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♻️ Refactor axis counts and loops

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This commit is contained in:
Scott Lahteine
2021-05-18 22:51:19 -05:00
committed by Scott Lahteine
parent f7d28ce1d6
commit 26a244325b
45 changed files with 178 additions and 165 deletions
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10
Marlin/src/module/motion.cpp
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@ -124,7 +124,7 @@ xyze_pos_t destination; // {0}
"Offsets for the first hotend must be 0.0."
);
// Transpose from [XYZ][HOTENDS] to [HOTENDS][XYZ]
HOTEND_LOOP() LOOP_XYZ(a) hotend_offset[e][a] = tmp[a][e];
HOTEND_LOOP() LOOP_LINEAR_AXES(a) hotend_offset[e][a] = tmp[a][e];
#if ENABLED(DUAL_X_CARRIAGE)
hotend_offset[1].x = _MAX(X2_HOME_POS, X2_MAX_POS);
#endif
@ -282,7 +282,7 @@ void report_current_position_projected() {
void quickstop_stepper() {
planner.quick_stop();
planner.synchronize();
set_current_from_steppers_for_axis(ALL_AXES);
set_current_from_steppers_for_axis(ALL_AXES_MASK);
sync_plan_position();
}
@ -360,7 +360,7 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
planner.unapply_modifiers(pos, true);
#endif
if (axis == ALL_AXES)
if (axis == ALL_AXES_MASK)
current_position = pos;
else
current_position[axis] = pos[axis];
@ -681,7 +681,7 @@ void restore_feedrate_and_scaling() {
#endif
if (DEBUGGING(LEVELING))
SERIAL_ECHOLNPAIR("Axis ", AS_CHAR(XYZ_CHAR(axis)), " min:", soft_endstop.min[axis], " max:", soft_endstop.max[axis]);
SERIAL_ECHOLNPAIR("Axis ", AS_CHAR(AXIS_CHAR(axis)), " min:", soft_endstop.min[axis], " max:", soft_endstop.max[axis]);
}
/**
@ -1951,7 +1951,7 @@ void set_axis_is_at_home(const AxisEnum axis) {
#if HAS_WORKSPACE_OFFSET
void update_workspace_offset(const AxisEnum axis) {
workspace_offset[axis] = home_offset[axis] + position_shift[axis];
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Axis ", AS_CHAR(XYZ_CHAR(axis)), " home_offset = ", home_offset[axis], " position_shift = ", position_shift[axis]);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Axis ", AS_CHAR(AXIS_CHAR(axis)), " home_offset = ", home_offset[axis], " position_shift = ", position_shift[axis]);
}
#endif

14
Marlin/src/module/planner.cpp
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@ -136,9 +136,9 @@ planner_settings_t Planner::settings; // Initialized by settings.load(
laser_state_t Planner::laser_inline; // Current state for blocks
#endif
uint32_t Planner::max_acceleration_steps_per_s2[XYZE_N]; // (steps/s^2) Derived from mm_per_s2
uint32_t Planner::max_acceleration_steps_per_s2[DISTINCT_AXES]; // (steps/s^2) Derived from mm_per_s2
float Planner::steps_to_mm[XYZE_N]; // (mm) Millimeters per step
float Planner::steps_to_mm[DISTINCT_AXES]; // (mm) Millimeters per step
#if HAS_JUNCTION_DEVIATION
float Planner::junction_deviation_mm; // (mm) M205 J
@ -2201,7 +2201,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
float speed_factor = 1.0f; // factor <1 decreases speed
// Linear axes first with less logic
LOOP_XYZ(i) {
LOOP_LINEAR_AXES(i) {
current_speed[i] = steps_dist_mm[i] * inverse_secs;
const feedRate_t cs = ABS(current_speed[i]),
max_fr = settings.max_feedrate_mm_s[i];
@ -2593,7 +2593,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
const float extra_xyjerk = (de <= 0) ? TRAVEL_EXTRA_XYJERK : 0;
uint8_t limited = 0;
TERN(HAS_LINEAR_E_JERK, LOOP_XYZ, LOOP_XYZE)(i) {
TERN(HAS_LINEAR_E_JERK, LOOP_LINEAR_AXES, LOOP_LOGICAL_AXES)(i) {
const float jerk = ABS(current_speed[i]), // cs : Starting from zero, change in speed for this axis
maxj = (max_jerk[i] + (i == X_AXIS || i == Y_AXIS ? extra_xyjerk : 0.0f)); // mj : The max jerk setting for this axis
if (jerk > maxj) { // cs > mj : New current speed too fast?
@ -2631,7 +2631,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
vmax_junction = previous_nominal_speed;
// Now limit the jerk in all axes.
TERN(HAS_LINEAR_E_JERK, LOOP_XYZ, LOOP_XYZE)(axis) {
TERN(HAS_LINEAR_E_JERK, LOOP_LINEAR_AXES, LOOP_LOGICAL_AXES)(axis) {
// Limit an axis. We have to differentiate: coasting, reversal of an axis, full stop.
float v_exit = previous_speed[axis] * smaller_speed_factor,
v_entry = current_speed[axis];
@ -3033,7 +3033,7 @@ void Planner::reset_acceleration_rates() {
#define AXIS_CONDITION true
#endif
uint32_t highest_rate = 1;
LOOP_XYZE_N(i) {
LOOP_DISTINCT_AXES(i) {
max_acceleration_steps_per_s2[i] = settings.max_acceleration_mm_per_s2[i] * settings.axis_steps_per_mm[i];
if (AXIS_CONDITION) NOLESS(highest_rate, max_acceleration_steps_per_s2[i]);
}
@ -3046,7 +3046,7 @@ void Planner::reset_acceleration_rates() {
* Must be called whenever settings.axis_steps_per_mm changes!
*/
void Planner::refresh_positioning() {
LOOP_XYZE_N(i) steps_to_mm[i] = 1.0f / settings.axis_steps_per_mm[i];
LOOP_DISTINCT_AXES(i) steps_to_mm[i] = 1.0f / settings.axis_steps_per_mm[i];
set_position_mm(current_position);
reset_acceleration_rates();
}

18
Marlin/src/module/planner.h
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@ -268,10 +268,10 @@ typedef struct block_t {
#endif
typedef struct {
uint32_t max_acceleration_mm_per_s2[XYZE_N], // (mm/s^2) M201 XYZE
uint32_t max_acceleration_mm_per_s2[DISTINCT_AXES], // (mm/s^2) M201 XYZE
min_segment_time_us; // (µs) M205 B
float axis_steps_per_mm[XYZE_N]; // (steps) M92 XYZE - Steps per millimeter
feedRate_t max_feedrate_mm_s[XYZE_N]; // (mm/s) M203 XYZE - Max speeds
float axis_steps_per_mm[DISTINCT_AXES]; // (steps) M92 XYZE - Steps per millimeter
feedRate_t max_feedrate_mm_s[DISTINCT_AXES]; // (mm/s) M203 XYZE - Max speeds
float acceleration, // (mm/s^2) M204 S - Normal acceleration. DEFAULT ACCELERATION for all printing moves.
retract_acceleration, // (mm/s^2) M204 R - Retract acceleration. Filament pull-back and push-forward while standing still in the other axes
travel_acceleration; // (mm/s^2) M204 T - Travel acceleration. DEFAULT ACCELERATION for all NON printing moves.
@ -360,13 +360,13 @@ class Planner {
static laser_state_t laser_inline;
#endif
static uint32_t max_acceleration_steps_per_s2[XYZE_N]; // (steps/s^2) Derived from mm_per_s2
static float steps_to_mm[XYZE_N]; // Millimeters per step
static uint32_t max_acceleration_steps_per_s2[DISTINCT_AXES]; // (steps/s^2) Derived from mm_per_s2
static float steps_to_mm[DISTINCT_AXES]; // Millimeters per step
#if HAS_JUNCTION_DEVIATION
static float junction_deviation_mm; // (mm) M205 J
static float junction_deviation_mm; // (mm) M205 J
#if HAS_LINEAR_E_JERK
static float max_e_jerk[DISTINCT_E]; // Calculated from junction_deviation_mm
static float max_e_jerk[DISTINCT_E]; // Calculated from junction_deviation_mm
#endif
#endif
@ -1014,13 +1014,13 @@ class Planner {
FORCE_INLINE static void normalize_junction_vector(xyze_float_t &vector) {
float magnitude_sq = 0;
LOOP_XYZE(idx) if (vector[idx]) magnitude_sq += sq(vector[idx]);
LOOP_LOGICAL_AXES(idx) if (vector[idx]) magnitude_sq += sq(vector[idx]);
vector *= RSQRT(magnitude_sq);
}
FORCE_INLINE static float limit_value_by_axis_maximum(const_float_t max_value, xyze_float_t &unit_vec) {
float limit_value = max_value;
LOOP_XYZE(idx) {
LOOP_LOGICAL_AXES(idx) {
if (unit_vec[idx]) {
if (limit_value * ABS(unit_vec[idx]) > settings.max_acceleration_mm_per_s2[idx])
limit_value = ABS(settings.max_acceleration_mm_per_s2[idx] / unit_vec[idx]);

2
Marlin/src/module/scara.cpp
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@ -254,7 +254,7 @@ float segments_per_second = TERN(AXEL_TPARA, TPARA_SEGMENTS_PER_SECOND, SCARA_SE
// Do this here all at once for Delta, because
// XYZ isn't ABC. Applying this per-tower would
// give the impression that they are the same.
LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
LOOP_LINEAR_AXES(i) set_axis_is_at_home((AxisEnum)i);
sync_plan_position();
}

27
Marlin/src/module/settings.cpp
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@ -194,7 +194,7 @@ typedef struct SettingsDataStruct {
//
// DISTINCT_E_FACTORS
//
uint8_t esteppers; // XYZE_N - XYZ
uint8_t esteppers; // DISTINCT_AXES - LINEAR_AXES
planner_settings_t planner_settings;
@ -385,7 +385,7 @@ typedef struct SettingsDataStruct {
// HAS_MOTOR_CURRENT_PWM
//
#ifndef MOTOR_CURRENT_COUNT
#define MOTOR_CURRENT_COUNT 3
#define MOTOR_CURRENT_COUNT LINEAR_AXES
#endif
uint32_t motor_current_setting[MOTOR_CURRENT_COUNT]; // M907 X Z E
@ -516,7 +516,7 @@ void MarlinSettings::postprocess() {
#endif
// Software endstops depend on home_offset
LOOP_XYZ(i) {
LOOP_LINEAR_AXES(i) {
update_workspace_offset((AxisEnum)i);
update_software_endstops((AxisEnum)i);
}
@ -637,9 +637,8 @@ void MarlinSettings::postprocess() {
working_crc = 0; // clear before first "real data"
const uint8_t esteppers = COUNT(planner.settings.axis_steps_per_mm) - LINEAR_AXES;
_FIELD_TEST(esteppers);
const uint8_t esteppers = COUNT(planner.settings.axis_steps_per_mm) - XYZ;
EEPROM_WRITE(esteppers);
//
@ -1513,16 +1512,16 @@ void MarlinSettings::postprocess() {
{
// Get only the number of E stepper parameters previously stored
// Any steppers added later are set to their defaults
uint32_t tmp1[XYZ + esteppers];
float tmp2[XYZ + esteppers];
feedRate_t tmp3[XYZ + esteppers];
uint32_t tmp1[LINEAR_AXES + esteppers];
float tmp2[LINEAR_AXES + esteppers];
feedRate_t tmp3[LINEAR_AXES + esteppers];
EEPROM_READ((uint8_t *)tmp1, sizeof(tmp1)); // max_acceleration_mm_per_s2
EEPROM_READ(planner.settings.min_segment_time_us);
EEPROM_READ((uint8_t *)tmp2, sizeof(tmp2)); // axis_steps_per_mm
EEPROM_READ((uint8_t *)tmp3, sizeof(tmp3)); // max_feedrate_mm_s
if (!validating) LOOP_XYZE_N(i) {
const bool in = (i < esteppers + XYZ);
if (!validating) LOOP_DISTINCT_AXES(i) {
const bool in = (i < esteppers + LINEAR_AXES);
planner.settings.max_acceleration_mm_per_s2[i] = in ? tmp1[i] : pgm_read_dword(&_DMA[ALIM(i, _DMA)]);
planner.settings.axis_steps_per_mm[i] = in ? tmp2[i] : pgm_read_float(&_DASU[ALIM(i, _DASU)]);
planner.settings.max_feedrate_mm_s[i] = in ? tmp3[i] : pgm_read_float(&_DMF[ALIM(i, _DMF)]);
@ -1540,7 +1539,7 @@ void MarlinSettings::postprocess() {
EEPROM_READ(dummyf);
#endif
#else
for (uint8_t q = XYZE; q--;) EEPROM_READ(dummyf);
for (uint8_t q = LOGICAL_AXES; q--;) EEPROM_READ(dummyf);
#endif
EEPROM_READ(TERN(CLASSIC_JERK, dummyf, planner.junction_deviation_mm));
@ -2582,7 +2581,7 @@ void MarlinSettings::postprocess() {
* M502 - Reset Configuration
*/
void MarlinSettings::reset() {
LOOP_XYZE_N(i) {
LOOP_DISTINCT_AXES(i) {
planner.settings.max_acceleration_mm_per_s2[i] = pgm_read_dword(&_DMA[ALIM(i, _DMA)]);
planner.settings.axis_steps_per_mm[i] = pgm_read_float(&_DASU[ALIM(i, _DASU)]);
planner.settings.max_feedrate_mm_s[i] = pgm_read_float(&_DMF[ALIM(i, _DMF)]);
@ -2706,7 +2705,7 @@ void MarlinSettings::reset() {
constexpr float dpo[] = NOZZLE_TO_PROBE_OFFSET;
static_assert(COUNT(dpo) == 3, "NOZZLE_TO_PROBE_OFFSET must contain offsets for X, Y, and Z.");
#if HAS_PROBE_XY_OFFSET
LOOP_XYZ(a) probe.offset[a] = dpo[a];
LOOP_LINEAR_AXES(a) probe.offset[a] = dpo[a];
#else
probe.offset.set(0, 0, dpo[Z_AXIS]);
#endif
@ -3856,7 +3855,7 @@ void MarlinSettings::reset() {
);
#elif HAS_MOTOR_CURRENT_SPI
SERIAL_ECHOPGM(" M907"); // SPI-based has 5 values:
LOOP_XYZE(q) { // X Y Z E (map to X Y Z E0 by default)
LOOP_LOGICAL_AXES(q) { // X Y Z E (map to X Y Z E0 by default)
SERIAL_CHAR(' ', axis_codes[q]);
SERIAL_ECHO(stepper.motor_current_setting[q]);
}

2
Marlin/src/module/stepper.h
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@ -250,7 +250,7 @@ class Stepper {
#ifndef PWM_MOTOR_CURRENT
#define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT
#endif
#define MOTOR_CURRENT_COUNT XYZ
#define MOTOR_CURRENT_COUNT LINEAR_AXES
#elif HAS_MOTOR_CURRENT_SPI
static constexpr uint32_t digipot_count[] = DIGIPOT_MOTOR_CURRENT;
#define MOTOR_CURRENT_COUNT COUNT(Stepper::digipot_count)

2
Marlin/src/module/tool_change.cpp
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@ -1181,7 +1181,7 @@ void tool_change(const uint8_t new_tool, bool no_move/*=false*/) {
sync_plan_position();
#if ENABLED(DELTA)
//LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function
//LOOP_LINEAR_AXES(i) update_software_endstops(i); // or modify the constrain function
const bool safe_to_move = current_position.z < delta_clip_start_height - 1;
#else
constexpr bool safe_to_move = true;