Quad Z stepper support (#16277)

Marlin/Configuration.h

@@ -670,6 +670,7 @@
 //#define Y2_DRIVER_TYPE A4988
 //#define Z2_DRIVER_TYPE A4988
 //#define Z3_DRIVER_TYPE A4988
+//#define Z4_DRIVER_TYPE A4988
 //#define E0_DRIVER_TYPE A4988
 //#define E1_DRIVER_TYPE A4988
 //#define E2_DRIVER_TYPE A4988

Marlin/Configuration_adv.h

@@ -479,7 +479,7 @@
   //#define X_DUAL_ENDSTOPS
   #if ENABLED(X_DUAL_ENDSTOPS)
     #define X2_USE_ENDSTOP _XMAX_
-    #define X_DUAL_ENDSTOPS_ADJUSTMENT  0
+    #define X2_ENDSTOP_ADJUSTMENT  0
   #endif
 #endif
 
@@ -489,27 +489,28 @@
   //#define Y_DUAL_ENDSTOPS
   #if ENABLED(Y_DUAL_ENDSTOPS)
     #define Y2_USE_ENDSTOP _YMAX_
-    #define Y_DUAL_ENDSTOPS_ADJUSTMENT  0
+    #define Y2_ENDSTOP_ADJUSTMENT  0
   #endif
 #endif
 
-//#define Z_DUAL_STEPPER_DRIVERS
-#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
-  //#define Z_DUAL_ENDSTOPS
-  #if ENABLED(Z_DUAL_ENDSTOPS)
-    #define Z2_USE_ENDSTOP _XMAX_
-    #define Z_DUAL_ENDSTOPS_ADJUSTMENT  0
-  #endif
-#endif
-
-//#define Z_TRIPLE_STEPPER_DRIVERS
-#if ENABLED(Z_TRIPLE_STEPPER_DRIVERS)
-  //#define Z_TRIPLE_ENDSTOPS
-  #if ENABLED(Z_TRIPLE_ENDSTOPS)
-    #define Z2_USE_ENDSTOP _XMAX_
-    #define Z3_USE_ENDSTOP _YMAX_
-    #define Z_TRIPLE_ENDSTOPS_ADJUSTMENT2  0
-    #define Z_TRIPLE_ENDSTOPS_ADJUSTMENT3  0
+//
+// 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
+  //#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
 
@@ -1898,6 +1899,12 @@
     #define Z3_MICROSTEPS       16
   #endif
 
+  #if AXIS_DRIVER_TYPE_Z4(TMC26X)
+    #define Z4_MAX_CURRENT    1000
+    #define Z4_SENSE_RESISTOR   91
+    #define Z4_MICROSTEPS       16
+  #endif
+
   #if AXIS_DRIVER_TYPE_E0(TMC26X)
     #define E0_MAX_CURRENT    1000
     #define E0_SENSE_RESISTOR   91
@@ -2015,6 +2022,14 @@
     #define Z3_CHAIN_POS     -1
   #endif
 
+  #if AXIS_IS_TMC(Z4)
+    #define Z4_CURRENT      800
+    #define Z4_CURRENT_HOME Z4_CURRENT
+    #define Z4_MICROSTEPS    16
+    #define Z4_RSENSE         0.11
+    #define Z4_CHAIN_POS     -1
+  #endif
+
   #if AXIS_IS_TMC(E0)
     #define E0_CURRENT      800
     #define E0_MICROSTEPS    16
@@ -2104,6 +2119,7 @@
   #define Y2_SLAVE_ADDRESS 0
   #define Z2_SLAVE_ADDRESS 0
   #define Z3_SLAVE_ADDRESS 0
+  #define Z4_SLAVE_ADDRESS 0
   #define E0_SLAVE_ADDRESS 0
   #define E1_SLAVE_ADDRESS 0
   #define E2_SLAVE_ADDRESS 0
@@ -2179,6 +2195,7 @@
   #define Z_HYBRID_THRESHOLD       3
   #define Z2_HYBRID_THRESHOLD      3
   #define Z3_HYBRID_THRESHOLD      3
+  #define Z4_HYBRID_THRESHOLD      3
   #define E0_HYBRID_THRESHOLD     30
   #define E1_HYBRID_THRESHOLD     30
   #define E2_HYBRID_THRESHOLD     30
@@ -2344,6 +2361,15 @@
     #define Z3_SLEW_RATE         1
   #endif
 
+  #if AXIS_IS_L64XX(Z4)
+    #define Z4_MICROSTEPS      128
+    #define Z4_OVERCURRENT    2000
+    #define Z4_STALLCURRENT   1500
+    #define Z4_MAX_VOLTAGE     127
+    #define Z4_CHAIN_POS        -1
+    #define Z4_SLEW_RATE         1
+  #endif
+
   #if AXIS_IS_L64XX(E0)
     #define E0_MICROSTEPS      128
     #define E0_OVERCURRENT    2000
@@ -2407,7 +2433,7 @@
    *         I not present or I0 or I1 - X, Y, Z or E0
    *         I2 - X2, Y2, Z2 or E1
    *         I3 - Z3 or E3
-   *         I4 - E4
+   *         I4 - Z4 or E4
    *         I5 - E5
    * M916 - Increase drive level until get thermal warning
    * M917 - Find minimum current thresholds

Marlin/src/HAL/HAL_AVR/endstop_interrupts.h

@@ -232,6 +232,22 @@ void setup_endstop_interrupts() {
       pciSetup(Z3_MIN_PIN);
     #endif
   #endif
+  #if HAS_Z4_MAX
+    #if (digitalPinToInterrupt(Z4_MAX_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(Z4_MAX_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(Z4_MAX_PIN), "Z4_MAX_PIN is not interrupt-capable");
+      pciSetup(Z4_MAX_PIN);
+    #endif
+  #endif
+  #if HAS_Z4_MIN
+    #if (digitalPinToInterrupt(Z4_MIN_PIN) != NOT_AN_INTERRUPT)
+      _ATTACH(Z4_MIN_PIN);
+    #else
+      static_assert(digitalPinHasPCICR(Z4_MIN_PIN), "Z4_MIN_PIN is not interrupt-capable");
+      pciSetup(Z4_MIN_PIN);
+    #endif
+  #endif
   #if HAS_Z_MIN_PROBE_PIN
     #if (digitalPinToInterrupt(Z_MIN_PROBE_PIN) != NOT_AN_INTERRUPT)
       _ATTACH(Z_MIN_PROBE_PIN);

Marlin/src/HAL/HAL_DUE/endstop_interrupts.h

@@ -77,6 +77,12 @@ void setup_endstop_interrupts() {
   #if HAS_Z3_MIN
     _ATTACH(Z3_MIN_PIN);
   #endif
+  #if HAS_Z4_MAX
+    _ATTACH(Z4_MAX_PIN);
+  #endif
+  #if HAS_Z4_MIN
+    _ATTACH(Z4_MIN_PIN);
+  #endif
   #if HAS_Z_MIN_PROBE_PIN
     _ATTACH(Z_MIN_PROBE_PIN);
   #endif

Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h

@@ -72,6 +72,12 @@ void setup_endstop_interrupts() {
   #if HAS_Z3_MIN
     _ATTACH(Z3_MIN_PIN);
   #endif
+  #if HAS_Z4_MAX
+    _ATTACH(Z4_MAX_PIN);
+  #endif
+  #if HAS_Z4_MIN
+    _ATTACH(Z4_MIN_PIN);
+  #endif
   #if HAS_Z_MIN_PROBE_PIN
     _ATTACH(Z_MIN_PROBE_PIN);
   #endif

Marlin/src/HAL/HAL_LPC1768/endstop_interrupts.h

@@ -93,7 +93,7 @@ void setup_endstop_interrupts() {
     _ATTACH(Z2_MIN_PIN);
   #endif
   #if HAS_Z3_MAX
-    #if !LPC1768_PIN_INTERRUPT_M(Z3_MIN_PIN)
+    #if !LPC1768_PIN_INTERRUPT_M(Z3_MAX_PIN)
       #error "Z3_MIN_PIN is not INTERRUPT-capable."
     #endif
     _ATTACH(Z3_MAX_PIN);
@@ -104,6 +104,18 @@ void setup_endstop_interrupts() {
     #endif
     _ATTACH(Z3_MIN_PIN);
   #endif
+  #if HAS_Z4_MAX
+    #if !LPC1768_PIN_INTERRUPT_M(Z4_MAX_PIN)
+      #error "Z4_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(Z4_MAX_PIN);
+  #endif
+  #if HAS_Z4_MIN
+    #if !LPC1768_PIN_INTERRUPT_M(Z4_MIN_PIN)
+      #error "Z4_MIN_PIN is not INTERRUPT-capable."
+    #endif
+    _ATTACH(Z4_MIN_PIN);
+  #endif
   #if HAS_Z_MIN_PROBE_PIN
     #if !LPC1768_PIN_INTERRUPT_M(Z_MIN_PROBE_PIN)
       #error "Z_MIN_PROBE_PIN is not INTERRUPT-capable."

Marlin/src/HAL/HAL_SAMD51/endstop_interrupts.h

@@ -98,6 +98,16 @@
 #else
   #define MATCH_Z3_MIN_EILINE(P) false
 #endif
+#if HAS_Z4_MAX
+  #define MATCH_Z4_MAX_EILINE(P) MATCH_EILINE(P, Z4_MAX_PIN)
+#else
+  #define MATCH_Z4_MAX_EILINE(P) false
+#endif
+#if HAS_Z4_MIN
+  #define MATCH_Z4_MIN_EILINE(P) MATCH_EILINE(P, Z4_MIN_PIN)
+#else
+  #define MATCH_Z4_MIN_EILINE(P) false
+#endif
 #if HAS_Z_MIN_PROBE_PIN
   #define MATCH_Z_MIN_PROBE_EILINE(P)   MATCH_EILINE(P, Z_MIN_PROBE_PIN)
 #else
@@ -109,6 +119,7 @@
                                  && !MATCH_Z_MAX_EILINE(P) && !MATCH_Z_MIN_EILINE(P)    \
                                  && !MATCH_Z2_MAX_EILINE(P) && !MATCH_Z2_MIN_EILINE(P)  \
                                  && !MATCH_Z3_MAX_EILINE(P) && !MATCH_Z3_MIN_EILINE(P)  \
+                                 && !MATCH_Z4_MAX_EILINE(P) && !MATCH_Z4_MIN_EILINE(P)  \
                                  && !MATCH_Z_MIN_PROBE_EILINE(P))
 
 // One ISR for all EXT-Interrupts
@@ -117,67 +128,79 @@ void endstop_ISR() { endstops.update(); }
 void setup_endstop_interrupts() {
   #if HAS_X_MAX
     #if !AVAILABLE_EILINE(X_MAX_PIN)
-      static_assert(false, "X_MAX_PIN has no EXTINT line available.");
+      #error "X_MAX_PIN has no EXTINT line available."
     #endif
     attachInterrupt(X_MAX_PIN, endstop_ISR, CHANGE);
   #endif
   #if HAS_X_MIN
     #if !AVAILABLE_EILINE(X_MIN_PIN)
-      static_assert(false, "X_MIN_PIN has no EXTINT line available.");
+      #error "X_MIN_PIN has no EXTINT line available."
     #endif
     attachInterrupt(X_MIN_PIN, endstop_ISR, CHANGE);
   #endif
   #if HAS_Y_MAX
     #if !AVAILABLE_EILINE(Y_MAX_PIN)
-      static_assert(false, "Y_MAX_PIN has no EXTINT line available.");
+      #error "Y_MAX_PIN has no EXTINT line available."
     #endif
     attachInterrupt(Y_MAX_PIN, endstop_ISR, CHANGE);
   #endif
   #if HAS_Y_MIN
     #if !AVAILABLE_EILINE(Y_MIN_PIN)
-      static_assert(false, "Y_MIN_PIN has no EXTINT line available.");
+      #error "Y_MIN_PIN has no EXTINT line available."
     #endif
     attachInterrupt(Y_MIN_PIN, endstop_ISR, CHANGE);
   #endif
   #if HAS_Z_MAX
     #if !AVAILABLE_EILINE(Z_MAX_PIN)
-      static_assert(false, "Z_MAX_PIN has no EXTINT line available.");
+      #error "Z_MAX_PIN has no EXTINT line available."
     #endif
     attachInterrupt(Z_MAX_PIN, endstop_ISR, CHANGE);
   #endif
   #if HAS_Z_MIN
     #if !AVAILABLE_EILINE(Z_MIN_PIN)
-      static_assert(false, "Z_MIN_PIN has no EXTINT line available.");
+      #error "Z_MIN_PIN has no EXTINT line available."
     #endif
     attachInterrupt(Z_MIN_PIN, endstop_ISR, CHANGE);
   #endif
   #if HAS_Z2_MAX
     #if !AVAILABLE_EILINE(Z2_MAX_PIN)
-      static_assert(false, "Z2_MAX_PIN has no EXTINT line available.");
+      #error "Z2_MAX_PIN has no EXTINT line available."
     #endif
     attachInterrupt(Z2_MAX_PIN, endstop_ISR, CHANGE);
   #endif
   #if HAS_Z2_MIN
     #if !AVAILABLE_EILINE(Z2_MIN_PIN)
-      static_assert(false, "Z2_MIN_PIN has no EXTINT line available.");
+      #error "Z2_MIN_PIN has no EXTINT line available."
     #endif
     attachInterrupt(Z2_MIN_PIN, endstop_ISR, CHANGE);
   #endif
   #if HAS_Z3_MAX
     #if !AVAILABLE_EILINE(Z3_MAX_PIN)
-      static_assert(false, "Z3_MAX_PIN has no EXTINT line available.");
+      #error "Z3_MAX_PIN has no EXTINT line available."
     #endif
     attachInterrupt(Z3_MAX_PIN, endstop_ISR, CHANGE);
   #endif
   #if HAS_Z3_MIN
     #if !AVAILABLE_EILINE(Z3_MIN_PIN)
-      static_assert(false, "Z3_MIN_PIN has no EXTINT line available.");
+      #error "Z3_MIN_PIN has no EXTINT line available."
     #endif
     attachInterrupt(Z3_MIN_PIN, endstop_ISR, CHANGE);
   #endif
+  #if HAS_Z4_MAX
+    #if !AVAILABLE_EILINE(Z4_MAX_PIN)
+      #error "Z4_MAX_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(Z4_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_Z4_MIN
+    #if !AVAILABLE_EILINE(Z4_MIN_PIN)
+      #error "Z4_MIN_PIN has no EXTINT line available."
+    #endif
+    attachInterrupt(Z4_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
   #if HAS_Z_MIN_PROBE_PIN
     #if !AVAILABLE_EILINE(Z_MIN_PROBE_PIN)
-      static_assert(false, "Z_MIN_PROBE_PIN has no EXTINT line available.");
+      #error "Z_MIN_PROBE_PIN has no EXTINT line available."
     #endif
     attachInterrupt(Z_MIN_PROBE_PIN, endstop_ISR, CHANGE);
   #endif

Marlin/src/HAL/HAL_STM32/endstop_interrupts.h

@@ -58,6 +58,12 @@ void setup_endstop_interrupts() {
   #if HAS_Z3_MIN
     attachInterrupt(Z3_MIN_PIN, endstop_ISR, CHANGE);
   #endif
+  #if HAS_Z4_MAX
+    attachInterrupt(Z4_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_Z4_MIN
+    attachInterrupt(Z4_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
   #if HAS_Z_MIN_PROBE_PIN
     attachInterrupt(Z_MIN_PROBE_PIN, endstop_ISR, CHANGE);
   #endif

Marlin/src/HAL/HAL_STM32F1/endstop_interrupts.h

@@ -82,6 +82,12 @@ void setup_endstop_interrupts() {
   #endif
   #if HAS_Z3_MIN
     attachInterrupt(Z3_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
+    #if HAS_Z4_MAX
+    attachInterrupt(Z4_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_Z4_MIN
+    attachInterrupt(Z4_MIN_PIN, endstop_ISR, CHANGE);
   #endif
   #if HAS_Z_MIN_PROBE_PIN
     attachInterrupt(Z_MIN_PROBE_PIN, endstop_ISR, CHANGE);

Marlin/src/HAL/HAL_STM32_F4_F7/endstop_interrupts.h

@@ -58,6 +58,12 @@ void setup_endstop_interrupts() {
   #if HAS_Z3_MIN
     attachInterrupt(Z3_MIN_PIN, endstop_ISR, CHANGE);
   #endif
+  #if HAS_Z4_MAX
+    attachInterrupt(Z4_MAX_PIN, endstop_ISR, CHANGE);
+  #endif
+  #if HAS_Z4_MIN
+    attachInterrupt(Z4_MIN_PIN, endstop_ISR, CHANGE);
+  #endif
   #if HAS_Z_MIN_PROBE_PIN
     attachInterrupt(Z_MIN_PROBE_PIN, endstop_ISR, CHANGE);
   #endif

Marlin/src/HAL/HAL_TEENSY35_36/endstop_interrupts.h

@@ -76,6 +76,12 @@ void setup_endstop_interrupts() {
   #if HAS_Z3_MIN
     _ATTACH(Z3_MIN_PIN);
   #endif
+  #if HAS_Z4_MAX
+    _ATTACH(Z4_MAX_PIN);
+  #endif
+  #if HAS_Z4_MIN
+    _ATTACH(Z4_MIN_PIN);
+  #endif
   #if HAS_Z_MIN_PROBE_PIN
     _ATTACH(Z_MIN_PROBE_PIN);
   #endif

Marlin/src/core/drivers.h

@@ -63,8 +63,9 @@
   #define AXIS_DRIVER_TYPE_X2(T) false
 #endif
 #define AXIS_DRIVER_TYPE_Y2(T) (ENABLED(Y_DUAL_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Y2,T))
-#define AXIS_DRIVER_TYPE_Z2(T) (Z_MULTI_STEPPER_DRIVERS && _AXIS_DRIVER_TYPE(Z2,T))
-#define AXIS_DRIVER_TYPE_Z3(T) (ENABLED(Z_TRIPLE_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Z3,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_E0(T) (E_STEPPERS > 0 && _AXIS_DRIVER_TYPE(E0,T))
 #define AXIS_DRIVER_TYPE_E1(T) (E_STEPPERS > 1 && _AXIS_DRIVER_TYPE(E1,T))
 #define AXIS_DRIVER_TYPE_E2(T) (E_STEPPERS > 2 && _AXIS_DRIVER_TYPE(E2,T))
@@ -80,7 +81,8 @@
 
 #define HAS_DRIVER(T) (    AXIS_DRIVER_TYPE_X(T)  || AXIS_DRIVER_TYPE_X2(T) \
                         || AXIS_DRIVER_TYPE_Y(T)  || AXIS_DRIVER_TYPE_Y2(T) \
-                        || AXIS_DRIVER_TYPE_Z(T)  || AXIS_DRIVER_TYPE_Z2(T) || AXIS_DRIVER_TYPE_Z3(T) \
+                        || AXIS_DRIVER_TYPE_Z(T)  || AXIS_DRIVER_TYPE_Z2(T) \
+                        || AXIS_DRIVER_TYPE_Z3(T) || AXIS_DRIVER_TYPE_Z4(T) \
                         || HAS_E_DRIVER(T) )
 
 // Test for supported TMC drivers that require advanced configuration