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🧑‍💻 Replace axis_bits_t with AxisBits class (#25761)

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This commit is contained in:
Scott Lahteine
2023-05-05 03:03:33 -05:00
committed by GitHub
parent 2538a7c4d6
commit 664b35b77c
9 changed files with 239 additions and 113 deletions
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70
Marlin/src/module/stepper.cpp
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@@ -166,8 +166,8 @@ stepper_flags_t Stepper::axis_enabled; // {0}
block_t* Stepper::current_block; // (= nullptr) A pointer to the block currently being traced
axis_bits_t Stepper::last_direction_bits, // = 0
Stepper::axis_did_move; // = 0
AxisBits Stepper::last_direction_bits, // = 0
Stepper::axis_did_move; // = 0
bool Stepper::abort_current_block;
@@ -624,15 +624,11 @@ void Stepper::apply_directions() {
DIR_WAIT_BEFORE();
TERN_(HAS_X_DIR, SET_STEP_DIR(X)); // A
TERN_(HAS_Y_DIR, SET_STEP_DIR(Y)); // B
TERN_(HAS_Z_DIR, SET_STEP_DIR(Z)); // C
TERN_(HAS_I_DIR, SET_STEP_DIR(I));
TERN_(HAS_J_DIR, SET_STEP_DIR(J));
TERN_(HAS_K_DIR, SET_STEP_DIR(K));
TERN_(HAS_U_DIR, SET_STEP_DIR(U));
TERN_(HAS_V_DIR, SET_STEP_DIR(V));
TERN_(HAS_W_DIR, SET_STEP_DIR(W));
NUM_AXIS_CODE(
SET_STEP_DIR(X), SET_STEP_DIR(Y), SET_STEP_DIR(Z), // ABC
SET_STEP_DIR(I), SET_STEP_DIR(J), SET_STEP_DIR(K),
SET_STEP_DIR(U), SET_STEP_DIR(V), SET_STEP_DIR(W)
);
#if HAS_EXTRUDERS
// Because this is valid for the whole block we don't know
@@ -1829,7 +1825,7 @@ void Stepper::pulse_phase_isr() {
de += step_fwd ? -128 : 128; \
if ((MAXDIR(AXIS) && step_bak) || (MINDIR(AXIS) && step_fwd)) { \
{ USING_TIMED_PULSE(); START_TIMED_PULSE(); AWAIT_LOW_PULSE(); } \
TBI(last_direction_bits, _AXIS(AXIS)); \
last_direction_bits.toggle(_AXIS(AXIS)); \
DIR_WAIT_BEFORE(); \
SET_STEP_DIR(AXIS); \
DIR_WAIT_AFTER(); \
@@ -1861,11 +1857,11 @@ void Stepper::pulse_phase_isr() {
#if STEPPER_PAGE_FORMAT == SP_4x4D_128
#define PAGE_SEGMENT_UPDATE(AXIS, VALUE) do{ \
if ((VALUE) < 7) SBI(dm, _AXIS(AXIS)); \
else if ((VALUE) > 7) CBI(dm, _AXIS(AXIS)); \
page_step_state.sd[_AXIS(AXIS)] = VALUE; \
page_step_state.bd[_AXIS(AXIS)] += VALUE; \
#define PAGE_SEGMENT_UPDATE(AXIS, VALUE) do{ \
if ((VALUE) < 7) dm[_AXIS(AXIS)] = true; \
else if ((VALUE) > 7) dm[_AXIS(AXIS)] = false; \
page_step_state.sd[_AXIS(AXIS)] = VALUE; \
page_step_state.bd[_AXIS(AXIS)] += VALUE; \
}while(0)
#define PAGE_PULSE_PREP(AXIS) do{ \
@@ -1881,7 +1877,7 @@ void Stepper::pulse_phase_isr() {
case 0: {
const uint8_t low = page_step_state.page[page_step_state.segment_idx],
high = page_step_state.page[page_step_state.segment_idx + 1];
axis_bits_t dm = last_direction_bits;
const AxisBits dm = last_direction_bits;
PAGE_SEGMENT_UPDATE(X, low >> 4);
PAGE_SEGMENT_UPDATE(Y, low & 0xF);
@@ -2417,7 +2413,7 @@ hal_timer_t Stepper::block_phase_isr() {
la_interval = calc_timer_interval((reverse_e ? la_step_rate - step_rate : step_rate - la_step_rate) >> current_block->la_scaling);
if (reverse_e != motor_direction(E_AXIS)) {
TBI(last_direction_bits, E_AXIS);
last_direction_bits.toggle(E_AXIS);
count_direction.e = -count_direction.e;
DIR_WAIT_BEFORE();
@@ -2648,7 +2644,7 @@ hal_timer_t Stepper::block_phase_isr() {
#define Z_MOVE_TEST !!current_block->steps.c
#endif
axis_bits_t axis_bits = 0;
AxisBits axis_bits;
NUM_AXIS_CODE(
if (X_MOVE_TEST) SBI(axis_bits, A_AXIS),
if (Y_MOVE_TEST) SBI(axis_bits, B_AXIS),
@@ -2692,24 +2688,24 @@ hal_timer_t Stepper::block_phase_isr() {
#if ENABLED(INPUT_SHAPING_X)
if (shaping_x.enabled) {
const int64_t steps = TEST(current_block->direction_bits, X_AXIS) ? -int64_t(current_block->steps.x) : int64_t(current_block->steps.x);
const int64_t steps = current_block->direction_bits.x ? -int64_t(current_block->steps.x) : int64_t(current_block->steps.x);
shaping_x.last_block_end_pos += steps;
// If there are any remaining echos unprocessed, then direction change must
// be delayed and processed in PULSE_PREP_SHAPING. This will cause half a step
// to be missed, which will need recovering and this can be done through shaping_x.remainder.
shaping_x.forward = !TEST(current_block->direction_bits, X_AXIS);
if (!ShapingQueue::empty_x()) SET_BIT_TO(current_block->direction_bits, X_AXIS, TEST(last_direction_bits, X_AXIS));
shaping_x.forward = !current_block->direction_bits.x;
if (!ShapingQueue::empty_x()) current_block->direction_bits.x = last_direction_bits.x;
}
#endif
// Y follows the same logic as X (but the comments aren't repeated)
#if ENABLED(INPUT_SHAPING_Y)
if (shaping_y.enabled) {
const int64_t steps = TEST(current_block->direction_bits, Y_AXIS) ? -int64_t(current_block->steps.y) : int64_t(current_block->steps.y);
const int64_t steps = current_block->direction_bits.y ? -int64_t(current_block->steps.y) : int64_t(current_block->steps.y);
shaping_y.last_block_end_pos += steps;
shaping_y.forward = !TEST(current_block->direction_bits, Y_AXIS);
if (!ShapingQueue::empty_y()) SET_BIT_TO(current_block->direction_bits, Y_AXIS, TEST(last_direction_bits, Y_AXIS));
shaping_y.forward = !current_block->direction_bits.y;
if (!ShapingQueue::empty_y()) current_block->direction_bits.y = last_direction_bits.y;
}
#endif
@@ -2912,24 +2908,10 @@ void Stepper::init() {
Z4_DIR_INIT();
#endif
#endif
#if HAS_I_DIR
I_DIR_INIT();
#endif
#if HAS_J_DIR
J_DIR_INIT();
#endif
#if HAS_K_DIR
K_DIR_INIT();
#endif
#if HAS_U_DIR
U_DIR_INIT();
#endif
#if HAS_V_DIR
V_DIR_INIT();
#endif
#if HAS_W_DIR
W_DIR_INIT();
#endif
SECONDARY_AXIS_CODE(
I_DIR_INIT(), J_DIR_INIT(), K_DIR_INIT(),
U_DIR_INIT(), V_DIR_INIT(), W_DIR_INIT()
);
#if HAS_E0_DIR
E0_DIR_INIT();
#endif