🚸 Better M350, M114 with more axes (MarlinFirmware#23986)

Co-authored-by: Scott Lahteine <[email protected]>

Marlin/src/gcode/control/M350_M351.cpp

@@ -27,6 +27,13 @@
 #include "../gcode.h"
 #include "../../module/stepper.h"
 
+#if LINEAR_AXES == XYZ && EXTRUDERS >= 1
+  #define HAS_M350_B_PARAM 1  // "5th axis" (after E0) for an original XYZEB setup.
+  #if AXIS_COLLISION('B')
+    #error "M350 parameter 'B' collision with axis name."
+  #endif
+#endif
+
 /**
  * M350: Set axis microstepping modes. S sets mode for all drivers.
  *
@@ -35,27 +42,30 @@
 void GcodeSuite::M350() {
   if (parser.seen('S')) LOOP_DISTINCT_AXES(i) stepper.microstep_mode(i, parser.value_byte());
   LOOP_LOGICAL_AXES(i) if (parser.seenval(AXIS_CHAR(i))) stepper.microstep_mode(i, parser.value_byte());
-  if (parser.seenval('B')) stepper.microstep_mode(E_AXIS + 1, parser.value_byte());
+  TERN_(HAS_M350_B_PARAM, if (parser.seenval('B')) stepper.microstep_mode(E_AXIS + 1, parser.value_byte()));
   stepper.microstep_readings();
 }
 
 /**
  * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z . . . E [B]
  *       S# determines MS1, MS2 or MS3, X# sets the pin high/low.
+ *
+ *       Parameter 'B' sets "5th axis" (after E0) only for an original XYZEB setup.
  */
 void GcodeSuite::M351() {
+  const int8_t bval = TERN(HAS_M350_B_PARAM, parser.byteval('B', -1), -1); UNUSED(bval);
   if (parser.seenval('S')) switch (parser.value_byte()) {
     case 1:
       LOOP_LOGICAL_AXES(i) if (parser.seenval(AXIS_CHAR(i))) stepper.microstep_ms(i, parser.value_byte(), -1, -1);
-      if (parser.seenval('B')) stepper.microstep_ms(4, parser.value_byte(), -1, -1);
+      TERN_(HAS_M350_B_PARAM, if (bval >= 0) stepper.microstep_ms(E_AXIS + 1, bval != 0, -1, -1));
       break;
     case 2:
       LOOP_LOGICAL_AXES(i) if (parser.seenval(AXIS_CHAR(i))) stepper.microstep_ms(i, -1, parser.value_byte(), -1);
-      if (parser.seenval('B')) stepper.microstep_ms(4, -1, parser.value_byte(), -1);
+      TERN_(HAS_M350_B_PARAM, if (bval >= 0) stepper.microstep_ms(E_AXIS + 1, -1, bval != 0, -1));
       break;
     case 3:
       LOOP_LOGICAL_AXES(i) if (parser.seenval(AXIS_CHAR(i))) stepper.microstep_ms(i, -1, -1, parser.value_byte());
-      if (parser.seenval('B')) stepper.microstep_ms(4, -1, -1, parser.value_byte());
+      TERN_(HAS_M350_B_PARAM, if (bval >= 0) stepper.microstep_ms(E_AXIS + 1, -1, -1, bval != 0));
       break;
   }
   stepper.microstep_readings();

Marlin/src/gcode/feature/L6470/M906.cpp

@@ -25,7 +25,7 @@
 #if HAS_L64XX
 
 #if AXIS_COLLISION('I')
-  #error "M906 parameter collision with axis name."
+  #error "M906 parameter 'I' collision with axis name."
 #endif
 
 #include "../../gcode.h"

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

@@ -52,7 +52,7 @@ void GcodeSuite::M907() {
       return M907_report();
 
     if (parser.seenval('S')) LOOP_L_N(i, MOTOR_CURRENT_COUNT) 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());    // X Y Z (I J K) E (map to drivers according to DIGIPOT_CHANNELS. Default with NUM_AXES 3: map X Y Z E to X Y Z E0)
+    LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) stepper.set_digipot_current(i, parser.value_int());    // X Y Z (I J K) E (map to drivers according to DIGIPOT_CHANNELS. Default with LINEAR_AXES 3: map X Y Z E to X Y Z E0)
     // Additional extruders use B,C.
     // TODO: Change these parameters because 'E' is used and D should be reserved for debugging. B<index>?
     #if E_STEPPERS >= 2
@@ -104,11 +104,11 @@ void GcodeSuite::M907() {
   #if HAS_MOTOR_CURRENT_I2C
     // this one uses actual amps in floating point
     if (parser.seenval('S')) LOOP_L_N(q, DIGIPOT_I2C_NUM_CHANNELS) digipot_i2c.set_current(q, parser.value_float());
-      LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) digipot_i2c.set_current(i, parser.value_float());      // X Y Z (I J K) E (map to drivers according to pots adresses. Default with NUM_AXES 3 X Y Z E: map to X Y Z E0)
+      LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) digipot_i2c.set_current(i, parser.value_float());      // X Y Z (I J K) E (map to drivers according to pots adresses. Default with LINEAR_AXES 3 X Y Z E: map to X Y Z E0)
     // Additional extruders use B,C,D.
     // TODO: Change these parameters because 'E' is used and because 'D' should be reserved for debugging. B<index>?
     #if E_STEPPERS >= 2
-      for (uint8_t i = E_AXIS + 1; i < _MAX(DIGIPOT_I2C_NUM_CHANNELS, (NUM_AXES + 3)); i++)
+      for (uint8_t i = E_AXIS + 1; i < _MAX(DIGIPOT_I2C_NUM_CHANNELS, (LINEAR_AXES + 3)); i++)
         if (parser.seenval('B' + i - (E_AXIS + 1))) digipot_i2c.set_current(i, parser.value_float());
     #endif
   #endif
@@ -118,7 +118,7 @@ void GcodeSuite::M907() {
       const float dac_percent = parser.value_float();
       LOOP_LOGICAL_AXES(i) stepper_dac.set_current_percent(i, dac_percent);
     }
-    LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) stepper_dac.set_current_percent(i, parser.value_float());   // X Y Z (I J K) E (map to drivers according to DAC_STEPPER_ORDER. Default with NUM_AXES 3: X Y Z E map to X Y Z E0)
+    LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) stepper_dac.set_current_percent(i, parser.value_float());   // X Y Z (I J K) E (map to drivers according to DAC_STEPPER_ORDER. Default with LINEAR_AXES 3: X Y Z E map to X Y Z E0)
   #endif
 }
 
@@ -139,7 +139,7 @@ void GcodeSuite::M907() {
         SERIAL_ECHO(stepper.motor_current_setting[q]);
       }
       #if E_STEPPERS >= 2
-        SERIAL_ECHOPGM_P(PSTR(" B"), stepper.motor_current_setting[E_AXIS + 1]  // B (maps to E1 with NUM_AXES 3 according to DIGIPOT_CHANNELS)
+        SERIAL_ECHOPGM_P(PSTR(" B"), stepper.motor_current_setting[E_AXIS + 1]  // B (maps to E1 with LINEAR_AXES 3 according to DIGIPOT_CHANNELS)
           #if E_STEPPERS >= 3
             , PSTR(" C"), stepper.motor_current_setting[E_AXIS + 2]             // C (mapping to E2 must be defined by DIGIPOT_CHANNELS)
           #endif

Marlin/src/gcode/feature/trinamic/M569.cpp

@@ -25,7 +25,7 @@
 #if HAS_STEALTHCHOP
 
 #if AXIS_COLLISION('I')
-  #error "M569 parameter collision with axis name."
+  #error "M569 parameter 'I' collision with axis name."
 #endif
 
 #include "../../gcode.h"

Marlin/src/gcode/feature/trinamic/M919.cpp

@@ -25,7 +25,7 @@
 #if HAS_TRINAMIC_CONFIG
 
 #if AXIS_COLLISION('I')
-  #error "M919 parameter collision with axis name."
+  #error "M919 parameter 'I' collision with axis name."
 #endif
 
 #include "../../gcode.h"

Marlin/src/gcode/motion/G5.cpp

@@ -25,7 +25,7 @@
 #if ENABLED(BEZIER_CURVE_SUPPORT)
 
 #if AXIS_COLLISION('I') || AXIS_COLLISION('J')
-  #error "G5 parameter collision with axis name."
+  #error "G5 parameter 'I' or 'J' collision with axis name."
 #endif
 
 #include "../../module/motion.h"

Marlin/src/module/stepper.cpp

@@ -3485,7 +3485,7 @@ void Stepper::report_positions() {
   void Stepper::microstep_ms(const uint8_t driver, const int8_t ms1, const int8_t ms2, const int8_t ms3) {
     if (ms1 >= 0) switch (driver) {
       #if HAS_X_MS_PINS || HAS_X2_MS_PINS
-        case 0:
+        case X_AXIS:
           #if HAS_X_MS_PINS
             WRITE(X_MS1_PIN, ms1);
           #endif
@@ -3495,7 +3495,7 @@ void Stepper::report_positions() {
           break;
       #endif
       #if HAS_Y_MS_PINS || HAS_Y2_MS_PINS
-        case 1:
+        case Y_AXIS:
           #if HAS_Y_MS_PINS
             WRITE(Y_MS1_PIN, ms1);
           #endif
@@ -3505,7 +3505,7 @@ void Stepper::report_positions() {
           break;
       #endif
       #if HAS_SOME_Z_MS_PINS
-        case 2:
+        case Z_AXIS:
           #if HAS_Z_MS_PINS
             WRITE(Z_MS1_PIN, ms1);
           #endif
@@ -3520,43 +3520,43 @@ void Stepper::report_positions() {
           #endif
           break;
       #endif
+      #if HAS_I_MS_PINS
+        case  I_AXIS: WRITE(I_MS1_PIN, ms1); break
+      #endif
+      #if HAS_J_MS_PINS
+        case  J_AXIS: WRITE(J_MS1_PIN, ms1); break
+      #endif
+      #if HAS_K_MS_PINS
+        case  K_AXIS: WRITE(K_MS1_PIN, ms1); break
+      #endif
       #if HAS_E0_MS_PINS
-        case  3: WRITE(E0_MS1_PIN, ms1); break;
+        case  E_AXIS: WRITE(E0_MS1_PIN, ms1); break;
       #endif
       #if HAS_E1_MS_PINS
-        case  4: WRITE(E1_MS1_PIN, ms1); break;
+        case (E_AXIS + 1): WRITE(E1_MS1_PIN, ms1); break;
       #endif
       #if HAS_E2_MS_PINS
-        case  5: WRITE(E2_MS1_PIN, ms1); break;
+        case (E_AXIS + 2): WRITE(E2_MS1_PIN, ms1); break;
       #endif
       #if HAS_E3_MS_PINS
-        case  6: WRITE(E3_MS1_PIN, ms1); break;
+        case (E_AXIS + 3): WRITE(E3_MS1_PIN, ms1); break;
       #endif
       #if HAS_E4_MS_PINS
-        case  7: WRITE(E4_MS1_PIN, ms1); break;
+        case (E_AXIS + 4): WRITE(E4_MS1_PIN, ms1); break;
       #endif
       #if HAS_E5_MS_PINS
-        case  8: WRITE(E5_MS1_PIN, ms1); break;
+        case (E_AXIS + 5): WRITE(E5_MS1_PIN, ms1); break;
       #endif
       #if HAS_E6_MS_PINS
-        case  9: WRITE(E6_MS1_PIN, ms1); break;
+        case (E_AXIS + 6): WRITE(E6_MS1_PIN, ms1); break;
       #endif
       #if HAS_E7_MS_PINS
-        case 10: WRITE(E7_MS1_PIN, ms1); break;
-      #endif
-      #if HAS_I_MS_PINS
-        case 11: WRITE(I_MS1_PIN, ms1); break
-      #endif
-      #if HAS_J_MS_PINS
-        case 12: WRITE(J_MS1_PIN, ms1); break
-      #endif
-      #if HAS_K_MS_PINS
-        case 13: WRITE(K_MS1_PIN, ms1); break
+        case (E_AXIS + 7): WRITE(E7_MS1_PIN, ms1); break;
       #endif
     }
     if (ms2 >= 0) switch (driver) {
       #if HAS_X_MS_PINS || HAS_X2_MS_PINS
-        case 0:
+        case X_AXIS:
           #if HAS_X_MS_PINS
             WRITE(X_MS2_PIN, ms2);
           #endif
@@ -3566,7 +3566,7 @@ void Stepper::report_positions() {
           break;
       #endif
       #if HAS_Y_MS_PINS || HAS_Y2_MS_PINS
-        case 1:
+        case Y_AXIS:
           #if HAS_Y_MS_PINS
             WRITE(Y_MS2_PIN, ms2);
           #endif
@@ -3576,7 +3576,7 @@ void Stepper::report_positions() {
           break;
       #endif
       #if HAS_SOME_Z_MS_PINS
-        case 2:
+        case Z_AXIS:
           #if HAS_Z_MS_PINS
             WRITE(Z_MS2_PIN, ms2);
           #endif
@@ -3591,43 +3591,43 @@ void Stepper::report_positions() {
           #endif
           break;
       #endif
+      #if HAS_I_MS_PINS
+        case  I_AXIS: WRITE(I_MS2_PIN, ms2); break
+      #endif
+      #if HAS_J_MS_PINS
+        case  J_AXIS: WRITE(J_MS2_PIN, ms2); break
+      #endif
+      #if HAS_K_MS_PINS
+        case  K_AXIS: WRITE(K_MS2_PIN, ms2); break
+      #endif
       #if HAS_E0_MS_PINS
-        case  3: WRITE(E0_MS2_PIN, ms2); break;
+        case  E_AXIS: WRITE(E0_MS2_PIN, ms2); break;
       #endif
       #if HAS_E1_MS_PINS
-        case  4: WRITE(E1_MS2_PIN, ms2); break;
+        case (E_AXIS + 1): WRITE(E1_MS2_PIN, ms2); break;
       #endif
       #if HAS_E2_MS_PINS
-        case  5: WRITE(E2_MS2_PIN, ms2); break;
+        case (E_AXIS + 2): WRITE(E2_MS2_PIN, ms2); break;
       #endif
       #if HAS_E3_MS_PINS
-        case  6: WRITE(E3_MS2_PIN, ms2); break;
+        case (E_AXIS + 3): WRITE(E3_MS2_PIN, ms2); break;
       #endif
       #if HAS_E4_MS_PINS
-        case  7: WRITE(E4_MS2_PIN, ms2); break;
+        case (E_AXIS + 4): WRITE(E4_MS2_PIN, ms2); break;
       #endif
       #if HAS_E5_MS_PINS
-        case  8: WRITE(E5_MS2_PIN, ms2); break;
+        case (E_AXIS + 5): WRITE(E5_MS2_PIN, ms2); break;
       #endif
       #if HAS_E6_MS_PINS
-        case  9: WRITE(E6_MS2_PIN, ms2); break;
+        case (E_AXIS + 6): WRITE(E6_MS2_PIN, ms2); break;
       #endif
       #if HAS_E7_MS_PINS
-        case 10: WRITE(E7_MS2_PIN, ms2); break;
-      #endif
-      #if HAS_I_MS_PINS
-        case 11: WRITE(I_MS2_PIN, ms2); break
-      #endif
-      #if HAS_J_MS_PINS
-        case 12: WRITE(J_MS2_PIN, ms2); break
-      #endif
-      #if HAS_K_MS_PINS
-        case 13: WRITE(K_MS2_PIN, ms2); break
+        case (E_AXIS + 7): WRITE(E7_MS2_PIN, ms2); break;
       #endif
     }
     if (ms3 >= 0) switch (driver) {
       #if HAS_X_MS_PINS || HAS_X2_MS_PINS
-        case 0:
+        case X_AXIS:
           #if HAS_X_MS_PINS && PIN_EXISTS(X_MS3)
             WRITE(X_MS3_PIN, ms3);
           #endif
@@ -3637,7 +3637,7 @@ void Stepper::report_positions() {
           break;
       #endif
       #if HAS_Y_MS_PINS || HAS_Y2_MS_PINS
-        case 1:
+        case Y_AXIS:
           #if HAS_Y_MS_PINS && PIN_EXISTS(Y_MS3)
             WRITE(Y_MS3_PIN, ms3);
           #endif
@@ -3647,7 +3647,7 @@ void Stepper::report_positions() {
           break;
       #endif
       #if HAS_SOME_Z_MS_PINS
-        case 2:
+        case Z_AXIS:
           #if HAS_Z_MS_PINS && PIN_EXISTS(Z_MS3)
             WRITE(Z_MS3_PIN, ms3);
           #endif
@@ -3662,29 +3662,38 @@ void Stepper::report_positions() {
           #endif
           break;
       #endif
+      #if HAS_I_MS_PINS
+        case  I_AXIS: WRITE(I_MS3_PIN, ms3); break
+      #endif
+      #if HAS_J_MS_PINS
+        case  J_AXIS: WRITE(J_MS3_PIN, ms3); break
+      #endif
+      #if HAS_K_MS_PINS
+        case  K_AXIS: WRITE(K_MS3_PIN, ms3); break
+      #endif
       #if HAS_E0_MS_PINS && PIN_EXISTS(E0_MS3)
-        case  3: WRITE(E0_MS3_PIN, ms3); break;
+        case  E_AXIS: WRITE(E0_MS3_PIN, ms3); break;
       #endif
       #if HAS_E1_MS_PINS && PIN_EXISTS(E1_MS3)
-        case  4: WRITE(E1_MS3_PIN, ms3); break;
+        case (E_AXIS + 1): WRITE(E1_MS3_PIN, ms3); break;
       #endif
       #if HAS_E2_MS_PINS && PIN_EXISTS(E2_MS3)
-        case  5: WRITE(E2_MS3_PIN, ms3); break;
+        case (E_AXIS + 2): WRITE(E2_MS3_PIN, ms3); break;
       #endif
       #if HAS_E3_MS_PINS && PIN_EXISTS(E3_MS3)
-        case  6: WRITE(E3_MS3_PIN, ms3); break;
+        case (E_AXIS + 3): WRITE(E3_MS3_PIN, ms3); break;
       #endif
       #if HAS_E4_MS_PINS && PIN_EXISTS(E4_MS3)
-        case  7: WRITE(E4_MS3_PIN, ms3); break;
+        case (E_AXIS + 4): WRITE(E4_MS3_PIN, ms3); break;
       #endif
       #if HAS_E5_MS_PINS && PIN_EXISTS(E5_MS3)
-        case  8: WRITE(E5_MS3_PIN, ms3); break;
+        case (E_AXIS + 5): WRITE(E5_MS3_PIN, ms3); break;
       #endif
       #if HAS_E6_MS_PINS && PIN_EXISTS(E6_MS3)
-        case  9: WRITE(E6_MS3_PIN, ms3); break;
+        case (E_AXIS + 6): WRITE(E6_MS3_PIN, ms3); break;
       #endif
       #if HAS_E7_MS_PINS && PIN_EXISTS(E7_MS3)
-        case 10: WRITE(E7_MS3_PIN, ms3); break;
+        case (E_AXIS + 7): WRITE(E7_MS3_PIN, ms3); break;
       #endif
     }
   }