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

[grblhal]

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

[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 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)

[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.