♻️ More updates for multi-axis

Based on MarlinFirmware#23112

Co-Authored-By: Scott Lahteine <[email protected]>

Marlin/src/core/macros.h

@@ -350,7 +350,7 @@
 
 #define _LIST_N(N,V...) LIST_##N(V)
 #define LIST_N(N,V...) _LIST_N(N,V)
-#define LIST_N_1(N,K) _LIST_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K)
+#define LIST_N_1(N,K) _LIST_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K)
 #define ARRAY_N(N,V...) { _LIST_N(N,V) }
 #define ARRAY_N_1(N,K)  { LIST_N_1(N,K) }
 

Marlin/src/core/types.h

@@ -66,6 +66,12 @@ struct IF<true, L, R> { typedef L type; };
 
 #define LOGICAL_AXES_STRING LOGICAL_AXIS_GANG("E", "X", "Y", "Z", STR_I, STR_J, STR_K)
 
+#define XYZ_GANG(V...) GANG_N(PRIMARY_LINEAR_AXES, V)
+#define XYZ_CODE(V...) CODE_N(PRIMARY_LINEAR_AXES, V)
+
+#define SECONDARY_AXIS_GANG(V...) GANG_N(SECONDARY_AXES, V)
+#define SECONDARY_AXIS_CODE(V...) CODE_N(SECONDARY_AXES, V)
+
 #if HAS_EXTRUDERS
   #define LIST_ITEM_E(N) , N
   #define CODE_ITEM_E(N) ; N

Marlin/src/core/utility.h

@@ -77,11 +77,14 @@ class restorer {
 // in the range 0-100 while avoiding rounding artifacts
 constexpr uint8_t ui8_to_percent(const uint8_t i) { return (int(i) * 100 + 127) / 255; }
 
+// Axis names for G-code parsing, reports, etc.
 const xyze_char_t axis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', AXIS4_NAME, AXIS5_NAME, AXIS6_NAME);
-const xyze_char_t iaxis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', 'I', 'J', 'K');
 
 #if LINEAR_AXES <= XYZ
   #define AXIS_CHAR(A) ((char)('X' + A))
+  #define IAXIS_CHAR AXIS_CHAR
 #else
+  const xyze_char_t iaxis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', 'I', 'J', 'K');
   #define AXIS_CHAR(A) axis_codes[A]
+  #define IAXIS_CHAR(A) iaxis_codes[A]
 #endif

Marlin/src/gcode/calibrate/G28.cpp

@@ -460,9 +460,11 @@ void GcodeSuite::G28() {
       }
     #endif
 
-    TERN_(HAS_I_AXIS, if (doI) homeaxis(I_AXIS));
-    TERN_(HAS_J_AXIS, if (doJ) homeaxis(J_AXIS));
-    TERN_(HAS_K_AXIS, if (doK) homeaxis(K_AXIS));
+    SECONDARY_AXIS_CODE(
+      if (doI) homeaxis(I_AXIS),
+      if (doJ) homeaxis(J_AXIS),
+      if (doK) homeaxis(K_AXIS)
+    );
 
     sync_plan_position();
 

Marlin/src/gcode/calibrate/G425.cpp

@@ -88,7 +88,7 @@
 
 enum side_t : uint8_t {
   TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES,
-  LIST_N(DOUBLE(SUB3(LINEAR_AXES)), IMINIMUM, IMAXIMUM, JMINIMUM, JMAXIMUM, KMINIMUM, KMAXIMUM)
+  LIST_N(DOUBLE(SECONDARY_AXES), IMINIMUM, IMAXIMUM, JMINIMUM, JMAXIMUM, KMINIMUM, KMAXIMUM)
 };
 
 static constexpr xyz_pos_t true_center CALIBRATION_OBJECT_CENTER;

Marlin/src/gcode/calibrate/M425.cpp

@@ -57,7 +57,7 @@ void GcodeSuite::M425() {
   LOOP_LINEAR_AXES(a) {
     if (axis_can_calibrate(a) && parser.seen(AXIS_CHAR(a))) {
       planner.synchronize();
-      backlash.set_distance_mm(AxisEnum(a), parser.has_value() ? parser.value_linear_units() : backlash.get_measurement(AxisEnum(a)));
+      backlash.set_distance_mm((AxisEnum)a, parser.has_value() ? parser.value_axis_units((AxisEnum)a) : backlash.get_measurement((AxisEnum)a));
       noArgs = false;
     }
   }

Marlin/src/gcode/config/M217.cpp

@@ -174,14 +174,12 @@ void GcodeSuite::M217_report(const bool forReplay/*=true*/) {
         #if HAS_Y_AXIS
           , SP_Y_STR, LINEAR_UNIT(toolchange_settings.change_point.y)
         #endif
-        #if HAS_I_AXIS
-          , SP_I_STR, LINEAR_UNIT(toolchange_settings.change_point.i)
-        #endif
-        #if HAS_J_AXIS
-          , SP_J_STR, LINEAR_UNIT(toolchange_settings.change_point.j)
-        #endif
-        #if HAS_K_AXIS
-          , SP_K_STR, LINEAR_UNIT(toolchange_settings.change_point.k)
+        #if SECONDARY_AXES >= 1
+          , LIST_N(DOUBLE(SECONDARY_AXES),
+              SP_I_STR, I_AXIS_UNIT(toolchange_settings.change_point.i),
+              SP_J_STR, J_AXIS_UNIT(toolchange_settings.change_point.j),
+              SP_K_STR, K_AXIS_UNIT(toolchange_settings.change_point.k)
+            )
         #endif
       );
     }

Marlin/src/gcode/control/M17_M18_M84.cpp

@@ -23,6 +23,7 @@
 #include "../gcode.h"
 #include "../../MarlinCore.h" // for stepper_inactive_time, disable_e_steppers
 #include "../../lcd/marlinui.h"
+#include "../../module/motion.h" // for e_axis_mask
 #include "../../module/stepper.h"
 
 #if ENABLED(AUTO_BED_LEVELING_UBL)
@@ -43,7 +44,7 @@ inline stepper_flags_t selected_axis_bits() {
           selected.bits = _BV(INDEX_OF_AXIS(E_AXIS, e));
       }
       else
-        selected.bits = selected.e_bits();
+        selected.bits = e_axis_mask;
     }
   #endif
   selected.bits |= LINEAR_AXIS_GANG(

Marlin/src/gcode/feature/clean/G12.cpp

@@ -45,9 +45,10 @@
  *  X, Y, Z          : Specify axes to move during cleaning. Default: ALL.
  */
 void GcodeSuite::G12() {
+
   // Don't allow nozzle cleaning without homing first
-  if (homing_needed_error(linear_bits & ~TERN0(NOZZLE_CLEAN_NO_Z, Z_AXIS) & ~TERN0(NOZZLE_CLEAN_NO_Y, Y_AXIS)))
-    return;
+  constexpr main_axes_bits_t clean_axis_mask = main_axes_mask & ~TERN0(NOZZLE_CLEAN_NO_Z, Z_AXIS) & ~TERN0(NOZZLE_CLEAN_NO_Y, Y_AXIS);
+  if (homing_needed_error(clean_axis_mask)) return;
 
   #ifdef WIPE_SEQUENCE_COMMANDS
     if (!parser.seen_any()) {

Marlin/src/gcode/feature/digipot/M907-M910.cpp

@@ -39,7 +39,7 @@
 #endif
 
 /**
- * M907: Set digital trimpot motor current using axis codes X [Y] [Z] [E]
+ * M907: Set digital trimpot motor current using axis codes X [Y] [Z] [I] [J] [K] [E]
  *   B<current> - Special case for 4th (E) axis
  *   S<current> - Special case to set first 3 axes
  */
@@ -49,15 +49,15 @@ void GcodeSuite::M907() {
     if (!parser.seen("BS" LOGICAL_AXES_STRING))
       return M907_report();
 
-    LOOP_LOGICAL_AXES(i) if (parser.seenval(axis_codes[i])) stepper.set_digipot_current(i, parser.value_int());
+    LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) stepper.set_digipot_current(i, parser.value_int());
     if (parser.seenval('B')) stepper.set_digipot_current(4, parser.value_int());
     if (parser.seenval('S')) LOOP_LE_N(i, 4) stepper.set_digipot_current(i, parser.value_int());
 
   #elif HAS_MOTOR_CURRENT_PWM
 
     if (!parser.seen(
-      #if ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY)
-        "XY"
+      #if ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_I, MOTOR_CURRENT_PWM_J, MOTOR_CURRENT_PWM_K)
+        "XY" SECONDARY_AXIS_GANG("I", "J", "K")
       #endif
       #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
         "Z"
@@ -67,8 +67,11 @@ void GcodeSuite::M907() {
       #endif
     )) return M907_report();
 
-    #if ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY)
-      if (parser.seenval('X') || parser.seenval('Y')) stepper.set_digipot_current(0, parser.value_int());
+    #if ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_I, MOTOR_CURRENT_PWM_J, MOTOR_CURRENT_PWM_K)
+      if (NUM_AXIS_GANG(
+             parser.seenval('X'), || parser.seenval('Y'), || false,
+          || parser.seenval('I'), || parser.seenval('J'), || parser.seenval('K')
+      )) stepper.set_digipot_current(0, parser.value_int());
     #endif
     #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
       if (parser.seenval('Z')) stepper.set_digipot_current(1, parser.value_int());
@@ -81,7 +84,7 @@ void GcodeSuite::M907() {
 
   #if HAS_MOTOR_CURRENT_I2C
     // this one uses actual amps in floating point
-    LOOP_LOGICAL_AXES(i) if (parser.seenval(axis_codes[i])) digipot_i2c.set_current(i, parser.value_float());
+    LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) digipot_i2c.set_current(i, parser.value_float());
     // Additional extruders use B,C,D for channels 4,5,6.
     // TODO: Change these parameters because 'E' is used. B<index>?
     #if HAS_EXTRUDERS
@@ -95,7 +98,7 @@ void GcodeSuite::M907() {
       const float dac_percent = parser.value_float();
       LOOP_LE_N(i, 4) stepper_dac.set_current_percent(i, dac_percent);
     }
-    LOOP_LOGICAL_AXES(i) if (parser.seenval(axis_codes[i])) stepper_dac.set_current_percent(i, parser.value_float());
+    LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) stepper_dac.set_current_percent(i, parser.value_float());
   #endif
 }
 
@@ -104,15 +107,15 @@ void GcodeSuite::M907() {
   void GcodeSuite::M907_report(const bool forReplay/*=true*/) {
     report_heading_etc(forReplay, F(STR_STEPPER_MOTOR_CURRENTS));
     #if HAS_MOTOR_CURRENT_PWM
-      SERIAL_ECHOLNPGM_P(                                    // PWM-based has 3 values:
-          PSTR("  M907 X"), stepper.motor_current_setting[0]  // X and Y
+      SERIAL_ECHOLNPGM_P(                                     // PWM-based has 3 values:
+          PSTR("  M907 X"), stepper.motor_current_setting[0]  // X, Y, (I, J, K)
         , SP_Z_STR,         stepper.motor_current_setting[1]  // Z
         , SP_E_STR,         stepper.motor_current_setting[2]  // E
       );
     #elif HAS_MOTOR_CURRENT_SPI
       SERIAL_ECHOPGM("  M907");                               // SPI-based has 5 values:
       LOOP_LOGICAL_AXES(q) {                                  // X Y Z (I J K) E (map to X Y Z (I J K) E0 by default)
-        SERIAL_CHAR(' ', axis_codes[q]);
+        SERIAL_CHAR(' ', IAXIS_CHAR(q));
         SERIAL_ECHO(stepper.motor_current_setting[q]);
       }
       SERIAL_CHAR(' ', 'B');                                  // B (maps to E1 by default)

Marlin/src/gcode/feature/pause/G60.cpp

@@ -51,7 +51,7 @@ void GcodeSuite::G60() {
     DEBUG_ECHOPGM(STR_SAVED_POS " S", slot, " :");
     const xyze_pos_t &pos = stored_position[slot];
     DEBUG_ECHOLNPGM_P(
-      LIST_N(DOUBLE(LINEAR_AXES), PSTR(" : X"), pos.x, SP_Y_STR, pos.y, SP_Z_STR, pos.z, SP_I_STR, pos.i, SP_J_STR, pos.j, SP_K_STR, pos.k)
+      LIST_N(DOUBLE(LINEAR_AXES), SP_X_STR, pos.x, SP_Y_STR, pos.y, SP_Z_STR, pos.z, SP_I_STR, pos.i, SP_J_STR, pos.j, SP_K_STR, pos.k)
       #if HAS_EXTRUDERS
         , SP_E_LBL, pos.e
       #endif

Marlin/src/gcode/feature/pause/M125.cpp

@@ -74,7 +74,9 @@ void GcodeSuite::M125() {
   );
 
   // Lift Z axis
-  if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
+  #if HAS_Z_AXIS
+    if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
+  #endif
 
   #if HAS_HOTEND_OFFSET && NONE(DUAL_X_CARRIAGE, DELTA)
     park_point += hotend_offset[active_extruder];

Marlin/src/gcode/feature/pause/M600.cpp

@@ -54,8 +54,11 @@
  *
  *  E[distance] - Retract the filament this far
  *  Z[distance] - Move the Z axis by this distance
- *  X[position] - Move to this X position, with Y
- *  Y[position] - Move to this Y position, with X
+ *  X[position] - Move to this X position (instead of NOZZLE_PARK_POINT.x)
+ *  Y[position] - Move to this Y position (instead of NOZZLE_PARK_POINT.y)
+ *  I[position] - Move to this I position (instead of NOZZLE_PARK_POINT.i)
+ *  J[position] - Move to this J position (instead of NOZZLE_PARK_POINT.j)
+ *  K[position] - Move to this K position (instead of NOZZLE_PARK_POINT.k)
  *  U[distance] - Retract distance for removal (manual reload)
  *  L[distance] - Extrude distance for insertion (manual reload)
  *  B[count]    - Number of times to beep, -1 for indefinite (if equipped with a buzzer)
@@ -118,25 +121,21 @@ void GcodeSuite::M600() {
 
   // Move XY axes to filament change position or given position
   LINEAR_AXIS_CODE(
-    if (parser.seenval('X')) park_point.x = parser.linearval('X'),
-    if (parser.seenval('Y')) park_point.y = parser.linearval('Y'),
-    if (parser.seenval('Z')) park_point.z = parser.linearval('Z'),    // Lift Z axis
-    if (parser.seenval(AXIS4_NAME)) park_point.i = parser.linearval(AXIS4_NAME),
-    if (parser.seenval(AXIS5_NAME)) park_point.j = parser.linearval(AXIS5_NAME),
-    if (parser.seenval(AXIS6_NAME)) park_point.k = parser.linearval(AXIS6_NAME)
+    if (parser.seenval('X')) park_point.x = parser.value_linear_units(),
+    if (parser.seenval('Y')) park_point.y = parser.value_linear_units(),
+    if (parser.seenval('Z')) park_point.z = parser.value_linear_units(),    // Lift Z axis
+    if (parser.seenval('I')) park_point.i = parser.value_linear_units(),
+    if (parser.seenval('J')) park_point.j = parser.value_linear_units(),
+    if (parser.seenval('K')) park_point.k = parser.value_linear_units()
   );
 
   #if HAS_HOTEND_OFFSET && NONE(DUAL_X_CARRIAGE, DELTA)
     park_point += hotend_offset[active_extruder];
   #endif
 
-  #if ENABLED(MMU2_MENUS)
-    // For MMU2, when enabled, reset retract value so it doesn't mess with MMU filament handling
-    const float unload_length = standardM600 ? -ABS(parser.axisunitsval('U', E_AXIS, fc_settings[active_extruder].unload_length)) : 0.5f;
-  #else
-    // Unload filament
-    const float unload_length = -ABS(parser.axisunitsval('U', E_AXIS, fc_settings[active_extruder].unload_length));
-  #endif
+  // Unload filament
+  // For MMU2, when enabled, reset retract value so it doesn't mess with MMU filament handling
+  const float unload_length = standardM600 ? -ABS(parser.axisunitsval('U', E_AXIS, fc_settings[active_extruder].unload_length)) : 0.5f;
 
   const int beep_count = parser.intval('B', -1
     #ifdef FILAMENT_CHANGE_ALERT_BEEPS

Marlin/src/gcode/feature/trinamic/M911-M914.cpp

@@ -137,7 +137,7 @@
 
   /**
    * M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
-   *       Specify one or more axes with X, Y, Z, X1, Y1, Z1, X2, Y2, Z2, Z3, Z4 and E[index].
+   *       Specify one or more axes with X, Y, Z, X1, Y1, Z1, X2, Y2, Z2, Z3, Z4, A, B, C, and E[index].
    *       If no axes are given, clear all.
    *
    * Examples:

Marlin/src/gcode/motion/G2_G3.cpp

@@ -168,12 +168,7 @@ void plan_arc(
 
   // Return if the move is near zero
   if (flat_mm < 0.0001f
-    GANG_N(SUB2(LINEAR_AXES),
-      && travel_L < 0.0001f,
-      && travel_I < 0.0001f,
-      && travel_J < 0.0001f,
-      && travel_K < 0.0001f
-    )
+    GANG_N(SUB2(LINEAR_AXES), && travel_L < 0.0001f, && travel_I < 0.0001f, && travel_J < 0.0001f, && travel_K < 0.0001f)
   ) return;
 
   // Feedrate for the move, scaled by the feedrate multiplier

Marlin/src/inc/Conditionals_LCD.h

@@ -666,7 +666,7 @@
 #endif
 
 /**
- * Number of Linear Axes (e.g., XYZ)
+ * Number of Linear Axes (e.g., XYZIJK)
  * All the logical axes except for the tool (E) axis
  */
 #ifdef LINEAR_AXES
@@ -821,7 +821,23 @@
 #endif
 
 /**
- * Number of Logical Axes (e.g., XYZE)
+ * Number of Primary Linear Axes (e.g., XYZ)
+ * X, XY, or XYZ axes. Excluding duplicate axes (X2, Y2. Z2. Z3, Z4)
+ */
+#if HAS_I_AXIS
+  #define PRIMARY_LINEAR_AXES 3
+#else
+  #define PRIMARY_LINEAR_AXES LINEAR_AXES
+#endif
+
+/**
+ * Number of Secondary Axes (e.g., IJK)
+ * All linear/rotational axes between XYZ and E.
+ */
+#define SECONDARY_AXES SUB3(LINEAR_AXES)
+
+/**
+ * Number of Logical Axes (e.g., XYZIJKE)
  * All the logical axes that can be commanded directly by G-code.
  * Delta maps stepper-specific values to ABC steppers.
  */
@@ -1268,6 +1284,29 @@
   #define HAS_ETHERNET 1
 #endif
 
+// Fallback axis inverting
+#ifndef INVERT_X_DIR
+  #define INVERT_X_DIR false
+#endif
+#if HAS_Y_AXIS && !defined(INVERT_Y_DIR)
+  #define INVERT_Y_DIR false
+#endif
+#if HAS_Z_AXIS && !defined(INVERT_Z_DIR)
+  #define INVERT_Z_DIR false
+#endif
+#if HAS_I_AXIS && !defined(INVERT_I_DIR)
+  #define INVERT_I_DIR false
+#endif
+#if HAS_J_AXIS && !defined(INVERT_J_DIR)
+  #define INVERT_J_DIR false
+#endif
+#if HAS_K_AXIS && !defined(INVERT_K_DIR)
+  #define INVERT_K_DIR false
+#endif
+#if HAS_EXTRUDERS && !defined(INVERT_E_DIR)
+  #define INVERT_E_DIR false
+#endif
+
 /**
  * This setting is also used by M109 when trying to calculate
  * a ballpark safe margin to prevent wait-forever situation.

Marlin/src/lcd/e3v2/marlinui/ui_status_480x272.cpp

@@ -79,9 +79,9 @@ FORCE_INLINE void _draw_axis_value(const AxisEnum axis, const char *value, const
     dwin_string.set();
     if (blink)
       dwin_string.add(value);
-    else if (!TEST(axis_homed, axis))
+    else if (!TEST(axes_homed, axis))
       while (const char c = *value++) dwin_string.add(c <= '.' ? c : '?');
-    else if (NONE(HOME_AFTER_DEACTIVATE, DISABLE_REDUCED_ACCURACY_WARNING) && !TEST(axis_trusted, axis))
+    else if (NONE(HOME_AFTER_DEACTIVATE, DISABLE_REDUCED_ACCURACY_WARNING) && !TEST(axes_trusted, axis))
       dwin_string.add(TERN1(DWIN_MARLINUI_PORTRAIT, axis == Z_AXIS) ? PSTR("       ") : PSTR("    "));
     else
       dwin_string.add(value);
@@ -103,11 +103,11 @@ FORCE_INLINE void _draw_axis_value(const AxisEnum axis, const char *value, const
     if (blink)
       dwin_string.add(value);
     else {
-      if (!TEST(axis_homed, axis))
+      if (!TEST(axes_homed, axis))
         while (const char c = *value++) dwin_string.add(c <= '.' ? c : '?');
       else {
         #if NONE(HOME_AFTER_DEACTIVATE, DISABLE_REDUCED_ACCURACY_WARNING)
-          if (!TEST(axis_trusted, axis))
+          if (!TEST(axes_trusted, axis))
             dwin_string.add(TERN1(DWIN_MARLINUI_PORTRAIT, axis == Z_AXIS) ? PSTR("       ") : PSTR("    "));
           else
         #endif