Add baseline Quad Z stepper support #16277

InsanityAutomation · 2019-12-20T18:10:12Z

Following needs work :
Motion.cpp Function starting Line 1593
pins.h
pinsDebug.h
sensitivepins
G34

Add test with enough steppers

Add quad Z steppers as required for Voron functionality. Will still need more work of course but I wanted to get what I have up for review.

This should be pretty close. Ive done everything I can to verify this does not impact anything with current configurations. @sjasonsmith can you test this on youre triple Z machine? I dont have one here.

I have parts on the way to physically test this but personally I think this is close enough to merge with an experimental tag on the config option. Once I get the GTR1.0 board in, ill test that and add a test for quad z with it

sjasonsmith · 2019-12-20T18:36:40Z

Will there eventually be a new G34 algorithm for this, or will it use the simple iterative approach that is used for dual Z? I haven't looked at how Klipper or RepRap do it, to understand if there is a more efficient way to handle four steppers.

InsanityAutomation · 2019-12-20T19:04:23Z

Some of the guys on the voron team had told me they had already developed g34 changes for quad Gantry leveling. They were going to try and find the old code and if they can dig it out it will get implemented however they did it since that's been tested and proven in the past. If they can't find it next I will be going over to the klipper source which is iterative through the number of z steppers with a separate class called for voron machines explicitly.

thinkyhead · 2019-12-21T03:58:14Z

This should probably be directed to the dev-2.1.x branch rather than the bugfix branch.

InsanityAutomation · 2019-12-21T04:17:14Z

It is quite sizable so I don't disagree. I'll check how up to date it as and re point this after a few more tweaks when I get out of the day job tomorrow.

InsanityAutomation · 2020-01-01T17:20:51Z

Rebased and got this up to date. Have not moved anything to dev2.1 as its quite far behind 2.0.

AnHardt · 2020-01-01T18:55:49Z

Pardon.
I don't understand how this is able not to over constrain/bow/lock a plane bed.
Normally at a plane fixed to 4 points there is no way to move one.

InsanityAutomation · 2020-01-01T19:43:03Z

Pardon.
I don't understand how this is able not to over constrain/bow/lock a plane bed.
Normally at a plane fixed to 4 points there is no way to move one.

The voron uses 4 belt driven z axis. Industrially I've also done it with pivoting brackets on each corner. The whole Gantry essentially floats. Bed itself is fixed.

InsanityAutomation · 2020-01-01T19:53:27Z

@AnHardt also worth noting this is already used in both RRF and klipper by the voron machines.

Edit : this is also useful on very large machines where current requirements force multiple drivers even if they cant physically level themselves due to constraints.

InsanityAutomation · 2020-01-01T21:06:09Z

sjasonsmith

There are probably a lot of opportunities to do further cleanup to reduce duplication in these changes. Given the size of this PR, I think it makes more sense to ignore those for now, and treat that as an opportunity for a later round of Multi-Z cleanup.

Marlin/Configuration_adv.h

config/default/Configuration_adv.h

Marlin/src/gcode/calibrate/G34_M422.cpp

sjasonsmith · 2020-01-01T21:58:49Z

Marlin/src/inc/SanityCheck.h

+#elif ENABLED(Z_DUAL_STEPPER_DRIVERS) && !(HAS_Z2_ENABLE && HAS_Z2_STEP && HAS_Z2_DIR)
+  #error "Z_DUAL_STEPPER_DRIVERS requires Z2 pins (and an extra E plug)."
 #elif ENABLED(Z_TRIPLE_STEPPER_DRIVERS) && !(HAS_Z2_ENABLE && HAS_Z2_STEP && HAS_Z2_DIR && HAS_Z3_ENABLE && HAS_Z3_STEP && HAS_Z3_DIR)
-  #error "Z_TRIPLE_STEPPER_DRIVERS requires Z3 pins (and two extra E plugs)."
+  #error "Z_TRIPLE_STEPPER_DRIVERS requires Z2 & Z3 pins (and two extra E plugs)."
+#elif ENABLED(Z_QUAD_STEPPER_DRIVERS) && !(HAS_Z2_ENABLE && HAS_Z2_STEP && HAS_Z2_DIR && HAS_Z3_ENABLE && HAS_Z3_STEP && HAS_Z3_DIR && HAS_Z4_ENABLE && HAS_Z4_STEP && HAS_Z4_DIR)
+  #error "Z_QUAD_STEPPER_DRIVERS requires Z2, Z3, Z4 pins (and three extra E plugs)."


The extra E plug comments seem a bit strange to me.

I know that we try to find E plugs to auto-assign extra Z drivers to, but if that is the case, the user does not need to provide Z pins at all.

The comment indicates that they need Z pins and E plugs, but in reality they need Z pins or unused E drivers.

I maintained existing so ill let @thinkyhead determine if he wants to change the comments around.

"(and/or three extra E plugs)"

Marlin/src/module/configuration_store.cpp

Marlin/src/module/endstops.cpp

Marlin/src/module/endstops.h

sjasonsmith · 2020-01-01T22:18:16Z

Marlin/src/module/motion.cpp

+        // manual bubble sort by adjust value
+        if (adj[1] < adj[0]) {
+          tempLock = lock[0], tempAdj = adj[0];
+          lock[0] = lock[1], adj[0] = adj[1];
+          lock[1] = tempLock, adj[1] = tempAdj;
+        }
+        if (adj[2] < adj[1]) {
+          tempLock = lock[1], tempAdj = adj[1];
+          lock[1] = lock[2], adj[1] = adj[2];
+          lock[2] = tempLock, adj[2] = tempAdj;
+        }
+        if (adj[1] < adj[0]) {
+          tempLock = lock[0], tempAdj = adj[0];
+          lock[0] = lock[1], adj[0] = adj[1];
+          lock[1] = tempLock, adj[1] = tempAdj;
+        }
+
+        if (pos_dir) {
+          // normalize adj to smallest value and do the first move
+          (*lock[0])(true);
+          do_homing_move(axis, adj[1] - adj[0]);
+          // lock the second stepper for the final correction
+          (*lock[1])(true);
+          do_homing_move(axis, adj[2] - adj[1]);
+        }
+        else {
+          (*lock[2])(true);
+          do_homing_move(axis, adj[1] - adj[2]);
+          (*lock[1])(true);
+          do_homing_move(axis, adj[0] - adj[1]);
+        }


This algorithm looks simply duplicated from Triple Z. It will need changes to actually home to all four endstops.

By the look of it I got sidetracked halfway through this function and didnt finish it... Ill get this one tomorrow probably.

sjasonsmith · 2020-01-01T22:40:28Z

For my review above I looked at every change in every non-example file. I looked at the configs in the Marlin folder and the default example, but not the others.

sjasonsmith · 2020-01-01T23:02:50Z

I also rebased my Triple-Z configuration onto this and verified it still compiles file. I haven't actually tested it yet. I will try to do that tomorrow.

InsanityAutomation · 2020-01-01T23:21:36Z

Awesome, I'll fix up the comments I botched and other little bits before then :)

AnHardt · 2020-01-02T09:32:48Z

Thanks.
Now i see. Looks as if, the joints of the gantry are that weak, that gantry will not be plane without that much support points.

also worth noting this is already used in both RRF and klipper by the voron machines.

That alone is no reason. There is conceptual poor hardware supported by all the firmwares. (Probes sending a trigger pulse, for example)

sjasonsmith · 2020-01-02T21:28:27Z

I tested with my Triple Z after commit 980b586, and did not encounter any issues. I tested it both with and without known stepper positions.

InsanityAutomation · 2020-01-02T21:39:48Z

@sjasonsmith woohoo! So at minimum I failed to break anything :) hopefully with that last tweak up there we can look at something that may be merged soon then follow up as we can test various setups.

thinkyhead · 2020-01-18T02:02:48Z

Rebased, squashed, and refactored Z multiple driver / endstop settings and related code. Use git fetch origin and git reset --hard as usual to get the latest changes.

The CI tests are failing because various example configs are used during testing, and the configs are not yet up to date with this PR. I have a workaround, but I need to formalize it so it's easier for the CI script to grab the updated configs that apply to the PR being tested. For now I can just stick them in Configurations/master and re-run the tests.

InsanityAutomation · 2020-01-18T02:22:40Z

Sounds good! I have tracking on an 11 stepper @bigtreetech gtr1.0 board to test this with soon!

thinkyhead · 2020-01-18T02:30:11Z

I have tracking on an 11 stepper … gtr1.0

Ours should arrive around the same day as yours.
It will be fun to get it to working in the E3D Toolchanger.

InsanityAutomation · 2020-01-18T03:26:33Z

Yup! And you know my other quad tool plan after that!

thinkyhead · 2020-01-19T19:48:50Z

This will be merged to bugfix-2.0.x pretty soon for inclusion in 2.0.2. At the moment I'm just running into a namespace issue (among others) w/r/t the L6470 handling. Should be sorted soon.

thinkyhead · 2020-01-19T20:08:09Z

It looks like your original commit added back some files that are obsolete. Can you isolate the changes you made to the "L6470" files? These have been renamed to L64XX so whatever changes you made to those files should be migrated to the new files.

thinkyhead · 2020-01-19T20:14:13Z

I think I got all the needed changes for L64XX. It should now pass testing.

* Don't test certain changes * Reset runout.ran_out on resume (MarlinFirmware#16230) * Step timing cleanup and rounding fix (MarlinFirmware#16258) * Add MRR_ESPA/_ESPE (ESP32) boards (MarlinFirmware#16238) * Add Ender-5 Pro config (MarlinFirmware#16221) * Add FLYBOARD (STM32F407ZG) (MarlinFirmware#16257) * Fix STM32 flush of TX (used by UBL) (MarlinFirmware#16197) * Flash leveling (for some STM32) (MarlinFirmware#16174) * Some ESP32 patches (MarlinFirmware#16297) * MKS SGen-L pins EEBF or EFBF scheme (MarlinFirmware#16296) * Add Rumba32 support for PIO (MarlinFirmware#16202) * MKS Robin 2 (STM32F407ZE) base support (MarlinFirmware#16270) * Update Czech language (MarlinFirmware#16305) * Sync SKR E3 configs (MarlinFirmware#16301) * Add NOZZLE_AS_PROBE (no probe offsets) (MarlinFirmware#15929) * Update README with status badge, etc. * Split up HAL items * Update mfpub for current MarlinDocumentation * Fix Max7219 with 256 or more cels * Fix games menu back item, titles * Update comments re: NOZZLE_AS_PROBE * Fix min limit for acc, feed, jerk (MarlinFirmware#16416) * Improve Renkforce configs (MarlinFirmware#16417) * Permit ENDSTOP_INTERRUPTS_FEATURE on more STM32 (MarlinFirmware#16412) * Improve STEVAL_3DP001V1 and future STEVAL_* support (MarlinFirmware#16404) * MKS Robin ILI9328 TFT support (MarlinFirmware#16401) * Disable PIDTEMPBED for SKR Mini E3 (MarlinFirmware#16396) * Return from loop() on non-AVR boards (MarlinFirmware#16390) * Refactor TMC-related macros and sanity checks (MarlinFirmware#16384) * Add FILAMENT_UNLOAD_PURGE_FEEDRATE (MarlinFirmware#16372) * Fix some DOGM warnings (MarlinFirmware#16363) * Fix warnings in stepper.cpp (MarlinFirmware#16364) * Fix PrintrBoard build (ignore TMC libraries) (MarlinFirmware#16346) (In future try to get Teensy processors better supported by `TMCStepper`.) * Clean up trailing whitespace * PWM pin not needed for Neopixel brightness / submenu (MarlinFirmware#16345) * Misc patches preceding DGUS PR * Fix Visual Micro "Arduino IDE for Visual Studio" support (MarlinFirmware#16418) * Update Russian language (MarlinFirmware#16426) * STM32F1: Fix misleading indent / nullptr on FSMC (MarlinFirmware#16431) * Z-offset edit precision based on value limits (MarlinFirmware#16425) * Add Ender-5 leadscrew README (MarlinFirmware#16424) * Add motherboard BIGTREE_SKR_V1.4_TURBO (MarlinFirmware#16374) * Enable MULTI_NOZZLE_DUPLICATION for BIBO (MarlinFirmware#16435) * Touch UI: Fix UBL mesh value editing (MarlinFirmware#16432) * Sidewinder X1 Config Updates (MarlinFirmware#16315) * Add Leapfrog Xeed 2015 support (MarlinFirmware#16400) * Improve JGAurora A1/A5S touch buttons (MarlinFirmware#16394) * Standardize drivers.h values, add class indirection (MarlinFirmware#16448) * Update Russian language (MarlinFirmware#16440) * BTT002: Add runout, PLR, and RGB pins (MarlinFirmware#16442) * Pins debugging AVR serial pins (MarlinFirmware#16437) * Fix MIN_PROBE_EDGE bug in default ABL G29 (MarlinFirmware#16367) * Temporary CI fix for STM32 * Use a default monitor_speed of 250000 * MSG_WATCH => MSG_INFO_SCREEN * Add EVNOVO (Artillery) Genius config (MarlinFirmware#16320) * Fixed Creality CR-20 Pro configuration example (MarlinFirmware#16332) * FYSETC F6 v1.4 board support (MarlinFirmware#16321) * Add example configs. 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(MarlinFirmware#16579) * Clean up HAL ADC, old test scripts * Adjust GTM32 build flags (MarlinFirmware#16582) * Shared SPI sanity check (MarlinFirmware#16581) * More CI test updates * Update FYSETC S6 pins (MarlinFirmware#16559) * PINDA v2 temperature sensor / compensation (MarlinFirmware#16293) * [cron] Bump distribution date (2020-01-18) * Allow RRW Keypad with any LCD * [cron] Bump distribution date (2020-01-19) * [cron] Bump distribution date (2020-01-20) * Fix M112 with Emergency Parser * Simplify TMC monitor code * Updates for L64XX * Function-like macros * Use bool in pin compare * Patch for _STEP_INIT * Simplify a drivers.h macro (MarlinFirmware#16589) * SAMD51: ADC for probe temperature compensation (MarlinFirmware#16596) * Update FYSETC S6 Peripheral Pins (MarlinFirmware#16593) * Update BTT002 pins (MarlinFirmware#16591) * Reset shutdown timer on M85 (MarlinFirmware#16587) * AVR sanity check for MONITOR_DRIVER_STATUS with SW Serial (MarlinFirmware#16421) * STEVAL_3DP001V1: Easier Serial2 (for WIFI interface) (MarlinFirmware#16599) * Fix Greek language string (MarlinFirmware#16601) * Quad Z stepper support (MarlinFirmware#16277) * LPC1768: Allow I2C master channel override (MarlinFirmware#16584) * Move steps/mm out of slim menus (MarlinFirmware#16603) * Fix CHAMBER_MAXTEMP security margin (MarlinFirmware#16600) * L64xx M906 Fix status variable, formatting (MarlinFirmware#16597) * Provide methods for M420 + MBL (MarlinFirmware#16602) * [cron] Bump distribution date (2020-01-21) * Fix STM401/4xx/STM32F7xx timers, STEVAL_3DP001V1 warning (MarlinFirmware#16621) * Override for LPC1768 u8g/digipot I2C master ID (MarlinFirmware#16622) * Release UI on G26 priming timeout (MarlinFirmware#16449) * Add HMS434 V15 ATSAM board (MarlinFirmware#16620) * Tweak some config spacing * G12 defaults per tool. Event G-code for post-toolchange (MarlinFirmware#16554) * Arc segment radius scaling (MarlinFirmware#16551) * Update mfdoc, mfpub * [cron] Bump distribution date (2020-01-22) * Tweak mfpub stashing * [cron] Bump distribution date (2020-01-23) * Enable use of latest TMCStepper on MKS Robin Nano (MarlinFirmware#16652) * [cron] Bump distribution date (2020-01-24) * Convert chars only for enabled languages * Extra debugging for leveling on/off * Bring configs and drivers.h up to date * Duet Smart Effector support (MarlinFirmware#16641) * BigTreeTech GTR V1.0 / Support 8 extruders, heaters, temp sensors, fans (MarlinFirmware#16595) * [cron] Bump distribution date (2020-01-26) * Fix DELTA_CALIBRATION_MENU recursive call (MarlinFirmware#16656) * Fix MKS Base + Digipot compile error (MarlinFirmware#16636) * Add ESP3DLib idletask entry point (MarlinFirmware#16658) * Fix Serial defines for M43 on AVR (MarlinFirmware#16649) * Fix HOMING_BACKOFF_MM for DELTA (MarlinFirmware#16657) * Clean up PID language defines * More 8 extruder defines * Update Slovak language (MarlinFirmware#16646) * Fix M43 timer report on AVR (MarlinFirmware#16645) * Fix Spanish (swapped BLTouch strings) (MarlinFirmware#16637) * SKR 1.3 sensorless endstops hack (MarlinFirmware#16659) * Fix PID F menu label * [cron] Bump distribution date (2020-01-27) * Preserve CWD for write/remove file (MarlinFirmware#16667) * Rename some temperature members * Fix Trigorilla 1.4 limit switches See MarlinFirmware#16612 * Fix serial port redirection (index ≠ port num) (MarlinFirmware#16687) * G60/G61 Position Save/Restore (MarlinFirmware#16557) * Remove extraneous G60/G61 lines * Fix Manual Bed Leveling with multiple extruders (MarlinFirmware#16688) * [cron] Bump distribution date (2020-01-28) * Prevent SD access from resetting ESP32 (MarlinFirmware#16690) * [cron] Bump distribution date (2020-01-29) * Fix Toolchange (!no_move) return to status (MarlinFirmware#16699) * [cron] Bump distribution date (2020-01-30) * Cleanup of old includes, add comments * Fix HAS_FAN macro (MarlinFirmware#16717) * Fix probe temp calibration (MarlinFirmware#16718) * Support for E4d@BOX mainboard (MarlinFirmware#16716) * Fix missing string for M48 build (MarlinFirmware#16708) * Fix G60/G61 slots > 8 and compile error (MarlinFirmware#16715) * Move L64XX index_to_axis to progmem (MarlinFirmware#16697) * Refactor heater watch, job timer auto-start (MarlinFirmware#16725) * Auto assign DIAG pins for multi-endstop (MarlinFirmware#16723) * Tweak G60/G61 slots * Fix compile error in SdVolume on ESP32 (MarlinFirmware#16728) * Simultaneous use of rotary encoder and touch buttons (MarlinFirmware#16729) * Set up DIAG endstops for BTT SKR 1.4 / 1.4 Turbo (MarlinFirmware#16727) * Extend RX/TX pins for up to 8 extruders * Fix up, improve endstop pin auto-assignment Followup for MarlinFirmware#16723 * (21) PT100 for MCUs with 3.3v logic (MarlinFirmware#16731) * [cron] Bump distribution date (2020-01-31) * Add sanity-check for new Advanced Pause option Followup to MarlinFirmware#16372 * Include macros for delta ABC * Update Russian language (MarlinFirmware#16745) * Fix BTT SKR 1.4 extra endstop pins (MarlinFirmware#16738) * Option for Trigorilla 1.4 with add-on endstops board (MarlinFirmware#16737) * Consistent M112 with Emergency Parser (MarlinFirmware#16747) * Improve mfadd helper script - Use the original branch name if none is supplied - Set the remote tracking to the source - Accept User/Branch or User:Branch syntax * Clean up i2c encoder, sanitize serial * Misc cleanup, whitespace * Encapsulate probe as singleton class (MarlinFirmware#16751) * G34 automatic point assignment (MarlinFirmware#16473) * Fix Temperature::over_autostart_threshold (MarlinFirmware#16749) * Update Russian language (MarlinFirmware#16750) * Fix CURRENT_STEP_DOWN compile error * Drop obsolete SD special char handling See MarlinFirmware#14035 * Probe singleton patch Followup to MarlinFirmware#16751 * Fix RGB / Neopixel white color bug See MarlinFirmware#16752 * Suppress a compile warning * More 8-extruder fixups Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com> Co-authored-by: Tanguy Pruvot <tpruvot@users.noreply.github.com> Co-authored-by: Jason Smith <jason.inet@gmail.com> Co-authored-by: Luc <8822552+luc-github@users.noreply.github.com> Co-authored-by: thisiskeithb <13375512+thisiskeithb@users.noreply.github.com> Co-authored-by: FLYmaker <49380822+FLYmaker@users.noreply.github.com> Co-authored-by: randellhodges <rhodges@taxfodder.com> Co-authored-by: ferengi82 <christian.maurer@gmx.eu> Co-authored-by: Luu Lac <45380455+shitcreek@users.noreply.github.com> Co-authored-by: petrzjunior <junior@zahradnik.cz> Co-authored-by: InsanityAutomation <38436470+InsanityAutomation@users.noreply.github.com> Co-authored-by: Giuliano Zaro <3684609+GMagician@users.noreply.github.com> Co-authored-by: Dirk O. 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thinkyhead changed the base branch from bugfix-2.0.x to dev-2.1.x December 21, 2019 03:58

thinkyhead added PR: New Feature C: Motion F: Calibration labels Dec 21, 2019

sjasonsmith reviewed Jan 1, 2020

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thinkyhead force-pushed the Add-Quad-Z-Steppers branch from 0fd1672 to 7f3ea5b Compare January 18, 2020 01:43

thinkyhead changed the base branch from dev-2.1.x to bugfix-2.0.x January 18, 2020 02:43

thinkyhead force-pushed the Add-Quad-Z-Steppers branch from 44325c2 to 48e7f10 Compare January 18, 2020 07:58

sjasonsmith mentioned this pull request Jan 19, 2020

[BUG] fails to compile skr e3 mini 1.2 #16611

Closed

thinkyhead mentioned this pull request Jan 20, 2020

fix X_DUAL_STEPPER_DRIVERS compile error #16589

Merged

thinkyhead force-pushed the Add-Quad-Z-Steppers branch from fe68862 to 918d8d5 Compare January 20, 2020 02:17

Quad Z stepper support

4736062

thinkyhead force-pushed the Add-Quad-Z-Steppers branch from 918d8d5 to 4736062 Compare January 20, 2020 02:52

thinkyhead merged commit 0fcf2b1 into MarlinFirmware:bugfix-2.0.x Jan 20, 2020

Vertabreak pushed a commit to Vertabreak/Marlin that referenced this pull request Jan 20, 2020

Quad Z stepper support (MarlinFirmware#16277)

827e0d6

InsanityAutomation deleted the Add-Quad-Z-Steppers branch April 4, 2020 15:13

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Add baseline Quad Z stepper support #16277

Add baseline Quad Z stepper support #16277

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Add baseline Quad Z stepper support #16277

Add baseline Quad Z stepper support #16277

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