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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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1
Marlin/src/core/types.h
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@@ -181,7 +181,6 @@ enum AxisEnum : uint8_t {
}; };
typedef IF<(NUM_AXIS_ENUMS > 8), uint16_t, uint8_t>::type axis_bits_t; typedef IF<(NUM_AXIS_ENUMS > 8), uint16_t, uint8_t>::type axis_bits_t;
typedef IF<(NUM_AXES > 8), uint16_t, uint8_t>::type linear_axis_bits_t;
// //
// Loop over axes // Loop over axes

3
Marlin/src/gcode/control/M17_M18_M84.cpp
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@@ -23,6 +23,7 @@
#include "../gcode.h" #include "../gcode.h"
#include "../../MarlinCore.h" // for stepper_inactive_time, disable_e_steppers #include "../../MarlinCore.h" // for stepper_inactive_time, disable_e_steppers
#include "../../lcd/marlinui.h" #include "../../lcd/marlinui.h"
#include "../../module/motion.h" // for e_axis_mask
#include "../../module/stepper.h" #include "../../module/stepper.h"
#if ENABLED(AUTO_BED_LEVELING_UBL) #if ENABLED(AUTO_BED_LEVELING_UBL)
@@ -43,7 +44,7 @@ inline stepper_flags_t selected_axis_bits() {
selected.bits = _BV(INDEX_OF_AXIS(E_AXIS, e)); selected.bits = _BV(INDEX_OF_AXIS(E_AXIS, e));
} }
else else
selected.bits = selected.e_bits(); selected.bits = e_axis_mask;
} }
#endif #endif
selected.bits |= NUM_AXIS_GANG( selected.bits |= NUM_AXIS_GANG(

5
Marlin/src/gcode/feature/clean/G12.cpp
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@@ -45,9 +45,10 @@
* X, Y, Z : Specify axes to move during cleaning. Default: ALL. * X, Y, Z : Specify axes to move during cleaning. Default: ALL.
*/ */
void GcodeSuite::G12() { void GcodeSuite::G12() {
// Don't allow nozzle cleaning without homing first // Don't allow nozzle cleaning without homing first
if (homing_needed_error(linear_bits & ~TERN0(NOZZLE_CLEAN_NO_Z, Z_AXIS) & ~TERN0(NOZZLE_CLEAN_NO_Y, Y_AXIS))) constexpr main_axes_bits_t clean_axis_mask = main_axes_mask & ~TERN0(NOZZLE_CLEAN_NO_Z, Z_AXIS) & ~TERN0(NOZZLE_CLEAN_NO_Y, Y_AXIS);
return; if (homing_needed_error(clean_axis_mask)) return;
#ifdef WIPE_SEQUENCE_COMMANDS #ifdef WIPE_SEQUENCE_COMMANDS
if (!parser.seen_any()) { if (!parser.seen_any()) {

8
Marlin/src/lcd/e3v2/marlinui/ui_status_480x272.cpp
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@@ -79,9 +79,9 @@ FORCE_INLINE void _draw_axis_value(const AxisEnum axis, const char *value, const
dwin_string.set(); dwin_string.set();
if (blink) if (blink)
dwin_string.add(value); dwin_string.add(value);
else if (!TEST(axis_homed, axis)) else if (!TEST(axes_homed, axis))
while (const char c = *value++) dwin_string.add(c <= '.' ? c : '?'); while (const char c = *value++) dwin_string.add(c <= '.' ? c : '?');
else if (NONE(HOME_AFTER_DEACTIVATE, DISABLE_REDUCED_ACCURACY_WARNING) && !TEST(axis_trusted, axis)) else if (NONE(HOME_AFTER_DEACTIVATE, DISABLE_REDUCED_ACCURACY_WARNING) && !TEST(axes_trusted, axis))
dwin_string.add(TERN1(DWIN_MARLINUI_PORTRAIT, axis == Z_AXIS) ? PSTR(" ") : PSTR(" ")); dwin_string.add(TERN1(DWIN_MARLINUI_PORTRAIT, axis == Z_AXIS) ? PSTR(" ") : PSTR(" "));
else else
dwin_string.add(value); dwin_string.add(value);
@@ -103,11 +103,11 @@ FORCE_INLINE void _draw_axis_value(const AxisEnum axis, const char *value, const
if (blink) if (blink)
dwin_string.add(value); dwin_string.add(value);
else { else {
if (!TEST(axis_homed, axis)) if (!TEST(axes_homed, axis))
while (const char c = *value++) dwin_string.add(c <= '.' ? c : '?'); while (const char c = *value++) dwin_string.add(c <= '.' ? c : '?');
else { else {
#if NONE(HOME_AFTER_DEACTIVATE, DISABLE_REDUCED_ACCURACY_WARNING) #if NONE(HOME_AFTER_DEACTIVATE, DISABLE_REDUCED_ACCURACY_WARNING)
if (!TEST(axis_trusted, axis)) if (!TEST(axes_trusted, axis))
dwin_string.add(TERN1(DWIN_MARLINUI_PORTRAIT, axis == Z_AXIS) ? PSTR(" ") : PSTR(" ")); dwin_string.add(TERN1(DWIN_MARLINUI_PORTRAIT, axis == Z_AXIS) ? PSTR(" ") : PSTR(" "));
else else
#endif #endif

23
Marlin/src/module/motion.cpp
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@@ -1382,10 +1382,10 @@ void prepare_line_to_destination() {
#if HAS_ENDSTOPS #if HAS_ENDSTOPS
linear_axis_bits_t axis_homed, axis_trusted; // = 0 main_axes_bits_t axes_homed, axes_trusted; // = 0
linear_axis_bits_t axes_should_home(linear_axis_bits_t axis_bits/*=linear_bits*/) { main_axes_bits_t axes_should_home(main_axes_bits_t axis_bits/*=main_axes_mask*/) {
auto set_should = [](linear_axis_bits_t &b, AxisEnum a) { auto set_should = [](main_axes_bits_t &b, AxisEnum a) {
if (TEST(b, a) && TERN(HOME_AFTER_DEACTIVATE, axis_is_trusted, axis_was_homed)(a)) if (TEST(b, a) && TERN(HOME_AFTER_DEACTIVATE, axis_is_trusted, axis_was_homed)(a))
CBI(b, a); CBI(b, a);
}; };
@@ -1398,23 +1398,12 @@ void prepare_line_to_destination() {
return axis_bits; return axis_bits;
} }
bool homing_needed_error(linear_axis_bits_t axis_bits/*=linear_bits*/) { bool homing_needed_error(main_axes_bits_t axis_bits/*=main_axes_mask*/) {
if ((axis_bits = axes_should_home(axis_bits))) { if ((axis_bits = axes_should_home(axis_bits))) {
PGM_P home_first = GET_TEXT(MSG_HOME_FIRST); PGM_P home_first = GET_TEXT(MSG_HOME_FIRST);
char msg[30]; char msg[30];
sprintf_P(msg, home_first, #define _AXIS_CHAR(N) TEST(axis_bits, _AXIS(N)) ? STR_##N : ""
NUM_AXIS_LIST( sprintf_P(msg, home_first, MAPLIST(_AXIS_CHAR, MAIN_AXIS_NAMES));
TEST(axis_bits, X_AXIS) ? STR_A : "",
TEST(axis_bits, Y_AXIS) ? STR_B : "",
TEST(axis_bits, Z_AXIS) ? STR_C : "",
TEST(axis_bits, I_AXIS) ? STR_I : "",
TEST(axis_bits, J_AXIS) ? STR_J : "",
TEST(axis_bits, K_AXIS) ? STR_K : "",
TEST(axis_bits, U_AXIS) ? STR_U : "",
TEST(axis_bits, V_AXIS) ? STR_V : "",
TEST(axis_bits, W_AXIS) ? STR_W : ""
)
);
SERIAL_ECHO_START(); SERIAL_ECHO_START();
SERIAL_ECHOLN(msg); SERIAL_ECHOLN(msg);
ui.set_status(msg); ui.set_status(msg);

45
Marlin/src/module/motion.h
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@@ -407,38 +407,41 @@ void restore_feedrate_and_scaling();
/** /**
* Homing and Trusted Axes * Homing and Trusted Axes
*/ */
typedef IF<(NUM_AXES > 8), uint16_t, uint8_t>::type linear_axis_bits_t; typedef IF<(NUM_AXES > 8), uint16_t, uint8_t>::type main_axes_bits_t;
constexpr linear_axis_bits_t linear_bits = _BV(NUM_AXES) - 1; 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); void set_axis_is_at_home(const AxisEnum axis);
#if HAS_ENDSTOPS #if HAS_ENDSTOPS
/** /**
* axis_homed * axes_homed
* Flags that each linear axis was homed. * Flags that each linear axis was homed.
* XYZ on cartesian, ABC on delta, ABZ on SCARA. * 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. * Flags that the position is trusted in each linear axis. Set when homed.
* Cleared whenever a stepper powers off, potentially losing its position. * 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 homeaxis(const AxisEnum axis);
void set_axis_never_homed(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); main_axes_bits_t axes_should_home(main_axes_bits_t axes_mask=main_axes_mask);
bool homing_needed_error(linear_axis_bits_t axis_bits=linear_bits); bool homing_needed_error(main_axes_bits_t axes_mask=main_axes_mask);
inline void set_axis_unhomed(const AxisEnum axis) { CBI(axis_homed, axis); } inline void set_axis_unhomed(const AxisEnum axis) { CBI(axes_homed, axis); }
inline void set_axis_untrusted(const AxisEnum axis) { CBI(axis_trusted, axis); } inline void set_axis_untrusted(const AxisEnum axis) { CBI(axes_trusted, axis); }
inline void set_all_unhomed() { axis_homed = axis_trusted = 0; } inline void set_all_unhomed() { axes_homed = axes_trusted = 0; }
inline void set_axis_homed(const AxisEnum axis) { SBI(axis_homed, axis); } inline void set_axis_homed(const AxisEnum axis) { SBI(axes_homed, axis); }
inline void set_axis_trusted(const AxisEnum axis) { SBI(axis_trusted, axis); } inline void set_axis_trusted(const AxisEnum axis) { SBI(axes_trusted, axis); }
inline void set_all_homed() { axis_homed = axis_trusted = linear_bits; } inline void set_all_homed() { axes_homed = axes_trusted = main_axes_mask; }
#else #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 homeaxis(const AxisEnum axis) {}
inline void set_axis_never_homed(const AxisEnum) {} 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 main_axes_bits_t axes_should_home(main_axes_bits_t=main_axes_mask) { return 0; }
inline bool homing_needed_error(linear_axis_bits_t=linear_bits) { return false; } 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_unhomed(const AxisEnum axis) {}
inline void set_axis_untrusted(const AxisEnum axis) {} inline void set_axis_untrusted(const AxisEnum axis) {}
inline void set_all_unhomed() {} inline void set_all_unhomed() {}
@@ -447,13 +450,13 @@ void set_axis_is_at_home(const AxisEnum axis);
inline void set_all_homed() {} inline void set_all_homed() {}
#endif #endif
inline bool axis_was_homed(const AxisEnum axis) { return TEST(axis_homed, axis); } inline bool axis_was_homed(const AxisEnum axis) { return TEST(axes_homed, axis); }
inline bool axis_is_trusted(const AxisEnum axis) { return TEST(axis_trusted, 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 axis_should_home(const AxisEnum axis) { return (axes_should_home() & _BV(axis)) != 0; }
inline bool no_axes_homed() { return !axis_homed; } inline bool no_axes_homed() { return !axes_homed; }
inline bool all_axes_homed() { return linear_bits == (axis_homed & linear_bits); } inline bool all_axes_homed() { return main_axes_mask == (axes_homed & main_axes_mask); }
inline bool homing_needed() { return !all_axes_homed(); } 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); void home_if_needed(const bool keeplev=false);

4
Marlin/src/module/probe.cpp
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@@ -274,14 +274,14 @@ xyz_pos_t Probe::offset; // Initialized by settings.load()
#if ENABLED(PROBING_STEPPERS_OFF) && DISABLED(DELTA) #if ENABLED(PROBING_STEPPERS_OFF) && DISABLED(DELTA)
static uint8_t old_trusted; static uint8_t old_trusted;
if (dopause) { if (dopause) {
old_trusted = axis_trusted; old_trusted = axes_trusted;
stepper.disable_axis(X_AXIS); stepper.disable_axis(X_AXIS);
stepper.disable_axis(Y_AXIS); stepper.disable_axis(Y_AXIS);
} }
else { else {
if (TEST(old_trusted, X_AXIS)) stepper.enable_axis(X_AXIS); if (TEST(old_trusted, X_AXIS)) stepper.enable_axis(X_AXIS);
if (TEST(old_trusted, Y_AXIS)) stepper.enable_axis(Y_AXIS); if (TEST(old_trusted, Y_AXIS)) stepper.enable_axis(Y_AXIS);
axis_trusted = old_trusted; axes_trusted = old_trusted;
} }
#endif #endif
if (dopause) safe_delay(_MAX(DELAY_BEFORE_PROBING, 25)); if (dopause) safe_delay(_MAX(DELAY_BEFORE_PROBING, 25));

8
Marlin/src/module/stepper.h
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@@ -246,7 +246,11 @@
#define MIN_STEP_ISR_FREQUENCY (MAX_STEP_ISR_FREQUENCY_1X / 2) #define MIN_STEP_ISR_FREQUENCY (MAX_STEP_ISR_FREQUENCY_1X / 2)
#define ENABLE_COUNT (NUM_AXES + E_STEPPERS) #define ENABLE_COUNT (NUM_AXES + E_STEPPERS)
typedef IF<(ENABLE_COUNT > 8), uint16_t, uint8_t>::type ena_mask_t; #if ENABLE_COUNT > 16
typedef uint32_t ena_mask_t;
#else
typedef IF<(ENABLE_COUNT > 8), uint16_t, uint8_t>::type ena_mask_t;
#endif
// Axis flags type, for enabled state or other simple state // Axis flags type, for enabled state or other simple state
typedef struct { typedef struct {
@@ -259,8 +263,6 @@ typedef struct {
#endif #endif
}; };
}; };
constexpr ena_mask_t linear_bits() { return _BV(NUM_AXES) - 1; }
constexpr ena_mask_t e_bits() { return (_BV(EXTRUDERS) - 1) << NUM_AXES; }
} stepper_flags_t; } stepper_flags_t;
// All the stepper enable pins // All the stepper enable pins