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MarlinFirmware · Jan 23, 2024 · c18c6de · c18c6de
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commit c18c6de
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Showing 9 changed files with 95 additions and 93 deletions.
diff --git a/Marlin/src/core/types.h b/Marlin/src/core/types.h
@@ -939,9 +939,7 @@ class AxisBits {
     el bits;
     // Axes x, y, z ... e0, e1, e2 ... hx, hy, hz
     struct {
-      #if NUM_AXES
-        bool NUM_AXIS_LIST(x:1, y:1, z:1, i:1, j:1, k:1, u:1, v:1, w:1);
-      #endif
+      bool NUM_AXIS_LIST(x:1, y:1, z:1, i:1, j:1, k:1, u:1, v:1, w:1);
       #define _EN_ITEM(N) bool e##N:1;
       REPEAT(EXTRUDERS,_EN_ITEM)
       #undef _EN_ITEM
@@ -951,19 +949,17 @@ class AxisBits {
     };
     // Axes X, Y, Z ... E0, E1, E2 ... HX, HY, HZ
     struct {
-      #if NUM_AXES
-        bool NUM_AXIS_LIST(X:1, Y:1, Z:1, I:1, J:1, K:1, U:1, V:1, W:1);
-      #endif
+      bool NUM_AXIS_LIST(X:1, Y:1, Z:1, I:1, J:1, K:1, U:1, V:1, W:1);
       #define _EN_ITEM(N) bool E##N:1;
       REPEAT(EXTRUDERS,_EN_ITEM)
       #undef _EN_ITEM
       #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
         bool HX:1, HY:1, HZ:1;
       #endif
     };
-    // Joints ja, jb, jc, e ... ha, hb, hc
+    // a, b, c, e ... ha, hb, hc
     struct {
-      bool LOGICAL_AXIS_LIST(e:1, ja:1, jb:1, jc:1, ji:1, jj:1, jk:1, ju:1, jv:1, jw:1);
+      bool LOGICAL_AXIS_LIST(e:1, a:1, b:1, c:1, _i:1, _j:1, _k:1, _u:1, _v:1, _w:1);
       #if EXTRUDERS > 1
         #define _EN_ITEM(N) bool _e##N:1;
         REPEAT_S(1,EXTRUDERS,_EN_ITEM)
@@ -973,9 +969,9 @@ class AxisBits {
         bool ha:1, hb:1, hc:1;
       #endif
     };
-    // Joints JA, JB, JC, E ... HA, HB, HC
+    // A, B, C, E ... HA, HB, HC
     struct {
-      bool LOGICAL_AXIS_LIST(E:1, JA:1, JB:1, JC:1, JI:1, JJ:1, JK:1, JU:1, JV:1, JW:1);
+      bool LOGICAL_AXIS_LIST(E:1, A:1, B:1, C:1, _I:1, _J:1, _K:1, _U:1, _V:1, _W:1);
       #if EXTRUDERS > 1
         #define _EN_ITEM(N) bool _E##N:1;
         REPEAT_S(1,EXTRUDERS,_EN_ITEM)
@@ -985,6 +981,26 @@ class AxisBits {
         bool HA:1, HB:1, HC:1;
       #endif
     };
+    // Joints ja, jb, jc ... je0, je1, je2 ... jha, jhb, jhc
+    struct {
+      bool NUM_AXIS_LIST(ja:1, jb:1, jc:1, ji:1, jj:1, jk:1, ju:1, jv:1, jw:1);
+      #define _EN_ITEM(N) bool je##N:1;
+      REPEAT(EXTRUDERS,_EN_ITEM)
+      #undef _EN_ITEM
+      #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
+        bool jha:1, jhb:1, jhc:1;
+      #endif
+    };
+    // Joints JA, JB, JC ... JE0, JE1, JE2 ... JHA, JHB, JHC
+    struct {
+      bool NUM_AXIS_LIST(JA:1, JB:1, JC:1, JI:1, JJ:1, JK:1, JU:1, JV:1, JW:1);
+      #define _EN_ITEM(N) bool JE##N:1;
+      REPEAT(EXTRUDERS,_EN_ITEM)
+      #undef _EN_ITEM
+      #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
+        bool JHA:1, JHB:1, JHC:1;
+      #endif
+    };
   };
 
   AxisBits() { reset(); }

diff --git a/Marlin/src/gcode/geometry/G92.cpp b/Marlin/src/gcode/geometry/G92.cpp
@@ -67,7 +67,7 @@ void GcodeSuite::G92() {
         break;
     #endif
 
-    #if ENABLED(POWER_LOSS_RECOVERY) || HAS_ROTATIONAL_AXES
+    #if ANY(POWER_LOSS_RECOVERY, HAS_ROTATIONAL_AXES)
       case 9:                                                         // G92.9 - Set Current Position directly (like Marlin 1.0)
         LOOP_LOGICAL_AXES(i) {
           if (parser.seenval(AXIS_CHAR(i))) {

diff --git a/Marlin/src/gcode/parser.h b/Marlin/src/gcode/parser.h
@@ -288,18 +288,17 @@ class GCodeParser {
   // Bool is true with no value or non-zero
   static bool value_bool() { return !has_value() || !!value_byte(); }
 
-  #if HAS_ROTATIONAL_AXES
-    static constexpr bool axis_is_rotational(const AxisEnum axis) {
-      return (false
-        || TERN0(AXIS4_ROTATES, axis == I_AXIS)
-        || TERN0(AXIS5_ROTATES, axis == J_AXIS)
-        || TERN0(AXIS6_ROTATES, axis == K_AXIS)
-        || TERN0(AXIS7_ROTATES, axis == U_AXIS)
-        || TERN0(AXIS8_ROTATES, axis == V_AXIS)
-        || TERN0(AXIS9_ROTATES, axis == W_AXIS)
-        );
-      }
-  #endif
+  static constexpr bool axis_is_rotational(const AxisEnum axis) {
+    return (false
+      || TERN0(AXIS4_ROTATES, axis == I_AXIS)
+      || TERN0(AXIS5_ROTATES, axis == J_AXIS)
+      || TERN0(AXIS6_ROTATES, axis == K_AXIS)
+      || TERN0(AXIS7_ROTATES, axis == U_AXIS)
+      || TERN0(AXIS8_ROTATES, axis == V_AXIS)
+      || TERN0(AXIS9_ROTATES, axis == W_AXIS)
+    );
+  }
+
   // Units modes: Inches, Fahrenheit, Kelvin
 
   #if ENABLED(INCH_MODE_SUPPORT)
@@ -319,9 +318,7 @@ class GCodeParser {
     }
 
     static float axis_unit_factor(const AxisEnum axis) {
-      #if HAS_ROTATIONAL_AXES
-        if (axis_is_rotational(axis)) return 1.0f;
-      #endif
+      if (axis_is_rotational(axis)) return 1.0f;
       #if HAS_EXTRUDERS
         if (axis >= E_AXIS && volumetric_enabled) return volumetric_unit_factor;
       #endif
@@ -334,12 +331,12 @@ class GCodeParser {
 
   #else
 
-    static float mm_to_linear_unit(const_float_t mm)     { return mm; }
-    static float mm_to_volumetric_unit(const_float_t mm) { return mm; }
+    static constexpr float mm_to_linear_unit(const_float_t mm)     { return mm; }
+    static constexpr float mm_to_volumetric_unit(const_float_t mm) { return mm; }
 
-    static float linear_value_to_mm(const_float_t v)             { return v; }
-    static float axis_value_to_mm(const AxisEnum, const float v) { return v; }
-    static float per_axis_value(const AxisEnum, const float v)   { return v; }
+    static constexpr float linear_value_to_mm(const_float_t v)             { return v; }
+    static constexpr float axis_value_to_mm(const AxisEnum, const float v) { return v; }
+    static constexpr float per_axis_value(const AxisEnum, const float v)   { return v; }
 
   #endif
 
@@ -409,7 +406,7 @@ class GCodeParser {
 
   #else // !TEMPERATURE_UNITS_SUPPORT
 
-    static float to_temp_units(int16_t c) { return (float)c; }
+    static constexpr float to_temp_units(int16_t c) { return (float)c; }
 
     static celsius_t value_celsius()      { return value_int(); }
     static celsius_t value_celsius_diff() { return value_int(); }

diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
@@ -3276,7 +3276,7 @@
 #endif
 
 // Add commands that need sub-codes to this list
-#if ANY(G38_PROBE_TARGET, CNC_COORDINATE_SYSTEMS, POWER_LOSS_RECOVERY) || HAS_ROTATIONAL_AXES
+#if ANY(G38_PROBE_TARGET, CNC_COORDINATE_SYSTEMS, POWER_LOSS_RECOVERY, HAS_ROTATIONAL_AXES)
   #define USE_GCODE_SUBCODES 1
 #endif
 

diff --git a/Marlin/src/lcd/marlinui.cpp b/Marlin/src/lcd/marlinui.cpp
@@ -23,6 +23,7 @@
 #include "../inc/MarlinConfig.h"
 
 #include "../MarlinCore.h" // for printingIsPaused
+#include "../gcode/parser.h" // for axis_is_rotational, using_inch_units
 
 #if LED_POWEROFF_TIMEOUT > 0 || ALL(HAS_WIRED_LCD, PRINTER_EVENT_LEDS) || (HAS_BACKLIGHT_TIMEOUT && defined(NEOPIXEL_BKGD_INDEX_FIRST))
   #include "../feature/leds/leds.h"
@@ -61,10 +62,6 @@ MarlinUI ui;
   #include "../module/printcounter.h"
 #endif
 
-#if ENABLED(INCH_MODE_SUPPORT) && HAS_ROTATIONAL_AXES
-  #include "../gcode/parser.h"
-#endif
-
 #if LCD_HAS_WAIT_FOR_MOVE
   bool MarlinUI::wait_for_move; // = false
 #endif
@@ -851,62 +848,58 @@ void MarlinUI::init() {
       if (processing) return;   // Prevent re-entry from idle() calls
 
       // Add a manual move to the queue?
-      if (axis != NO_AXIS_ENUM && ELAPSED(millis(), start_time) && !planner.is_full()) {
-
-        const feedRate_t fr_mm_s = (axis < LOGICAL_AXES) ? manual_feedrate_mm_s[axis] : XY_PROBE_FEEDRATE_MM_S;
-
-        /**
-         * For a rotational axis apply the "inch" to "mm" conversion factor. This mimics behaviour of the G-code G1 
-         * (see get_distance_from_command function). For moves involving only rotational axes, the planner will
-         * convert back to the feedrate in degrees per time unit.
-         */
-        feedRate_t fr = fr_mm_s;
-        #if ENABLED(INCH_MODE_SUPPORT) && HAS_ROTATIONAL_AXES
-          if (parser.axis_is_rotational(axis) && parser.using_inch_units()) fr = IN_TO_MM(fr);
-        #endif
+      if (axis == NO_AXIS_ENUM || PENDING(millis(), start_time) || planner.is_full()) return;
 
-        #if IS_KINEMATIC
+      const feedRate_t fr_mm_s = (axis < LOGICAL_AXES) ? manual_feedrate_mm_s[axis] : XY_PROBE_FEEDRATE_MM_S;
 
-          #if HAS_MULTI_EXTRUDER
-            REMEMBER(ae, active_extruder);
-            #if MULTI_E_MANUAL
-              if (axis == E_AXIS) active_extruder = e_index;
-            #endif
+      /**
+       * For a rotational axis apply the "inch" to "mm" conversion factor. This mimics behaviour of the G-code G1
+       * (see get_destination_from_command). For moves involving only rotational axes, the planner will convert
+       * back to the feedrate in degrees-per-time unit.
+       */
+      const feedRate_t fr = parser.axis_is_rotational(axis) && parser.using_inch_units() ? IN_TO_MM(fr_mm_s) : fr_mm_s;
+
+      #if IS_KINEMATIC
+
+        #if HAS_MULTI_EXTRUDER
+          REMEMBER(ae, active_extruder);
+          #if MULTI_E_MANUAL
+            if (axis == E_AXIS) active_extruder = e_index;
           #endif
+        #endif
 
-          // Apply a linear offset to a single axis
-          if (axis == ALL_AXES_ENUM)
-            destination = all_axes_destination;
-          else if (axis <= LOGICAL_AXES) {
-            destination = current_position;
-            destination[axis] += offset;
-          }
+        // Apply a linear offset to a single axis
+        if (axis == ALL_AXES_ENUM)
+          destination = all_axes_destination;
+        else if (axis <= LOGICAL_AXES) {
+          destination = current_position;
+          destination[axis] += offset;
+        }
 
-          // Reset for the next move
-          offset = 0;
-          axis = NO_AXIS_ENUM;
+        // Reset for the next move
+        offset = 0;
+        axis = NO_AXIS_ENUM;
 
-          // DELTA and SCARA machines use segmented moves, which could fill the planner during the call to
-          // move_to_destination. This will cause idle() to be called, which can then call this function while the
-          // previous invocation is being blocked. Modifications to offset shouldn't be made while
-          // processing is true or the planner will get out of sync.
-          processing = true;
-          prepare_internal_move_to_destination(fr);  // will set current_position from destination
-          processing = false;
+        // DELTA and SCARA machines use segmented moves, which could fill the planner during the call to
+        // move_to_destination. This will cause idle() to be called, which can then call this function while the
+        // previous invocation is being blocked. Modifications to offset shouldn't be made while
+        // processing is true or the planner will get out of sync.
+        processing = true;
+        prepare_internal_move_to_destination(fr);  // will set current_position from destination
+        processing = false;
 
-        #else
+      #else
 
-          // For Cartesian / Core motion simply move to the current_position
-          planner.buffer_line(current_position, fr,
-            TERN_(MULTI_E_MANUAL, axis == E_AXIS ? e_index :) active_extruder
-          );
+        // For Cartesian / Core motion simply move to the current_position
+        planner.buffer_line(current_position, fr,
+          TERN_(MULTI_E_MANUAL, axis == E_AXIS ? e_index :) active_extruder
+        );
 
-          //SERIAL_ECHOLNPGM("Add planner.move with Axis ", C(AXIS_CHAR(axis)), " at FR ", fr_mm_s);
+        //SERIAL_ECHOLNPGM("Add planner.move with Axis ", C(AXIS_CHAR(axis)), " at FR ", fr_mm_s);
 
-          axis = NO_AXIS_ENUM;
+        axis = NO_AXIS_ENUM;
 
-        #endif
-      }
+      #endif
     }
 
     //

diff --git a/Marlin/src/lcd/menu/menu_motion.cpp b/Marlin/src/lcd/menu/menu_motion.cpp
@@ -78,7 +78,7 @@ void lcd_move_axis(const AxisEnum axis) {
   if (ui.should_draw()) {
     MenuEditItemBase::itemIndex = axis;
     const float pos = ui.manual_move.axis_value(axis);
-    if (parser.using_inch_units && TERN1(HAS_ROTATIONAL_AXES, !parser.axis_is_rotational(axis))) {
+    if (parser.using_inch_units && !parser.axis_is_rotational(axis)) {
       const float imp_pos = parser.per_axis_value(axis, pos);
       MenuEditItemBase::draw_edit_screen(GET_TEXT_F(MSG_MOVE_N), ftostr63(imp_pos));
     }

diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
@@ -1158,7 +1158,7 @@ float get_move_distance(const xyze_pos_t &diff OPTARG(HAS_ROTATIONAL_AXES, bool
           distance_sqr = ROTATIONAL_AXIS_GANG(sq(diff.i), + sq(diff.j), + sq(diff.k), + sq(diff.u), + sq(diff.v), + sq(diff.w));
         }
         if (!UNEAR_ZERO(distance_sqr)) {
-          //Move involves rotational axes, not just the extruder
+          // Move involves rotational axes, not just the extruder
           is_cartesian_move = false;
         }
       #endif

diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
@@ -2309,8 +2309,8 @@ bool Planner::_populate_block(
   float inverse_secs = inverse_millimeters * (
     #if ALL(HAS_ROTATIONAL_AXES, INCH_MODE_SUPPORT)
       /**
-       * Work around for the premature feedrate conversion from
-       * inches/s to mm/s by the get_distance_from_command function.
+       * Workaround for premature feedrate conversion
+       * from in/s to mm/s by get_distance_from_command.
        */
       cartesian_move ? fr_mm_s : LINEAR_UNIT(fr_mm_s)
     #else

diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
@@ -2597,20 +2597,16 @@ hal_timer_t Stepper::block_phase_isr() {
 
       AxisBits didmove;
       NUM_AXIS_CODE(
-        if (X_MOVE_TEST)             didmove.ja = true,
-        if (Y_MOVE_TEST)             didmove.jb = true,
-        if (Z_MOVE_TEST)             didmove.jc = true,
+        if (X_MOVE_TEST)               didmove.ja = true,
+        if (Y_MOVE_TEST)               didmove.jb = true,
+        if (Z_MOVE_TEST)               didmove.jc = true,
         if (!!current_block->steps._i) didmove.ji = true,
         if (!!current_block->steps._j) didmove.jj = true,
         if (!!current_block->steps._k) didmove.jk = true,
         if (!!current_block->steps._u) didmove.ju = true,
         if (!!current_block->steps._v) didmove.jv = true,
         if (!!current_block->steps._w) didmove.jw = true
       );
-      //if (current_block->steps.e) didmove.e = true;
-      //if (current_block->steps.a) didmove.x = true;
-      //if (current_block->steps.b) didmove.y = true;
-      //if (current_block->steps.c) didmove.z = true;
       axis_did_move = didmove;
 
       // No acceleration / deceleration time elapsed so far