♻️ Refactor axis homing/trusted state bits

MarlinFirmware · May 22, 2021 · 57eef65 · 57eef65
1 parent 894c954
commit 57eef65
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Showing 2 changed files with 22 additions and 19 deletions.
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
@@ -1181,18 +1181,20 @@ void prepare_line_to_destination() {
 
 #if HAS_ENDSTOPS
 
-  uint8_t axis_homed, axis_trusted; // = 0
-
-  uint8_t axes_should_home(uint8_t axis_bits/*=0x07*/) {
-    #define SHOULD_HOME(A) TERN(HOME_AFTER_DEACTIVATE, axis_is_trusted, axis_was_homed)(A)
-    // Clear test bits that are trusted
-    if (TEST(axis_bits, X_AXIS) && SHOULD_HOME(X_AXIS)) CBI(axis_bits, X_AXIS);
-    if (TEST(axis_bits, Y_AXIS) && SHOULD_HOME(Y_AXIS)) CBI(axis_bits, Y_AXIS);
-    if (TEST(axis_bits, Z_AXIS) && SHOULD_HOME(Z_AXIS)) CBI(axis_bits, Z_AXIS);
+  linear_axis_bits_t axis_homed, axis_trusted; // = 0
+
+  linear_axis_bits_t axes_should_home(linear_axis_bits_t axis_bits/*=linear_bits*/) {
+    auto set_should = [](linear_axis_bits_t &b, AxisEnum a) {
+      if (TEST(b, a) && TERN(HOME_AFTER_DEACTIVATE, axis_is_trusted, axis_was_homed)(a))
+        CBI(b, a);
+    };
+    set_should(axis_bits, X_AXIS);  // Clear test bits that are trusted
+    set_should(axis_bits, Y_AXIS);
+    set_should(axis_bits, Z_AXIS);
     return axis_bits;
   }
 
-  bool homing_needed_error(uint8_t axis_bits/*=0x07*/) {
+  bool homing_needed_error(linear_axis_bits_t axis_bits/*=linear_bits*/) {
     if ((axis_bits = axes_should_home(axis_bits))) {
       PGM_P home_first = GET_TEXT(MSG_HOME_FIRST);
       char msg[strlen_P(home_first)+1];

diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
@@ -326,7 +326,8 @@ void do_z_clearance(const_float_t zclear, const bool lower_allowed=false);
 /**
  * Homing and Trusted Axes
  */
-constexpr uint8_t xyz_bits = _BV(X_AXIS) | _BV(Y_AXIS) | _BV(Z_AXIS);
+typedef IF<(LINEAR_AXES>8), uint16_t, uint8_t>::type linear_axis_bits_t;
+constexpr linear_axis_bits_t linear_bits = _BV(LINEAR_AXES) - 1;
 
 void set_axis_is_at_home(const AxisEnum axis);
 
@@ -340,23 +341,23 @@ void set_axis_is_at_home(const AxisEnum axis);
    *   Flags that the position is trusted in each linear axis. Set when homed.
    *   Cleared whenever a stepper powers off, potentially losing its position.
    */
-  extern uint8_t axis_homed, axis_trusted;
+  extern linear_axis_bits_t axis_homed, axis_trusted;
   void homeaxis(const AxisEnum axis);
   void set_axis_never_homed(const AxisEnum axis);
-  uint8_t axes_should_home(uint8_t axis_bits=0x07);
-  bool homing_needed_error(uint8_t axis_bits=0x07);
+  linear_axis_bits_t axes_should_home(linear_axis_bits_t axis_bits=linear_bits);
+  bool homing_needed_error(linear_axis_bits_t axis_bits=linear_bits);
   FORCE_INLINE void set_axis_unhomed(const AxisEnum axis)   { CBI(axis_homed, axis); }
   FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) { CBI(axis_trusted, axis); }
   FORCE_INLINE void set_all_unhomed()                       { axis_homed = axis_trusted = 0; }
   FORCE_INLINE void set_axis_homed(const AxisEnum axis)     { SBI(axis_homed, axis); }
   FORCE_INLINE void set_axis_trusted(const AxisEnum axis)   { SBI(axis_trusted, axis); }
-  FORCE_INLINE void set_all_homed()                         { axis_homed = axis_trusted = xyz_bits; }
+  FORCE_INLINE void set_all_homed()                         { axis_homed = axis_trusted = linear_bits; }
 #else
-  constexpr uint8_t axis_homed = xyz_bits, axis_trusted = xyz_bits; // Zero-endstop machines are always homed and trusted
+  constexpr linear_axis_bits_t axis_homed = linear_bits, axis_trusted = linear_bits; // Zero-endstop machines are always homed and trusted
   FORCE_INLINE void homeaxis(const AxisEnum axis)           {}
   FORCE_INLINE void set_axis_never_homed(const AxisEnum)    {}
-  FORCE_INLINE uint8_t axes_should_home(uint8_t=0x07)       { return false; }
-  FORCE_INLINE bool homing_needed_error(uint8_t=0x07)       { return false; }
+  FORCE_INLINE linear_axis_bits_t axes_should_home(linear_axis_bits_t=linear_bits) { return false; }
+  FORCE_INLINE bool homing_needed_error(linear_axis_bits_t=linear_bits) { return false; }
   FORCE_INLINE void set_axis_unhomed(const AxisEnum axis)   {}
   FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) {}
   FORCE_INLINE void set_all_unhomed()                       {}
@@ -369,9 +370,9 @@ FORCE_INLINE bool axis_was_homed(const AxisEnum axis)       { return TEST(axis_h
 FORCE_INLINE bool axis_is_trusted(const AxisEnum axis)      { return TEST(axis_trusted, axis); }
 FORCE_INLINE bool axis_should_home(const AxisEnum axis)     { return (axes_should_home() & _BV(axis)) != 0; }
 FORCE_INLINE bool no_axes_homed()                           { return !axis_homed; }
-FORCE_INLINE bool all_axes_homed()                          { return xyz_bits == (axis_homed & xyz_bits); }
+FORCE_INLINE bool all_axes_homed()                          { return linear_bits == (axis_homed & linear_bits); }
 FORCE_INLINE bool homing_needed()                           { return !all_axes_homed(); }
-FORCE_INLINE bool all_axes_trusted()                        { return xyz_bits == (axis_trusted & xyz_bits); }
+FORCE_INLINE bool all_axes_trusted()                        { return linear_bits == (axis_trusted & linear_bits); }
 
 #if ENABLED(NO_MOTION_BEFORE_HOMING)
   #define MOTION_CONDITIONS (IsRunning() && !homing_needed_error())