🐛 Fix IJK axis references, E stepper indices (#22176)

Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>

Marlin/src/feature/dac/stepper_dac.cpp

   if (!dac_present) return;
   SERIAL_ECHO_MSG("Stepper current values in % (Amps):");
   SERIAL_ECHO_START();
-  SERIAL_ECHOPAIR_P(  SP_X_LBL, dac_perc(X_AXIS), PSTR(" ("), dac_amps(X_AXIS), PSTR(")"));
-  SERIAL_ECHOPAIR_P(  SP_Y_LBL, dac_perc(Y_AXIS), PSTR(" ("), dac_amps(Y_AXIS), PSTR(")"));
-  SERIAL_ECHOPAIR_P(  SP_Z_LBL, dac_perc(Z_AXIS), PSTR(" ("), dac_amps(Z_AXIS), PSTR(")"));
-  SERIAL_ECHOLNPAIR_P(SP_E_LBL, dac_perc(E_AXIS), PSTR(" ("), dac_amps(E_AXIS), PSTR(")"));
+  SERIAL_ECHOPAIR_P(SP_X_LBL, dac_perc(X_AXIS), PSTR(" ("), dac_amps(X_AXIS), PSTR(")"));
+  #if HAS_Y_AXIS
+    SERIAL_ECHOPAIR_P(SP_Y_LBL, dac_perc(Y_AXIS), PSTR(" ("), dac_amps(Y_AXIS), PSTR(")"));
+  #endif
+  #if HAS_Z_AXIS
+    SERIAL_ECHOPAIR_P(SP_Z_LBL, dac_perc(Z_AXIS), PSTR(" ("), dac_amps(Z_AXIS), PSTR(")"));
+  #endif
+  #if HAS_EXTRUDERS
+    SERIAL_ECHOLNPAIR_P(SP_E_LBL, dac_perc(E_AXIS), PSTR(" ("), dac_amps(E_AXIS), PSTR(")"));
+  #endif
 }
 
 void StepperDAC::commit_eeprom() {

Marlin/src/gcode/feature/L6470/M906.cpp

 #include "../../../core/debug_out.h"
 
 /**
- * M906: report or set KVAL_HOLD which sets the maximum effective voltage provided by the
- *       PWMs to the steppers
- *
- * On L6474 this sets the TVAL register (same address).
- *
- * I - select which driver(s) to change on multi-driver axis
- *     0 - (default) all drivers on the axis or E0
- *     1 - monitor only X, Y, Z or E1
- *     2 - monitor only X2, Y2, Z2 or E2
- *     3 - monitor only Z3 or E3
- *     4 - monitor only Z4 or E4
- *     5 - monitor only E5
- * Xxxx, Yxxx, Zxxx, Exxx - axis to change (optional)
- *     L6474 - current in mA (4A max)
- *     All others - 0-255
- */
-
-/**
- * Sets KVAL_HOLD wich affects the current being driven through the stepper.
- *
- * L6470 is used in the STEP-CLOCK mode.  KVAL_HOLD is the only KVAL_xxx
- * that affects the effective voltage seen by the stepper.
- */
-
-/**
  * MACRO to fetch information on the items associated with current limiting
  * and maximum voltage output.
  *
   }
 }
 
+/**
+ * M906: report or set KVAL_HOLD which sets the maximum effective voltage provided by the
+ *       PWMs to the steppers
+ *
+ * On L6474 this sets the TVAL register (same address).
+ *
+ * I - select which driver(s) to change on multi-driver axis
+ *     0 - (default) all drivers on the axis or E0
+ *     1 - monitor only X, Y, Z or E1
+ *     2 - monitor only X2, Y2, Z2 or E2
+ *     3 - monitor only Z3 or E3
+ *     4 - monitor only Z4 or E4
+ *     5 - monitor only E5
+ * Xxxx, Yxxx, Zxxx, Exxx - axis to change (optional)
+ *     L6474 - current in mA (4A max)
+ *     All others - 0-255
+ *
+ * Sets KVAL_HOLD wich affects the current being driven through the stepper.
+ *
+ * L6470 is used in the STEP-CLOCK mode.  KVAL_HOLD is the only KVAL_xxx
+ * that affects the effective voltage seen by the stepper.
+ */
 void GcodeSuite::M906() {
 
   L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status
           break;
       #endif
 
-      #if HAS_EXTRUDERS
+      #if E_STEPPERS
         case E_AXIS: {
-          const int8_t target_extruder = get_target_extruder_from_command();
-          if (target_extruder < 0) return;
-          switch (target_extruder) {
+          const int8_t target_e_stepper = get_target_e_stepper_from_command();
+          if (target_e_stepper < 0) return;
+          switch (target_e_stepper) {
             #if AXIS_IS_L64XX(E0)
               case 0: L6470_SET_KVAL_HOLD(E0); break;
             #endif

Marlin/src/gcode/feature/pause/M125.cpp

  */
 void GcodeSuite::M125() {
   // Initial retract before move to filament change position
-  const float retract = -ABS(parser.axisunitsval('L', E_AXIS, PAUSE_PARK_RETRACT_LENGTH));
+  const float retract = TERN0(HAS_EXTRUDERS, -ABS(parser.axisunitsval('L', E_AXIS, PAUSE_PARK_RETRACT_LENGTH)));
 
   xyz_pos_t park_point = NOZZLE_PARK_POINT;
 

Marlin/src/gcode/feature/trinamic/M569.cpp

   st.refresh_stepping_mode();
 }
 
-static void set_stealth_status(const bool enable, const int8_t target_extruder) {
+static void set_stealth_status(const bool enable, const int8_t target_e_stepper) {
   #define TMC_SET_STEALTH(Q) tmc_set_stealthChop(stepper##Q, enable)
 
   #if    X_HAS_STEALTHCHOP  || Y_HAS_STEALTHCHOP  || Z_HAS_STEALTHCHOP \
         case K_AXIS: TMC_SET_STEALTH(K); break;
       #endif
 
-      #if HAS_EXTRUDERS
+      #if E_STEPPERS
         case E_AXIS: {
-          if (target_extruder < 0) return;
-          OPTCODE(E0_HAS_STEALTHCHOP, else if (target_extruder == 0) TMC_SET_STEALTH(E0))
-          OPTCODE(E1_HAS_STEALTHCHOP, else if (target_extruder == 1) TMC_SET_STEALTH(E1))
-          OPTCODE(E2_HAS_STEALTHCHOP, else if (target_extruder == 2) TMC_SET_STEALTH(E2))
-          OPTCODE(E3_HAS_STEALTHCHOP, else if (target_extruder == 3) TMC_SET_STEALTH(E3))
-          OPTCODE(E4_HAS_STEALTHCHOP, else if (target_extruder == 4) TMC_SET_STEALTH(E4))
-          OPTCODE(E5_HAS_STEALTHCHOP, else if (target_extruder == 5) TMC_SET_STEALTH(E5))
-          OPTCODE(E6_HAS_STEALTHCHOP, else if (target_extruder == 6) TMC_SET_STEALTH(E6))
-          OPTCODE(E7_HAS_STEALTHCHOP, else if (target_extruder == 7) TMC_SET_STEALTH(E7))
+          if (target_e_stepper < 0) return;
+          switch (target_e_stepper) {
+            TERN_(E0_HAS_STEALTHCHOP, case 0: TMC_SET_STEALTH(E0); break;)
+            TERN_(E1_HAS_STEALTHCHOP, case 1: TMC_SET_STEALTH(E1); break;)
+            TERN_(E2_HAS_STEALTHCHOP, case 2: TMC_SET_STEALTH(E2); break;)
+            TERN_(E3_HAS_STEALTHCHOP, case 3: TMC_SET_STEALTH(E3); break;)
+            TERN_(E4_HAS_STEALTHCHOP, case 4: TMC_SET_STEALTH(E4); break;)
+            TERN_(E5_HAS_STEALTHCHOP, case 5: TMC_SET_STEALTH(E5); break;)
+            TERN_(E6_HAS_STEALTHCHOP, case 6: TMC_SET_STEALTH(E6); break;)
+            TERN_(E7_HAS_STEALTHCHOP, case 7: TMC_SET_STEALTH(E7); break;)
+          }
         } break;
       #endif
     }
  */
 void GcodeSuite::M569() {
   if (parser.seen('S'))
-    set_stealth_status(parser.value_bool(), get_target_extruder_from_command());
+    set_stealth_status(parser.value_bool(), get_target_e_stepper_from_command());
   else
     say_stealth_status();
 }

Marlin/src/gcode/feature/trinamic/M906.cpp

         case K_AXIS: TMC_SET_CURRENT(K); break;
       #endif
 
-      #if HAS_EXTRUDERS
+      #if E_STEPPERS
         case E_AXIS: {
-          const int8_t target_extruder = get_target_extruder_from_command();
-          if (target_extruder < 0) return;
-          switch (target_extruder) {
+          const int8_t target_e_stepper = get_target_e_stepper_from_command();
+          if (target_e_stepper < 0) return;
+          switch (target_e_stepper) {
             #if AXIS_IS_TMC(E0)
               case 0: TMC_SET_CURRENT(E0); break;
             #endif

Marlin/src/gcode/feature/trinamic/M911-M914.cpp

           TERN_(Z3_HAS_STEALTCHOP, if (index == 0 || index == 3) TMC_SET_PWMTHRS(Z,Z3));
           TERN_(Z4_HAS_STEALTCHOP, if (index == 0 || index == 4) TMC_SET_PWMTHRS(Z,Z4));
           break;
-        case E_AXIS: {
-          #if E_STEPPERS
-            const int8_t target_extruder = get_target_extruder_from_command();
-            if (target_extruder < 0) return;
-            TERN_(E0_HAS_STEALTHCHOP, else if (target_extruder == 0) TMC_SET_PWMTHRS_E(0));
-            TERN_(E1_HAS_STEALTHCHOP, else if (target_extruder == 1) TMC_SET_PWMTHRS_E(1));
-            TERN_(E2_HAS_STEALTHCHOP, else if (target_extruder == 2) TMC_SET_PWMTHRS_E(2));
-            TERN_(E3_HAS_STEALTHCHOP, else if (target_extruder == 3) TMC_SET_PWMTHRS_E(3));
-            TERN_(E4_HAS_STEALTHCHOP, else if (target_extruder == 4) TMC_SET_PWMTHRS_E(4));
-            TERN_(E5_HAS_STEALTHCHOP, else if (target_extruder == 5) TMC_SET_PWMTHRS_E(5));
-            TERN_(E6_HAS_STEALTHCHOP, else if (target_extruder == 6) TMC_SET_PWMTHRS_E(6));
-            TERN_(E7_HAS_STEALTHCHOP, else if (target_extruder == 7) TMC_SET_PWMTHRS_E(7));
-          #endif // E_STEPPERS
-        } break;
+        #if E_STEPPERS
+          case E_AXIS: {
+            const int8_t target_e_stepper = get_target_e_stepper_from_command();
+            if (target_e_stepper < 0) return;
+            switch (target_e_stepper) {
+              TERN_(E0_HAS_STEALTHCHOP, case 0: TMC_SET_PWMTHRS_E(0); break;)
+              TERN_(E1_HAS_STEALTHCHOP, case 1: TMC_SET_PWMTHRS_E(1); break;)
+              TERN_(E2_HAS_STEALTHCHOP, case 2: TMC_SET_PWMTHRS_E(2); break;)
+              TERN_(E3_HAS_STEALTHCHOP, case 3: TMC_SET_PWMTHRS_E(3); break;)
+              TERN_(E4_HAS_STEALTHCHOP, case 4: TMC_SET_PWMTHRS_E(4); break;)
+              TERN_(E5_HAS_STEALTHCHOP, case 5: TMC_SET_PWMTHRS_E(5); break;)
+              TERN_(E6_HAS_STEALTHCHOP, case 6: TMC_SET_PWMTHRS_E(6); break;)
+              TERN_(E7_HAS_STEALTHCHOP, case 7: TMC_SET_PWMTHRS_E(7); break;)
+            }
+          } break;
+        #endif // E_STEPPERS
       }
     }
 

Marlin/src/gcode/host/M114.cpp

       report_current_position_detail();
       return;
     }
-    if (parser.seen_test('E')) {
-      SERIAL_ECHOLNPAIR("Count E:", stepper.position(E_AXIS));
-      return;
-    }
+    #if HAS_EXTRUDERS
+      if (parser.seen_test('E')) {
+        SERIAL_ECHOLNPAIR("Count E:", stepper.position(E_AXIS));
+        return;
+      }
+    #endif
   #endif
 
   #if ENABLED(M114_REALTIME)

Marlin/src/gcode/parser.h

     }
 
     static inline float axis_unit_factor(const AxisEnum axis) {
-      return (axis >= E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
+      return (
+        #if HAS_EXTRUDERS
+          axis >= E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor
+        #else
+          linear_unit_factor
+        #endif
+      );
     }
 
     static inline float linear_value_to_mm(const_float_t v)                  { return v * linear_unit_factor; }

Marlin/src/module/motion.cpp

 
     get_cartesian_from_steppers();
     const xyz_pos_t lpos = cartes.asLogical();
-    SERIAL_ECHOPAIR("X:", lpos.x, " Y:", lpos.y, " Z:", lpos.z, " E:", current_position.e);
+    SERIAL_ECHOPAIR(
+      "X:", lpos.x
+      #if HAS_Y_AXIS
+        , " Y:", lpos.y
+      #endif
+      #if HAS_Z_AXIS
+        , " Z:", lpos.z
+      #endif
+      #if HAS_EXTRUDERS
+        , " E:", current_position.e
+      #endif
+    );
 
     stepper.report_positions();
     #if IS_SCARA
     float cartesian_mm = diff.magnitude();
 
     // If the move is very short, check the E move distance
-    if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(diff.e);
+    TERN_(HAS_EXTRUDERS, if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(diff.e));
 
     // No E move either? Game over.
     if (UNEAR_ZERO(cartesian_mm)) return true;
       // If the move is very short, check the E move distance
       // No E move either? Game over.
       float cartesian_mm = diff.magnitude();
-      if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(diff.e);
+      TERN_(HAS_EXTRUDERS, if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(diff.e));
       if (UNEAR_ZERO(cartesian_mm)) return;
 
       // The length divided by the segment size