Use bit flags for homed/known

Marlin/src/Marlin.cpp

@@ -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;

Marlin/src/Marlin.h

@@ -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

Marlin/src/gcode/calibrate/G28.cpp

@@ -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)
     );

Marlin/src/gcode/feature/trinamic/M911-M915.cpp

@@ -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;
     }

Marlin/src/lcd/dogm/status_screen_DOGM.h

@@ -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

Marlin/src/lcd/dogm/status_screen_lite_ST7920.h

@@ -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
       );
     }

Marlin/src/lcd/ultralcd.cpp

@@ -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

Marlin/src/lcd/ultralcd_impl_HD44780.h

@@ -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

Marlin/src/module/delta.cpp

@@ -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;
 }
 
 /**

Marlin/src/module/motion.cpp

@@ -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;

Marlin/src/module/probe.cpp

@@ -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

Marlin/src/module/temperature.h

@@ -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) {

Marlin/src/module/tool_change.cpp

@@ -80,7 +80,7 @@
     }
   }
 
-#endif // SWITCHING_EXTRUDER
+#endif // DO_SWITCH_EXTRUDER
 
 #if ENABLED(SWITCHING_NOZZLE)