD      3
   #define Z3_HYBRID_THRESHOLD      3
   #define Z4_HYBRID_THRESHOLD      3
+  #if NON_E_AXES > 3
+    #define I_HYBRID_THRESHOLD     3
+  #endif
+  #if NON_E_AXES > 4
+    #define J_HYBRID_THRESHOLD     3
+  #endif
+  #if NON_E_AXES > 5
+    #define K_HYBRID_THRESHOLD     3
+  #endif
   #define E0_HYBRID_THRESHOLD     30
   #define E1_HYBRID_THRESHOLD     30
   #define E2_HYBRID_THRESHOLD     30
@@ -2512,6 +2687,9 @@
     //#define Z2_STALL_SENSITIVITY Z_STALL_SENSITIVITY
     //#define Z3_STALL_SENSITIVITY Z_STALL_SENSITIVITY
     //#define Z4_STALL_SENSITIVITY Z_STALL_SENSITIVITY
+    //#define I_STALL_SENSITIVITY  8
+    //#define J_STALL_SENSITIVITY  8
+    //#define K_STALL_SENSITIVITY  8
     //#define SPI_ENDSTOPS              // TMC2130 only
     //#define IMPROVE_HOMING_RELIABILITY
   #endif
@@ -2652,6 +2830,33 @@
     #define Z4_SLEW_RATE         1
   #endif
 
+  #if AXIS_DRIVER_TYPE_I(L6470)
+    #define I_MICROSTEPS      128
+    #define I_OVERCURRENT    2000
+    #define I_STALLCURRENT   1500
+    #define I_MAX_VOLTAGE     127
+    #define I_CHAIN_POS        -1
+    #define I_SLEW_RATE         1
+  #endif
+
+  #if AXIS_DRIVER_TYPE_J(L6470)
+    #define J_MICROSTEPS      128
+    #define J_OVERCURRENT    2000
+    #define J_STALLCURRENT   1500
+    #define J_MAX_VOLTAGE     127
+    #define J_CHAIN_POS        -1
+    #define J_SLEW_RATE         1
+  #endif
+
+  #if AXIS_DRIVER_TYPE_K(L6470)
+    #define K_MICROSTEPS      128
+    #define K_OVERCURRENT    2000
+    #define K_STALLCURRENT   1500
+    #define K_MAX_VOLTAGE     127
+    #define K_CHAIN_POS        -1
+    #define K_SLEW_RATE         1
+  #endif
+
   #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000