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Use bit flags for homed/known

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2.0.x
Scott Lahteine 7 years ago
parent 4832be52d7
commit f2c3b0d476
13 changed files with 50 additions and 49 deletions
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2
Marlin/src/Marlin.cpp
Unescape Escape View File

@ -161,7 +161,7 @@ bool Running = true;
* Flags that the position is known in each linear axis. Set when homed.
* Cleared whenever a stepper powers off, potentially losing its position.
*/
bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };
uint8_t axis_homed, axis_known_position; // = 0
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
TempUnit input_temp_units = TEMPUNIT_C;

20
Marlin/src/Marlin.h
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@ -44,10 +44,10 @@ void manage_inactivity(const bool ignore_stepper_queue=false);
#if HAS_X2_ENABLE
#define enable_X() do{ X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); }while(0)
#define disable_X() do{ X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
#define disable_X() do{ X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); CBI(axis_known_position, X_AXIS); }while(0)
#elif HAS_X_ENABLE
#define enable_X() X_ENABLE_WRITE( X_ENABLE_ON)
#define disable_X() do{ X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }while(0)
#define disable_X() do{ X_ENABLE_WRITE(!X_ENABLE_ON); CBI(axis_known_position, X_AXIS); }while(0)
#else
#define enable_X() NOOP
#define disable_X() NOOP
@ -55,10 +55,10 @@ void manage_inactivity(const bool ignore_stepper_queue=false);
#if HAS_Y2_ENABLE
#define enable_Y() do{ Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }while(0)
#define disable_Y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
#define disable_Y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); CBI(axis_known_position, Y_AXIS); }while(0)
#elif HAS_Y_ENABLE
#define enable_Y() Y_ENABLE_WRITE( Y_ENABLE_ON)
#define disable_Y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }while(0)
#define disable_Y() do{ Y_ENABLE_WRITE(!Y_ENABLE_ON); CBI(axis_known_position, Y_AXIS); }while(0)
#else
#define enable_Y() NOOP
#define disable_Y() NOOP
@ -66,10 +66,10 @@ void manage_inactivity(const bool ignore_stepper_queue=false);
#if HAS_Z2_ENABLE
#define enable_Z() do{ Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }while(0)
#define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
#define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); CBI(axis_known_position, Z_AXIS); }while(0)
#elif HAS_Z_ENABLE
#define enable_Z() Z_ENABLE_WRITE( Z_ENABLE_ON)
#define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }while(0)
#define disable_Z() do{ Z_ENABLE_WRITE(!Z_ENABLE_ON); CBI(axis_known_position, Z_AXIS); }while(0)
#else
#define enable_Z() NOOP
#define disable_Z() NOOP
@ -169,8 +169,12 @@ extern bool Running;
inline bool IsRunning() { return Running; }
inline bool IsStopped() { return !Running; }
extern bool axis_known_position[XYZ];
extern bool axis_homed[XYZ];
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 all_axes_homed() { return (axis_homed & xyz_bits) == xyz_bits; }
FORCE_INLINE bool all_axes_known() { return (axis_known_position & xyz_bits) == xyz_bits; }
extern volatile bool wait_for_heatup;
#if HAS_RESUME_CONTINUE

6
Marlin/src/gcode/calibrate/G28.cpp
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@ -88,7 +88,7 @@
inline void home_z_safely() {
// Disallow Z homing if X or Y are unknown
if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
if (!TEST(axis_known_position, X_AXIS) || !TEST(axis_known_position, Y_AXIS)) {
LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING);
@ -172,7 +172,7 @@ void GcodeSuite::G28(const bool always_home_all) {
}
#endif
if ((axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]) && parser.boolval('O')) { // home only if needed
if (all_axes_known() && parser.boolval('O')) { // home only if needed
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("> homing not needed, skip");
@ -246,7 +246,7 @@ void GcodeSuite::G28(const bool always_home_all) {
const float z_homing_height = (
#if ENABLED(UNKNOWN_Z_NO_RAISE)
!axis_known_position[Z_AXIS] ? 0 :
!TEST(axis_known_position, Z_AXIS) ? 0 :
#endif
(parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT)
);

2
Marlin/src/gcode/feature/trinamic/M911-M915.cpp
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@ -332,7 +332,7 @@ void GcodeSuite::M912() {
const uint16_t _rms = parser.seenval('S') ? parser.value_int() : CALIBRATION_CURRENT,
_z = parser.seenval('Z') ? parser.value_linear_units() : CALIBRATION_EXTRA_HEIGHT;
if (!axis_known_position[Z_AXIS]) {
if (!TEST(axis_known_position, Z_AXIS)) {
SERIAL_ECHOLNPGM("\nPlease home Z axis first");
return;
}

4
Marlin/src/lcd/dogm/status_screen_DOGM.h
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@ -108,11 +108,11 @@ FORCE_INLINE void _draw_axis_value(const AxisEnum axis, const char *value, const
if (blink)
lcd_put_u8str(value);
else {
if (!axis_homed[axis])
if (!TEST(axis_homed, axis))
while (const char c = *value++) lcd_put_wchar(c <= '.' ? c : '?');
else {
#if DISABLED(HOME_AFTER_DEACTIVATE) && DISABLED(DISABLE_REDUCED_ACCURACY_WARNING)
if (!axis_known_position[axis])
if (!TEST(axis_known_position, axis))
lcd_put_u8str_P(axis == Z_AXIS ? PSTR(" ") : PSTR(" "));
else
#endif

4
Marlin/src/lcd/dogm/status_screen_lite_ST7920.h
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@ -868,9 +868,7 @@ void ST7920_Lite_Status_Screen::update_status_or_position(bool forceUpdate) {
#if ENABLED(DISABLE_REDUCED_ACCURACY_WARNING)
true
#else
axis_known_position[X_AXIS] &&
axis_known_position[Y_AXIS] &&
axis_known_position[Z_AXIS]
all_axes_known()
#endif
);
}

30
Marlin/src/lcd/ultralcd.cpp
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@ -2026,8 +2026,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
void _lcd_level_bed_homing() {
if (lcdDrawUpdate) lcd_implementation_drawedit(PSTR(MSG_LEVEL_BED_HOMING), NULL);
lcdDrawUpdate = LCDVIEW_CALL_NO_REDRAW;
if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS])
lcd_goto_screen(_lcd_level_bed_homing_done);
if (all_axes_homed()) lcd_goto_screen(_lcd_level_bed_homing_done);
}
#if ENABLED(PROBE_MANUALLY)
@ -2039,7 +2038,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
*/
void _lcd_level_bed_continue() {
defer_return_to_status = true;
axis_homed[X_AXIS] = axis_homed[Y_AXIS] = axis_homed[Z_AXIS] = false;
axis_homed = 0;
lcd_goto_screen(_lcd_level_bed_homing);
enqueue_and_echo_commands_P(PSTR("G28"));
}
@ -2369,7 +2368,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
defer_return_to_status = true;
if (lcdDrawUpdate) lcd_implementation_drawmenu_static(LCD_HEIGHT < 3 ? 0 : (LCD_HEIGHT > 4 ? 2 : 1), PSTR(MSG_LEVEL_BED_HOMING));
lcdDrawUpdate = LCDVIEW_CALL_NO_REDRAW;
if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) {
if (all_axes_homed()) {
ubl.lcd_map_control = true; // Return to the map screen
lcd_goto_screen(_lcd_ubl_output_map_lcd);
}
@ -2414,7 +2413,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
void _lcd_ubl_output_map_lcd() {
static int16_t step_scaler = 0;
if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS]))
if (!all_axes_known())
return lcd_goto_screen(_lcd_ubl_map_homing);
if (use_click()) return _lcd_ubl_map_lcd_edit_cmd();
@ -2463,8 +2462,8 @@ void lcd_quick_feedback(const bool clear_buttons) {
* UBL Homing before LCD map
*/
void _lcd_ubl_output_map_lcd_cmd() {
if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS])) {
axis_homed[X_AXIS] = axis_homed[Y_AXIS] = axis_homed[Z_AXIS] = false;
if (!all_axes_known()) {
axis_homed = 0;
enqueue_and_echo_commands_P(PSTR("G28"));
}
lcd_goto_screen(_lcd_ubl_map_homing);
@ -2592,7 +2591,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
START_MENU();
MENU_BACK(MSG_PREPARE);
const bool is_homed = axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] && axis_known_position[Z_AXIS];
const bool is_homed = all_axes_known();
// Auto Home if not using manual probing
#if DISABLED(PROBE_MANUALLY) && DISABLED(MESH_BED_LEVELING)
@ -2634,8 +2633,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
#if ENABLED(LEVEL_BED_CORNERS)
// Move to the next corner for leveling
if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS])
MENU_ITEM(submenu, MSG_LEVEL_CORNERS, _lcd_level_bed_corners);
if (all_axes_homed()) MENU_ITEM(submenu, MSG_LEVEL_CORNERS, _lcd_level_bed_corners);
#endif
#if ENABLED(EEPROM_SETTINGS)
@ -2665,7 +2663,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
// Move Axis
//
#if ENABLED(DELTA)
if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS])
if (all_axes_homed())
#endif
MENU_ITEM(submenu, MSG_MOVE_AXIS, lcd_move_menu);
@ -2709,7 +2707,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
#endif
#if ENABLED(LEVEL_BED_CORNERS) && DISABLED(LCD_BED_LEVELING)
if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS])
if (all_axes_homed())
MENU_ITEM(function, MSG_LEVEL_CORNERS, _lcd_level_bed_corners);
#endif
@ -2839,7 +2837,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
void _lcd_calibrate_homing() {
if (lcdDrawUpdate) lcd_implementation_drawmenu_static(LCD_HEIGHT >= 4 ? 1 : 0, PSTR(MSG_LEVEL_BED_HOMING));
lcdDrawUpdate = LCDVIEW_CALL_REDRAW_NEXT;
if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS])
if (all_axes_homed())
lcd_goto_previous_menu();
}
@ -2894,7 +2892,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
MENU_ITEM(submenu, MSG_DELTA_SETTINGS, lcd_delta_settings);
#if ENABLED(DELTA_CALIBRATION_MENU)
MENU_ITEM(submenu, MSG_AUTO_HOME, _lcd_delta_calibrate_home);
if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) {
if (all_axes_homed()) {
MENU_ITEM(submenu, MSG_DELTA_CALIBRATE_X, _goto_tower_x);
MENU_ITEM(submenu, MSG_DELTA_CALIBRATE_Y, _goto_tower_y);
MENU_ITEM(submenu, MSG_DELTA_CALIBRATE_Z, _goto_tower_z);
@ -3190,7 +3188,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
*/
#if IS_KINEMATIC || ENABLED(NO_MOTION_BEFORE_HOMING)
#define _MOVE_XYZ_ALLOWED (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS])
#define _MOVE_XYZ_ALLOWED (all_axes_homed())
#else
#define _MOVE_XYZ_ALLOWED true
#endif
@ -4930,7 +4928,7 @@ void lcd_quick_feedback(const bool clear_buttons) {
if (REPRAPWORLD_KEYPAD_MOVE_Z_UP) reprapworld_keypad_move_z_up();
#endif
if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) {
if (all_axes_homed()) {
#if ENABLED(DELTA) || Z_HOME_DIR != -1
if (REPRAPWORLD_KEYPAD_MOVE_Z_UP) reprapworld_keypad_move_z_up();
#endif

4
Marlin/src/lcd/ultralcd_impl_HD44780.h
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@ -493,11 +493,11 @@ FORCE_INLINE void _draw_axis_value(const AxisEnum axis, const char *value, const
if (blink)
lcd_put_u8str(value);
else {
if (!axis_homed[axis])
if (!TEST(axis_homed, axis))
while (const char c = *value++) lcd_put_wchar(c <= '.' ? c : '?');
else {
#if DISABLED(HOME_AFTER_DEACTIVATE) && DISABLED(DISABLE_REDUCED_ACCURACY_WARNING)
if (!axis_known_position[axis])
if (!TEST(axis_known_position, axis))
lcd_put_u8str_P(axis == Z_AXIS ? PSTR(" ") : PSTR(" "));
else
#endif

2
Marlin/src/module/delta.cpp
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@ -73,7 +73,7 @@ void recalc_delta_settings() {
delta_diagonal_rod_2_tower[B_AXIS] = sq(delta_diagonal_rod + drt[B_AXIS]);
delta_diagonal_rod_2_tower[C_AXIS] = sq(delta_diagonal_rod + drt[C_AXIS]);
update_software_endstops(Z_AXIS);
axis_homed[X_AXIS] = axis_homed[Y_AXIS] = axis_homed[Z_AXIS] = false;
axis_homed = 0;
}
/**

15
Marlin/src/module/motion.cpp
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@ -957,13 +957,13 @@ void prepare_move_to_destination() {
bool axis_unhomed_error(const bool x/*=true*/, const bool y/*=true*/, const bool z/*=true*/) {
#if ENABLED(HOME_AFTER_DEACTIVATE)
const bool xx = x && !axis_known_position[X_AXIS],
yy = y && !axis_known_position[Y_AXIS],
zz = z && !axis_known_position[Z_AXIS];
const bool xx = x && !TEST(axis_known_position, X_AXIS),
yy = y && !TEST(axis_known_position, Y_AXIS),
zz = z && !TEST(axis_known_position, Z_AXIS);
#else
const bool xx = x && !axis_homed[X_AXIS],
yy = y && !axis_homed[Y_AXIS],
zz = z && !axis_homed[Z_AXIS];
const bool xx = x && !TEST(axis_homed, X_AXIS),
yy = y && !TEST(axis_homed, Y_AXIS),
zz = z && !TEST(axis_homed, Z_AXIS);
#endif
if (xx || yy || zz) {
SERIAL_ECHO_START();
@ -1173,7 +1173,8 @@ void set_axis_is_at_home(const AxisEnum axis) {
}
#endif
axis_known_position[axis] = axis_homed[axis] = true;
SBI(axis_known_position, axis);
SBI(axis_homed, axis);
#if HAS_POSITION_SHIFT
position_shift[axis] = 0;

4
Marlin/src/module/probe.cpp
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@ -386,7 +386,7 @@ bool set_probe_deployed(const bool deploy) {
// For beds that fall when Z is powered off only raise for trusted Z
#if ENABLED(UNKNOWN_Z_NO_RAISE)
const bool unknown_condition = axis_known_position[Z_AXIS];
const bool unknown_condition = TEST(axis_known_position, Z_AXIS);
#else
constexpr float unknown_condition = true;
#endif
@ -562,7 +562,7 @@ static float run_z_probe() {
// Stop the probe before it goes too low to prevent damage.
// If Z isn't known then probe to -10mm.
const float z_probe_low_point = axis_known_position[Z_AXIS] ? -zprobe_zoffset + Z_PROBE_LOW_POINT : -10.0;
const float z_probe_low_point = TEST(axis_known_position, Z_AXIS) ? -zprobe_zoffset + Z_PROBE_LOW_POINT : -10.0;
// Double-probing does a fast probe followed by a slow probe
#if MULTIPLE_PROBING == 2

4
Marlin/src/module/temperature.h
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@ -31,7 +31,7 @@
#include "../inc/MarlinConfig.h"
#if ENABLED(BABYSTEPPING)
extern bool axis_known_position[XYZ];
extern uint8_t axis_known_position;
#endif
#if ENABLED(AUTO_POWER_CONTROL)
@ -504,7 +504,7 @@ class Temperature {
#if ENABLED(BABYSTEPPING)
static void babystep_axis(const AxisEnum axis, const int16_t distance) {
if (axis_known_position[axis]) {
if (TEST(axis_known_position, axis)) {
#if IS_CORE
#if ENABLED(BABYSTEP_XY)
switch (axis) {

2
Marlin/src/module/tool_change.cpp
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@ -80,7 +80,7 @@
}
}
#endif // SWITCHING_EXTRUDER
#endif // DO_SWITCH_EXTRUDER
#if ENABLED(SWITCHING_NOZZLE)

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