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Refactors towards 2-to-6 Linear Axes #21953

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May 24, 2021
Merged

Refactors towards 2-to-6 Linear Axes #21953

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1570d86
♻️ More patches supporting EXTRUDERS 0
thinkyhead May 21, 2021
39f1d84
♻️ Extend types in prep for more axes
thinkyhead May 21, 2021
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7 changes: 5 additions & 2 deletions Marlin/src/core/serial.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -101,8 +101,11 @@ void print_bin(uint16_t val) {
}
}

void print_pos(const_float_t x, const_float_t y, const_float_t z, PGM_P const prefix/*=nullptr*/, PGM_P const suffix/*=nullptr*/) {
void print_pos(
LINEAR_AXIS_LIST(const_float_t x, const_float_t y, const_float_t z)
, PGM_P const prefix/*=nullptr*/, PGM_P const suffix/*=nullptr*/
) {
if (prefix) serialprintPGM(prefix);
SERIAL_ECHOPAIR_P(SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z);
SERIAL_ECHOPAIR_P(LIST_N(DOUBLE(LINEAR_AXES), SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z));
if (suffix) serialprintPGM(suffix); else SERIAL_EOL();
}
7 changes: 5 additions & 2 deletions Marlin/src/core/serial.h
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Expand Up @@ -310,10 +310,13 @@ void serialprint_truefalse(const bool tf);
void serial_spaces(uint8_t count);

void print_bin(const uint16_t val);
void print_pos(const_float_t x, const_float_t y, const_float_t z, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr);
void print_pos(
LINEAR_AXIS_LIST(const_float_t x, const_float_t y, const_float_t z),
PGM_P const prefix=nullptr, PGM_P const suffix=nullptr
);

inline void print_pos(const xyz_pos_t &xyz, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr) {
print_pos(xyz.x, xyz.y, xyz.z, prefix, suffix);
print_pos(LINEAR_AXIS_LIST(xyz.x, xyz.y, xyz.z), prefix, suffix);
}

#define SERIAL_POS(SUFFIX,VAR) do { print_pos(VAR, PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n")); }while(0)
Expand Down
440 changes: 248 additions & 192 deletions Marlin/src/core/types.h
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8 changes: 8 additions & 0 deletions Marlin/src/core/utility.h
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Expand Up @@ -76,3 +76,11 @@ class restorer {
// Converts from an uint8_t in the range of 0-255 to an uint8_t
// in the range 0-100 while avoiding rounding artifacts
constexpr uint8_t ui8_to_percent(const uint8_t i) { return (int(i) * 100 + 127) / 255; }

const xyze_char_t axis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z');

#if LINEAR_AXES <= XYZ
#define AXIS_CHAR(A) ((char)('X' + A))
#else
#define AXIS_CHAR(A) axis_codes[A]
#endif
43 changes: 17 additions & 26 deletions Marlin/src/feature/encoder_i2c.cpp
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Expand Up @@ -327,7 +327,7 @@ int32_t I2CPositionEncoder::get_raw_count() {
}

bool I2CPositionEncoder::test_axis() {
//only works on XYZ cartesian machines for the time being
// Only works on XYZ Cartesian machines for the time being
if (!(encoderAxis == X_AXIS || encoderAxis == Y_AXIS || encoderAxis == Z_AXIS)) return false;

const float startPosition = soft_endstop.min[encoderAxis] + 10,
Expand All @@ -344,11 +344,14 @@ bool I2CPositionEncoder::test_axis() {
startCoord[encoderAxis] = startPosition;
endCoord[encoderAxis] = endPosition;

planner.synchronize();
startCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.buffer_line(startCoord, fr_mm_s, 0);
planner.synchronize();

#if HAS_EXTRUDERS
startCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.buffer_line(startCoord, fr_mm_s, 0);
planner.synchronize();
#endif

// if the module isn't currently trusted, wait until it is (or until it should be if things are working)
if (!trusted) {
int32_t startWaitingTime = millis();
Expand All @@ -357,7 +360,7 @@ bool I2CPositionEncoder::test_axis() {
}

if (trusted) { // if trusted, commence test
endCoord.e = planner.get_axis_position_mm(E_AXIS);
TERN_(HAS_EXTRUDERS, endCoord.e = planner.get_axis_position_mm(E_AXIS));
planner.buffer_line(endCoord, fr_mm_s, 0);
planner.synchronize();
}
Expand Down Expand Up @@ -402,7 +405,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
planner.synchronize();

LOOP_L_N(i, iter) {
startCoord.e = planner.get_axis_position_mm(E_AXIS);
TERN_(HAS_EXTRUDERS, startCoord.e = planner.get_axis_position_mm(E_AXIS));
planner.buffer_line(startCoord, fr_mm_s, 0);
planner.synchronize();

Expand All @@ -411,7 +414,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {

//do_blocking_move_to(endCoord);

endCoord.e = planner.get_axis_position_mm(E_AXIS);
TERN_(HAS_EXTRUDERS, endCoord.e = planner.get_axis_position_mm(E_AXIS));
planner.buffer_line(endCoord, fr_mm_s, 0);
planner.synchronize();

Expand Down Expand Up @@ -497,9 +500,7 @@ void I2CPositionEncodersMgr::init() {

encoders[i].set_active(encoders[i].passes_test(true));

#if I2CPE_ENC_1_AXIS == E_AXIS
encoders[i].set_homed();
#endif
TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_1_AXIS == E_AXIS) encoders[i].set_homed());
#endif

#if I2CPE_ENCODER_CNT > 1
Expand Down Expand Up @@ -528,9 +529,7 @@ void I2CPositionEncodersMgr::init() {

encoders[i].set_active(encoders[i].passes_test(true));

#if I2CPE_ENC_2_AXIS == E_AXIS
encoders[i].set_homed();
#endif
TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_2_AXIS == E_AXIS) encoders[i].set_homed());
#endif

#if I2CPE_ENCODER_CNT > 2
Expand All @@ -557,11 +556,9 @@ void I2CPositionEncodersMgr::init() {
encoders[i].set_ec_threshold(I2CPE_ENC_3_EC_THRESH);
#endif

encoders[i].set_active(encoders[i].passes_test(true));
encoders[i].set_active(encoders[i].passes_test(true));

#if I2CPE_ENC_3_AXIS == E_AXIS
encoders[i].set_homed();
#endif
TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_3_AXIS == E_AXIS) encoders[i].set_homed());
#endif

#if I2CPE_ENCODER_CNT > 3
Expand Down Expand Up @@ -590,9 +587,7 @@ void I2CPositionEncodersMgr::init() {

encoders[i].set_active(encoders[i].passes_test(true));

#if I2CPE_ENC_4_AXIS == E_AXIS
encoders[i].set_homed();
#endif
TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_4_AXIS == E_AXIS) encoders[i].set_homed());
#endif

#if I2CPE_ENCODER_CNT > 4
Expand Down Expand Up @@ -621,9 +616,7 @@ void I2CPositionEncodersMgr::init() {

encoders[i].set_active(encoders[i].passes_test(true));

#if I2CPE_ENC_5_AXIS == E_AXIS
encoders[i].set_homed();
#endif
TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_5_AXIS == E_AXIS) encoders[i].set_homed());
#endif

#if I2CPE_ENCODER_CNT > 5
Expand Down Expand Up @@ -652,9 +645,7 @@ void I2CPositionEncodersMgr::init() {

encoders[i].set_active(encoders[i].passes_test(true));

#if I2CPE_ENC_6_AXIS == E_AXIS
encoders[i].set_homed();
#endif
TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_6_AXIS == E_AXIS) encoders[i].set_homed());
#endif
}

Expand Down
34 changes: 25 additions & 9 deletions Marlin/src/feature/tmc_util.cpp
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Expand Up @@ -757,7 +757,10 @@
}
}

static void tmc_debug_loop(const TMC_debug_enum i, const bool print_x, const bool print_y, const bool print_z, const bool print_e) {
static void tmc_debug_loop(
const TMC_debug_enum i,
LOGICAL_AXIS_LIST(const bool print_e, const bool print_x, const bool print_y, const bool print_z)
) {
if (print_x) {
#if AXIS_IS_TMC(X)
tmc_status(stepperX, i);
Expand Down Expand Up @@ -821,7 +824,10 @@
SERIAL_EOL();
}

static void drv_status_loop(const TMC_drv_status_enum i, const bool print_x, const bool print_y, const bool print_z, const bool print_e) {
static void drv_status_loop(
const TMC_drv_status_enum i,
LOGICAL_AXIS_LIST(const bool print_e, const bool print_x, const bool print_y, const bool print_z)
) {
if (print_x) {
#if AXIS_IS_TMC(X)
tmc_parse_drv_status(stepperX, i);
Expand Down Expand Up @@ -889,9 +895,12 @@
* M122 report functions
*/

void tmc_report_all(const bool print_x/*=true*/, const bool print_y/*=true*/, const bool print_z/*=true*/, const bool print_e/*=true*/) {
#define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM, print_x, print_y, print_z, print_e); }while(0)
#define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM, print_x, print_y, print_z, print_e); }while(0)
void tmc_report_all(
LOGICAL_AXIS_LIST(const bool print_e/*=true*/, const bool print_x/*=true*/, const bool print_y/*=true*/, const bool print_z/*=true*/)
) {
#define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM, LOGICAL_AXIS_LIST(print_e, print_x, print_y, print_z)); }while(0)
#define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM, LOGICAL_AXIS_LIST(print_e, print_x, print_y, print_z)); }while(0)

TMC_REPORT("\t", TMC_CODES);
#if HAS_DRIVER(TMC2209)
TMC_REPORT("Address\t", TMC_UART_ADDR);
Expand Down Expand Up @@ -1015,7 +1024,10 @@
}
#endif

static void tmc_get_registers(TMC_get_registers_enum i, const bool print_x, const bool print_y, const bool print_z, const bool print_e) {
static void tmc_get_registers(
TMC_get_registers_enum i,
LOGICAL_AXIS_LIST(const bool print_e, const bool print_x, const bool print_y, const bool print_z)
) {
if (print_x) {
#if AXIS_IS_TMC(X)
tmc_get_registers(stepperX, i);
Expand Down Expand Up @@ -1079,8 +1091,10 @@
SERIAL_EOL();
}

void tmc_get_registers(bool print_x, bool print_y, bool print_z, bool print_e) {
#define _TMC_GET_REG(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_get_registers(ITEM, print_x, print_y, print_z, print_e); }while(0)
void tmc_get_registers(
LOGICAL_AXIS_LIST(bool print_e, bool print_x, bool print_y, bool print_z)
) {
#define _TMC_GET_REG(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_get_registers(ITEM, LOGICAL_AXIS_LIST(print_e, print_x, print_y, print_z)); }while(0)
#define TMC_GET_REG(NAME, TABS) _TMC_GET_REG(STRINGIFY(NAME) TABS, TMC_GET_##NAME)
_TMC_GET_REG("\t", TMC_AXIS_CODES);
TMC_GET_REG(GCONF, "\t\t");
Expand Down Expand Up @@ -1214,7 +1228,9 @@ static bool test_connection(TMC &st) {
return test_result;
}

void test_tmc_connection(const bool test_x/*=true*/, const bool test_y/*=true*/, const bool test_z/*=true*/, const bool test_e/*=true*/) {
void test_tmc_connection(
LOGICAL_AXIS_LIST(const bool test_e/*=true*/, const bool test_x/*=true*/, const bool test_y/*=true*/, const bool test_z/*=true*/)
) {
uint8_t axis_connection = 0;

if (test_x) {
Expand Down
14 changes: 10 additions & 4 deletions Marlin/src/feature/tmc_util.h
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Expand Up @@ -335,14 +335,20 @@ void tmc_print_current(TMC &st) {
#endif

void monitor_tmc_drivers();
void test_tmc_connection(const bool test_x=true, const bool test_y=true, const bool test_z=true, const bool test_e=true);
void test_tmc_connection(
LOGICAL_AXIS_LIST(const bool test_e=true, const bool test_x=true, const bool test_y=true, const bool test_z=true)
);

#if ENABLED(TMC_DEBUG)
#if ENABLED(MONITOR_DRIVER_STATUS)
void tmc_set_report_interval(const uint16_t update_interval);
#endif
void tmc_report_all(const bool print_x=true, const bool print_y=true, const bool print_z=true, const bool print_e=true);
void tmc_get_registers(const bool print_x, const bool print_y, const bool print_z, const bool print_e);
void tmc_report_all(
LOGICAL_AXIS_LIST(const bool print_e=true, const bool print_x=true, const bool print_y=true, const bool print_z=true)
);
void tmc_get_registers(
LOGICAL_AXIS_LIST(const bool print_e, const bool print_x, const bool print_y, const bool print_z)
);
#endif

/**
Expand All @@ -355,7 +361,7 @@ void test_tmc_connection(const bool test_x=true, const bool test_y=true, const b
#if USE_SENSORLESS

// Track enabled status of stealthChop and only re-enable where applicable
struct sensorless_t { bool x, y, z, x2, y2, z2, z3, z4; };
struct sensorless_t { bool LINEAR_AXIS_LIST(x, y, z), x2, y2, z2, z3, z4; };

#if ENABLED(IMPROVE_HOMING_RELIABILITY)
extern millis_t sg_guard_period;
Expand Down
27 changes: 19 additions & 8 deletions Marlin/src/gcode/calibrate/G28.cpp
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Expand Up @@ -321,12 +321,23 @@ void GcodeSuite::G28() {

#else

#define _UNSAFE(A) (homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(A##_AXIS))))

const bool homeZ = parser.seen_test('Z'),
needX = homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(X_AXIS))),
needY = homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(Y_AXIS))),
homeX = needX || parser.seen_test('X'), homeY = needY || parser.seen_test('Y'),
home_all = homeX == homeY && homeX == homeZ, // All or None
doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ;
LINEAR_AXIS_LIST( // Other axes should be homed before Z safe-homing
needX = _UNSAFE(X), needY = _UNSAFE(Y), needZ = false // UNUSED
),
LINEAR_AXIS_LIST( // Home each axis if needed or flagged
homeX = needX || parser.seen_test('X'),
homeY = needY || parser.seen_test('Y'),
homeZZ = homeZ // UNUSED
),
// Home-all if all or none are flagged
home_all = true LINEAR_AXIS_GANG(&& homeX == homeX, && homeX == homeY, && homeX == homeZ),
LINEAR_AXIS_LIST(doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ);

UNUSED(needZ);
UNUSED(homeZZ);

#if ENABLED(HOME_Z_FIRST)

Expand All @@ -336,7 +347,7 @@ void GcodeSuite::G28() {

const float z_homing_height = parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT;

if (z_homing_height && (doX || doY || TERN0(Z_SAFE_HOMING, doZ))) {
if (z_homing_height && (0 LINEAR_AXIS_GANG(|| doX, || doY, || TERN0(Z_SAFE_HOMING, doZ)))) {
// Raise Z before homing any other axes and z is not already high enough (never lower z)
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Raise Z (before homing) by ", z_homing_height);
do_z_clearance(z_homing_height);
Expand Down Expand Up @@ -469,7 +480,7 @@ void GcodeSuite::G28() {
#if HAS_CURRENT_HOME(Y2)
stepperY2.rms_current(tmc_save_current_Y2);
#endif
#endif
#endif // HAS_HOMING_CURRENT

ui.refresh();

Expand All @@ -490,7 +501,7 @@ void GcodeSuite::G28() {
static constexpr AxisEnum L64XX_axis_xref[MAX_L64XX] = {
X_AXIS, Y_AXIS, Z_AXIS,
X_AXIS, Y_AXIS, Z_AXIS, Z_AXIS,
E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS
E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS
};
for (uint8_t j = 1; j <= L64XX::chain[0]; j++) {
const uint8_t cv = L64XX::chain[j];
Expand Down
12 changes: 8 additions & 4 deletions Marlin/src/gcode/calibrate/G425.cpp
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Expand Up @@ -307,9 +307,11 @@ inline void probe_sides(measurements_t &m, const float uncertainty) {

// The difference between the known and the measured location
// of the calibration object is the positional error
m.pos_error.x = TERN0(HAS_X_CENTER, true_center.x - m.obj_center.x);
m.pos_error.y = TERN0(HAS_Y_CENTER, true_center.y - m.obj_center.y);
m.pos_error.z = true_center.z - m.obj_center.z;
LINEAR_AXIS_CODE(
m.pos_error.x = TERN0(HAS_X_CENTER, true_center.x - m.obj_center.x),
m.pos_error.y = TERN0(HAS_Y_CENTER, true_center.y - m.obj_center.y),
m.pos_error.z = true_center.z - m.obj_center.z
);
}

#if ENABLED(CALIBRATION_REPORTING)
Expand Down Expand Up @@ -455,7 +457,9 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) {
// New scope for TEMPORARY_BACKLASH_CORRECTION
TEMPORARY_BACKLASH_CORRECTION(all_on);
TEMPORARY_BACKLASH_SMOOTHING(0.0f);
const xyz_float_t move = { AXIS_CAN_CALIBRATE(X) * 3, AXIS_CAN_CALIBRATE(Y) * 3, AXIS_CAN_CALIBRATE(Z) * 3 };
const xyz_float_t move = LINEAR_AXIS_ARRAY(
AXIS_CAN_CALIBRATE(X) * 3, AXIS_CAN_CALIBRATE(Y) * 3, AXIS_CAN_CALIBRATE(Z) * 3
);
current_position += move; calibration_move();
current_position -= move; calibration_move();
}
Expand Down
10 changes: 6 additions & 4 deletions Marlin/src/gcode/calibrate/M425.cpp
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Expand Up @@ -48,10 +48,12 @@ void GcodeSuite::M425() {

auto axis_can_calibrate = [](const uint8_t a) {
switch (a) {
default:
case X_AXIS: return AXIS_CAN_CALIBRATE(X);
case Y_AXIS: return AXIS_CAN_CALIBRATE(Y);
case Z_AXIS: return AXIS_CAN_CALIBRATE(Z);
default: return false;
LINEAR_AXIS_CODE(
case X_AXIS: return AXIS_CAN_CALIBRATE(X),
case Y_AXIS: return AXIS_CAN_CALIBRATE(Y),
case Z_AXIS: return AXIS_CAN_CALIBRATE(Z)
);
}
};

Expand Down
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