⚡️ FT_MOTION : Core and other refinements (#26720)

Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
Co-authored-by: Ulendo Alex <alex@ulendo.io>

Marlin/src/core/types.h

@@ -46,6 +46,7 @@ template <class L, class R> struct IF<true, L, R> { typedef L type; };
 #define NUM_AXIS_ELEM(O)      NUM_AXIS_LIST(O.x, O.y, O.z, O.i, O.j, O.k, O.u, O.v, O.w)
 #define NUM_AXIS_DECL(T,V)    NUM_AXIS_LIST(T x=V, T y=V, T z=V, T i=V, T j=V, T k=V, T u=V, T v=V, T w=V)
 #define MAIN_AXIS_NAMES       NUM_AXIS_LIST(X, Y, Z, I, J, K, U, V, W)
+#define MAIN_AXIS_NAMES_LC    NUM_AXIS_LIST(x, y, z, i, j, k, u, v, w)
 #define STR_AXES_MAIN         NUM_AXIS_GANG("X", "Y", "Z", STR_I, STR_J, STR_K, STR_U, STR_V, STR_W)
 
 #define LOGICAL_AXIS_GANG(E,V...)  NUM_AXIS_GANG(V) GANG_ITEM_E(E)
@@ -58,17 +59,21 @@ template <class L, class R> struct IF<true, L, R> { typedef L type; };
 #define LOGICAL_AXIS_ELEM(O)       LOGICAL_AXIS_LIST(O.e, O.x, O.y, O.z, O.i, O.j, O.k, O.u, O.v, O.w)
 #define LOGICAL_AXIS_DECL(T,V)     LOGICAL_AXIS_LIST(T e=V, T x=V, T y=V, T z=V, T i=V, T j=V, T k=V, T u=V, T v=V, T w=V)
 #define LOGICAL_AXIS_NAMES         LOGICAL_AXIS_LIST(E, X, Y, Z, I, J, K, U, V, W)
+#define LOGICAL_AXIS_NAMES_LC      LOGICAL_AXIS_LIST(e, x, y, z, i, j, k, u, v, w)
 #define LOGICAL_AXIS_MAP(F)        MAP(F, LOGICAL_AXIS_NAMES)
+#define LOGICAL_AXIS_MAP_LC(F)     MAP(F, LOGICAL_AXIS_NAMES_LC)
 #define STR_AXES_LOGICAL           LOGICAL_AXIS_GANG("E", "X", "Y", "Z", STR_I, STR_J, STR_K, STR_U, STR_V, STR_W)
 
 #if NUM_AXES
   #define NUM_AXES_SEP ,
   #define MAIN_AXIS_MAP(F)    MAP(F, MAIN_AXIS_NAMES)
+  #define MAIN_AXIS_MAP_LC(F) MAP(F, MAIN_AXIS_NAMES_LC)
   #define OPTARGS_NUM(T)      , NUM_AXIS_ARGS(T)
   #define OPTARGS_LOGICAL(T)  , LOGICAL_AXIS_ARGS(T)
 #else
   #define NUM_AXES_SEP
   #define MAIN_AXIS_MAP(F)
+  #define MAIN_AXIS_MAP_LC(F)
   #define OPTARGS_NUM(T)
   #define OPTARGS_LOGICAL(T)
 #endif
@@ -79,6 +84,7 @@ template <class L, class R> struct IF<true, L, R> { typedef L type; };
 #define NUM_AXIS_ARGS_(T)       NUM_AXIS_ARGS(T) NUM_AXES_SEP
 #define NUM_AXIS_ELEM_(T)       NUM_AXIS_ELEM(T) NUM_AXES_SEP
 #define MAIN_AXIS_NAMES_        MAIN_AXIS_NAMES NUM_AXES_SEP
+#define MAIN_AXIS_NAMES_LC_     MAIN_AXIS_NAMES_LC NUM_AXES_SEP
 
 #if LOGICAL_AXES
   #define LOGICAL_AXES_SEP ,
@@ -92,6 +98,7 @@ template <class L, class R> struct IF<true, L, R> { typedef L type; };
 #define LOGICAL_AXIS_ARGS_(T)       LOGICAL_AXIS_ARGS(T) LOGICAL_AXES_SEP
 #define LOGICAL_AXIS_ELEM_(T)       LOGICAL_AXIS_ELEM(T) LOGICAL_AXES_SEP
 #define LOGICAL_AXIS_NAMES_         LOGICAL_AXIS_NAMES LOGICAL_AXES_SEP
+#define LOGICAL_AXIS_NAMES_LC_      LOGICAL_AXIS_NAMES_LC LOGICAL_AXES_SEP
 
 #define SECONDARY_AXIS_GANG(V...) GANG_N(SECONDARY_AXES, V)
 #define SECONDARY_AXIS_CODE(V...) CODE_N(SECONDARY_AXES, V)
@@ -219,7 +226,7 @@ typedef struct {
 //
 //  - X_AXIS, Y_AXIS, and Z_AXIS should be used for axes in Cartesian space
 //  - A_AXIS, B_AXIS, and C_AXIS should be used for Steppers, corresponding to XYZ on Cartesians
-//  - X_HEAD, Y_HEAD, and Z_HEAD should be used for Steppers on Core kinematics
+//  - X_HEAD, Y_HEAD, and Z_HEAD should be used for axes on Core kinematics
 //
 enum AxisEnum : uint8_t {
 
@@ -1084,6 +1091,7 @@ class AxisBits {
   FI bool toggle(const AxisEnum n) { TBI(bits, n); return TEST(bits, n); }
   FI void bset(const AxisEnum n) { SBI(bits, n); }
   FI void bclr(const AxisEnum n) { CBI(bits, n); }
+  FI void bset(const AxisEnum n, const bool b) { if (b) bset(n); else bclr(n); }
 
   // Accessor via an AxisEnum (or any integer) [index]
   FI bool operator[](const int n) const { return TEST(bits, n); }

Marlin/src/inc/Conditionals_LCD.h

@@ -1603,8 +1603,6 @@
 #endif
 #if CORE_IS_XY || CORE_IS_XZ || CORE_IS_YZ
   #define IS_CORE 1
-#endif
-#if IS_CORE
   #if CORE_IS_XY
     #define CORE_AXIS_1 A_AXIS
     #define CORE_AXIS_2 B_AXIS

Marlin/src/inc/Conditionals_adv.h

@@ -1185,7 +1185,7 @@
   #elif HAS_DRIVER(A4988)
     #define MINIMUM_STEPPER_POST_DIR_DELAY 200
   #elif HAS_TRINAMIC_CONFIG || HAS_TRINAMIC_STANDALONE
-    #define MINIMUM_STEPPER_POST_DIR_DELAY 70
+    #define MINIMUM_STEPPER_POST_DIR_DELAY 100
   #else
     #define MINIMUM_STEPPER_POST_DIR_DELAY 0   // Expect at least 10µS since one Stepper ISR must transpire
   #endif

Marlin/src/module/endstops.cpp

@@ -50,6 +50,10 @@
   #include "../feature/joystick.h"
 #endif
 
+#if ENABLED(FT_MOTION)
+  #include "ft_motion.h"
+#endif
+
 #if HAS_BED_PROBE
   #include "probe.h"
 #endif
@@ -782,6 +786,7 @@ void Endstops::update() {
     #define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_DUAL_ENDSTOP(Z, MINMAX)
   #endif
 
+
   #if ENABLED(G38_PROBE_TARGET)
     // For G38 moves check the probe's pin for ALL movement
     if (G38_move && TEST_ENDSTOP(Z_MIN_PROBE) == TERN1(G38_PROBE_AWAY, (G38_move < 4))) {
@@ -796,8 +801,17 @@ void Endstops::update() {
   // Signal, after validation, if an endstop limit is pressed or not
 
   #if HAS_X_AXIS
-    if (stepper.axis_is_moving(X_AXIS)) {
-      if (!stepper.motor_direction(X_AXIS_HEAD)) { // -direction
+    #if ENABLED(FT_MOTION)
+      const bool x_moving_pos = ftMotion.axis_moving_pos(X_AXIS_HEAD),
+                 x_moving_neg = ftMotion.axis_moving_neg(X_AXIS_HEAD);
+      #define X_MOVE_TEST x_moving_pos || x_moving_neg
+      #define X_NEG_DIR_TEST x_moving_neg
+    #else
+      #define X_MOVE_TEST stepper.axis_is_moving(X_AXIS)
+      #define X_NEG_DIR_TEST !stepper.motor_direction(X_AXIS_HEAD)
+    #endif
+    if (X_MOVE_TEST) {
+      if (X_NEG_DIR_TEST) { // -direction
         #if HAS_X_MIN_STATE
           PROCESS_ENDSTOP_X(MIN);
           #if   CORE_DIAG(XY, Y, MIN)
@@ -829,8 +843,17 @@ void Endstops::update() {
   #endif // HAS_X_AXIS
 
   #if HAS_Y_AXIS
-    if (stepper.axis_is_moving(Y_AXIS)) {
-      if (!stepper.motor_direction(Y_AXIS_HEAD)) { // -direction
+    #if ENABLED(FT_MOTION)
+      const bool y_moving_pos = ftMotion.axis_moving_pos(Y_AXIS_HEAD),
+                 y_moving_neg = ftMotion.axis_moving_neg(Y_AXIS_HEAD);
+      #define Y_MOVE_TEST y_moving_pos || y_moving_neg
+      #define Y_NEG_DIR_TEST y_moving_neg
+    #else
+      #define Y_MOVE_TEST stepper.axis_is_moving(Y_AXIS)
+      #define Y_NEG_DIR_TEST !stepper.motor_direction(Y_AXIS_HEAD)
+    #endif
+    if (Y_MOVE_TEST) {
+      if (Y_NEG_DIR_TEST) { // -direction
         #if HAS_Y_MIN_STATE
           PROCESS_ENDSTOP_Y(MIN);
           #if   CORE_DIAG(XY, X, MIN)
@@ -862,8 +885,17 @@ void Endstops::update() {
   #endif // HAS_Y_AXIS
 
   #if HAS_Z_AXIS
-    if (stepper.axis_is_moving(Z_AXIS)) {
-      if (!stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up.
+    #if ENABLED(FT_MOTION)
+      const bool z_moving_pos = ftMotion.axis_moving_pos(Z_AXIS_HEAD),
+                 z_moving_neg = ftMotion.axis_moving_neg(Z_AXIS_HEAD);
+      #define Z_MOVE_TEST z_moving_pos || z_moving_neg
+      #define Z_NEG_DIR_TEST z_moving_neg
+    #else
+      #define Z_MOVE_TEST stepper.axis_is_moving(Z_AXIS)
+      #define Z_NEG_DIR_TEST !stepper.motor_direction(Z_AXIS_HEAD)
+    #endif
+    if (Z_MOVE_TEST) {
+      if (Z_NEG_DIR_TEST) { // Z -direction. Gantry down, bed up.
         #if HAS_Z_MIN_STATE
           // If the Z_MIN_PIN is being used for the probe there's no
           // separate Z_MIN endstop. But a Z endstop could be wired
@@ -907,6 +939,7 @@ void Endstops::update() {
   #endif // HAS_Z_AXIS
 
   #if HAS_I_AXIS
+  // TODO: FT_Motion logic.
     if (stepper.axis_is_moving(I_AXIS)) {
       if (!stepper.motor_direction(I_AXIS_HEAD)) { // -direction
         #if HAS_I_MIN_STATE