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♻️ Refactor Linear / Logical / Distinct Axes (#21953)

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* More patches supporting EXTRUDERS 0
* Extend types in prep for more axes
This commit is contained in:
Scott Lahteine
2021-05-24 16:38:57 -05:00
committed by Scott Lahteine
parent f5f999d7bf
commit 4194cdda5b
43 changed files with 1142 additions and 788 deletions
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102
Marlin/src/module/motion.cpp
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@ -89,7 +89,7 @@ bool relative_mode; // = false;
#define Z_INIT_POS Z_HOME_POS
#endif
xyze_pos_t current_position = { X_HOME_POS, Y_HOME_POS, Z_INIT_POS };
xyze_pos_t current_position = LOGICAL_AXIS_ARRAY(0, X_HOME_POS, Y_HOME_POS, Z_INIT_POS);
/**
* Cartesian Destination
@ -195,16 +195,25 @@ inline void report_more_positions() {
// Report the logical position for a given machine position
inline void report_logical_position(const xyze_pos_t &rpos) {
const xyze_pos_t lpos = rpos.asLogical();
SERIAL_ECHOPAIR_P(X_LBL, lpos.x, SP_Y_LBL, lpos.y, SP_Z_LBL, lpos.z, SP_E_LBL, lpos.e);
SERIAL_ECHOPAIR_P(
LIST_N(DOUBLE(LINEAR_AXES), X_LBL, lpos.x, SP_Y_LBL, lpos.y, SP_Z_LBL, lpos.z)
#if HAS_EXTRUDERS
, SP_E_LBL, lpos.e
#endif
);
}
// Report the real current position according to the steppers.
// Forward kinematics and un-leveling are applied.
void report_real_position() {
get_cartesian_from_steppers();
xyze_pos_t npos = cartes;
npos.e = planner.get_axis_position_mm(E_AXIS);
xyze_pos_t npos = LOGICAL_AXIS_ARRAY(
planner.get_axis_position_mm(E_AXIS),
cartes.x, cartes.y, cartes.z
);
TERN_(HAS_POSITION_MODIFIERS, planner.unapply_modifiers(npos, true));
report_logical_position(npos);
report_more_positions();
}
@ -309,7 +318,9 @@ void sync_plan_position() {
planner.set_position_mm(current_position);
}
void sync_plan_position_e() { planner.set_e_position_mm(current_position.e); }
#if HAS_EXTRUDERS
void sync_plan_position_e() { planner.set_e_position_mm(current_position.e); }
#endif
/**
* Get the stepper positions in the cartes[] array.
@ -354,7 +365,10 @@ void get_cartesian_from_steppers() {
void set_current_from_steppers_for_axis(const AxisEnum axis) {
get_cartesian_from_steppers();
xyze_pos_t pos = cartes;
pos.e = planner.get_axis_position_mm(E_AXIS);
#if HAS_EXTRUDERS
pos.e = planner.get_axis_position_mm(E_AXIS);
#endif
#if HAS_POSITION_MODIFIERS
planner.unapply_modifiers(pos, true);
@ -442,9 +456,12 @@ void _internal_move_to_destination(const_feedRate_t fr_mm_s/*=0.0f*/
* - Delta may lower Z first to get into the free motion zone.
* - Before returning, wait for the planner buffer to empty.
*/
void do_blocking_move_to(const float rx, const float ry, const float rz, const_feedRate_t fr_mm_s/*=0.0*/) {
void do_blocking_move_to(
LINEAR_AXIS_LIST(const float rx, const float ry, const float rz),
const_feedRate_t fr_mm_s/*=0.0f*/
) {
DEBUG_SECTION(log_move, "do_blocking_move_to", DEBUGGING(LEVELING));
if (DEBUGGING(LEVELING)) DEBUG_XYZ("> ", rx, ry, rz);
if (DEBUGGING(LEVELING)) DEBUG_XYZ("> ", LINEAR_AXIS_LIST(rx, ry, rz));
const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS),
xy_feedrate = fr_mm_s ?: feedRate_t(XY_PROBE_FEEDRATE_MM_S);
@ -529,34 +546,46 @@ void do_blocking_move_to(const float rx, const float ry, const float rz, const_f
}
void do_blocking_move_to(const xy_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
do_blocking_move_to(raw.x, raw.y, current_position.z, fr_mm_s);
do_blocking_move_to(LINEAR_AXIS_LIST(raw.x, raw.y, current_position.z, current_position.i), fr_mm_s);
}
void do_blocking_move_to(const xyz_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
do_blocking_move_to(raw.x, raw.y, raw.z, fr_mm_s);
do_blocking_move_to(LINEAR_AXIS_LIST(raw.x, raw.y, raw.z), fr_mm_s);
}
void do_blocking_move_to(const xyze_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
do_blocking_move_to(raw.x, raw.y, raw.z, fr_mm_s);
do_blocking_move_to(LINEAR_AXIS_LIST(raw.x, raw.y, raw.z), fr_mm_s);
}
void do_blocking_move_to_x(const_float_t rx, const_feedRate_t fr_mm_s/*=0.0*/) {
do_blocking_move_to(rx, current_position.y, current_position.z, fr_mm_s);
do_blocking_move_to(
LINEAR_AXIS_LIST(rx, current_position.y, current_position.z),
fr_mm_s
);
}
void do_blocking_move_to_y(const_float_t ry, const_feedRate_t fr_mm_s/*=0.0*/) {
do_blocking_move_to(current_position.x, ry, current_position.z, fr_mm_s);
do_blocking_move_to(
LINEAR_AXIS_LIST(current_position.x, ry, current_position.z),
fr_mm_s
);
}
void do_blocking_move_to_z(const_float_t rz, const_feedRate_t fr_mm_s/*=0.0*/) {
do_blocking_move_to_xy_z(current_position, rz, fr_mm_s);
}
void do_blocking_move_to_xy(const_float_t rx, const_float_t ry, const_feedRate_t fr_mm_s/*=0.0*/) {
do_blocking_move_to(rx, ry, current_position.z, fr_mm_s);
do_blocking_move_to(
LINEAR_AXIS_LIST(rx, ry, current_position.z),
fr_mm_s
);
}
void do_blocking_move_to_xy(const xy_pos_t &raw, const_feedRate_t fr_mm_s/*=0.0f*/) {
do_blocking_move_to_xy(raw.x, raw.y, fr_mm_s);
}
void do_blocking_move_to_xy_z(const xy_pos_t &raw, const_float_t z, const_feedRate_t fr_mm_s/*=0.0f*/) {
do_blocking_move_to(raw.x, raw.y, z, fr_mm_s);
do_blocking_move_to(
LINEAR_AXIS_LIST(raw.x, raw.y, z),
fr_mm_s
);
}
void do_z_clearance(const_float_t zclear, const bool lower_allowed/*=false*/) {
@ -589,8 +618,8 @@ void restore_feedrate_and_scaling() {
// Software Endstops are based on the configured limits.
soft_endstops_t soft_endstop = {
true, false,
{ X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
{ X_MAX_POS, Y_MAX_POS, Z_MAX_POS }
LINEAR_AXIS_ARRAY(X_MIN_POS, Y_MIN_POS, Z_MIN_POS),
LINEAR_AXIS_ARRAY(X_MAX_BED, Y_MAX_BED, Z_MAX_POS)
};
/**
@ -1176,9 +1205,12 @@ void prepare_line_to_destination() {
if (TEST(b, a) && TERN(HOME_AFTER_DEACTIVATE, axis_is_trusted, axis_was_homed)(a))
CBI(b, a);
};
set_should(axis_bits, X_AXIS); // Clear test bits that are trusted
set_should(axis_bits, Y_AXIS);
set_should(axis_bits, Z_AXIS);
// Clear test bits that are trusted
LINEAR_AXIS_CODE(
set_should(axis_bits, X_AXIS),
set_should(axis_bits, Y_AXIS),
set_should(axis_bits, Z_AXIS)
);
return axis_bits;
}
@ -1187,9 +1219,11 @@ void prepare_line_to_destination() {
PGM_P home_first = GET_TEXT(MSG_HOME_FIRST);
char msg[strlen_P(home_first)+1];
sprintf_P(msg, home_first,
TEST(axis_bits, X_AXIS) ? "X" : "",
TEST(axis_bits, Y_AXIS) ? "Y" : "",
TEST(axis_bits, Z_AXIS) ? "Z" : ""
LINEAR_AXIS_LIST(
TEST(axis_bits, X_AXIS) ? "X" : "",
TEST(axis_bits, Y_AXIS) ? "Y" : "",
TEST(axis_bits, Z_AXIS) ? "Z" : ""
)
);
SERIAL_ECHO_START();
SERIAL_ECHOLN(msg);
@ -1356,7 +1390,7 @@ void prepare_line_to_destination() {
const feedRate_t home_fr_mm_s = fr_mm_s ?: homing_feedrate(axis);
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOPAIR("...(", AS_CHAR(axis_codes[axis]), ", ", distance, ", ");
DEBUG_ECHOPAIR("...(", AS_CHAR(AXIS_CHAR(axis)), ", ", distance, ", ");
if (fr_mm_s)
DEBUG_ECHO(fr_mm_s);
else
@ -1441,12 +1475,12 @@ void prepare_line_to_destination() {
* "trusted" position).
*/
void set_axis_never_homed(const AxisEnum axis) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_never_homed(", AS_CHAR(axis_codes[axis]), ")");
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_never_homed(", AS_CHAR(AXIS_CHAR(axis)), ")");
set_axis_untrusted(axis);
set_axis_unhomed(axis);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< set_axis_never_homed(", AS_CHAR(axis_codes[axis]), ")");
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< set_axis_never_homed(", AS_CHAR(AXIS_CHAR(axis)), ")");
TERN_(I2C_POSITION_ENCODERS, I2CPEM.unhomed(axis));
}
@ -1507,7 +1541,7 @@ void prepare_line_to_destination() {
if (ABS(phaseDelta) * planner.steps_to_mm[axis] / phasePerUStep < 0.05f)
SERIAL_ECHOLNPAIR("Selected home phase ", home_phase[axis],
" too close to endstop trigger phase ", phaseCurrent,
". Pick a different phase for ", AS_CHAR(axis_codes[axis]));
". Pick a different phase for ", AS_CHAR(AXIS_CHAR(axis)));
// Skip to next if target position is behind current. So it only moves away from endstop.
if (phaseDelta < 0) phaseDelta += 1024;
@ -1518,7 +1552,7 @@ void prepare_line_to_destination() {
// Optional debug messages
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPAIR(
"Endstop ", AS_CHAR(axis_codes[axis]), " hit at Phase:", phaseCurrent,
"Endstop ", AS_CHAR(AXIS_CHAR(axis)), " hit at Phase:", phaseCurrent,
" Delta:", phaseDelta, " Distance:", mmDelta
);
}
@ -1556,7 +1590,7 @@ void prepare_line_to_destination() {
if (!_CAN_HOME(X) && !_CAN_HOME(Y) && !_CAN_HOME(Z)) return;
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> homeaxis(", AS_CHAR(axis_codes[axis]), ")");
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> homeaxis(", AS_CHAR(AXIS_CHAR(axis)), ")");
const int axis_home_dir = TERN0(DUAL_X_CARRIAGE, axis == X_AXIS)
? TOOL_X_HOME_DIR(active_extruder) : home_dir(axis);
@ -1634,7 +1668,7 @@ void prepare_line_to_destination() {
case Z_AXIS: es = Z_ENDSTOP; break;
}
if (TEST(endstops.state(), es)) {
SERIAL_ECHO_MSG("Bad ", AS_CHAR(axis_codes[axis]), " Endstop?");
SERIAL_ECHO_MSG("Bad ", AS_CHAR(AXIS_CHAR(axis)), " Endstop?");
kill(GET_TEXT(MSG_KILL_HOMING_FAILED));
}
#endif
@ -1856,7 +1890,7 @@ void prepare_line_to_destination() {
if (axis == Z_AXIS) fwretract.current_hop = 0.0;
#endif
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< homeaxis(", AS_CHAR(axis_codes[axis]), ")");
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< homeaxis(", AS_CHAR(AXIS_CHAR(axis)), ")");
} // homeaxis()
@ -1881,7 +1915,7 @@ void prepare_line_to_destination() {
* Callers must sync the planner position after calling this!
*/
void set_axis_is_at_home(const AxisEnum axis) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_is_at_home(", AS_CHAR(axis_codes[axis]), ")");
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_is_at_home(", AS_CHAR(AXIS_CHAR(axis)), ")");
set_axis_trusted(axis);
set_axis_homed(axis);
@ -1931,10 +1965,10 @@ void set_axis_is_at_home(const AxisEnum axis) {
if (DEBUGGING(LEVELING)) {
#if HAS_HOME_OFFSET
DEBUG_ECHOLNPAIR("> home_offset[", AS_CHAR(axis_codes[axis]), "] = ", home_offset[axis]);
DEBUG_ECHOLNPAIR("> home_offset[", AS_CHAR(AXIS_CHAR(axis)), "] = ", home_offset[axis]);
#endif
DEBUG_POS("", current_position);
DEBUG_ECHOLNPAIR("<<< set_axis_is_at_home(", AS_CHAR(axis_codes[axis]), ")");
DEBUG_ECHOLNPAIR("<<< set_axis_is_at_home(", AS_CHAR(AXIS_CHAR(axis)), ")");
}
}