💥 Num Axes and Multi-Stepper based on Driver Types (MarlinFirmware#24120)

Co-authored-by: Scott Lahteine <github@thinkyhead.com>

Author: 2 people

Marlin/Configuration.h

@@ -155,8 +155,6 @@
  * These settings allow Marlin to tune stepper driver timing and enable advanced options for
  * stepper drivers that support them. You may also override timing options in Configuration_adv.h.
  *
- * A4988 is assumed for unspecified drivers.
- *
  * Use TMC2208/TMC2208_STANDALONE for TMC2225 drivers and TMC2209/TMC2209_STANDALONE for TMC2226 drivers.
  *
  * Options: A4988, A5984, DRV8825, LV8729, L6470, L6474, POWERSTEP01,

Marlin/Configuration_adv.h

@@ -713,73 +713,6 @@
   //#define CLOSED_LOOP_MOVE_COMPLETE_PIN -1
 #endif
 
-/**
- * Dual Steppers / Dual Endstops
- *
- * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes.
- *
- * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to
- * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop
- * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug
- * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'.
- *
- * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors
- * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error
- * in X2. Dual endstop offsets can be set at runtime with 'M666 X<offset> Y<offset> Z<offset>'.
- */
-
-//#define X_DUAL_STEPPER_DRIVERS
-#if ENABLED(X_DUAL_STEPPER_DRIVERS)
-  //#define INVERT_X2_VS_X_DIR    // Enable if X2 direction signal is opposite to X
-  //#define X_DUAL_ENDSTOPS
-  #if ENABLED(X_DUAL_ENDSTOPS)
-    #define X2_USE_ENDSTOP _XMAX_
-    #define X2_ENDSTOP_ADJUSTMENT  0
-  #endif
-#endif
-
-//#define Y_DUAL_STEPPER_DRIVERS
-#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
-  //#define INVERT_Y2_VS_Y_DIR   // Enable if Y2 direction signal is opposite to Y
-  //#define Y_DUAL_ENDSTOPS
-  #if ENABLED(Y_DUAL_ENDSTOPS)
-    #define Y2_USE_ENDSTOP _YMAX_
-    #define Y2_ENDSTOP_ADJUSTMENT  0
-  #endif
-#endif
-
-//
-// For Z set the number of stepper drivers
-//
-#define NUM_Z_STEPPER_DRIVERS 1   // (1-4) Z options change based on how many
-
-#if NUM_Z_STEPPER_DRIVERS > 1
-  // Enable if Z motor direction signals are the opposite of Z1
-  //#define INVERT_Z2_VS_Z_DIR
-  //#define INVERT_Z3_VS_Z_DIR
-  //#define INVERT_Z4_VS_Z_DIR
-
-  //#define Z_MULTI_ENDSTOPS
-  #if ENABLED(Z_MULTI_ENDSTOPS)
-    #define Z2_USE_ENDSTOP          _XMAX_
-    #define Z2_ENDSTOP_ADJUSTMENT   0
-    #if NUM_Z_STEPPER_DRIVERS >= 3
-      #define Z3_USE_ENDSTOP        _YMAX_
-      #define Z3_ENDSTOP_ADJUSTMENT 0
-    #endif
-    #if NUM_Z_STEPPER_DRIVERS >= 4
-      #define Z4_USE_ENDSTOP        _ZMAX_
-      #define Z4_ENDSTOP_ADJUSTMENT 0
-    #endif
-  #endif
-#endif
-
-// Drive the E axis with two synchronized steppers
-//#define E_DUAL_STEPPER_DRIVERS
-#if ENABLED(E_DUAL_STEPPER_DRIVERS)
-  //#define INVERT_E1_VS_E0_DIR   // Enable if the E motors need opposite DIR states
-#endif
-
 /**
  * Dual X Carriage
  *
@@ -830,6 +763,77 @@
   //#define EVENT_GCODE_IDEX_AFTER_MODECHANGE "G28X"
 #endif
 
+/**
+ * Multi-Stepper / Multi-Endstop
+ *
+ * When X2_DRIVER_TYPE is defined, this indicates that the X and X2 motors work in tandem.
+ * The following explanations for X also apply to Y and Z multi-stepper setups.
+ * Endstop offsets may be changed by 'M666 X<offset> Y<offset> Z<offset>' and stored to EEPROM.
+ *
+ * - Enable INVERT_X2_VS_X_DIR if the X2 motor requires an opposite DIR signal from X.
+ *
+ * - Enable X_DUAL_ENDSTOPS if the second motor has its own endstop, with adjustable offset.
+ *
+ *   - Extra endstops are included in the output of 'M119'.
+ *
+ *   - Set X_DUAL_ENDSTOP_ADJUSTMENT to the known error in the X2 endstop.
+ *     Applied to the X2 motor on 'G28' / 'G28 X'.
+ *     Get the offset by homing X and measuring the error.
+ *     Also set with 'M666 X<offset>' and stored to EEPROM with 'M500'.
+ *
+ *   - Use X2_USE_ENDSTOP to set the endstop plug by name. (_XMIN_, _XMAX_, _YMIN_, _YMAX_, _ZMIN_, _ZMAX_)
+ */
+#if HAS_X2_STEPPER && DISABLED(DUAL_X_CARRIAGE)
+  //#define INVERT_X2_VS_X_DIR        // X2 direction signal is the opposite of X
+  //#define X_DUAL_ENDSTOPS           // X2 has its own endstop
+  #if ENABLED(X_DUAL_ENDSTOPS)
+    #define X2_USE_ENDSTOP    _XMAX_  // X2 endstop board plug. Don't forget to enable USE_*_PLUG.
+    #define X2_ENDSTOP_ADJUSTMENT  0  // X2 offset relative to X endstop
+  #endif
+#endif
+
+#if HAS_DUAL_Y_STEPPERS
+  //#define INVERT_Y2_VS_Y_DIR        // Y2 direction signal is the opposite of Y
+  //#define Y_DUAL_ENDSTOPS           // Y2 has its own endstop
+  #if ENABLED(Y_DUAL_ENDSTOPS)
+    #define Y2_USE_ENDSTOP    _YMAX_  // Y2 endstop board plug. Don't forget to enable USE_*_PLUG.
+    #define Y2_ENDSTOP_ADJUSTMENT  0  // Y2 offset relative to Y endstop
+  #endif
+#endif
+
+//
+// Multi-Z steppers
+//
+#ifdef Z2_DRIVER_TYPE
+  //#define INVERT_Z2_VS_Z_DIR        // Z2 direction signal is the opposite of Z
+
+  //#define Z_MULTI_ENDSTOPS          // Other Z axes have their own endstops
+  #if ENABLED(Z_MULTI_ENDSTOPS)
+    #define Z2_USE_ENDSTOP   _XMAX_   // Z2 endstop board plug. Don't forget to enable USE_*_PLUG.
+    #define Z2_ENDSTOP_ADJUSTMENT 0   // Z2 offset relative to Y endstop
+  #endif
+  #ifdef Z3_DRIVER_TYPE
+    //#define INVERT_Z3_VS_Z_DIR      // Z3 direction signal is the opposite of Z
+    #if ENABLED(Z_MULTI_ENDSTOPS)
+      #define Z3_USE_ENDSTOP   _YMAX_ // Z3 endstop board plug. Don't forget to enable USE_*_PLUG.
+      #define Z3_ENDSTOP_ADJUSTMENT 0 // Z3 offset relative to Y endstop
+    #endif
+  #endif
+  #ifdef Z4_DRIVER_TYPE
+    //#define INVERT_Z4_VS_Z_DIR      // Z4 direction signal is the opposite of Z
+    #if ENABLED(Z_MULTI_ENDSTOPS)
+      #define Z4_USE_ENDSTOP   _ZMAX_ // Z4 endstop board plug. Don't forget to enable USE_*_PLUG.
+      #define Z4_ENDSTOP_ADJUSTMENT 0 // Z4 offset relative to Y endstop
+    #endif
+  #endif
+#endif
+
+// Drive the E axis with two synchronized steppers
+//#define E_DUAL_STEPPER_DRIVERS
+#if ENABLED(E_DUAL_STEPPER_DRIVERS)
+  //#define INVERT_E1_VS_E0_DIR       // E direction signals are opposites
+#endif
+
 // Activate a solenoid on the active extruder with M380. Disable all with M381.
 // Define SOL0_PIN, SOL1_PIN, etc., for each extruder that has a solenoid.
 //#define EXT_SOLENOID
@@ -963,7 +967,7 @@
 
   /**
    * Z Stepper positions for more rapid convergence in bed alignment.
-   * Requires NUM_Z_STEPPER_DRIVERS to be 3 or 4.
+   * Requires 3 or 4 Z steppers.
    *
    * Define Stepper XY positions for Z1, Z2, Z3... corresponding to the screw
    * positions in the bed carriage, with one position per Z stepper in stepper
@@ -2461,7 +2465,7 @@
 
   /**
    * Extra G-code to run while executing tool-change commands. Can be used to use an additional
-   * stepper motor (I axis, see option NUM_AXES in Configuration.h) to drive the tool-changer.
+   * stepper motor (e.g., I axis in Configuration.h) to drive the tool-changer.
    */
   //#define EVENT_GCODE_TOOLCHANGE_T0 "G28 A\nG1 A0" // 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

Marlin/src/core/drivers.h

@@ -67,11 +67,11 @@
 #define AXIS_DRIVER_TYPE_V(T) _AXIS_DRIVER_TYPE(V,T)
 #define AXIS_DRIVER_TYPE_W(T) _AXIS_DRIVER_TYPE(W,T)
 
-#define AXIS_DRIVER_TYPE_X2(T) (EITHER(X_DUAL_STEPPER_DRIVERS, 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) (NUM_Z_STEPPER_DRIVERS >= 2 && _AXIS_DRIVER_TYPE(Z2,T))
-#define AXIS_DRIVER_TYPE_Z3(T) (NUM_Z_STEPPER_DRIVERS >= 3 && _AXIS_DRIVER_TYPE(Z3,T))
-#define AXIS_DRIVER_TYPE_Z4(T) (NUM_Z_STEPPER_DRIVERS >= 4 && _AXIS_DRIVER_TYPE(Z4,T))
+#define AXIS_DRIVER_TYPE_X2(T) (HAS_X2_STEPPER && _AXIS_DRIVER_TYPE(X2,T))
+#define AXIS_DRIVER_TYPE_Y2(T) (HAS_DUAL_Y_STEPPERS && _AXIS_DRIVER_TYPE(Y2,T))
+#define AXIS_DRIVER_TYPE_Z2(T) (NUM_Z_STEPPERS >= 2 && _AXIS_DRIVER_TYPE(Z2,T))
+#define AXIS_DRIVER_TYPE_Z3(T) (NUM_Z_STEPPERS >= 3 && _AXIS_DRIVER_TYPE(Z3,T))
+#define AXIS_DRIVER_TYPE_Z4(T) (NUM_Z_STEPPERS >= 4 && _AXIS_DRIVER_TYPE(Z4,T))
 
 #define AXIS_DRIVER_TYPE_E(N,T) (E_STEPPERS > N && _AXIS_DRIVER_TYPE(E##N,T))
 #define AXIS_DRIVER_TYPE_E0(T) AXIS_DRIVER_TYPE_E(0,T)

Marlin/src/feature/z_stepper_align.cpp

@@ -33,35 +33,35 @@
 
 ZStepperAlign z_stepper_align;
 
-xy_pos_t ZStepperAlign::xy[NUM_Z_STEPPER_DRIVERS];
+xy_pos_t ZStepperAlign::xy[NUM_Z_STEPPERS];
 
 #if HAS_Z_STEPPER_ALIGN_STEPPER_XY
-  xy_pos_t ZStepperAlign::stepper_xy[NUM_Z_STEPPER_DRIVERS];
+  xy_pos_t ZStepperAlign::stepper_xy[NUM_Z_STEPPERS];
 #endif
 
 void ZStepperAlign::reset_to_default() {
   #ifdef Z_STEPPER_ALIGN_XY
 
     constexpr xy_pos_t xy_init[] = Z_STEPPER_ALIGN_XY;
-    static_assert(COUNT(xy_init) == NUM_Z_STEPPER_DRIVERS,
+    static_assert(COUNT(xy_init) == NUM_Z_STEPPERS,
       "Z_STEPPER_ALIGN_XY requires "
-      #if NUM_Z_STEPPER_DRIVERS == 4
+      #if NUM_Z_STEPPERS == 4
         "four {X,Y} entries (Z, Z2, Z3, and Z4)."
-      #elif NUM_Z_STEPPER_DRIVERS == 3
+      #elif NUM_Z_STEPPERS == 3
         "three {X,Y} entries (Z, Z2, and Z3)."
       #else
         "two {X,Y} entries (Z and Z2)."
       #endif
     );
 
-    #define VALIDATE_ALIGN_POINT(N) static_assert(N >= NUM_Z_STEPPER_DRIVERS || Probe::build_time::can_reach(xy_init[N]), \
+    #define VALIDATE_ALIGN_POINT(N) static_assert(N >= NUM_Z_STEPPERS || Probe::build_time::can_reach(xy_init[N]), \
       "Z_STEPPER_ALIGN_XY point " STRINGIFY(N) " is not reachable with the default NOZZLE_TO_PROBE offset and PROBING_MARGIN.")
     VALIDATE_ALIGN_POINT(0); VALIDATE_ALIGN_POINT(1); VALIDATE_ALIGN_POINT(2); VALIDATE_ALIGN_POINT(3);
 
   #else // !Z_STEPPER_ALIGN_XY
 
     const xy_pos_t xy_init[] = {
-      #if NUM_Z_STEPPER_DRIVERS >= 3  // First probe point...
+      #if NUM_Z_STEPPERS >= 3  // First probe point...
         #if !Z_STEPPERS_ORIENTATION
           { probe.min_x(), probe.min_y() }, // SW
         #elif Z_STEPPERS_ORIENTATION == 1
@@ -73,7 +73,7 @@ void ZStepperAlign::reset_to_default() {
         #else
           #error "Z_STEPPERS_ORIENTATION must be from 0 to 3 (first point SW, NW, NE, SE)."
         #endif
-        #if NUM_Z_STEPPER_DRIVERS == 4    // 3 more points...
+        #if NUM_Z_STEPPERS == 4    // 3 more points...
           #if !Z_STEPPERS_ORIENTATION
             { probe.min_x(), probe.max_y() }, { probe.max_x(), probe.max_y() }, { probe.max_x(), probe.min_y() }  // SW
           #elif Z_STEPPERS_ORIENTATION == 1
@@ -106,11 +106,11 @@ void ZStepperAlign::reset_to_default() {
   #if HAS_Z_STEPPER_ALIGN_STEPPER_XY
     constexpr xy_pos_t stepper_xy_init[] = Z_STEPPER_ALIGN_STEPPER_XY;
     static_assert(
-      COUNT(stepper_xy_init) == NUM_Z_STEPPER_DRIVERS,
+      COUNT(stepper_xy_init) == NUM_Z_STEPPERS,
       "Z_STEPPER_ALIGN_STEPPER_XY requires "
-      #if NUM_Z_STEPPER_DRIVERS == 4
+      #if NUM_Z_STEPPERS == 4
         "four {X,Y} entries (Z, Z2, Z3, and Z4)."
-      #elif NUM_Z_STEPPER_DRIVERS == 3
+      #elif NUM_Z_STEPPERS == 3
         "three {X,Y} entries (Z, Z2, and Z3)."
       #endif
     );

Marlin/src/feature/z_stepper_align.h

@@ -29,10 +29,10 @@
 
 class ZStepperAlign {
   public:
-    static xy_pos_t xy[NUM_Z_STEPPER_DRIVERS];
+    static xy_pos_t xy[NUM_Z_STEPPERS];
 
     #if HAS_Z_STEPPER_ALIGN_STEPPER_XY
-      static xy_pos_t stepper_xy[NUM_Z_STEPPER_DRIVERS];
+      static xy_pos_t stepper_xy[NUM_Z_STEPPERS];
     #endif
 
   static void reset_to_default();

Marlin/src/gcode/calibrate/G34.cpp

@@ -91,7 +91,7 @@ void GcodeSuite::G34() {
     digipot_i2c.set_current(Z_AXIS, target_current)
   #elif HAS_TRINAMIC_CONFIG
     const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT);
-    static uint16_t previous_current_arr[NUM_Z_STEPPER_DRIVERS];
+    static uint16_t previous_current_arr[NUM_Z_STEPPERS];
     #if AXIS_IS_TMC(Z)
       previous_current_arr[0] = stepperZ.getMilliamps();
       stepperZ.rms_current(target_current);