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