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[2.0.x] Triple Z stepper / Z endstop #11062

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Merged
thinkyhead merged 2 commits into from
Sep 16, 2018
Merged

[2.0.x] Triple Z stepper / Z endstop #11062

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1a6f2b2
Add support for Triple-Z steppers/endstops
Jun 19, 2018
6286afd
Add Triple-Z options to example configs
thinkyhead Aug 21, 2018
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1 change: 1 addition & 0 deletions Marlin/Configuration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -587,6 +587,7 @@
//#define X2_DRIVER_TYPE A4988
//#define Y2_DRIVER_TYPE A4988
//#define Z2_DRIVER_TYPE A4988
//#define Z3_DRIVER_TYPE A4988
//#define E0_DRIVER_TYPE A4988
//#define E1_DRIVER_TYPE A4988
//#define E2_DRIVER_TYPE A4988
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23 changes: 23 additions & 0 deletions Marlin/Configuration_adv.h
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Expand Up @@ -338,6 +338,17 @@
#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_TRIPLE2_ENDSTOPS_ADJUSTMENT 0
#define Z_TRIPLE3_ENDSTOPS_ADJUSTMENT 0
#endif
#endif

/**
* Dual X Carriage
*
Expand Down Expand Up @@ -1087,6 +1098,10 @@
#define Z2_SENSE_RESISTOR 91
#define Z2_MICROSTEPS 16

#define Z3_MAX_CURRENT 1000
#define Z3_SENSE_RESISTOR 91
#define Z3_MICROSTEPS 16

#define E0_MAX_CURRENT 1000
#define E0_SENSE_RESISTOR 91
#define E0_MICROSTEPS 16
Expand Down Expand Up @@ -1153,6 +1168,9 @@
#define Z2_CURRENT 800
#define Z2_MICROSTEPS 16

#define Z3_CURRENT 800
#define Z3_MICROSTEPS 16

#define E0_CURRENT 800
#define E0_MICROSTEPS 16

Expand Down Expand Up @@ -1217,6 +1235,7 @@
#define Y2_HYBRID_THRESHOLD 100
#define Z_HYBRID_THRESHOLD 3
#define Z2_HYBRID_THRESHOLD 3
#define Z3_HYBRID_THRESHOLD 3
#define E0_HYBRID_THRESHOLD 30
#define E1_HYBRID_THRESHOLD 30
#define E2_HYBRID_THRESHOLD 30
Expand Down Expand Up @@ -1315,6 +1334,10 @@
#define Z2_OVERCURRENT 2000
#define Z2_STALLCURRENT 1500

#define Z3_MICROSTEPS 16
#define Z3_OVERCURRENT 2000
#define Z3_STALLCURRENT 1500

#define E0_MICROSTEPS 16
#define E0_OVERCURRENT 2000
#define E0_STALLCURRENT 1500
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1 change: 1 addition & 0 deletions Marlin/src/HAL/HAL_AVR/SanityCheck.h
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Expand Up @@ -106,6 +106,7 @@
|| defined(Y2_HARDWARE_SERIAL) \
|| defined(Z_HARDWARE_SERIAL ) \
|| defined(Z2_HARDWARE_SERIAL) \
|| defined(Z3_HARDWARE_SERIAL) \
|| defined(E0_HARDWARE_SERIAL) \
|| defined(E1_HARDWARE_SERIAL) \
|| defined(E2_HARDWARE_SERIAL) \
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20 changes: 20 additions & 0 deletions Marlin/src/HAL/HAL_AVR/endstop_interrupts.h
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Expand Up @@ -225,6 +225,26 @@ void setup_endstop_interrupts( void ) {
#endif
#endif

#if HAS_Z3_MAX
#if (digitalPinToInterrupt(Z3_MAX_PIN) != NOT_AN_INTERRUPT)
attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
#else
// Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
static_assert(digitalPinToPCICR(Z3_MAX_PIN) != NULL, "Z3_MAX_PIN is not interrupt-capable");
pciSetup(Z3_MAX_PIN);
#endif
#endif

#if HAS_Z3_MIN
#if (digitalPinToInterrupt(Z3_MIN_PIN) != NOT_AN_INTERRUPT)
attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
#else
// Not all used endstop/probe -pins can raise interrupts. Please deactivate ENDSTOP_INTERRUPTS or change the pin configuration!
static_assert(digitalPinToPCICR(Z3_MIN_PIN) != NULL, "Z3_MIN_PIN is not interrupt-capable");
pciSetup(Z3_MIN_PIN);
#endif
#endif

#if HAS_Z_MIN_PROBE_PIN
#if (digitalPinToInterrupt(Z_MIN_PROBE_PIN) != NOT_AN_INTERRUPT)
attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
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6 changes: 6 additions & 0 deletions Marlin/src/HAL/HAL_DUE/endstop_interrupts.h
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Expand Up @@ -72,6 +72,12 @@ void setup_endstop_interrupts(void) {
#if HAS_Z2_MIN
attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MAX
attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MIN
attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN_PROBE_PIN
attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
#endif
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6 changes: 6 additions & 0 deletions Marlin/src/HAL/HAL_ESP32/endstop_interrupts.h
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Expand Up @@ -67,6 +67,12 @@ void setup_endstop_interrupts(void) {
#if HAS_Z2_MIN
attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MAX
attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MIN
attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN_PROBE_PIN
attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
#endif
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6 changes: 6 additions & 0 deletions Marlin/src/HAL/HAL_LPC1768/endstop_interrupts.h
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Expand Up @@ -91,6 +91,12 @@ void setup_endstop_interrupts(void) {
#endif
attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MAX
attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MIN
attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN_PROBE_PIN
#if !LPC1768_PIN_INTERRUPT_M(Z_MIN_PROBE_PIN)
#error "Z_MIN_PROBE_PIN is not an INTERRUPT capable pin."
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6 changes: 6 additions & 0 deletions Marlin/src/HAL/HAL_STM32F1/endstop_interrupts.h
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Expand Up @@ -79,6 +79,12 @@ void setup_endstop_interrupts(void) {
#if HAS_Z2_MIN
attachInterrupt(Z2_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MAX
attachInterrupt(Z3_MAX_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MIN
attachInterrupt(Z3_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN_PROBE_PIN
attachInterrupt(Z_MIN_PROBE_PIN, endstop_ISR, CHANGE);
#endif
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6 changes: 6 additions & 0 deletions Marlin/src/HAL/HAL_STM32F4/endstop_interrupts.h
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Expand Up @@ -54,6 +54,12 @@ void setup_endstop_interrupts(void) {
#if HAS_Z2_MIN
attachInterrupt(Z2_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MAX
attachInterrupt(Z3_MAX_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MIN
attachInterrupt(Z3_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN_PROBE_PIN
attachInterrupt(Z_MIN_PROBE_PIN, endstop_ISR, CHANGE);
#endif
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6 changes: 6 additions & 0 deletions Marlin/src/HAL/HAL_STM32F7/endstop_interrupts.h
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Expand Up @@ -56,6 +56,12 @@ void setup_endstop_interrupts(void) {
#if HAS_Z2_MIN
attachInterrupt(Z2_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MAX
attachInterrupt(Z3_MAX_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MIN
attachInterrupt(Z3_MIN_PIN, endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN_PROBE_PIN
attachInterrupt(Z_MIN_PROBE_PIN, endstop_ISR, CHANGE);
#endif
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20 changes: 8 additions & 12 deletions Marlin/src/HAL/HAL_TEENSY35_36/endstop_interrupts.h
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Expand Up @@ -43,44 +43,40 @@
void endstop_ISR(void) { endstops.update(); }

/**
* Endstop interrupts for Due based targets.
* On Due, all pins support external interrupt capability.
* Endstop interrupts for Due based targets.
* On Due, all pins support external interrupt capability.
*/

void setup_endstop_interrupts( void ) {

#if HAS_X_MAX
attachInterrupt(digitalPinToInterrupt(X_MAX_PIN), endstop_ISR, CHANGE); // assign it
#endif

#if HAS_X_MIN
attachInterrupt(digitalPinToInterrupt(X_MIN_PIN), endstop_ISR, CHANGE);
#endif

#if HAS_Y_MAX
attachInterrupt(digitalPinToInterrupt(Y_MAX_PIN), endstop_ISR, CHANGE);
#endif

#if HAS_Y_MIN
attachInterrupt(digitalPinToInterrupt(Y_MIN_PIN), endstop_ISR, CHANGE);
#endif

#if HAS_Z_MAX
attachInterrupt(digitalPinToInterrupt(Z_MAX_PIN), endstop_ISR, CHANGE);
#endif

#if HAS_Z_MIN
attachInterrupt(digitalPinToInterrupt(Z_MIN_PIN), endstop_ISR, CHANGE);
#endif

#if HAS_Z2_MAX
attachInterrupt(digitalPinToInterrupt(Z2_MAX_PIN), endstop_ISR, CHANGE);
#endif

#if HAS_Z2_MIN
attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
#endif

#if HAS_Z3_MAX
attachInterrupt(digitalPinToInterrupt(Z3_MAX_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z3_MIN
attachInterrupt(digitalPinToInterrupt(Z3_MIN_PIN), endstop_ISR, CHANGE);
#endif
#if HAS_Z_MIN_PROBE_PIN
attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
#endif
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5 changes: 4 additions & 1 deletion Marlin/src/Marlin.h
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Expand Up @@ -64,7 +64,10 @@ void manage_inactivity(const bool ignore_stepper_queue=false);
#define disable_Y() NOOP
#endif

#if HAS_Z2_ENABLE
#if HAS_Z3_ENABLE
#define enable_Z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); Z3_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
#define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); Z3_ENABLE_WRITE(!Z_ENABLE_ON); CBI(axis_known_position, Z_AXIS); }while(0)
#elif HAS_Z2_ENABLE
#define enable_Z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
#define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); CBI(axis_known_position, Z_AXIS); }while(0)
#elif HAS_Z_ENABLE
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1 change: 1 addition & 0 deletions Marlin/src/config/default/Configuration.h
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Expand Up @@ -587,6 +587,7 @@
//#define X2_DRIVER_TYPE A4988
//#define Y2_DRIVER_TYPE A4988
//#define Z2_DRIVER_TYPE A4988
//#define Z3_DRIVER_TYPE A4988
//#define E0_DRIVER_TYPE A4988
//#define E1_DRIVER_TYPE A4988
//#define E2_DRIVER_TYPE A4988
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23 changes: 23 additions & 0 deletions Marlin/src/config/default/Configuration_adv.h
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Expand Up @@ -338,6 +338,17 @@
#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
#endif
#endif

/**
* Dual X Carriage
*
Expand Down Expand Up @@ -1087,6 +1098,10 @@
#define Z2_SENSE_RESISTOR 91
#define Z2_MICROSTEPS 16

#define Z3_MAX_CURRENT 1000
#define Z3_SENSE_RESISTOR 91
#define Z3_MICROSTEPS 16

#define E0_MAX_CURRENT 1000
#define E0_SENSE_RESISTOR 91
#define E0_MICROSTEPS 16
Expand Down Expand Up @@ -1153,6 +1168,9 @@
#define Z2_CURRENT 800
#define Z2_MICROSTEPS 16

#define Z3_CURRENT 800
#define Z3_MICROSTEPS 16

#define E0_CURRENT 800
#define E0_MICROSTEPS 16

Expand Down Expand Up @@ -1217,6 +1235,7 @@
#define Y2_HYBRID_THRESHOLD 100
#define Z_HYBRID_THRESHOLD 3
#define Z2_HYBRID_THRESHOLD 3
#define Z3_HYBRID_THRESHOLD 3
#define E0_HYBRID_THRESHOLD 30
#define E1_HYBRID_THRESHOLD 30
#define E2_HYBRID_THRESHOLD 30
Expand Down Expand Up @@ -1315,6 +1334,10 @@
#define Z2_OVERCURRENT 2000
#define Z2_STALLCURRENT 1500

#define Z3_MICROSTEPS 16
#define Z3_OVERCURRENT 2000
#define Z3_STALLCURRENT 1500

#define E0_MICROSTEPS 16
#define E0_OVERCURRENT 2000
#define E0_STALLCURRENT 1500
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1 change: 1 addition & 0 deletions Marlin/src/config/examples/AlephObjects/TAZ4/Configuration.h
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Expand Up @@ -607,6 +607,7 @@
//#define X2_DRIVER_TYPE A4988
//#define Y2_DRIVER_TYPE A4988
//#define Z2_DRIVER_TYPE A4988
//#define Z3_DRIVER_TYPE A4988
//#define E0_DRIVER_TYPE A4988
//#define E1_DRIVER_TYPE A4988
//#define E2_DRIVER_TYPE A4988
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23 changes: 23 additions & 0 deletions Marlin/src/config/examples/AlephObjects/TAZ4/Configuration_adv.h
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Expand Up @@ -338,6 +338,17 @@
#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_TRIPLE2_ENDSTOPS_ADJUSTMENT 0
#define Z_TRIPLE3_ENDSTOPS_ADJUSTMENT 0
#endif
#endif

/**
* Dual X Carriage
*
Expand Down Expand Up @@ -1087,6 +1098,10 @@
#define Z2_SENSE_RESISTOR 91
#define Z2_MICROSTEPS 16

#define Z3_MAX_CURRENT 1000
#define Z3_SENSE_RESISTOR 91
#define Z3_MICROSTEPS 16

#define E0_MAX_CURRENT 1000
#define E0_SENSE_RESISTOR 91
#define E0_MICROSTEPS 16
Expand Down Expand Up @@ -1153,6 +1168,9 @@
#define Z2_CURRENT 800
#define Z2_MICROSTEPS 16

#define Z3_CURRENT 800
#define Z3_MICROSTEPS 16

#define E0_CURRENT 800
#define E0_MICROSTEPS 16

Expand Down Expand Up @@ -1217,6 +1235,7 @@
#define Y2_HYBRID_THRESHOLD 100
#define Z_HYBRID_THRESHOLD 3
#define Z2_HYBRID_THRESHOLD 3
#define Z3_HYBRID_THRESHOLD 3
#define E0_HYBRID_THRESHOLD 30
#define E1_HYBRID_THRESHOLD 30
#define E2_HYBRID_THRESHOLD 30
Expand Down Expand Up @@ -1315,6 +1334,10 @@
#define Z2_OVERCURRENT 2000
#define Z2_STALLCURRENT 1500

#define Z3_MICROSTEPS 16
#define Z3_OVERCURRENT 2000
#define Z3_STALLCURRENT 1500

#define E0_MICROSTEPS 16
#define E0_OVERCURRENT 2000
#define E0_STALLCURRENT 1500
Expand Down
1 change: 1 addition & 0 deletions Marlin/src/config/examples/AliExpress/CL-260/Configuration.h
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Expand Up @@ -587,6 +587,7 @@
//#define X2_DRIVER_TYPE A4988
//#define Y2_DRIVER_TYPE A4988
//#define Z2_DRIVER_TYPE A4988
//#define Z3_DRIVER_TYPE A4988
//#define E0_DRIVER_TYPE A4988
//#define E1_DRIVER_TYPE A4988
//#define E2_DRIVER_TYPE A4988
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1 change: 1 addition & 0 deletions Marlin/src/config/examples/Anet/A2/Configuration.h
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Expand Up @@ -570,6 +570,7 @@
//#define X2_DRIVER_TYPE A4988
//#define Y2_DRIVER_TYPE A4988
//#define Z2_DRIVER_TYPE A4988
//#define Z3_DRIVER_TYPE A4988
//#define E0_DRIVER_TYPE A4988
//#define E1_DRIVER_TYPE A4988
//#define E2_DRIVER_TYPE A4988
Expand Down
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