Marlin-9axis_pull hardware test report Axes 8 and 9

[HendrikJan-5D]

To support rebasing 9axis_pull branch onto current upstream MarlinFirmware/Marlin/bugfix-2.0.x

Have I configured Marlin-9axis_pull for 8 axes
And tested with a Dummy hardware shaft.
All functions work.

I configured Marlin-9axis_pull for 9 axes.
I am getting compiler errors

Marlin > src > feature > tmc_util.cpp

445 #if AXIS_IS_TMC(P)
446 if (monitor_tmc_driver(stepperP, need_update_error_counters, need_debug_reporting))
447 step_current_down(stepperPM); <-------------> must be (stepperP )
448 #endif

Marlin > src > core > macros.h

LIST_INC_INC_16 was not declared in this scope [332,25]

Marlin > src > core > serial.cpp

identifier q is undefined C/C++ (20) [117,3]
q was not declared in this scoop [118, 160]

Marlin > src > gcode > config > M92.ccp

Q_AXIS was not declared in this scope

It seems if you choose 9 axes , ( P ) the 10th axis is also chosen ( Q )
Would you take a look at this, I can't figure it out.

Send the complete configuration to you.

Marlin-9axis_pull 9 Axis test.zip

[DerAndere1]

Thanks for testing and reporting. I will have a look.

[DerAndere1]

compilation for 8 and 9 axes is fixed now in https://github.com/DerAndere1/Marlin/tree/Marlin/9axis_pull . Thanks for providing the preconfigured firmware, it helped with development . Your pin files and configs can be copied over without changes.

[HendrikJan-5D]

I have tested the latest version Marlin/9axis_pull.
Compiling is no longer a problem.
The W ( P ) endstop function is okay ( M119 )
The 9th axis can only turn in one direction.
The dir function of the TMC2209 does not work.
This also prevents the homeing from working.
With G1 W20 the shaft goes in the plus direction 20 mm
Then at G1 W5 the shaft goes to 35 mm instead of to 5 mm
All commenucation with the TMC2209 via ( M122 S0 ) is okay.
Another TMC2209 gives the same problem
The TMC2209 in a different position of the motherboard does not improve.
This excludes a hardware error.

[DerAndere1]

It seems the P axis is always in relative mode. This seems to be related to issue #54 . I had no problem with absolute/relative mode in upstream Marlin bugfix-2.0.x so it seems like a good idea to rebase the 9axis code onto current MarlinFirmware/Marlin bugfix-2.0.x now as that should fix the issue

EDIT: you issue seems to be more than just relative mode I have read 25mm where you wrote 35mm. What happens if you send
G1 W20
G1 W-1 ; Warning. This may crash the W axis into physical limits so be ready to push the emergency kill button

[DerAndere1]

Luckily I just found and fixed a typo in 9axis_pull that led to a bug in the p axis that would have been very hard to debug otherwise. Maybe that fixes it already

[HendrikJan-5D]

Your latest update did not resolve the issue.

G1 W20 + ------> 20 mm
G1 W-20 +------> 40 mm totaal +----> 60 mm

The dir function of the TMC2209 P axis is not controlled

When compiling I regularly see a problem message.
Which has to do with the P axis.

[DerAndere1]

Memo to myself: I have to change uint8_t to linear_axis_bits_t in the following lines:
https://github.com/DerAndere1/Marlin/blob/2b18e920727343de8b49906a556763e121aeb889/Marlin/src/module/stepper.h#L291
https://github.com/DerAndere1/Marlin/blob/2b18e920727343de8b49906a556763e121aeb889/Marlin/src/module/stepper.h#L545
https://github.com/DerAndere1/Marlin/blob/2b18e920727343de8b49906a556763e121aeb889/Marlin/src/gcode/gcode.h#L329
https://github.com/DerAndere1/Marlin/blob/2b18e920727343de8b49906a556763e121aeb889/Marlin/src/module/planner.cpp#L2333
https://github.com/DerAndere1/Marlin/blob/2b18e920727343de8b49906a556763e121aeb889/Marlin/src/module/planner.cpp#L2337
https://github.com/DerAndere1/Marlin/blob/2b18e920727343de8b49906a556763e121aeb889/Marlin/src/module/stepper.cpp#L152
https://github.com/DerAndere1/Marlin/blob/2b18e920727343de8b49906a556763e121aeb889/Marlin/src/module/stepper.cpp#L1662
https://github.com/DerAndere1/Marlin/blob/2b18e920727343de8b49906a556763e121aeb889/Marlin/src/module/stepper.h#L291
https://github.com/DerAndere1/Marlin/blob/2b18e920727343de8b49906a556763e121aeb889/Marlin/src/module/stepper.h#L545

and make sure the following macro from motion.h L425 is moved to types.h or elsewhere so that it is available in all files listed above:

typedef IF<(LINEAR_AXES > 8), uint16_t, uint8_t>::type linear_axis_bits_t;

[DerAndere1]

above changes are now in 9axis_pull branch. Testing is much appreciated

[HendrikJan-5D]

I downloaded your latest version.
And think you made a version mistake somewhere.
I run into compiler errors that have already been fixed in an earlier version. ( 3 days ago )
And now reappear.

[DerAndere1]

yes my git repository was in a strange state. should be fixed now including an additional correction regarding relative/absolute mode

[DerAndere1]

If the current solution is problematic with 8 or 9 axes, we will have to use axis_bits_t instead of linear_axis_bits_tin the above places.

[HendrikJan-5D]

In the first configured version 3 days ago, the 8th axis worked without any problems.
Only the 9th axis had problems.

[HendrikJan-5D]

Latest version downloaded

My pin files and configs copied over without changes.

The dir problem with the 9th axis is not solved yet.

The other 8 Axis work well

G1 X100 Y100 Z100 A90 B45 C45 U90 V90

I send you the current configuration

Marlin-9axis_pull 9 Axis test 5.zip

[HendrikJan-5D]

When looking for a solution to the ( dir ) problem of the P Axis
I came across the following things.

Marlin > src > core > types.h

376 template
377 struct XYZval {
378 union {
379 struct { T LINEAR_AXIS_LIST(x, y, z, i, j, k, m, o, p, q); };
380 struct { T LINEAR_AXIS_LIST(a, b, c, u, v, w, ax7, ax8, a9, ax10); };
381 T pos[LINEAR_AXES];
382 };

Line 380 ----> a9 this must be ax9

Unfortunately this doesn't solve the ( dir ) problem of the P Axis.

I also came across a few things while searching that I don't know if it's wrong.

Marlin > src > inc > Conditionals_post.h

186 #if LINEAR_AXES >= 9
187 #define _P_HALF_PMAX ((P_BED_SIZE) / 2)
188 #endif

I'm missing the code for the 10th Axis .
While he is present at line 213

Marlin > src > feature > stepper_driver_safety.cpp

In this file I see everything from the X Y and Z Axis plus extruders E
I expect there should also be a code for I J K M O P Q Axes

[DerAndere1]

I now changed the type of one occurance of uint8_t dm and did the changes proposed by you. To understand why it is so much more difficult to get 9 axes working compared to 8: to safe space. Marlin uses variables of type uint8_t whenever possible, which is a variable with 8 bits, so up to 8 axes are possible with the old code. For more axes, I had to change to a variable type with more than 8 bits. Changing all occurances of u8int_t would increase code size too much, so I have to find the right spots. I now use axis_bits_t in all places I listed so far, which hopefully it resolves the issue. Thanks for being patient with me.
Things that have to be tested for 8 axes and seperately for 9 axes:

• change of direction
• change between absolute mode and relative mode (G90, G91)