From 57eef65d9cabb6b7cc4c7937c8a9a095fc39313b Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Tue, 18 May 2021 22:56:05 -0500 Subject: [PATCH] =?UTF-8?q?=E2=99=BB=EF=B8=8F=20Refactor=20axis=20homing/t?= =?UTF-8?q?rusted=20state=20bits?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Marlin/src/module/motion.cpp | 20 +++++++++++--------- Marlin/src/module/motion.h | 21 +++++++++++---------- 2 files changed, 22 insertions(+), 19 deletions(-) diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index 427aea80b1..52d9dec904 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -1181,18 +1181,20 @@ void prepare_line_to_destination() { #if HAS_ENDSTOPS - uint8_t axis_homed, axis_trusted; // = 0 - - uint8_t axes_should_home(uint8_t axis_bits/*=0x07*/) { - #define SHOULD_HOME(A) TERN(HOME_AFTER_DEACTIVATE, axis_is_trusted, axis_was_homed)(A) - // Clear test bits that are trusted - if (TEST(axis_bits, X_AXIS) && SHOULD_HOME(X_AXIS)) CBI(axis_bits, X_AXIS); - if (TEST(axis_bits, Y_AXIS) && SHOULD_HOME(Y_AXIS)) CBI(axis_bits, Y_AXIS); - if (TEST(axis_bits, Z_AXIS) && SHOULD_HOME(Z_AXIS)) CBI(axis_bits, Z_AXIS); + linear_axis_bits_t axis_homed, axis_trusted; // = 0 + + linear_axis_bits_t axes_should_home(linear_axis_bits_t axis_bits/*=linear_bits*/) { + auto set_should = [](linear_axis_bits_t &b, AxisEnum a) { + 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); return axis_bits; } - bool homing_needed_error(uint8_t axis_bits/*=0x07*/) { + bool homing_needed_error(linear_axis_bits_t axis_bits/*=linear_bits*/) { if ((axis_bits = axes_should_home(axis_bits))) { PGM_P home_first = GET_TEXT(MSG_HOME_FIRST); char msg[strlen_P(home_first)+1]; diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h index e01978c852..15713e6d4d 100644 --- a/Marlin/src/module/motion.h +++ b/Marlin/src/module/motion.h @@ -326,7 +326,8 @@ void do_z_clearance(const_float_t zclear, const bool lower_allowed=false); /** * Homing and Trusted Axes */ -constexpr uint8_t xyz_bits = _BV(X_AXIS) | _BV(Y_AXIS) | _BV(Z_AXIS); +typedef IF<(LINEAR_AXES>8), uint16_t, uint8_t>::type linear_axis_bits_t; +constexpr linear_axis_bits_t linear_bits = _BV(LINEAR_AXES) - 1; void set_axis_is_at_home(const AxisEnum axis); @@ -340,23 +341,23 @@ void set_axis_is_at_home(const AxisEnum axis); * Flags that the position is trusted in each linear axis. Set when homed. * Cleared whenever a stepper powers off, potentially losing its position. */ - extern uint8_t axis_homed, axis_trusted; + extern linear_axis_bits_t axis_homed, axis_trusted; void homeaxis(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); + 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); FORCE_INLINE void set_axis_unhomed(const AxisEnum axis) { CBI(axis_homed, axis); } FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) { CBI(axis_trusted, axis); } FORCE_INLINE void set_all_unhomed() { axis_homed = axis_trusted = 0; } FORCE_INLINE void set_axis_homed(const AxisEnum axis) { SBI(axis_homed, axis); } FORCE_INLINE void set_axis_trusted(const AxisEnum axis) { SBI(axis_trusted, axis); } - FORCE_INLINE void set_all_homed() { axis_homed = axis_trusted = xyz_bits; } + FORCE_INLINE void set_all_homed() { axis_homed = axis_trusted = linear_bits; } #else - constexpr uint8_t axis_homed = xyz_bits, axis_trusted = xyz_bits; // Zero-endstop machines are always homed and trusted + constexpr linear_axis_bits_t axis_homed = linear_bits, axis_trusted = linear_bits; // Zero-endstop machines are always homed and trusted FORCE_INLINE void homeaxis(const AxisEnum axis) {} FORCE_INLINE void set_axis_never_homed(const AxisEnum) {} - FORCE_INLINE uint8_t axes_should_home(uint8_t=0x07) { return false; } - FORCE_INLINE bool homing_needed_error(uint8_t=0x07) { return false; } + FORCE_INLINE linear_axis_bits_t axes_should_home(linear_axis_bits_t=linear_bits) { return false; } + FORCE_INLINE bool homing_needed_error(linear_axis_bits_t=linear_bits) { return false; } FORCE_INLINE void set_axis_unhomed(const AxisEnum axis) {} FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) {} FORCE_INLINE void set_all_unhomed() {} @@ -369,9 +370,9 @@ FORCE_INLINE bool axis_was_homed(const AxisEnum axis) { return TEST(axis_h 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 all_axes_homed() { return linear_bits == (axis_homed & linear_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 bool all_axes_trusted() { return linear_bits == (axis_trusted & linear_bits); } #if ENABLED(NO_MOTION_BEFORE_HOMING) #define MOTION_CONDITIONS (IsRunning() && !homing_needed_error())