✨ Support for up to 9 axes (linear, rotary) (MarlinFirmware#23112)

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

Author: DerAndere1

Marlin/Configuration.h

@@ -35,7 +35,7 @@
  *
  * Advanced settings can be found in Configuration_adv.h
  */
-#define CONFIGURATION_H_VERSION 02000903
+#define CONFIGURATION_H_VERSION 02010000
 
 //===========================================================================
 //============================= Getting Started =============================
@@ -150,9 +150,9 @@
 //#define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
 
 /**
- * Define the number of coordinated linear axes.
+ * Define the number of coordinated axes.
  * See https://github.com/DerAndere1/Marlin/wiki
- * Each linear axis gets its own stepper control and endstop:
+ * Each axis gets its own stepper control and endstop:
  *
  *   Steppers: *_STEP_PIN, *_ENABLE_PIN, *_DIR_PIN, *_ENABLE_ON
  *   Endstops: *_STOP_PIN, USE_*MIN_PLUG, USE_*MAX_PLUG
@@ -161,31 +161,50 @@
  *             DEFAULT_MAX_ACCELERATION, AXIS_RELATIVE_MODES,
  *             MICROSTEP_MODES, MANUAL_FEEDRATE
  *
- * :[3, 4, 5, 6]
+ * :[3, 4, 5, 6, 7, 8, 9]
  */
-//#define LINEAR_AXES 3
+//#define NUM_AXES 3
 
 /**
- * Axis codes for additional axes:
- * This defines the axis code that is used in G-code commands to
- * reference a specific axis.
- * 'A' for rotational axis parallel to X
- * 'B' for rotational axis parallel to Y
- * 'C' for rotational axis parallel to Z
- * 'U' for secondary linear axis parallel to X
- * 'V' for secondary linear axis parallel to Y
- * 'W' for secondary linear axis parallel to Z
- * Regardless of the settings, firmware-internal axis IDs are
- * I (AXIS4), J (AXIS5), K (AXIS6).
+ * Additional Axis Settings
+ *
+ * Define AXISn_ROTATES for all axes that rotate or pivot.
+ * Rotational axis coordinates are expressed in degrees.
+ *
+ * AXISn_NAME defines the letter used to refer to the axis in (most) G-code commands.
+ * By convention the names and roles are typically:
+ *   'A' : Rotational axis parallel to X
+ *   'B' : Rotational axis parallel to Y
+ *   'C' : Rotational axis parallel to Z
+ *   'U' : Secondary linear axis parallel to X
+ *   'V' : Secondary linear axis parallel to Y
+ *   'W' : Secondary linear axis parallel to Z
+ *
+ * Regardless of these settings the axes are internally named I, J, K, U, V, W.
  */
-#if LINEAR_AXES >= 4
+#if NUM_AXES >= 4
   #define AXIS4_NAME 'A' // :['A', 'B', 'C', 'U', 'V', 'W']
+  #define AXIS4_ROTATES
+#endif
+#if NUM_AXES >= 5
+  #define AXIS5_NAME 'B' // :['B', 'C', 'U', 'V', 'W']
+  #define AXIS5_ROTATES
+#endif
+#if NUM_AXES >= 6
+  #define AXIS6_NAME 'C' // :['C', 'U', 'V', 'W']
+  #define AXIS6_ROTATES
+#endif
+#if NUM_AXES >= 7
+  #define AXIS7_NAME 'U' // :['U', 'V', 'W']
+  //#define AXIS7_ROTATES
 #endif
-#if LINEAR_AXES >= 5
-  #define AXIS5_NAME 'B' // :['A', 'B', 'C', 'U', 'V', 'W']
+#if NUM_AXES >= 8
+  #define AXIS8_NAME 'V' // :['V', 'W']
+  //#define AXIS8_ROTATES
 #endif
-#if LINEAR_AXES >= 6
-  #define AXIS6_NAME 'C' // :['A', 'B', 'C', 'U', 'V', 'W']
+#if NUM_AXES >= 9
+  #define AXIS9_NAME 'W' // :['W']
+  //#define AXIS9_ROTATES
 #endif
 
 // @section extruder
@@ -793,12 +812,18 @@
 //#define USE_IMIN_PLUG
 //#define USE_JMIN_PLUG
 //#define USE_KMIN_PLUG
+//#define USE_UMIN_PLUG
+//#define USE_VMIN_PLUG
+//#define USE_WMIN_PLUG
 //#define USE_XMAX_PLUG
 //#define USE_YMAX_PLUG
 //#define USE_ZMAX_PLUG
 //#define USE_IMAX_PLUG
 //#define USE_JMAX_PLUG
 //#define USE_KMAX_PLUG
+//#define USE_UMAX_PLUG
+//#define USE_VMAX_PLUG
+//#define USE_WMAX_PLUG
 
 // Enable pullup for all endstops to prevent a floating state
 #define ENDSTOPPULLUPS
@@ -810,12 +835,18 @@
   //#define ENDSTOPPULLUP_IMIN
   //#define ENDSTOPPULLUP_JMIN
   //#define ENDSTOPPULLUP_KMIN
+  //#define ENDSTOPPULLUP_UMIN
+  //#define ENDSTOPPULLUP_VMIN
+  //#define ENDSTOPPULLUP_WMIN
   //#define ENDSTOPPULLUP_XMAX
   //#define ENDSTOPPULLUP_YMAX
   //#define ENDSTOPPULLUP_ZMAX
   //#define ENDSTOPPULLUP_IMAX
   //#define ENDSTOPPULLUP_JMAX
   //#define ENDSTOPPULLUP_KMAX
+  //#define ENDSTOPPULLUP_UMAX
+  //#define ENDSTOPPULLUP_VMAX
+  //#define ENDSTOPPULLUP_WMAX
   //#define ENDSTOPPULLUP_ZMIN_PROBE
 #endif
 
@@ -829,12 +860,18 @@
   //#define ENDSTOPPULLDOWN_IMIN
   //#define ENDSTOPPULLDOWN_JMIN
   //#define ENDSTOPPULLDOWN_KMIN
+  //#define ENDSTOPPULLDOWN_UMIN
+  //#define ENDSTOPPULLDOWN_VMIN
+  //#define ENDSTOPPULLDOWN_WMIN
   //#define ENDSTOPPULLDOWN_XMAX
   //#define ENDSTOPPULLDOWN_YMAX
   //#define ENDSTOPPULLDOWN_ZMAX
   //#define ENDSTOPPULLDOWN_IMAX
   //#define ENDSTOPPULLDOWN_JMAX
   //#define ENDSTOPPULLDOWN_KMAX
+  //#define ENDSTOPPULLDOWN_UMAX
+  //#define ENDSTOPPULLDOWN_VMAX
+  //#define ENDSTOPPULLDOWN_WMAX
   //#define ENDSTOPPULLDOWN_ZMIN_PROBE
 #endif
 
@@ -845,12 +882,18 @@
 #define I_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define J_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define K_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define U_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define V_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define W_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define X_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Y_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Z_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define I_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define J_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define K_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define U_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define V_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
+#define W_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop.
 #define Z_MIN_PROBE_ENDSTOP_INVERTING false // Set to true to invert the logic of the probe.
 
 /**
@@ -882,6 +925,9 @@
 //#define I_DRIVER_TYPE  A4988
 //#define J_DRIVER_TYPE  A4988
 //#define K_DRIVER_TYPE  A4988
+//#define U_DRIVER_TYPE  A4988
+//#define V_DRIVER_TYPE  A4988
+//#define W_DRIVER_TYPE  A4988
 #define E0_DRIVER_TYPE A4988
 //#define E1_DRIVER_TYPE A4988
 //#define E2_DRIVER_TYPE A4988
@@ -933,16 +979,16 @@
 //#define DISTINCT_E_FACTORS
 
 /**
- * Default Axis Steps Per Unit (steps/mm)
+ * Default Axis Steps Per Unit (linear=steps/mm, rotational=steps/°)
  * Override with M92
- *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
  */
 #define DEFAULT_AXIS_STEPS_PER_UNIT   { 80, 80, 400, 500 }
 
 /**
- * Default Max Feed Rate (mm/s)
+ * Default Max Feed Rate (linear=mm/s, rotational=°/s)
  * Override with M203
- *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
  */
 #define DEFAULT_MAX_FEEDRATE          { 300, 300, 5, 25 }
 
@@ -952,10 +998,10 @@
 #endif
 
 /**
- * Default Max Acceleration (change/s) change = mm/s
+ * Default Max Acceleration (speed change with time) (linear=mm/(s^2), rotational=°/(s^2))
  * (Maximum start speed for accelerated moves)
  * Override with M201
- *                                      X, Y, Z [, I [, J [, K]]], E0 [, E1[, E2...]]
+ *                                      X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]]
  */
 #define DEFAULT_MAX_ACCELERATION      { 3000, 3000, 100, 10000 }
 
@@ -965,7 +1011,7 @@
 #endif
 
 /**
- * Default Acceleration (change/s) change = mm/s
+ * Default Acceleration (speed change with time) (linear=mm/(s^2), rotational=°/(s^2))
  * Override with M204
  *
  *   M204 P    Acceleration
@@ -978,7 +1024,7 @@
 
 /**
  * Default Jerk limits (mm/s)
- * Override with M205 X Y Z E
+ * Override with M205 X Y Z . . . E
  *
  * "Jerk" specifies the minimum speed change that requires acceleration.
  * When changing speed and direction, if the difference is less than the
@@ -992,6 +1038,9 @@
   //#define DEFAULT_IJERK  0.3
   //#define DEFAULT_JJERK  0.3
   //#define DEFAULT_KJERK  0.3
+  //#define DEFAULT_UJERK  0.3
+  //#define DEFAULT_VJERK  0.3
+  //#define DEFAULT_WJERK  0.3
 
   //#define TRAVEL_EXTRA_XYJERK 0.0     // Additional jerk allowance for all travel moves
 
@@ -1330,6 +1379,9 @@
 //#define I_ENABLE_ON 0
 //#define J_ENABLE_ON 0
 //#define K_ENABLE_ON 0
+//#define U_ENABLE_ON 0
+//#define V_ENABLE_ON 0
+//#define W_ENABLE_ON 0
 
 // Disable axis steppers immediately when they're not being stepped.
 // WARNING: When motors turn off there is a chance of losing position accuracy!
@@ -1339,6 +1391,9 @@
 //#define DISABLE_I false
 //#define DISABLE_J false
 //#define DISABLE_K false
+//#define DISABLE_U false
+//#define DISABLE_V false
+//#define DISABLE_W false
 
 // Turn off the display blinking that warns about possible accuracy reduction
 //#define DISABLE_REDUCED_ACCURACY_WARNING
@@ -1357,6 +1412,9 @@
 //#define INVERT_I_DIR false
 //#define INVERT_J_DIR false
 //#define INVERT_K_DIR false
+//#define INVERT_U_DIR false
+//#define INVERT_V_DIR false
+//#define INVERT_W_DIR false
 
 // @section extruder
 
@@ -1395,14 +1453,17 @@
 //#define I_HOME_DIR -1
 //#define J_HOME_DIR -1
 //#define K_HOME_DIR -1
+//#define U_HOME_DIR -1
+//#define V_HOME_DIR -1
+//#define W_HOME_DIR -1
 
 // @section machine
 
 // The size of the printable area
 #define X_BED_SIZE 200
 #define Y_BED_SIZE 200
 
-// Travel limits (mm) after homing, corresponding to endstop positions.
+// Travel limits (linear=mm, rotational=°) after homing, corresponding to endstop positions.
 #define X_MIN_POS 0
 #define Y_MIN_POS 0
 #define Z_MIN_POS 0
@@ -1415,6 +1476,12 @@
 //#define J_MAX_POS 50
 //#define K_MIN_POS 0
 //#define K_MAX_POS 50
+//#define U_MIN_POS 0
+//#define U_MAX_POS 50
+//#define V_MIN_POS 0
+//#define V_MAX_POS 50
+//#define W_MIN_POS 0
+//#define W_MAX_POS 50
 
 /**
  * Software Endstops
@@ -1434,6 +1501,9 @@
   #define MIN_SOFTWARE_ENDSTOP_I
   #define MIN_SOFTWARE_ENDSTOP_J
   #define MIN_SOFTWARE_ENDSTOP_K
+  #define MIN_SOFTWARE_ENDSTOP_U
+  #define MIN_SOFTWARE_ENDSTOP_V
+  #define MIN_SOFTWARE_ENDSTOP_W
 #endif
 
 // Max software endstops constrain movement within maximum coordinate bounds
@@ -1445,6 +1515,9 @@
   #define MAX_SOFTWARE_ENDSTOP_I
   #define MAX_SOFTWARE_ENDSTOP_J
   #define MAX_SOFTWARE_ENDSTOP_K
+  #define MAX_SOFTWARE_ENDSTOP_U
+  #define MAX_SOFTWARE_ENDSTOP_V
+  #define MAX_SOFTWARE_ENDSTOP_W
 #endif
 
 #if EITHER(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS)
@@ -1759,6 +1832,9 @@
 //#define MANUAL_I_HOME_POS 0
 //#define MANUAL_J_HOME_POS 0
 //#define MANUAL_K_HOME_POS 0
+//#define MANUAL_U_HOME_POS 0
+//#define MANUAL_V_HOME_POS 0
+//#define MANUAL_W_HOME_POS 0
 
 /**
  * Use "Z Safe Homing" to avoid homing with a Z probe outside the bed area.
@@ -1774,7 +1850,7 @@
   #define Z_SAFE_HOMING_Y_POINT Y_CENTER  // Y point for Z homing
 #endif
 
-// Homing speeds (mm/min)
+// Homing speeds (linear=mm/min, rotational=°/min)
 #define HOMING_FEEDRATE_MM_M { (50*60), (50*60), (4*60) }
 
 // Validate that endstops are triggered on homing moves