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♻️ Refactor axis counts and loops
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@thinkyhead
thinkyhead committed May 22, 2021
1 parent f7d28ce commit 26a2443
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Showing 45 changed files with 178 additions and 165 deletions.
38 changes: 18 additions & 20 deletions Marlin/src/core/types.h
View file
Expand Up @@ -47,25 +47,23 @@ struct IF<true, L, R> { typedef L type; };
// - X_HEAD, Y_HEAD, and Z_HEAD should be used for Steppers on Core kinematics
//
enum AxisEnum : uint8_t {
X_AXIS = 0, A_AXIS = 0,
Y_AXIS = 1, B_AXIS = 1,
Z_AXIS = 2, C_AXIS = 2,
E_AXIS = 3,
X_HEAD = 4, Y_HEAD = 5, Z_HEAD = 6,
E0_AXIS = 3,
X_AXIS = 0, A_AXIS = X_AXIS,
Y_AXIS = 1, B_AXIS = Y_AXIS,
Z_AXIS = 2, C_AXIS = Z_AXIS,
E_AXIS,
X_HEAD, Y_HEAD, Z_HEAD,
E0_AXIS = E_AXIS,
E1_AXIS, E2_AXIS, E3_AXIS, E4_AXIS, E5_AXIS, E6_AXIS, E7_AXIS,
ALL_AXES = 0xFE, NO_AXIS = 0xFF
ALL_AXES_MASK = 0xFE, NO_AXIS_MASK = 0xFF
};

//
// Loop over XYZE axes
// Loop over axes
//
#define LOOP_XYZ(VAR) LOOP_S_LE_N(VAR, X_AXIS, Z_AXIS)
#define LOOP_XYZE(VAR) LOOP_S_LE_N(VAR, X_AXIS, E_AXIS)
#define LOOP_XYZE_N(VAR) LOOP_S_L_N(VAR, X_AXIS, XYZE_N)
#define LOOP_ABC(VAR) LOOP_S_LE_N(VAR, A_AXIS, C_AXIS)
#define LOOP_ABCE(VAR) LOOP_S_LE_N(VAR, A_AXIS, E_AXIS)
#define LOOP_ABCE_N(VAR) LOOP_S_L_N(VAR, A_AXIS, XYZE_N)
#define LOOP_LINEAR_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, LINEAR_AXES)
#define LOOP_LOGICAL_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, LOGICAL_AXES)
#define LOOP_DISTINCT_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, DISTINCT_AXES)

//
// feedRate_t is just a humble float
Expand Down Expand Up @@ -201,8 +199,8 @@ struct XYval {
FI void set(const T (&arr)[XY]) { x = arr[0]; y = arr[1]; }
FI void set(const T (&arr)[XYZ]) { x = arr[0]; y = arr[1]; }
FI void set(const T (&arr)[XYZE]) { x = arr[0]; y = arr[1]; }
#if XYZE_N > XYZE
FI void set(const T (&arr)[XYZE_N]) { x = arr[0]; y = arr[1]; }
#if DISTINCT_AXES > LOGICAL_AXES
FI void set(const T (&arr)[DISTINCT_AXES]) { x = arr[0]; y = arr[1]; }
#endif
FI void reset() { x = y = 0; }
FI T magnitude() const { return (T)sqrtf(x*x + y*y); }
Expand Down Expand Up @@ -312,8 +310,8 @@ struct XYZval {
FI void set(const T (&arr)[XY]) { x = arr[0]; y = arr[1]; }
FI void set(const T (&arr)[XYZ]) { x = arr[0]; y = arr[1]; z = arr[2]; }
FI void set(const T (&arr)[XYZE]) { x = arr[0]; y = arr[1]; z = arr[2]; }
#if XYZE_N > XYZE
FI void set(const T (&arr)[XYZE_N]) { x = arr[0]; y = arr[1]; z = arr[2]; }
#if DISTINCT_AXES > XYZE
FI void set(const T (&arr)[DISTINCT_AXES]) { x = arr[0]; y = arr[1]; z = arr[2]; }
#endif
FI void reset() { x = y = z = 0; }
FI T magnitude() const { return (T)sqrtf(x*x + y*y + z*z); }
Expand Down Expand Up @@ -427,8 +425,8 @@ struct XYZEval {
FI void set(const T (&arr)[XY]) { x = arr[0]; y = arr[1]; }
FI void set(const T (&arr)[XYZ]) { x = arr[0]; y = arr[1]; z = arr[2]; }
FI void set(const T (&arr)[XYZE]) { x = arr[0]; y = arr[1]; z = arr[2]; e = arr[3]; }
#if XYZE_N > XYZE
FI void set(const T (&arr)[XYZE_N]) { x = arr[0]; y = arr[1]; z = arr[2]; e = arr[3]; }
#if DISTINCT_AXES > XYZE
FI void set(const T (&arr)[DISTINCT_AXES]) { x = arr[0]; y = arr[1]; z = arr[2]; e = arr[3]; }
#endif
FI XYZEval<T> copy() const { return *this; }
FI XYZEval<T> ABS() const { return { T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(e)) }; }
Expand Down Expand Up @@ -518,4 +516,4 @@ struct XYZEval {
#undef FI

const xyze_char_t axis_codes { 'X', 'Y', 'Z', 'E' };
#define XYZ_CHAR(A) ((char)('X' + A))
#define AXIS_CHAR(A) ((char)('X' + A))
4 changes: 2 additions & 2 deletions Marlin/src/core/utility.cpp
View file
Expand Up @@ -123,9 +123,9 @@ void safe_delay(millis_t ms) {
#endif
#if ABL_PLANAR
SERIAL_ECHOPGM("ABL Adjustment X");
LOOP_XYZ(a) {
LOOP_LINEAR_AXES(a) {
const float v = planner.get_axis_position_mm(AxisEnum(a)) - current_position[a];
SERIAL_CHAR(' ', XYZ_CHAR(a));
SERIAL_CHAR(' ', AXIS_CHAR(a));
if (v > 0) SERIAL_CHAR('+');
SERIAL_DECIMAL(v);
}
Expand Down
2 changes: 1 addition & 1 deletion Marlin/src/feature/backlash.cpp
View file
Expand Up @@ -104,7 +104,7 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const

const float f_corr = float(correction) / 255.0f;

LOOP_XYZ(axis) {
LOOP_LINEAR_AXES(axis) {
if (distance_mm[axis]) {
const bool reversing = TEST(dm,axis);

Expand Down
4 changes: 2 additions & 2 deletions Marlin/src/feature/dac/dac_mcp4728.cpp
View file
Expand Up @@ -73,7 +73,7 @@ uint8_t MCP4728::analogWrite(const uint8_t channel, const uint16_t value) {
uint8_t MCP4728::eepromWrite() {
Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS));
Wire.write(SEQWRITE);
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
Wire.write(DAC_STEPPER_VREF << 7 | DAC_STEPPER_GAIN << 4 | highByte(dac_values[i]));
Wire.write(lowByte(dac_values[i]));
}
Expand Down Expand Up @@ -135,7 +135,7 @@ void MCP4728::setDrvPct(xyze_uint_t &pct) {
*/
uint8_t MCP4728::fastWrite() {
Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS));
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
Wire.write(highByte(dac_values[i]));
Wire.write(lowByte(dac_values[i]));
}
Expand Down
2 changes: 1 addition & 1 deletion Marlin/src/feature/dac/stepper_dac.cpp
View file
Expand Up @@ -77,7 +77,7 @@ static float dac_amps(int8_t n) { return mcp4728.getValue(dac_order[n]) * 0.125

uint8_t StepperDAC::get_current_percent(const AxisEnum axis) { return mcp4728.getDrvPct(dac_order[axis]); }
void StepperDAC::set_current_percents(xyze_uint8_t &pct) {
LOOP_XYZE(i) dac_channel_pct[i] = pct[dac_order[i]];
LOOP_LOGICAL_AXES(i) dac_channel_pct[i] = pct[dac_order[i]];
mcp4728.setDrvPct(dac_channel_pct);
}

Expand Down
22 changes: 11 additions & 11 deletions Marlin/src/feature/encoder_i2c.cpp
View file
Expand Up @@ -337,7 +337,7 @@ bool I2CPositionEncoder::test_axis() {
ec = false;

xyze_pos_t startCoord, endCoord;
LOOP_XYZ(a) {
LOOP_LINEAR_AXES(a) {
startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
}
Expand Down Expand Up @@ -392,7 +392,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
travelDistance = endDistance - startDistance;

xyze_pos_t startCoord, endCoord;
LOOP_XYZ(a) {
LOOP_LINEAR_AXES(a) {
startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
}
Expand Down Expand Up @@ -822,7 +822,7 @@ void I2CPositionEncodersMgr::M860() {
const bool hasU = parser.seen_test('U'), hasO = parser.seen_test('O');

if (I2CPE_idx == 0xFF) {
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen_test(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) report_position(idx, hasU, hasO);
Expand All @@ -849,7 +849,7 @@ void I2CPositionEncodersMgr::M861() {
if (parse()) return;

if (I2CPE_idx == 0xFF) {
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) report_status(idx);
Expand Down Expand Up @@ -877,7 +877,7 @@ void I2CPositionEncodersMgr::M862() {
if (parse()) return;

if (I2CPE_idx == 0xFF) {
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) test_axis(idx);
Expand Down Expand Up @@ -908,7 +908,7 @@ void I2CPositionEncodersMgr::M863() {
const uint8_t iterations = constrain(parser.byteval('P', 1), 1, 10);

if (I2CPE_idx == 0xFF) {
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) calibrate_steps_mm(idx, iterations);
Expand Down Expand Up @@ -984,7 +984,7 @@ void I2CPositionEncodersMgr::M865() {
if (parse()) return;

if (!I2CPE_addr) {
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) report_module_firmware(encoders[idx].get_address());
Expand Down Expand Up @@ -1015,7 +1015,7 @@ void I2CPositionEncodersMgr::M866() {
const bool hasR = parser.seen_test('R');

if (I2CPE_idx == 0xFF) {
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) {
Expand Down Expand Up @@ -1053,7 +1053,7 @@ void I2CPositionEncodersMgr::M867() {
const int8_t onoff = parser.seenval('S') ? parser.value_int() : -1;

if (I2CPE_idx == 0xFF) {
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) {
Expand Down Expand Up @@ -1089,7 +1089,7 @@ void I2CPositionEncodersMgr::M868() {
const float newThreshold = parser.seenval('T') ? parser.value_float() : -9999;

if (I2CPE_idx == 0xFF) {
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) {
Expand Down Expand Up @@ -1123,7 +1123,7 @@ void I2CPositionEncodersMgr::M869() {
if (parse()) return;

if (I2CPE_idx == 0xFF) {
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) report_error(idx);
Expand Down
2 changes: 1 addition & 1 deletion Marlin/src/feature/joystick.cpp
View file
Expand Up @@ -163,7 +163,7 @@ Joystick joystick;
// norm_jog values of [-1 .. 1] maps linearly to [-feedrate .. feedrate]
xyz_float_t move_dist{0};
float hypot2 = 0;
LOOP_XYZ(i) if (norm_jog[i]) {
LOOP_LINEAR_AXES(i) if (norm_jog[i]) {
move_dist[i] = seg_time * norm_jog[i] * TERN(EXTENSIBLE_UI, manual_feedrate_mm_s, planner.settings.max_feedrate_mm_s)[i];
hypot2 += sq(move_dist[i]);
}
Expand Down
8 changes: 4 additions & 4 deletions Marlin/src/feature/powerloss.cpp
View file
Expand Up @@ -549,7 +549,7 @@ void PrintJobRecovery::resume() {
TERN_(HAS_HOME_OFFSET, home_offset = info.home_offset);
TERN_(HAS_POSITION_SHIFT, position_shift = info.position_shift);
#if HAS_HOME_OFFSET || HAS_POSITION_SHIFT
LOOP_XYZ(i) update_workspace_offset((AxisEnum)i);
LOOP_LINEAR_AXES(i) update_workspace_offset((AxisEnum)i);
#endif

// Relative axis modes
Expand Down Expand Up @@ -581,7 +581,7 @@ void PrintJobRecovery::resume() {
if (info.valid_head) {
if (info.valid_head == info.valid_foot) {
DEBUG_ECHOPGM("current_position: ");
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (i) DEBUG_CHAR(',');
DEBUG_DECIMAL(info.current_position[i]);
}
Expand All @@ -599,7 +599,7 @@ void PrintJobRecovery::resume() {

#if HAS_HOME_OFFSET
DEBUG_ECHOPGM("home_offset: ");
LOOP_XYZ(i) {
LOOP_LINEAR_AXES(i) {
if (i) DEBUG_CHAR(',');
DEBUG_DECIMAL(info.home_offset[i]);
}
Expand All @@ -608,7 +608,7 @@ void PrintJobRecovery::resume() {

#if HAS_POSITION_SHIFT
DEBUG_ECHOPGM("position_shift: ");
LOOP_XYZ(i) {
LOOP_LINEAR_AXES(i) {
if (i) DEBUG_CHAR(',');
DEBUG_DECIMAL(info.position_shift[i]);
}
Expand Down
2 changes: 1 addition & 1 deletion Marlin/src/gcode/calibrate/G28.cpp
View file
Expand Up @@ -220,7 +220,7 @@ void GcodeSuite::G28() {

#if ENABLED(MARLIN_DEV_MODE)
if (parser.seen_test('S')) {
LOOP_XYZ(a) set_axis_is_at_home((AxisEnum)a);
LOOP_LINEAR_AXES(a) set_axis_is_at_home((AxisEnum)a);
sync_plan_position();
SERIAL_ECHOLNPGM("Simulated Homing");
report_current_position();
Expand Down
10 changes: 5 additions & 5 deletions Marlin/src/gcode/calibrate/G33.cpp
View file
Expand Up @@ -347,7 +347,7 @@ static float auto_tune_a() {
abc_float_t delta_e = { 0.0f }, delta_t = { 0.0f };

delta_t.reset();
LOOP_XYZ(axis) {
LOOP_LINEAR_AXES(axis) {
delta_t[axis] = diff;
calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t);
delta_t[axis] = 0;
Expand Down Expand Up @@ -525,7 +525,7 @@ void GcodeSuite::G33() {

case 1:
test_precision = 0.0f; // forced end
LOOP_XYZ(axis) e_delta[axis] = +Z4(CEN);
LOOP_LINEAR_AXES(axis) e_delta[axis] = +Z4(CEN);
break;

case 2:
Expand Down Expand Up @@ -573,14 +573,14 @@ void GcodeSuite::G33() {
// Normalize angles to least-squares
if (_angle_results) {
float a_sum = 0.0f;
LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis];
LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0f;
LOOP_LINEAR_AXES(axis) a_sum += delta_tower_angle_trim[axis];
LOOP_LINEAR_AXES(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0f;
}

// adjust delta_height and endstops by the max amount
const float z_temp = _MAX(delta_endstop_adj.a, delta_endstop_adj.b, delta_endstop_adj.c);
delta_height -= z_temp;
LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
LOOP_LINEAR_AXES(axis) delta_endstop_adj[axis] -= z_temp;
}
recalc_delta_settings();
NOMORE(zero_std_dev_min, zero_std_dev);
Expand Down
12 changes: 6 additions & 6 deletions Marlin/src/gcode/calibrate/M425.cpp
View file
Expand Up @@ -55,8 +55,8 @@ void GcodeSuite::M425() {
}
};

LOOP_XYZ(a) {
if (axis_can_calibrate(a) && parser.seen(XYZ_CHAR(a))) {
LOOP_LINEAR_AXES(a) {
if (axis_can_calibrate(a) && parser.seen(AXIS_CHAR(a))) {
planner.synchronize();
backlash.distance_mm[a] = parser.has_value() ? parser.value_linear_units() : backlash.get_measurement(AxisEnum(a));
noArgs = false;
Expand All @@ -83,8 +83,8 @@ void GcodeSuite::M425() {
SERIAL_ECHOLNPGM("active:");
SERIAL_ECHOLNPAIR(" Correction Amount/Fade-out: F", backlash.get_correction(), " (F1.0 = full, F0.0 = none)");
SERIAL_ECHOPGM(" Backlash Distance (mm): ");
LOOP_XYZ(a) if (axis_can_calibrate(a)) {
SERIAL_CHAR(' ', XYZ_CHAR(a));
LOOP_LINEAR_AXES(a) if (axis_can_calibrate(a)) {
SERIAL_CHAR(' ', AXIS_CHAR(a));
SERIAL_ECHO(backlash.distance_mm[a]);
SERIAL_EOL();
}
Expand All @@ -96,8 +96,8 @@ void GcodeSuite::M425() {
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
SERIAL_ECHOPGM(" Average measured backlash (mm):");
if (backlash.has_any_measurement()) {
LOOP_XYZ(a) if (axis_can_calibrate(a) && backlash.has_measurement(AxisEnum(a))) {
SERIAL_CHAR(' ', XYZ_CHAR(a));
LOOP_LINEAR_AXES(a) if (axis_can_calibrate(a) && backlash.has_measurement(AxisEnum(a))) {
SERIAL_CHAR(' ', AXIS_CHAR(a));
SERIAL_ECHO(backlash.get_measurement(AxisEnum(a)));
}
}
Expand Down
6 changes: 3 additions & 3 deletions Marlin/src/gcode/calibrate/M666.cpp
View file
Expand Up @@ -39,11 +39,11 @@
*/
void GcodeSuite::M666() {
DEBUG_SECTION(log_M666, "M666", DEBUGGING(LEVELING));
LOOP_XYZ(i) {
if (parser.seen(XYZ_CHAR(i))) {
LOOP_LINEAR_AXES(i) {
if (parser.seen(AXIS_CHAR(i))) {
const float v = parser.value_linear_units();
if (v * Z_HOME_DIR <= 0) delta_endstop_adj[i] = v;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("delta_endstop_adj[", AS_CHAR(XYZ_CHAR(i)), "] = ", delta_endstop_adj[i]);
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("delta_endstop_adj[", AS_CHAR(AXIS_CHAR(i)), "] = ", delta_endstop_adj[i]);
}
}
}
Expand Down
2 changes: 1 addition & 1 deletion Marlin/src/gcode/calibrate/M852.cpp
View file
Expand Up @@ -86,7 +86,7 @@ void GcodeSuite::M852() {

// When skew is changed the current position changes
if (setval) {
set_current_from_steppers_for_axis(ALL_AXES);
set_current_from_steppers_for_axis(ALL_AXES_MASK);
sync_plan_position();
report_current_position();
}
Expand Down
4 changes: 2 additions & 2 deletions Marlin/src/gcode/config/M200-M205.cpp
View file
Expand Up @@ -86,7 +86,7 @@ void GcodeSuite::M201() {
if (parser.seenval('G')) planner.xy_freq_min_speed_factor = constrain(parser.value_float(), 1, 100) / 100;
#endif

LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (parser.seenval(axis_codes[i])) {
const uint8_t a = (i == E_AXIS ? uint8_t(E_AXIS_N(target_extruder)) : i);
planner.set_max_acceleration(a, parser.value_axis_units((AxisEnum)a));
Expand All @@ -104,7 +104,7 @@ void GcodeSuite::M203() {
const int8_t target_extruder = get_target_extruder_from_command();
if (target_extruder < 0) return;

LOOP_XYZE(i)
LOOP_LOGICAL_AXES(i)
if (parser.seenval(axis_codes[i])) {
const uint8_t a = (i == E_AXIS ? uint8_t(E_AXIS_N(target_extruder)) : i);
planner.set_max_feedrate(a, parser.value_axis_units((AxisEnum)a));
Expand Down
2 changes: 1 addition & 1 deletion Marlin/src/gcode/config/M92.cpp
View file
Expand Up @@ -67,7 +67,7 @@ void GcodeSuite::M92() {
if (!parser.seen("XYZE" TERN_(MAGIC_NUMBERS_GCODE, "HL")))
return report_M92(true, target_extruder);

LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
if (parser.seenval(axis_codes[i])) {
if (i == E_AXIS) {
const float value = parser.value_per_axis_units((AxisEnum)(E_AXIS_N(target_extruder)));
Expand Down

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