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♻️ More updates for multi-axis

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This commit is contained in:
Scott Lahteine
2022-05-26 18:31:05 -05:00
committed by Scott Lahteine
parent 6a2a592c26
commit d6c673b9de
8 changed files with 46 additions and 51 deletions
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45
Marlin/src/module/motion.h
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@ -407,38 +407,41 @@ void restore_feedrate_and_scaling();
/**
* Homing and Trusted Axes
*/
typedef IF<(NUM_AXES > 8), uint16_t, uint8_t>::type linear_axis_bits_t;
constexpr linear_axis_bits_t linear_bits = _BV(NUM_AXES) - 1;
typedef IF<(NUM_AXES > 8), uint16_t, uint8_t>::type main_axes_bits_t;
constexpr main_axes_bits_t main_axes_mask = _BV(NUM_AXES) - 1;
typedef IF<(NUM_AXES + EXTRUDERS > 8), uint16_t, uint8_t>::type e_axis_bits_t;
constexpr e_axis_bits_t e_axis_mask = (_BV(EXTRUDERS) - 1) << NUM_AXES;
void set_axis_is_at_home(const AxisEnum axis);
#if HAS_ENDSTOPS
/**
* axis_homed
* axes_homed
* Flags that each linear axis was homed.
* XYZ on cartesian, ABC on delta, ABZ on SCARA.
*
* axis_trusted
* axes_trusted
* Flags that the position is trusted in each linear axis. Set when homed.
* Cleared whenever a stepper powers off, potentially losing its position.
*/
extern linear_axis_bits_t axis_homed, axis_trusted;
extern main_axes_bits_t axes_homed, axes_trusted;
void homeaxis(const AxisEnum axis);
void set_axis_never_homed(const AxisEnum axis);
linear_axis_bits_t axes_should_home(linear_axis_bits_t axis_bits=linear_bits);
bool homing_needed_error(linear_axis_bits_t axis_bits=linear_bits);
inline void set_axis_unhomed(const AxisEnum axis) { CBI(axis_homed, axis); }
inline void set_axis_untrusted(const AxisEnum axis) { CBI(axis_trusted, axis); }
inline void set_all_unhomed() { axis_homed = axis_trusted = 0; }
inline void set_axis_homed(const AxisEnum axis) { SBI(axis_homed, axis); }
inline void set_axis_trusted(const AxisEnum axis) { SBI(axis_trusted, axis); }
inline void set_all_homed() { axis_homed = axis_trusted = linear_bits; }
main_axes_bits_t axes_should_home(main_axes_bits_t axes_mask=main_axes_mask);
bool homing_needed_error(main_axes_bits_t axes_mask=main_axes_mask);
inline void set_axis_unhomed(const AxisEnum axis) { CBI(axes_homed, axis); }
inline void set_axis_untrusted(const AxisEnum axis) { CBI(axes_trusted, axis); }
inline void set_all_unhomed() { axes_homed = axes_trusted = 0; }
inline void set_axis_homed(const AxisEnum axis) { SBI(axes_homed, axis); }
inline void set_axis_trusted(const AxisEnum axis) { SBI(axes_trusted, axis); }
inline void set_all_homed() { axes_homed = axes_trusted = main_axes_mask; }
#else
constexpr linear_axis_bits_t axis_homed = linear_bits, axis_trusted = linear_bits; // Zero-endstop machines are always homed and trusted
constexpr main_axes_bits_t axes_homed = main_axes_mask, axes_trusted = main_axes_mask; // Zero-endstop machines are always homed and trusted
inline void homeaxis(const AxisEnum axis) {}
inline void set_axis_never_homed(const AxisEnum) {}
inline linear_axis_bits_t axes_should_home(linear_axis_bits_t=linear_bits) { return 0; }
inline bool homing_needed_error(linear_axis_bits_t=linear_bits) { return false; }
inline main_axes_bits_t axes_should_home(main_axes_bits_t=main_axes_mask) { return 0; }
inline bool homing_needed_error(main_axes_bits_t=main_axes_mask) { return false; }
inline void set_axis_unhomed(const AxisEnum axis) {}
inline void set_axis_untrusted(const AxisEnum axis) {}
inline void set_all_unhomed() {}
@ -447,13 +450,13 @@ void set_axis_is_at_home(const AxisEnum axis);
inline void set_all_homed() {}
#endif
inline bool axis_was_homed(const AxisEnum axis) { return TEST(axis_homed, axis); }
inline bool axis_is_trusted(const AxisEnum axis) { return TEST(axis_trusted, axis); }
inline bool axis_was_homed(const AxisEnum axis) { return TEST(axes_homed, axis); }
inline bool axis_is_trusted(const AxisEnum axis) { return TEST(axes_trusted, axis); }
inline bool axis_should_home(const AxisEnum axis) { return (axes_should_home() & _BV(axis)) != 0; }
inline bool no_axes_homed() { return !axis_homed; }
inline bool all_axes_homed() { return linear_bits == (axis_homed & linear_bits); }
inline bool no_axes_homed() { return !axes_homed; }
inline bool all_axes_homed() { return main_axes_mask == (axes_homed & main_axes_mask); }
inline bool homing_needed() { return !all_axes_homed(); }
inline bool all_axes_trusted() { return linear_bits == (axis_trusted & linear_bits); }
inline bool all_axes_trusted() { return main_axes_mask == (axes_trusted & main_axes_mask); }
void home_if_needed(const bool keeplev=false);