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Adjust axis homed / trusted methods (#20323)

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This commit is contained in:
Scott Lahteine
2020-11-29 19:06:40 -06:00
committed by GitHub
parent 0f9ac3026d
commit 8fd8772a6f
22 changed files with 118 additions and 149 deletions
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40
Marlin/src/module/motion.h
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@ -34,19 +34,6 @@
#include "scara.h"
#endif
// Axis homed and known-position states
extern uint8_t axis_homed, axis_known_position;
constexpr uint8_t xyz_bits = _BV(X_AXIS) | _BV(Y_AXIS) | _BV(Z_AXIS);
FORCE_INLINE bool no_axes_homed() { return !axis_homed; }
FORCE_INLINE bool all_axes_homed() { return (axis_homed & xyz_bits) == xyz_bits; }
FORCE_INLINE bool all_axes_known() { return (axis_known_position & xyz_bits) == xyz_bits; }
FORCE_INLINE void set_all_homed() { axis_homed = axis_known_position = xyz_bits; }
FORCE_INLINE void set_all_unhomed() { axis_homed = axis_known_position = 0; }
FORCE_INLINE bool homing_needed() {
return !TERN(HOME_AFTER_DEACTIVATE, all_axes_known, all_axes_homed)();
}
// Error margin to work around float imprecision
constexpr float fslop = 0.0001;
@ -269,23 +256,42 @@ void remember_feedrate_and_scaling();
void remember_feedrate_scaling_off();
void restore_feedrate_and_scaling();
void do_z_clearance(const float &zclear, const bool z_known=true, const bool raise_on_unknown=true, const bool lower_allowed=false);
void do_z_clearance(const float &zclear, const bool z_trusted=true, const bool raise_on_untrusted=true, const bool lower_allowed=false);
/**
* Homing and Trusted Axes
*/
constexpr uint8_t xyz_bits = _BV(X_AXIS) | _BV(Y_AXIS) | _BV(Z_AXIS);
extern uint8_t axis_homed, axis_trusted;
//
// Homing
//
void homeaxis(const AxisEnum axis);
void set_axis_is_at_home(const AxisEnum axis);
void set_axis_never_homed(const AxisEnum axis);
uint8_t axes_should_home(uint8_t axis_bits=0x07);
bool homing_needed_error(uint8_t axis_bits=0x07);
FORCE_INLINE bool axis_was_homed(const AxisEnum axis) { return TEST(axis_homed, axis); }
FORCE_INLINE bool axis_is_trusted(const AxisEnum axis) { return TEST(axis_trusted, axis); }
FORCE_INLINE bool axis_should_home(const AxisEnum axis) { return (axes_should_home() & _BV(axis)) != 0; }
FORCE_INLINE bool no_axes_homed() { return !axis_homed; }
FORCE_INLINE bool all_axes_homed() { return xyz_bits == (axis_homed & xyz_bits); }
FORCE_INLINE bool homing_needed() { return !all_axes_homed(); }
FORCE_INLINE bool all_axes_trusted() { return xyz_bits == (axis_trusted & xyz_bits); }
FORCE_INLINE void set_axis_homed(const AxisEnum axis) { SBI(axis_homed, axis); }
FORCE_INLINE void set_axis_unhomed(const AxisEnum axis) { CBI(axis_homed, axis); }
FORCE_INLINE void set_axis_trusted(const AxisEnum axis) { SBI(axis_trusted, axis); }
FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) { CBI(axis_trusted, axis); }
FORCE_INLINE void set_all_homed() { axis_homed = axis_trusted = xyz_bits; }
FORCE_INLINE void set_all_unhomed() { axis_homed = axis_trusted = 0; }
#if ENABLED(NO_MOTION_BEFORE_HOMING)
#define MOTION_CONDITIONS (IsRunning() && !homing_needed_error())
#else
#define MOTION_CONDITIONS IsRunning()
#endif
#define BABYSTEP_ALLOWED() ((ENABLED(BABYSTEP_WITHOUT_HOMING) || all_axes_trusted()) && (ENABLED(BABYSTEP_ALWAYS_AVAILABLE) || printer_busy()))
/**
* Workspace offsets
*/