✏️ Followup to Six Linear Axes (MarlinFirmware#22056)

Marlin/Configuration_adv.h

@@ -734,7 +734,7 @@
  * the position of the toolhead relative to the workspace.
  */
 
-//#define SENSORLESS_BACKOFF_MM  { 2, 2 }     // (mm) Backoff from endstops before sensorless homing
+//#define SENSORLESS_BACKOFF_MM  { 2, 2, 0 }  // (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)
@@ -2253,7 +2253,7 @@
    * 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_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/macros.h

@@ -36,15 +36,15 @@
 #define _XMIN_   100
 #define _YMIN_   200
 #define _ZMIN_   300
-#define _IMIN_   400
-#define _JMIN_   500
-#define _KMIN_   600
+#define _IMIN_   500
+#define _JMIN_   600
+#define _KMIN_   700
 #define _XMAX_   101
 #define _YMAX_   201
 #define _ZMAX_   301
-#define _IMAX_   401
-#define _JMAX_   501
-#define _KMAX_   601
+#define _IMAX_   501
+#define _JMAX_   601
+#define _KMAX_   701
 #define _XDIAG_  102
 #define _YDIAG_  202
 #define _ZDIAG_  302

Marlin/src/inc/SanityCheck.h

@@ -570,8 +570,8 @@
   #error "NEOPIXEL_BKGD_LED_INDEX is now NEOPIXEL_BKGD_INDEX_FIRST."
 #endif
 
-constexpr float sbm[] = AXIS_RELATIVE_MODES;
-static_assert(COUNT(sbm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _LOGICAL_AXES_STR "elements.");
+constexpr float arm[] = AXIS_RELATIVE_MODES;
+static_assert(COUNT(arm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _LOGICAL_AXES_STR "elements.");
 
 /**
  * Probe temp compensation requirements

Marlin/src/module/endstops.h

@@ -223,7 +223,7 @@ class Endstops {
       typedef struct {
         union {
           bool any;
-          struct { bool x:1, y:1, z:1; };
+          struct { bool LINEAR_AXIS_LIST(x:1, y:1, z:1, i:1, j:1, k:1); };
         };
       } tmc_spi_homing_t;
       static tmc_spi_homing_t tmc_spi_homing;

Marlin/src/module/motion.cpp

@@ -588,27 +588,27 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
   }
 #endif
 
-#if LINEAR_AXES == 4
+#if LINEAR_AXES >= 4
   void do_blocking_move_to_i(const_float_t ri, const_feedRate_t fr_mm_s/*=0.0*/) {
     do_blocking_move_to_xyz_i(current_position, ri, fr_mm_s);
   }
   void do_blocking_move_to_xyz_i(const xyze_pos_t &raw, const_float_t i, const_feedRate_t fr_mm_s/*=0.0f*/) {
-	  do_blocking_move_to(raw.x, raw.y, raw.z, i, fr_mm_s);
+    do_blocking_move_to(
+      LINEAR_AXIS_LIST(raw.x, raw.y, raw.z, i, raw.j, raw.k),
+      fr_mm_s
+    );
   }
 #endif
 
 #if LINEAR_AXES >= 5
-  void do_blocking_move_to_i(const_float_t ri, const_feedRate_t fr_mm_s/*=0.0*/) {
-    do_blocking_move_to_xyz_i(current_position, ri, fr_mm_s);
-  }
-  void do_blocking_move_to_xyz_i(const xyze_pos_t &raw, const_float_t i, const_feedRate_t fr_mm_s/*=0.0f*/) {
-	  do_blocking_move_to(raw.x, raw.y, raw.z, i, raw.j, fr_mm_s);
-  }
   void do_blocking_move_to_j(const_float_t rj, const_feedRate_t fr_mm_s/*=0.0*/) {
     do_blocking_move_to_xyzi_j(current_position, rj, fr_mm_s);
   }
   void do_blocking_move_to_xyzi_j(const xyze_pos_t &raw, const_float_t j, const_feedRate_t fr_mm_s/*=0.0f*/) {
-    do_blocking_move_to(raw.x, raw.y, raw.z, raw.i, j, fr_mm_s);
+    do_blocking_move_to(
+      LINEAR_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, j, raw.k),
+      fr_mm_s
+    );
   }
 #endif
 
@@ -617,7 +617,10 @@ void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
     do_blocking_move_to_xyzij_k(current_position, rk, fr_mm_s);
   }
   void do_blocking_move_to_xyzij_k(const xyze_pos_t &raw, const_float_t k, const_feedRate_t fr_mm_s/*=0.0f*/) {
-    do_blocking_move_to(raw.x, raw.y, raw.z, raw.i, raw.j, k, fr_mm_s);
+    do_blocking_move_to(
+      LINEAR_AXIS_LIST(raw.x, raw.y, raw.z, raw.i, raw.j, k),
+      fr_mm_s
+    );
   }
 #endif
 
@@ -822,7 +825,7 @@ void restore_feedrate_and_scaling() {
         #endif
       }
     #endif
-    #if LINEAR_AXES >= 4  // TODO (DerAndere): Find out why this was missing / removed
+    #if LINEAR_AXES >= 4
       if (axis_was_homed(I_AXIS)) {
         #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_I)
           NOLESS(target.i, soft_endstop.min.i);
@@ -1295,7 +1298,7 @@ void prepare_line_to_destination() {
 
   bool homing_needed_error(linear_axis_bits_t axis_bits/*=linear_bits*/) {
     if ((axis_bits = axes_should_home(axis_bits))) {
-      PGM_P home_first = GET_TEXT(MSG_HOME_FIRST);  // TODO: (DerAndere) Set this up for extra axes
+      PGM_P home_first = GET_TEXT(MSG_HOME_FIRST);
       char msg[strlen_P(home_first)+1];
       sprintf_P(msg, home_first,
         LINEAR_AXIS_LIST(
@@ -1390,8 +1393,21 @@ void prepare_line_to_destination() {
       #if ENABLED(SPI_ENDSTOPS)
         switch (axis) {
           case X_AXIS: if (ENABLED(X_SPI_SENSORLESS)) endstops.tmc_spi_homing.x = true; break;
-          case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = true; break;
-          case Z_AXIS: if (ENABLED(Z_SPI_SENSORLESS)) endstops.tmc_spi_homing.z = true; break;
+          #if HAS_Y_AXIS
+            case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = true; break;
+          #endif
+          #if HAS_Z_AXIS
+            case Z_AXIS: if (ENABLED(Z_SPI_SENSORLESS)) endstops.tmc_spi_homing.z = true; break;
+          #endif
+          #if LINEAR_AXES >= 4
+            case I_AXIS: if (ENABLED(I_SPI_SENSORLESS)) endstops.tmc_spi_homing.i = true; break;
+          #endif
+          #if LINEAR_AXES >= 5
+            case J_AXIS: if (ENABLED(J_SPI_SENSORLESS)) endstops.tmc_spi_homing.j = true; break;
+          #endif
+          #if LINEAR_AXES >= 6
+            case K_AXIS: if (ENABLED(K_SPI_SENSORLESS)) endstops.tmc_spi_homing.k = true; break;
+          #endif
           default: break;
         }
       #endif
@@ -1454,11 +1470,21 @@ void prepare_line_to_destination() {
       #if ENABLED(SPI_ENDSTOPS)
         switch (axis) {
           case X_AXIS: if (ENABLED(X_SPI_SENSORLESS)) endstops.tmc_spi_homing.x = false; break;
-          case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = false; break;
-          case Z_AXIS: if (ENABLED(Z_SPI_SENSORLESS)) endstops.tmc_spi_homing.z = false; break;
-          case I_AXIS: if (ENABLED(I_SPI_SENSORLESS)) endstops.tmc_spi_homing.i = false; break;
-          case J_AXIS: if (ENABLED(J_SPI_SENSORLESS)) endstops.tmc_spi_homing.j = false; break;
-          case K_AXIS: if (ENABLED(K_SPI_SENSORLESS)) endstops.tmc_spi_homing.k = false; break;
+          #if HAS_Y_AXIS
+            case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = false; break;
+          #endif
+          #if HAS_Z_AXIS
+            case Z_AXIS: if (ENABLED(Z_SPI_SENSORLESS)) endstops.tmc_spi_homing.z = false; break;
+          #endif
+          #if LINEAR_AXES >= 4
+            case I_AXIS: if (ENABLED(I_SPI_SENSORLESS)) endstops.tmc_spi_homing.i = false; break;
+          #endif
+          #if LINEAR_AXES >= 5
+            case J_AXIS: if (ENABLED(J_SPI_SENSORLESS)) endstops.tmc_spi_homing.j = false; break;
+          #endif
+          #if LINEAR_AXES >= 6
+            case K_AXIS: if (ENABLED(K_SPI_SENSORLESS)) endstops.tmc_spi_homing.k = false; break;
+          #endif
           default: break;
         }
       #endif
@@ -1734,11 +1760,11 @@ void prepare_line_to_destination() {
     #endif
 
     //
-    // Back away to prevent an early X/Y sensorless trigger
+    // Back away to prevent an early sensorless trigger
     //
     #if DISABLED(DELTA) && defined(SENSORLESS_BACKOFF_MM)
-      const xy_float_t backoff = SENSORLESS_BACKOFF_MM;
-      if ((TERN0(X_SENSORLESS, axis == X_AXIS) || TERN0(Y_SENSORLESS, axis == Y_AXIS)) && backoff[axis]) {
+      const xyz_float_t backoff = SENSORLESS_BACKOFF_MM;
+      if ((TERN0(X_SENSORLESS, axis == X_AXIS) || TERN0(Y_SENSORLESS, axis == Y_AXIS) || TERN0(Z_SENSORLESS, axis == Z_AXIS) || TERN0(I_SENSORLESS, axis == I_AXIS) || TERN0(J_SENSORLESS, axis == J_AXIS) || TERN0(K_SENSORLESS, axis == K_AXIS)) && backoff[axis]) {
         const float backoff_length = -ABS(backoff[axis]) * axis_home_dir;
         if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Sensorless backoff: ", backoff_length, "mm");
         do_homing_move(axis, backoff_length, homing_feedrate(axis));
@@ -1777,6 +1803,15 @@ void prepare_line_to_destination() {
           case X_AXIS: es = X_ENDSTOP; break;
           case Y_AXIS: es = Y_ENDSTOP; break;
           case Z_AXIS: es = Z_ENDSTOP; break;
+          #if LINEAR_AXES >= 4
+            case I_AXIS: es = I_ENDSTOP; break;
+          #endif
+          #if LINEAR_AXES >= 5
+            case J_AXIS: es = J_ENDSTOP; break;
+          #endif
+          #if LINEAR_AXES >= 6
+            case K_AXIS: es = K_ENDSTOP; break;
+          #endif
         }
         if (TEST(endstops.state(), es)) {
           SERIAL_ECHO_MSG("Bad ", AS_CHAR(AXIS_CHAR(axis)), " Endstop?");

Marlin/src/module/motion.h

@@ -180,7 +180,7 @@ inline float home_bump_mm(const AxisEnum axis) {
               TERN_(MAX_SOFTWARE_ENDSTOP_Z, amax = max.z);
               break;
           #endif
-          #if LINEAR_AXES >= 4 // TODO (DerAndere): Test for LINEAR_AXES >= 4
+          #if LINEAR_AXES >= 4
             case I_AXIS:
               TERN_(MIN_SOFTWARE_ENDSTOP_I, amin = min.i);
               TERN_(MIN_SOFTWARE_ENDSTOP_I, amax = max.i);

Marlin/src/module/planner.cpp

@@ -1451,7 +1451,7 @@ void Planner::check_axes_activity() {
     float high = 0.0;
     for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
       block_t *block = &block_buffer[b];
-      if (LINEAR_AXIS_GANG(block->steps.x, || block->steps.y, || block->steps.z, block->steps.i, || block->steps.j, || block->steps.k)) {
+      if (LINEAR_AXIS_GANG(block->steps.x, || block->steps.y, || block->steps.z, || block->steps.i, || block->steps.j, || block->steps.k)) {
         const float se = (float)block->steps.e / block->step_event_count * SQRT(block->nominal_speed_sqr); // mm/sec;
         NOLESS(high, se);
       }
@@ -2852,7 +2852,7 @@ bool Planner::buffer_segment(const abce_pos_t &abce
       int32_t(LROUND(abce.a * settings.axis_steps_per_mm[A_AXIS])),
       int32_t(LROUND(abce.b * settings.axis_steps_per_mm[B_AXIS])),
       int32_t(LROUND(abce.c * settings.axis_steps_per_mm[C_AXIS])),
-      int32_t(LROUND(abce.i * settings.axis_steps_per_mm[I_AXIS])), // FIXME (DerAndere): Multiplication by 4.0 is a work-around for issue with wrong internal steps per mm
+      int32_t(LROUND(abce.i * settings.axis_steps_per_mm[I_AXIS])),
       int32_t(LROUND(abce.j * settings.axis_steps_per_mm[J_AXIS])),
       int32_t(LROUND(abce.k * settings.axis_steps_per_mm[K_AXIS]))
     )
@@ -2893,7 +2893,7 @@ bool Planner::buffer_segment(const abce_pos_t &abce
     #endif
     #if LINEAR_AXES >= 4
       SERIAL_ECHOPAIR_P(SP_I_LBL, abce.i);
-      SERIAL_ECHOPAIR(" (", position.i, "->", target.i); // FIXME (DerAndere): Introduce work-around for issue with wrong internal steps per mm and feedrate for I_AXIS
+      SERIAL_ECHOPAIR(" (", position.i, "->", target.i);
       SERIAL_CHAR(')');
     #endif
     #if LINEAR_AXES >= 5

Marlin/src/module/stepper/trinamic.cpp

@@ -766,11 +766,7 @@ enum StealthIndex : uint8_t {
     pwmconf.pwm_ofs = 36;
     st.PWMCONF(pwmconf.sr);
 
-    #if ENABLED(HYBRID_THRESHOLD)
-      st.set_pwm_thrs(hyb_thrs);
-    #else
-      UNUSED(hyb_thrs);
-    #endif
+    TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs));
     st.GSTAT(); // Clear GSTAT
   }
 #endif // TMC5160
@@ -971,11 +967,12 @@ void reset_trinamic_drivers() {
   // Using a fixed-length character array for the port name allows this to be constexpr compatible.
   struct SanityHwSerialDetails { const char port[20]; uint32_t address; };
   #define TMC_HW_DETAIL_ARGS(A) TERN(A##_HAS_HW_SERIAL, STRINGIFY(A##_HARDWARE_SERIAL), ""), TERN0(A##_HAS_HW_SERIAL, A##_SLAVE_ADDRESS)
-  #define TMC_HW_DETAIL(A) {TMC_HW_DETAIL_ARGS(A)}
+  #define TMC_HW_DETAIL(A) { TMC_HW_DETAIL_ARGS(A) }
   constexpr SanityHwSerialDetails sanity_tmc_hw_details[] = {
     TMC_HW_DETAIL(X), TMC_HW_DETAIL(X2),
     TMC_HW_DETAIL(Y), TMC_HW_DETAIL(Y2),
     TMC_HW_DETAIL(Z), TMC_HW_DETAIL(Z2), TMC_HW_DETAIL(Z3), TMC_HW_DETAIL(Z4),
+    TMC_HW_DETAIL(I), TMC_HW_DETAIL(J), TMC_HW_DETAIL(K),
     TMC_HW_DETAIL(E0), TMC_HW_DETAIL(E1), TMC_HW_DETAIL(E2), TMC_HW_DETAIL(E3), TMC_HW_DETAIL(E4), TMC_HW_DETAIL(E5), TMC_HW_DETAIL(E6), TMC_HW_DETAIL(E7)
   };
 
@@ -995,10 +992,11 @@ void reset_trinamic_drivers() {
 
   #define TMC_HWSERIAL_CONFLICT_MSG(A) STRINGIFY(A) "_SLAVE_ADDRESS conflicts with another driver using the same " STRINGIFY(A) "_HARDWARE_SERIAL"
   #define SA_NO_TMC_HW_C(A) static_assert(1 >= count_tmc_hw_serial_matches(TMC_HW_DETAIL_ARGS(A), 0, COUNT(sanity_tmc_hw_details)), TMC_HWSERIAL_CONFLICT_MSG(A));
-  SA_NO_TMC_HW_C(X);SA_NO_TMC_HW_C(X2);
-  SA_NO_TMC_HW_C(Y);SA_NO_TMC_HW_C(Y2);
-  SA_NO_TMC_HW_C(Z);SA_NO_TMC_HW_C(Z2);SA_NO_TMC_HW_C(Z3);SA_NO_TMC_HW_C(Z4);
-  SA_NO_TMC_HW_C(E0);SA_NO_TMC_HW_C(E1);SA_NO_TMC_HW_C(E2);SA_NO_TMC_HW_C(E3);SA_NO_TMC_HW_C(E4);SA_NO_TMC_HW_C(E5);SA_NO_TMC_HW_C(E6);SA_NO_TMC_HW_C(E7);
+  SA_NO_TMC_HW_C(X); SA_NO_TMC_HW_C(X2);
+  SA_NO_TMC_HW_C(Y); SA_NO_TMC_HW_C(Y2);
+  SA_NO_TMC_HW_C(Z); SA_NO_TMC_HW_C(Z2); SA_NO_TMC_HW_C(Z3); SA_NO_TMC_HW_C(Z4);
+  SA_NO_TMC_HW_C(I); SA_NO_TMC_HW_C(J); SA_NO_TMC_HW_C(K);
+  SA_NO_TMC_HW_C(E0); SA_NO_TMC_HW_C(E1); SA_NO_TMC_HW_C(E2); SA_NO_TMC_HW_C(E3); SA_NO_TMC_HW_C(E4); SA_NO_TMC_HW_C(E5); SA_NO_TMC_HW_C(E6); SA_NO_TMC_HW_C(E7);
 #endif
 
 #if ANY_AXIS_HAS(SW_SERIAL)
@@ -1009,7 +1007,8 @@ void reset_trinamic_drivers() {
     TMC_SW_DETAIL(X), TMC_SW_DETAIL(X2),
     TMC_SW_DETAIL(Y), TMC_SW_DETAIL(Y2),
     TMC_SW_DETAIL(Z), TMC_SW_DETAIL(Z2), TMC_SW_DETAIL(Z3), TMC_SW_DETAIL(Z4),
-    TMC_SW_DETAIL(E0), TMC_SW_DETAIL(E1), TMC_SW_DETAIL(E2), TMC_SW_DETAIL(E3), TMC_SW_DETAIL(E4), TMC_SW_DETAIL(E5), TMC_SW_DETAIL(E6), TMC_SW_DETAIL(E7)
+    TMC_SW_DETAIL(I), TMC_SW_DETAIL(J), TMC_SW_DETAIL(K),
+  	TMC_SW_DETAIL(E0), TMC_SW_DETAIL(E1), TMC_SW_DETAIL(E2), TMC_SW_DETAIL(E3), TMC_SW_DETAIL(E4), TMC_SW_DETAIL(E5), TMC_SW_DETAIL(E6), TMC_SW_DETAIL(E7)
   };
 
   constexpr bool sc_sw_done(size_t start, size_t end) { return start == end; }
@@ -1023,10 +1022,11 @@ void reset_trinamic_drivers() {
 
   #define TMC_SWSERIAL_CONFLICT_MSG(A) STRINGIFY(A) "_SLAVE_ADDRESS conflicts with another driver using the same " STRINGIFY(A) "_SERIAL_RX_PIN or " STRINGIFY(A) "_SERIAL_TX_PIN"
   #define SA_NO_TMC_SW_C(A) static_assert(1 >= count_tmc_sw_serial_matches(TMC_SW_DETAIL_ARGS(A), 0, COUNT(sanity_tmc_sw_details)), TMC_SWSERIAL_CONFLICT_MSG(A));
-  SA_NO_TMC_SW_C(X);SA_NO_TMC_SW_C(X2);
-  SA_NO_TMC_SW_C(Y);SA_NO_TMC_SW_C(Y2);
-  SA_NO_TMC_SW_C(Z);SA_NO_TMC_SW_C(Z2);SA_NO_TMC_SW_C(Z3);SA_NO_TMC_SW_C(Z4);
-  SA_NO_TMC_SW_C(E0);SA_NO_TMC_SW_C(E1);SA_NO_TMC_SW_C(E2);SA_NO_TMC_SW_C(E3);SA_NO_TMC_SW_C(E4);SA_NO_TMC_SW_C(E5);SA_NO_TMC_SW_C(E6);SA_NO_TMC_SW_C(E7);
+  SA_NO_TMC_SW_C(X); SA_NO_TMC_SW_C(X2);
+  SA_NO_TMC_SW_C(Y); SA_NO_TMC_SW_C(Y2);
+  SA_NO_TMC_SW_C(Z); SA_NO_TMC_SW_C(Z2); SA_NO_TMC_SW_C(Z3); SA_NO_TMC_SW_C(Z4);
+  SA_NO_TMC_SW_C(I); SA_NO_TMC_SW_C(J); SA_NO_TMC_SW_C(K);
+  SA_NO_TMC_SW_C(E0); SA_NO_TMC_SW_C(E1); SA_NO_TMC_SW_C(E2); SA_NO_TMC_SW_C(E3); SA_NO_TMC_SW_C(E4); SA_NO_TMC_SW_C(E5); SA_NO_TMC_SW_C(E6); SA_NO_TMC_SW_C(E7);
 #endif
 
 #endif // HAS_TRINAMIC_CONFIG