bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

⚡️ Handle shared enable pins (#22824)

Browse Source
This commit is contained in:
Scott Lahteine
2021-09-28 01:07:51 -05:00
committed by Scott Lahteine
parent 25a131b942
commit 021ceeba0b
26 changed files with 523 additions and 252 deletions
Download Patch File Download Diff File Expand all files Collapse all files

102
Marlin/src/module/stepper.h
View File

@ -236,6 +236,71 @@
// Perhaps DISABLE_MULTI_STEPPING should be required with ADAPTIVE_STEP_SMOOTHING.
#define MIN_STEP_ISR_FREQUENCY (MAX_STEP_ISR_FREQUENCY_1X / 2)
#define ENABLE_COUNT (LINEAR_AXES + E_STEPPERS)
typedef IF<(ENABLE_COUNT > 8), uint16_t, uint8_t>::type ena_mask_t;
// Axis flags type, for enabled state or other simple state
typedef struct {
union {
ena_mask_t bits;
struct {
bool LINEAR_AXIS_LIST(X:1, Y:1, Z:1, I:1, J:1, K:1);
#if HAS_EXTRUDERS
bool LIST_N(EXTRUDERS, E0:1, E1:1, E2:1, E3:1, E4:1, E5:1, E6:1, E7:1);
#endif
};
};
constexpr ena_mask_t linear_bits() { return _BV(LINEAR_AXES) - 1; }
constexpr ena_mask_t e_bits() { return (_BV(EXTRUDERS) - 1) << LINEAR_AXES; }
} axis_flags_t;
// All the stepper enable pins
constexpr pin_t ena_pins[] = {
LINEAR_AXIS_LIST(X_ENABLE_PIN, Y_ENABLE_PIN, Z_ENABLE_PIN, I_ENABLE_PIN, J_ENABLE_PIN, K_ENABLE_PIN),
LIST_N(E_STEPPERS, E0_ENABLE_PIN, E1_ENABLE_PIN, E2_ENABLE_PIN, E3_ENABLE_PIN, E4_ENABLE_PIN, E5_ENABLE_PIN, E6_ENABLE_PIN, E7_ENABLE_PIN)
};
// Index of the axis or extruder element in a combined array
constexpr uint8_t index_of_axis(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
return uint8_t(axis) + (E_TERN0(axis < LINEAR_AXES ? 0 : eindex));
}
//#define __IAX_N(N,V...) _IAX_##N(V)
//#define _IAX_N(N,V...) __IAX_N(N,V)
//#define _IAX_1(A) index_of_axis(A)
//#define _IAX_2(A,B) index_of_axis(A E_OPTARG(B))
//#define INDEX_OF_AXIS(V...) _IAX_N(TWO_ARGS(V),V)
#define INDEX_OF_AXIS(A,V...) index_of_axis(A E_OPTARG(V+0))
// Bit mask for a matching enable pin, or 0
constexpr ena_mask_t ena_same(const uint8_t a, const uint8_t b) {
return ena_pins[a] == ena_pins[b] ? _BV(b) : 0;
}
// Recursively get the enable overlaps mask for a given linear axis or extruder
constexpr ena_mask_t ena_overlap(const uint8_t a=0, const uint8_t b=0) {
return b >= ENABLE_COUNT ? 0 : (a == b ? 0 : ena_same(a, b)) | ena_overlap(a, b + 1);
}
// Recursively get whether there's any overlap at all
constexpr bool any_enable_overlap(const uint8_t a=0) {
return a >= ENABLE_COUNT ? false : ena_overlap(a) || any_enable_overlap(a + 1);
}
// Array of axes that overlap with each
// TODO: Consider cases where >=2 steppers are used by a linear axis or extruder
// (e.g., CoreXY, Dual XYZ, or E with multiple steppers, etc.).
constexpr ena_mask_t enable_overlap[] = {
#define _OVERLAP(N) ena_overlap(INDEX_OF_AXIS(AxisEnum(N))),
REPEAT(LINEAR_AXES, _OVERLAP)
#if HAS_EXTRUDERS
#define _E_OVERLAP(N) ena_overlap(INDEX_OF_AXIS(E_AXIS, N)),
REPEAT(E_STEPPERS, _E_OVERLAP)
#endif
};
//static_assert(!any_enable_overlap(), "There is some overlap.");
//
// Stepper class definition
//
@ -519,6 +584,43 @@ class Stepper {
static void refresh_motor_power();
#endif
static axis_flags_t axis_enabled; // Axis stepper(s) ENABLED states
static inline bool axis_is_enabled(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
return TEST(axis_enabled.bits, INDEX_OF_AXIS(axis, eindex));
}
static inline void mark_axis_enabled(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
SBI(axis_enabled.bits, INDEX_OF_AXIS(axis, eindex));
}
static inline void mark_axis_disabled(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
CBI(axis_enabled.bits, INDEX_OF_AXIS(axis, eindex));
}
static inline bool can_axis_disable(const AxisEnum axis E_OPTARG(const uint8_t eindex=0)) {
return !any_enable_overlap() || !(axis_enabled.bits & enable_overlap[INDEX_OF_AXIS(axis, eindex)]);
}
static void enable_axis(const AxisEnum axis);
static bool disable_axis(const AxisEnum axis);
#if HAS_EXTRUDERS
static void enable_extruder(E_TERN_(const uint8_t eindex=0));
static bool disable_extruder(E_TERN_(const uint8_t eindex=0));
static void enable_e_steppers();
static void disable_e_steppers();
#else
static inline void enable_extruder() {}
static inline bool disable_extruder() {}
static inline void enable_e_steppers() {}
static inline void disable_e_steppers() {}
#endif
#define ENABLE_EXTRUDER(N) enable_extruder(E_TERN_(N))
#define DISABLE_EXTRUDER(N) disable_extruder(E_TERN_(N))
#define AXIS_IS_ENABLED(N,V...) axis_is_enabled(N E_OPTARG(#V))
static void enable_all_steppers();
static void disable_all_steppers();
// Update direction states for all steppers
static void set_directions();