🎨 Various multi-axis patches (MarlinFirmware#22823)

Marlin/Configuration.h

@@ -794,37 +794,37 @@
 #define ENDSTOPPULLUPS
 #if DISABLED(ENDSTOPPULLUPS)
   // Disable ENDSTOPPULLUPS to set pullups individually
-  //#define ENDSTOPPULLUP_XMAX
-  //#define ENDSTOPPULLUP_YMAX
-  //#define ENDSTOPPULLUP_ZMAX
-  //#define ENDSTOPPULLUP_IMAX
-  //#define ENDSTOPPULLUP_JMAX
-  //#define ENDSTOPPULLUP_KMAX
   //#define ENDSTOPPULLUP_XMIN
   //#define ENDSTOPPULLUP_YMIN
   //#define ENDSTOPPULLUP_ZMIN
   //#define ENDSTOPPULLUP_IMIN
   //#define ENDSTOPPULLUP_JMIN
   //#define ENDSTOPPULLUP_KMIN
+  //#define ENDSTOPPULLUP_XMAX
+  //#define ENDSTOPPULLUP_YMAX
+  //#define ENDSTOPPULLUP_ZMAX
+  //#define ENDSTOPPULLUP_IMAX
+  //#define ENDSTOPPULLUP_JMAX
+  //#define ENDSTOPPULLUP_KMAX
   //#define ENDSTOPPULLUP_ZMIN_PROBE
 #endif
 
 // Enable pulldown for all endstops to prevent a floating state
 //#define ENDSTOPPULLDOWNS
 #if DISABLED(ENDSTOPPULLDOWNS)
   // Disable ENDSTOPPULLDOWNS to set pulldowns individually
-  //#define ENDSTOPPULLDOWN_XMAX
-  //#define ENDSTOPPULLDOWN_YMAX
-  //#define ENDSTOPPULLDOWN_ZMAX
-  //#define ENDSTOPPULLDOWN_IMAX
-  //#define ENDSTOPPULLDOWN_JMAX
-  //#define ENDSTOPPULLDOWN_KMAX
   //#define ENDSTOPPULLDOWN_XMIN
   //#define ENDSTOPPULLDOWN_YMIN
   //#define ENDSTOPPULLDOWN_ZMIN
   //#define ENDSTOPPULLDOWN_IMIN
   //#define ENDSTOPPULLDOWN_JMIN
   //#define ENDSTOPPULLDOWN_KMIN
+  //#define ENDSTOPPULLDOWN_XMAX
+  //#define ENDSTOPPULLDOWN_YMAX
+  //#define ENDSTOPPULLDOWN_ZMAX
+  //#define ENDSTOPPULLDOWN_IMAX
+  //#define ENDSTOPPULLDOWN_JMAX
+  //#define ENDSTOPPULLDOWN_KMAX
   //#define ENDSTOPPULLDOWN_ZMIN_PROBE
 #endif
 

Marlin/src/HAL/SAMD51/endstop_interrupts.h

@@ -162,12 +162,14 @@ void setup_endstop_interrupts() {
       #error "Z_MIN_PROBE_PIN has no EXTINT line available."
     #endif
     _ATTACH(Z_MIN_PROBE_PIN);
-  #elif HAS_I_MAX
+  #endif
+  #if HAS_I_MAX
     #if !AVAILABLE_EILINE(I_MAX_PIN)
       #error "I_MAX_PIN has no EXTINT line available."
     #endif
     attachInterrupt(I_MAX_PIN, endstop_ISR, CHANGE);
-  #elif HAS_I_MIN
+  #endif
+  #if HAS_I_MIN
     #if !AVAILABLE_EILINE(I_MIN_PIN)
       #error "I_MIN_PIN has no EXTINT line available."
     #endif
@@ -178,7 +180,8 @@ void setup_endstop_interrupts() {
       #error "J_MAX_PIN has no EXTINT line available."
     #endif
     attachInterrupt(J_MAX_PIN, endstop_ISR, CHANGE);
-  #elif HAS_J_MIN
+  #endif
+  #if HAS_J_MIN
     #if !AVAILABLE_EILINE(J_MIN_PIN)
       #error "J_MIN_PIN has no EXTINT line available."
     #endif
@@ -189,7 +192,8 @@ void setup_endstop_interrupts() {
       #error "K_MAX_PIN has no EXTINT line available."
     #endif
     attachInterrupt(K_MAX_PIN, endstop_ISR, CHANGE);
-  #elif HAS_K_MIN
+  #endif
+  #if HAS_K_MIN
     #if !AVAILABLE_EILINE(K_MIN_PIN)
       #error "K_MIN_PIN has no EXTINT line available."
     #endif

Marlin/src/core/macros.h

@@ -33,32 +33,32 @@
 
 #define _AXIS(A) (A##_AXIS)
 
-#define _XMIN_   100
-#define _YMIN_   200
-#define _ZMIN_   300
-#define _IMIN_   500
-#define _JMIN_   600
-#define _KMIN_   700
-#define _XMAX_   101
-#define _YMAX_   201
-#define _ZMAX_   301
-#define _IMAX_   501
-#define _JMAX_   601
-#define _KMAX_   701
-#define _XDIAG_  102
-#define _YDIAG_  202
-#define _ZDIAG_  302
-#define _IDIAG_  502
-#define _JDIAG_  602
-#define _KDIAG_  702
-#define _E0DIAG_ 400
-#define _E1DIAG_ 401
-#define _E2DIAG_ 402
-#define _E3DIAG_ 403
-#define _E4DIAG_ 404
-#define _E5DIAG_ 405
-#define _E6DIAG_ 406
-#define _E7DIAG_ 407
+#define _XMIN_   0x11
+#define _YMIN_   0x12
+#define _ZMIN_   0x13
+#define _IMIN_   0x14
+#define _JMIN_   0x15
+#define _KMIN_   0x16
+#define _XMAX_   0x21
+#define _YMAX_   0x22
+#define _ZMAX_   0x23
+#define _IMAX_   0x24
+#define _JMAX_   0x25
+#define _KMAX_   0x26
+#define _XDIAG_  0x31
+#define _YDIAG_  0x32
+#define _ZDIAG_  0x33
+#define _IDIAG_  0x34
+#define _JDIAG_  0x35
+#define _KDIAG_  0x36
+#define _E0DIAG_ 0xE0
+#define _E1DIAG_ 0xE1
+#define _E2DIAG_ 0xE2
+#define _E3DIAG_ 0xE3
+#define _E4DIAG_ 0xE4
+#define _E5DIAG_ 0xE5
+#define _E6DIAG_ 0xE6
+#define _E7DIAG_ 0xE7
 
 #define _FORCE_INLINE_ __attribute__((__always_inline__)) __inline__
 #define  FORCE_INLINE  __attribute__((always_inline)) inline
@@ -251,6 +251,8 @@
     memcpy(&a[0],&b[0],_MIN(sizeof(a),sizeof(b))); \
   }while(0)
 
+#define CODE_11( A,B,C,D,E,F,G,H,I,J,K,...) A; B; C; D; E; F; G; H; I; J; K
+#define CODE_10( A,B,C,D,E,F,G,H,I,J,...) A; B; C; D; E; F; G; H; I; J
 #define CODE_9( A,B,C,D,E,F,G,H,I,...) A; B; C; D; E; F; G; H; I
 #define CODE_8( A,B,C,D,E,F,G,H,...) A; B; C; D; E; F; G; H
 #define CODE_7( A,B,C,D,E,F,G,...) A; B; C; D; E; F; G
@@ -286,6 +288,10 @@
 #define GANG_N_1(N,K) _GANG_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K)
 
 // Macros for initializing arrays
+#define LIST_20(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T
+#define LIST_19(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S
+#define LIST_18(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R
+#define LIST_17(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q
 #define LIST_16(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P
 #define LIST_15(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O
 #define LIST_14(A,B,C,D,E,F,G,H,I,J,K,L,M,N,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N
@@ -502,6 +508,11 @@
 #define INC_13 14
 #define INC_14 15
 #define INC_15 16
+#define INC_16 17
+#define INC_17 18
+#define INC_18 19
+#define INC_19 20
+#define INC_20 21
 #define INCREMENT_(n) INC_##n
 #define INCREMENT(n) INCREMENT_(n)
 

Marlin/src/feature/backlash.cpp

@@ -60,9 +60,9 @@ Backlash backlash;
  * spread over multiple segments, smoothing out artifacts even more.
  */
 
-void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const uint8_t dm, block_t * const block) {
-  static uint8_t last_direction_bits;
-  uint8_t changed_dir = last_direction_bits ^ dm;
+void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const axis_bits_t dm, block_t * const block) {
+  static axis_bits_t last_direction_bits;
+  axis_bits_t changed_dir = last_direction_bits ^ dm;
   // Ignore direction change unless steps are taken in that direction
   #if DISABLED(CORE_BACKLASH) || ENABLED(MARKFORGED_XY)
     if (!da) CBI(changed_dir, X_AXIS);

Marlin/src/feature/backlash.h

@@ -71,7 +71,7 @@ class Backlash {
     return has_measurement(X_AXIS) || has_measurement(Y_AXIS) || has_measurement(Z_AXIS);
   }
 
-  void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const uint8_t dm, block_t * const block);
+  void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const axis_bits_t dm, block_t * const block);
 };
 
 extern Backlash backlash;

Marlin/src/gcode/config/M217.cpp

@@ -141,9 +141,9 @@ void GcodeSuite::M217_report(const bool forReplay/*=true*/) {
                       SP_E_STR, LINEAR_UNIT(toolchange_settings.extra_prime),
                       SP_P_STR, LINEAR_UNIT(toolchange_settings.prime_speed));
     SERIAL_ECHOPGM(" R", LINEAR_UNIT(toolchange_settings.retract_speed),
-                    " U", LINEAR_UNIT(toolchange_settings.unretract_speed),
-                    " F", toolchange_settings.fan_speed,
-                    " G", toolchange_settings.fan_time);
+                   " U", LINEAR_UNIT(toolchange_settings.unretract_speed),
+                   " F", toolchange_settings.fan_speed,
+                   " G", toolchange_settings.fan_time);
 
     #if ENABLED(TOOLCHANGE_MIGRATION_FEATURE)
       SERIAL_ECHOPGM(" A", migration.automode);

Marlin/src/gcode/feature/trinamic/M906.cpp

@@ -206,7 +206,8 @@ void GcodeSuite::M906_report(const bool forReplay/*=true*/) {
     SERIAL_ECHOPGM("  M906");
   };
 
-  #if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z)
+  #if  AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z) \
+    || AXIS_IS_TMC(I) || AXIS_IS_TMC(J) || AXIS_IS_TMC(K)
     say_M906(forReplay);
     #if AXIS_IS_TMC(X)
       SERIAL_ECHOPGM_P(SP_X_STR, stepperX.getMilliamps());
@@ -217,6 +218,15 @@ void GcodeSuite::M906_report(const bool forReplay/*=true*/) {
     #if AXIS_IS_TMC(Z)
       SERIAL_ECHOPGM_P(SP_Z_STR, stepperZ.getMilliamps());
     #endif
+    #if AXIS_IS_TMC(I)
+      SERIAL_ECHOPGM_P(SP_I_STR, stepperI.getMilliamps());
+    #endif
+    #if AXIS_IS_TMC(J)
+      SERIAL_ECHOPGM_P(SP_J_STR, stepperJ.getMilliamps());
+    #endif
+    #if AXIS_IS_TMC(K)
+      SERIAL_ECHOPGM_P(SP_K_STR, stepperK.getMilliamps());
+    #endif
     SERIAL_EOL();
   #endif
 
@@ -239,25 +249,11 @@ void GcodeSuite::M906_report(const bool forReplay/*=true*/) {
     say_M906(forReplay);
     SERIAL_ECHOLNPGM(" I2 Z", stepperZ3.getMilliamps());
   #endif
-
   #if AXIS_IS_TMC(Z4)
     say_M906(forReplay);
     SERIAL_ECHOLNPGM(" I3 Z", stepperZ4.getMilliamps());
   #endif
 
-  #if AXIS_IS_TMC(I)
-    say_M906(forReplay);
-    SERIAL_ECHOLNPGM_P(SP_I_STR, stepperI.getMilliamps());
-  #endif
-  #if AXIS_IS_TMC(J)
-    say_M906(forReplay);
-    SERIAL_ECHOLNPGM_P(SP_J_STR, stepperJ.getMilliamps());
-  #endif
-  #if AXIS_IS_TMC(K)
-    say_M906(forReplay);
-    SERIAL_ECHOLNPGM_P(SP_K_STR, stepperK.getMilliamps());
-  #endif
-
   #if AXIS_IS_TMC(E0)
     say_M906(forReplay);
     SERIAL_ECHOLNPGM(" T0 E", stepperE0.getMilliamps());

Marlin/src/gcode/gcode.cpp

@@ -74,7 +74,7 @@ millis_t GcodeSuite::previous_move_ms = 0,
 
 // Relative motion mode for each logical axis
 static constexpr xyze_bool_t ar_init = AXIS_RELATIVE_MODES;
-uint8_t GcodeSuite::axis_relative = 0 LOGICAL_AXIS_GANG(
+axis_bits_t GcodeSuite::axis_relative = 0 LOGICAL_AXIS_GANG(
   | (ar_init.e << REL_E),
   | (ar_init.x << REL_X),
   | (ar_init.y << REL_Y),

Marlin/src/gcode/gcode.h

@@ -327,7 +327,7 @@ extern const char G28_STR[];
 class GcodeSuite {
 public:
 
-  static uint8_t axis_relative;
+  static axis_bits_t axis_relative;
 
   static inline bool axis_is_relative(const AxisEnum a) {
     #if HAS_EXTRUDERS

Marlin/src/gcode/queue.cpp

@@ -260,8 +260,7 @@ void GCodeQueue::RingBuffer::ok_to_send() {
       while (NUMERIC_SIGNED(*p))
         SERIAL_CHAR(*p++);
     }
-    SERIAL_ECHOPGM_P(SP_P_STR, planner.moves_free(),
-                      SP_B_STR, BUFSIZE - length);
+    SERIAL_ECHOPGM_P(SP_P_STR, planner.moves_free(), SP_B_STR, BUFSIZE - length);
   #endif
   SERIAL_EOL();
 }

Marlin/src/inc/Conditionals_post.h

@@ -1922,20 +1922,14 @@
   #ifndef Z4_INTERPOLATE
     #define Z4_INTERPOLATE INTERPOLATE
   #endif
-  #if LINEAR_AXES >= 4
-    #ifndef I_INTERPOLATE
-      #define I_INTERPOLATE INTERPOLATE
-    #endif
+  #if LINEAR_AXES >= 4 && !defined(I_INTERPOLATE)
+    #define I_INTERPOLATE INTERPOLATE
   #endif
-  #if LINEAR_AXES >= 5
-    #ifndef J_INTERPOLATE
-      #define J_INTERPOLATE INTERPOLATE
-    #endif
+  #if LINEAR_AXES >= 5 && !defined(J_INTERPOLATE)
+    #define J_INTERPOLATE INTERPOLATE
   #endif
-  #if LINEAR_AXES >= 6
-    #ifndef K_INTERPOLATE
-      #define K_INTERPOLATE INTERPOLATE
-    #endif
+  #if LINEAR_AXES >= 6 && !defined(K_INTERPOLATE)
+    #define K_INTERPOLATE INTERPOLATE
   #endif
   #ifndef E0_INTERPOLATE
     #define E0_INTERPOLATE INTERPOLATE
@@ -1962,13 +1956,13 @@
     #define E7_INTERPOLATE INTERPOLATE
   #endif
   #ifndef X_SLAVE_ADDRESS
-    #define X_SLAVE_ADDRESS  0
+    #define X_SLAVE_ADDRESS 0
   #endif
   #ifndef Y_SLAVE_ADDRESS
-    #define Y_SLAVE_ADDRESS  0
+    #define Y_SLAVE_ADDRESS 0
   #endif
   #ifndef Z_SLAVE_ADDRESS
-    #define Z_SLAVE_ADDRESS  0
+    #define Z_SLAVE_ADDRESS 0
   #endif
   #ifndef I_SLAVE_ADDRESS
     #define I_SLAVE_ADDRESS 0
@@ -2660,7 +2654,7 @@
 #if HAS_EXTRUDERS && PIN_EXISTS(MOTOR_CURRENT_PWM_E)
   #define HAS_MOTOR_CURRENT_PWM_E 1
 #endif
-#if HAS_MOTOR_CURRENT_PWM_E || ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_Z)
+#if HAS_MOTOR_CURRENT_PWM_E || ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_Z, MOTOR_CURRENT_PWM_I, MOTOR_CURRENT_PWM_J, MOTOR_CURRENT_PWM_K)
   #define HAS_MOTOR_CURRENT_PWM 1
 #endif
 

Marlin/src/inc/SanityCheck.h

@@ -1404,8 +1404,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
   #endif
 #endif
 #if LINEAR_AXES >= 5
-  #if AXIS5_NAME == AXIS4_NAME || AXIS5_NAME == AXIS6_NAME
-    #error "AXIS5_NAME must be different from AXIS4_NAME and AXIS6_NAME"
+  #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)
@@ -1418,7 +1418,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
 #endif
 #if LINEAR_AXES >= 6
   #if AXIS6_NAME == AXIS5_NAME || AXIS6_NAME == AXIS4_NAME
-    #error "AXIS6_NAME must be different from AXIS5_NAME and 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)
@@ -3040,10 +3040,16 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
       #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_ZMIN (or ENDSTOPPULLUPS) when homing to Z_MIN."
     #elif Z_SENSORLESS && Z_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_ZMAX)
       #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_ZMAX (or ENDSTOPPULLUPS) when homing to Z_MAX."
+    #elif LINEAR_AXES >= 4 && I_SENSORLESS && I_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_IMIN)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_IMIN (or ENDSTOPPULLUPS) when homing to I_MIN."
     #elif LINEAR_AXES >= 4 && I_SENSORLESS && I_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_IMAX)
       #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_IMAX (or ENDSTOPPULLUPS) when homing to I_MAX."
+    #elif LINEAR_AXES >= 5 && J_SENSORLESS && J_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_JMIN)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_JMIN (or ENDSTOPPULLUPS) when homing to J_MIN."
     #elif LINEAR_AXES >= 5 && J_SENSORLESS && J_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_JMAX)
       #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_JMAX (or ENDSTOPPULLUPS) when homing to J_MAX."
+    #elif LINEAR_AXES >= 6 && K_SENSORLESS && K_HOME_TO_MIN && DISABLED(ENDSTOPPULLUP_KMIN)
+      #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_KMIN (or ENDSTOPPULLUPS) when homing to K_MIN."
     #elif LINEAR_AXES >= 6 && K_SENSORLESS && K_HOME_TO_MAX && DISABLED(ENDSTOPPULLUP_KMAX)
       #error "SENSORLESS_HOMING requires ENDSTOPPULLUP_KMAX (or ENDSTOPPULLUPS) when homing to K_MAX."
     #endif