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Up to Six Linear Axes

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MarlinFirmware/Marlin#19112
This commit is contained in:
Scott Lahteine 2021-06-05 02:02:11 -05:00
parent fc3ee8d563
commit 07ec999210
513 changed files with 59477 additions and 1567 deletions
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101
config/examples/WASP/PowerWASP/Configuration.h
View file

@ -35,7 +35,7 @@
*
* Advanced settings can be found in Configuration_adv.h
*/
#define CONFIGURATION_H_VERSION 02000801
#define CONFIGURATION_H_VERSION 02000900
//===========================================================================
//============================= Getting Started =============================
@ -162,6 +162,45 @@
// Choose your own or use a service like https://www.uuidgenerator.net/version4
//#define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
/**
* Define the number of coordinated linear axes.
* See https://github.com/DerAndere1/Marlin/wiki
* Each linear axis gets its own stepper control and endstop:
*
* Steppers: *_STEP_PIN, *_ENABLE_PIN, *_DIR_PIN, *_ENABLE_ON
* Endstops: *_STOP_PIN, USE_*MIN_PLUG, USE_*MAX_PLUG
* Axes: *_MIN_POS, *_MAX_POS, INVERT_*_DIR
* Planner: DEFAULT_AXIS_STEPS_PER_UNIT, DEFAULT_MAX_FEEDRATE
* DEFAULT_MAX_ACCELERATION, AXIS_RELATIVE_MODES,
* MICROSTEP_MODES, MANUAL_FEEDRATE
*
* :[3, 4, 5, 6]
*/
//#define LINEAR_AXES 3
/**
* Axis codes for additional axes:
* This defines the axis code that is used in G-code commands to
* reference a specific axis.
* 'A' for rotational axis parallel to X
* 'B' for rotational axis parallel to Y
* 'C' for rotational axis parallel to Z
* 'U' for secondary linear axis parallel to X
* 'V' for secondary linear axis parallel to Y
* 'W' for secondary linear axis parallel to Z
* Regardless of the settings, firmware-internal axis IDs are
* I (AXIS4), J (AXIS5), K (AXIS6).
*/
#if LINEAR_AXES >= 4
#define AXIS4_NAME 'A' // :['A', 'B', 'C', 'U', 'V', 'W']
#endif
#if LINEAR_AXES >= 5
#define AXIS5_NAME 'B' // :['A', 'B', 'C', 'U', 'V', 'W']
#endif
#if LINEAR_AXES >= 6
#define AXIS6_NAME 'C' // :['A', 'B', 'C', 'U', 'V', 'W']
#endif
// @section extruder
// This defines the number of extruders
@ -705,9 +744,15 @@
#define USE_XMIN_PLUG
#define USE_YMIN_PLUG
#define USE_ZMIN_PLUG
//#define USE_IMIN_PLUG
//#define USE_JMIN_PLUG
//#define USE_KMIN_PLUG
#define USE_XMAX_PLUG
#define USE_YMAX_PLUG
#define USE_ZMAX_PLUG
//#define USE_IMAX_PLUG
//#define USE_JMAX_PLUG
//#define USE_KMAX_PLUG
// Enable pullup for all endstops to prevent a floating state
#define ENDSTOPPULLUPS
@ -716,9 +761,15 @@
#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_ZMIN_PROBE
#endif
@ -729,9 +780,15 @@
//#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_ZMIN_PROBE
#endif
@ -739,9 +796,15 @@
#define X_MIN_ENDSTOP_INVERTING true // Set to true to invert the logic of the endstop.
#define Y_MIN_ENDSTOP_INVERTING true // Set to true to invert the logic of the endstop.
#define Z_MIN_ENDSTOP_INVERTING true // Set to true to invert the logic of the endstop.
#define I_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
#define J_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
#define K_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
#define X_MAX_ENDSTOP_INVERTING true // Set to true to invert the logic of the endstop.
#define Y_MAX_ENDSTOP_INVERTING true // Set to true to invert the logic of the endstop.
#define Z_MAX_ENDSTOP_INVERTING true // Set to true to invert the logic of the endstop.
#define I_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
#define J_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
#define K_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
#define Z_MIN_PROBE_ENDSTOP_INVERTING true // Set to true to invert the logic of the probe.
/**
@ -770,6 +833,9 @@
//#define Z2_DRIVER_TYPE A4988
//#define Z3_DRIVER_TYPE A4988
//#define Z4_DRIVER_TYPE A4988
//#define I_DRIVER_TYPE A4988
//#define J_DRIVER_TYPE A4988
//#define K_DRIVER_TYPE A4988
#define E0_DRIVER_TYPE A4988
//#define E1_DRIVER_TYPE A4988
//#define E2_DRIVER_TYPE A4988
@ -823,14 +889,14 @@
/**
* Default Axis Steps Per Unit (steps/mm)
* Override with M92
* X, Y, Z, E0 [, E1[, E2...]]
* X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
*/
#define DEFAULT_AXIS_STEPS_PER_UNIT { 85.48,85.48,533.33,104.7 }
/**
* Default Max Feed Rate (mm/s)
* Override with M203
* X, Y, Z, E0 [, E1[, E2...]]
* X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
*/
#define DEFAULT_MAX_FEEDRATE { 150, 150, 15, 20 }
@ -843,7 +909,7 @@
* Default Max Acceleration (change/s) change = mm/s
* (Maximum start speed for accelerated moves)
* Override with M201
* X, Y, Z, E0 [, E1[, E2...]]
* X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
*/
#define DEFAULT_MAX_ACCELERATION { 10000, 10000, 50, 500 }
@ -877,6 +943,9 @@
#define DEFAULT_XJERK 15.0
#define DEFAULT_YJERK 15.0
#define DEFAULT_ZJERK 0.5
//#define DEFAULT_IJERK 0.3
//#define DEFAULT_JJERK 0.3
//#define DEFAULT_KJERK 0.3
//#define TRAVEL_EXTRA_XYJERK 0.0 // Additional jerk allowance for all travel moves
@ -1191,12 +1260,18 @@
#define Y_ENABLE_ON 0
#define Z_ENABLE_ON 0
#define E_ENABLE_ON 0 // For all extruders
//#define I_ENABLE_ON 0
//#define J_ENABLE_ON 0
//#define K_ENABLE_ON 0
// Disable axis steppers immediately when they're not being stepped.
// WARNING: When motors turn off there is a chance of losing position accuracy!
#define DISABLE_X false
#define DISABLE_Y false
#define DISABLE_Z false
//#define DISABLE_I false
//#define DISABLE_J false
//#define DISABLE_K false
// Turn off the display blinking that warns about possible accuracy reduction
//#define DISABLE_REDUCED_ACCURACY_WARNING
@ -1212,6 +1287,9 @@
#define INVERT_X_DIR true
#define INVERT_Y_DIR false
#define INVERT_Z_DIR true
//#define INVERT_I_DIR false
//#define INVERT_J_DIR false
//#define INVERT_K_DIR false
// @section extruder
@ -1247,6 +1325,9 @@
#define X_HOME_DIR -1
#define Y_HOME_DIR -1
#define Z_HOME_DIR 1
//#define I_HOME_DIR -1
//#define J_HOME_DIR -1
//#define K_HOME_DIR -1
// @section machine
@ -1261,6 +1342,12 @@
#define X_MAX_POS X_BED_SIZE
#define Y_MAX_POS Y_BED_SIZE
#define Z_MAX_POS 191.9
//#define I_MIN_POS 0
//#define I_MAX_POS 50
//#define J_MIN_POS 0
//#define J_MAX_POS 50
//#define K_MIN_POS 0
//#define K_MAX_POS 50
/**
* Software Endstops
@ -1277,6 +1364,9 @@
#define MIN_SOFTWARE_ENDSTOP_X
#define MIN_SOFTWARE_ENDSTOP_Y
#define MIN_SOFTWARE_ENDSTOP_Z
#define MIN_SOFTWARE_ENDSTOP_I
#define MIN_SOFTWARE_ENDSTOP_J
#define MIN_SOFTWARE_ENDSTOP_K
#endif
// Max software endstops constrain movement within maximum coordinate bounds
@ -1285,6 +1375,9 @@
#define MAX_SOFTWARE_ENDSTOP_X
#define MAX_SOFTWARE_ENDSTOP_Y
#define MAX_SOFTWARE_ENDSTOP_Z
#define MAX_SOFTWARE_ENDSTOP_I
#define MAX_SOFTWARE_ENDSTOP_J
#define MAX_SOFTWARE_ENDSTOP_K
#endif
#if EITHER(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS)

111
config/examples/WASP/PowerWASP/Configuration_adv.h
View file

@ -30,7 +30,7 @@
*
* Basic settings can be found in Configuration.h
*/
#define CONFIGURATION_ADV_H_VERSION 02000801
#define CONFIGURATION_ADV_H_VERSION 02000900
//===========================================================================
//============================= Thermal Settings ============================
@ -918,6 +918,9 @@
#define INVERT_X_STEP_PIN false
#define INVERT_Y_STEP_PIN false
#define INVERT_Z_STEP_PIN false
#define INVERT_I_STEP_PIN false
#define INVERT_J_STEP_PIN false
#define INVERT_K_STEP_PIN false
#define INVERT_E_STEP_PIN false
/**
@ -929,6 +932,9 @@
#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!
#define DISABLE_INACTIVE_I true
#define DISABLE_INACTIVE_J true
#define DISABLE_INACTIVE_K true
#define DISABLE_INACTIVE_E true
// Default Minimum Feedrates for printing and travel moves
@ -969,7 +975,7 @@
#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)
#define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (mm) One value for each linear axis
#define BACKLASH_CORRECTION 0.0 // 0.0 = no correction; 1.0 = full correction
// Add steps for motor direction changes on CORE kinematics
@ -1040,6 +1046,13 @@
#define CALIBRATION_MEASURE_LEFT
#define CALIBRATION_MEASURE_BACK
//#define CALIBRATION_MEASURE_IMIN
//#define CALIBRATION_MEASURE_IMAX
//#define CALIBRATION_MEASURE_JMIN
//#define CALIBRATION_MEASURE_JMAX
//#define CALIBRATION_MEASURE_KMIN
//#define CALIBRATION_MEASURE_KMAX
// 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.
//#define CALIBRATION_MEASURE_AT_TOP_EDGES
@ -2236,6 +2249,13 @@
//#define EVENT_GCODE_AFTER_TOOLCHANGE "G12X" // Extra G-code to run after tool-change
#endif
/**
* Extra G-code to run while executing tool-change commands. Can be used to use an additional
* stepper motor (I axis, see option LINEAR_AXES in Configuration.h) to drive the tool-changer.
*/
//#define EVENT_GCODE_TOOLCHANGE_T0 "G28 A\nG1 I0" // Extra G-code to run while executing tool-change command T0
//#define EVENT_GCODE_TOOLCHANGE_T1 "G1 A10" // Extra G-code to run while executing tool-change command T1
/**
* Tool Sensors detect when tools have been picked up or dropped.
* Requires the pins TOOL_SENSOR1_PIN, TOOL_SENSOR2_PIN, etc.
@ -2413,6 +2433,24 @@
#define Z4_MICROSTEPS Z_MICROSTEPS
#endif
#if AXIS_DRIVER_TYPE_I(TMC26X)
#define I_MAX_CURRENT 1000
#define I_SENSE_RESISTOR 91
#define I_MICROSTEPS 16
#endif
#if AXIS_DRIVER_TYPE_J(TMC26X)
#define J_MAX_CURRENT 1000
#define J_SENSE_RESISTOR 91
#define J_MICROSTEPS 16
#endif
#if AXIS_DRIVER_TYPE_K(TMC26X)
#define K_MAX_CURRENT 1000
#define K_SENSE_RESISTOR 91
#define K_MICROSTEPS 16
#endif
#if AXIS_DRIVER_TYPE_E0(TMC26X)
#define E0_MAX_CURRENT 1000
#define E0_SENSE_RESISTOR 91
@ -2563,6 +2601,33 @@
//#define Z4_INTERPOLATE true
#endif
#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
//#define I_INTERPOLATE true
#endif
#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
//#define J_INTERPOLATE true
#endif
#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
//#define K_INTERPOLATE true
#endif
#if AXIS_IS_TMC(E0)
#define E0_CURRENT 800
#define E0_MICROSTEPS 16
@ -2638,6 +2703,9 @@
//#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
@ -2677,6 +2745,9 @@
//#define Z2_SLAVE_ADDRESS 0
//#define Z3_SLAVE_ADDRESS 0
//#define Z4_SLAVE_ADDRESS 0
//#define I_SLAVE_ADDRESS 0
//#define J_SLAVE_ADDRESS 0
//#define K_SLAVE_ADDRESS 0
//#define E0_SLAVE_ADDRESS 0
//#define E1_SLAVE_ADDRESS 0
//#define E2_SLAVE_ADDRESS 0
@ -2701,6 +2772,9 @@
*/
#define STEALTHCHOP_XY
#define STEALTHCHOP_Z
#define STEALTHCHOP_I
#define STEALTHCHOP_J
#define STEALTHCHOP_K
#define STEALTHCHOP_E
/**
@ -2772,6 +2846,9 @@
#define Z2_HYBRID_THRESHOLD 3
#define Z3_HYBRID_THRESHOLD 3
#define Z4_HYBRID_THRESHOLD 3
#define I_HYBRID_THRESHOLD 3
#define J_HYBRID_THRESHOLD 3
#define K_HYBRID_THRESHOLD 3
#define E0_HYBRID_THRESHOLD 30
#define E1_HYBRID_THRESHOLD 30
#define E2_HYBRID_THRESHOLD 30
@ -2818,6 +2895,9 @@
//#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
@ -2958,6 +3038,33 @@
#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