Can I add the 7th and 8th axis support.？

[pzh11001]

I checked part of the source code and found that there are definitions of U-axis and V-axis in many places. I try to imitate the programming, add the U-axis and v-axis code where there is ABC axis code, simply and completely imitate the macro definition and variable declaration of ABC axis. Unfortunately, although I have checked it many times to make sure that the U-axis and V-axis codes have been added to all places with ABC axis codes. The compilation can pass smoothly without any errors, and it can also be downloaded to teensy4.1 normally. But when I try to control with the serial assistant, the MCU microcomputer didn't respond at all, and the USB serial port of the computer was constantly lost and reconnected. This shows that the MCU is constantly restarting. There must be something wrong. I think grblHAL should definitely support 8 or 9 axes running at the same time. What should I do?

[pzh11001]

i use ArduinoIDE1.8.19。 Just in config.h set N_AXIS . If axis is larger than 6, MCU will crash. As long as 6 axes or less are set. Everything is back to normal. Why doesn't the code I added work。I need to use 7 independent axes instead of ganged axes
《motor_pins.h》
#ifdef C_AXIS
#ifndef M5_AVAILABLE
#error "C_AXIS pins are not available"
#endif
#define C_STEP_PORT M5_STEP_PORT
#define C_STEP_PIN M5_STEP_PIN
#define C_STEP_BIT (1<<M5_STEP_PIN)
#define C_DIRECTION_PORT M5_DIRECTION_PORT
#define C_DIRECTION_PIN M5_DIRECTION_PIN
#define C_DIRECTION_BIT (1<<M5_DIRECTION_PIN)
#ifdef M5_LIMIT_PIN
#define C_LIMIT_PORT M5_LIMIT_PORT
#define C_LIMIT_PIN M5_LIMIT_PIN
#define C_LIMIT_BIT (1<<M5_LIMIT_PIN)
#endif
#ifdef M5_LIMIT_PIN_MAX
#define C_LIMIT_PORT_MAX M5_LIMIT_PORT_MAX
#define C_LIMIT_PIN_MAX M5_LIMIT_PIN_MAX
#define C_LIMIT_BIT_MAX (1<<M5_LIMIT_PIN_MAX)
#endif
#ifdef M5_ENABLE_PIN
#define C_ENABLE_PORT M5_ENABLE_PORT
#define C_ENABLE_PIN M5_ENABLE_PIN
#define C_ENABLE_BIT (1<<M5_ENABLE_PIN)
#endif
#endif

#ifdef U_AXIS
#ifndef M6_AVAILABLE
#error "U_AXIS pins are not available"
#endif
#define U_STEP_PORT M6_STEP_PORT
#define U_STEP_PIN M6_STEP_PIN
#define U_STEP_BIT (1<<M6_STEP_PIN)
#define U_DIRECTION_PORT M6_DIRECTION_PORT
#define U_DIRECTION_PIN M6_DIRECTION_PIN
#define U_DIRECTION_BIT (1<<M6_DIRECTION_PIN)
#ifdef M6_LIMIT_PIN
#define U_LIMIT_PORT M6_LIMIT_PORT
#define U_LIMIT_PIN M6_LIMIT_PIN
#define U_LIMIT_BIT (1<<M6_LIMIT_PIN)
#endif
#ifdef M6_LIMIT_PIN_MAX
#define U_LIMIT_PORT_MAX M6_LIMIT_PORT_MAX
#define U_LIMIT_PIN_MAX M6_LIMIT_PIN_MAX
#define U_LIMIT_BIT_MAX (1<<M6_LIMIT_PIN_MAX)
#endif
#ifdef M6_ENABLE_PIN
#define U_ENABLE_PORT M6_ENABLE_PORT
#define U_ENABLE_PIN M6_ENABLE_PIN
#define U_ENABLE_BIT (1<<M6_ENABLE_PIN)
#endif
#endif

#ifdef V_AXIS
#ifndef M7_AVAILABLE
#error "V_AXIS pins are not available"
#endif
#define V_STEP_PORT M7_STEP_PORT
#define V_STEP_PIN M7_STEP_PIN
#define V_STEP_BIT (1<<M7_STEP_PIN)
#define V_DIRECTION_PORT M7_DIRECTION_PORT
#define V_DIRECTION_PIN M7_DIRECTION_PIN
#define V_DIRECTION_BIT (1<<M7_DIRECTION_PIN)
#ifdef M7_LIMIT_PIN
#define V_LIMIT_PORT M7_LIMIT_PORT
#define V_LIMIT_PIN M7_LIMIT_PIN
#define V_LIMIT_BIT (1<<M7_LIMIT_PIN)
#endif
#ifdef M7_LIMIT_PIN_MAX
#define V_LIMIT_PORT_MAX M7_LIMIT_PORT_MAX
#define V_LIMIT_PIN_MAX M7_LIMIT_PIN_MAX
#define V_LIMIT_BIT_MAX (1<<M7_LIMIT_PIN_MAX)
#endif
#ifdef M7_ENABLE_PIN
#define V_ENABLE_PORT M7_ENABLE_PORT
#define V_ENABLE_PIN M7_ENABLE_PIN
#define V_ENABLE_BIT (1<<M7_ENABLE_PIN)
#endif
#endif

《my_machine_map.h》 ：
#define BOARD_NAME "myboard"
#define HAS_IOPORTS

#define X_STEP_PIN (0u)
#define X_DIRECTION_PIN (1u)
#define X_ENABLE_PIN (24u)
#define X_LIMIT_PIN (23u)

#define Y_STEP_PIN (2u)
#define Y_DIRECTION_PIN (3u)
#define Y_ENABLE_PIN (25u)
#define Y_LIMIT_PIN (22u)

#define Z_STEP_PIN (4u)
#define Z_DIRECTION_PIN (5u)
#define Z_ENABLE_PIN (26u)
#define Z_LIMIT_PIN (21u)

#define M3_AVAILABLE
#define M3_STEP_PIN (6u)
#define M3_DIRECTION_PIN (7u)
#define M3_ENABLE_PIN (27u)
#define M3_LIMIT_PIN (20u)

#define M4_AVAILABLE
#define M4_STEP_PIN (8u)
#define M4_DIRECTION_PIN (9u)
#define M4_ENABLE_PIN (28u)
#define M4_LIMIT_PIN (19u)

#define M5_AVAILABLE
#define M5_STEP_PIN (10u)
#define M5_DIRECTION_PIN (11u)
#define M5_ENABLE_PIN (29u)
#define M5_LIMIT_PIN (18u)

#define M6_AVAILABLE
#define M6_STEP_PIN (41u)
#define M6_DIRECTION_PIN (40u)
#define M6_ENABLE_PIN (39u)
#define M6_LIMIT_PIN (38u)

#define M7_AVAILABLE
#define M7_STEP_PIN (37u)
#define M7_DIRECTION_PIN (36u)
#define M7_ENABLE_PIN (35u)
#define M7_LIMIT_PIN (34u)

[terjeio]

I think grblHAL should definitely support 8 or 9 axes running at the same time.

8 axes should be relatively easy to add since a byte is used to hold information such as step and direction output. 9 (or more) requires two bytes and will trigger more significant changes?

What should I do?

Debug? Support for U and V is work (in slow) progress for me and there may be issues such as settings/parameter storage allocation that has to be resolved. It is a pity that the Teensy is not easily debuggable, myself I would use a Nucleo STM32F756 board to debug as it has plenty of pins.

For the iMXRT1062: if you have a UART <> USB breakout board you may either add debug output to a UART channel or switch the primary output stream to that. Debug output can be enabled in grbl/config.h (DEBUGOUT) and writing is via debug_write().

[pzh11001]

I think grblHAL should definitely support 8 or 9 axes running at the same time.

8 axes should be relatively easy to add since a byte is used to hold information such as step and direction output. 9 (or more) requires two bytes and will trigger more significant changes?

What should I do?

Debug? Support for U and V is work (in slow) progress for me and there may be issues such as settings/parameter storage allocation that has to be resolved. It is a pity that the Teensy is not easily debuggable, myself I would use a Nucleo STM32F756 board to debug as it has plenty of pins.

For the iMXRT1062: if you have a UART <> USB breakout board you may either add debug output to a UART channel or switch the primary output stream to that. Debug output can be enabled in grbl/config.h (DEBUGOUT) and writing is via debug_write().

I see. Thank you very much. I think I need to prepare a UART to USB device. Connect to uart1 of teensy4.1.

[pzh11001]

Finally found the problem, The starting macro definition in 《nvc.h》 file is too small. After the expansion, grbHALl will not crash and can operate normally. Next, the 7-axis and 8-axis motors still don't rotate, but the command "?" of grblhal has been able to correctly show the coordinates, and I already know where to find the problem. It should be solved soon!

Thank you again for your help!

[terjeio]

The starting macro definition in 《nvc.h》 file is too small

I've fixed this, and related stuff, in the latest commit.