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Use bit flags for homed/known

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This commit is contained in:
Scott Lahteine 2018-06-11 21:42:39 -05:00
parent 4ed92f838f
commit 4bc5e9341e
7 changed files with 50 additions and 46 deletions
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23
Marlin/Marlin.h
View File

@ -60,10 +60,10 @@ extern const char axis_codes[XYZE];
#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
@ -71,10 +71,10 @@ extern const char axis_codes[XYZE];
#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
@ -82,10 +82,10 @@ extern const char axis_codes[XYZE];
#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
@ -222,9 +222,14 @@ extern int16_t feedrate_percentage;
#define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01)
extern bool axis_relative_modes[];
extern bool axis_known_position[XYZ];
extern bool axis_homed[XYZ];
extern bool axis_relative_modes[XYZE];
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

31
Marlin/Marlin_main.cpp
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@ -397,7 +397,7 @@ float destination[XYZE] = { 0.0 };
* 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
/**
* GCode line number handling. Hosts may opt to include line numbers when
@ -451,7 +451,7 @@ static float saved_feedrate_mm_s;
int16_t feedrate_percentage = 100, saved_feedrate_percentage;
// Initialized by settings.load()
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
bool axis_relative_modes[XYZE] = AXIS_RELATIVE_MODES;
#if HAS_WORKSPACE_OFFSET
#if HAS_POSITION_SHIFT
@ -1428,7 +1428,8 @@ static 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;
@ -1753,13 +1754,13 @@ void clean_up_after_endstop_or_probe_move() {
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();
@ -2110,7 +2111,7 @@ void clean_up_after_endstop_or_probe_move() {
// 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
@ -2271,7 +2272,7 @@ void clean_up_after_endstop_or_probe_move() {
// 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
@ -3978,7 +3979,7 @@ inline void gcode_G4() {
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);
@ -4130,7 +4131,7 @@ inline void gcode_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)
);
@ -11277,7 +11278,7 @@ inline void gcode_M502() {
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;
}
@ -12772,7 +12773,7 @@ void ok_to_send() {
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;
}
#if ENABLED(DELTA_FAST_SQRT)

4
Marlin/status_screen_DOGM.h
View File

@ -108,11 +108,11 @@ FORCE_INLINE void _draw_axis_value(const AxisEnum axis, const char *value, const
if (blink)
lcd_print(value);
else {
if (!axis_homed[axis])
if (!TEST(axis_homed, axis))
while (const char c = *value++) lcd_print(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_printPGM(axis == Z_AXIS ? PSTR(" ") : PSTR(" "));
else
#endif

4
Marlin/status_screen_lite_ST7920.h
View File

@ -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
);
}

2
Marlin/temperature.h
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@ -505,7 +505,7 @@ 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) {

28
Marlin/ultralcd.cpp
View File

@ -2016,7 +2016,7 @@ 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])
if (all_axes_homed())
lcd_goto_screen(_lcd_level_bed_homing_done);
}
@ -2029,7 +2029,7 @@ 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"));
}
@ -2359,7 +2359,7 @@ 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);
}
@ -2403,7 +2403,7 @@ 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();
@ -2452,8 +2452,8 @@ 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);
@ -2581,7 +2581,7 @@ 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)
@ -2623,7 +2623,7 @@ 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])
if (all_axes_homed())
MENU_ITEM(submenu, MSG_LEVEL_CORNERS, _lcd_level_bed_corners);
#endif
@ -2654,7 +2654,7 @@ 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);
@ -2698,7 +2698,7 @@ 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
@ -2828,7 +2828,7 @@ 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();
}
@ -2883,7 +2883,7 @@ 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);
@ -3179,7 +3179,7 @@ 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
@ -4919,7 +4919,7 @@ 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/ultralcd_impl_HD44780.h
View File

@ -636,11 +636,11 @@ FORCE_INLINE void _draw_axis_value(const AxisEnum axis, const char *value, const
if (blink)
lcd.print(value);
else {
if (!axis_homed[axis])
if (!TEST(axis_homed, axis))
while (const char c = *value++) lcd_print(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_printPGM(axis == Z_AXIS ? PSTR(" ") : PSTR(" "));
else
#endif