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🧑‍💻 Fix up APPLY_STEP macros
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@thinkyhead
thinkyhead committed Nov 23, 2024
1 parent fabc200 commit f5a5d7a
Showing 1 changed file with 73 additions and 72 deletions.
145 changes: 73 additions & 72 deletions Marlin/src/module/stepper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -314,131 +314,132 @@ xyze_int8_t Stepper::count_direction{0};
#define MAXDIR(A) (count_direction[_AXIS(A)] > 0)

#define STEPTEST(A,M,I) TERN0(USE_##A##I##_##M, !(TEST(endstops.state(), A##I##_##M) && M## DIR(A)) && !locked_ ##A##I##_motor)
#define _STEP_WRITE(A,I,V) A##I##_STEP_WRITE(V)

#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (ENABLED(A##_HOME_TO_MIN)) { \
if (STEPTEST(A,MIN, )) A## _STEP_WRITE(V); \
if (STEPTEST(A,MIN,2)) A##2_STEP_WRITE(V); \
if (STEPTEST(A,MIN, )) _STEP_WRITE(A, ,V); \
if (STEPTEST(A,MIN,2)) _STEP_WRITE(A,2,V); \
} \
else if (ENABLED(A##_HOME_TO_MAX)) { \
if (STEPTEST(A,MAX, )) A## _STEP_WRITE(V); \
if (STEPTEST(A,MAX,2)) A##2_STEP_WRITE(V); \
if (STEPTEST(A,MAX, )) _STEP_WRITE(A, ,V); \
if (STEPTEST(A,MAX,2)) _STEP_WRITE(A,2,V); \
} \
} \
else { \
A##_STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
_STEP_WRITE(A, ,V); \
_STEP_WRITE(A,2,V); \
}

#define DUAL_SEPARATE_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (!locked_##A## _motor) A## _STEP_WRITE(V); \
if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \
if (!locked_##A## _motor) _STEP_WRITE(A, ,V); \
if (!locked_##A##2_motor) _STEP_WRITE(A,2,V); \
} \
else { \
A##_STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
_STEP_WRITE(A, ,V); \
_STEP_WRITE(A,2,V); \
}

#define TRIPLE_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (ENABLED(A##_HOME_TO_MIN)) { \
if (STEPTEST(A,MIN, )) A## _STEP_WRITE(V); \
if (STEPTEST(A,MIN,2)) A##2_STEP_WRITE(V); \
if (STEPTEST(A,MIN,3)) A##3_STEP_WRITE(V); \
if (STEPTEST(A,MIN, )) _STEP_WRITE(A, ,V); \
if (STEPTEST(A,MIN,2)) _STEP_WRITE(A,2,V); \
if (STEPTEST(A,MIN,3)) _STEP_WRITE(A,3,V); \
} \
else if (ENABLED(A##_HOME_TO_MAX)) { \
if (STEPTEST(A,MAX, )) A## _STEP_WRITE(V); \
if (STEPTEST(A,MAX,2)) A##2_STEP_WRITE(V); \
if (STEPTEST(A,MAX,3)) A##3_STEP_WRITE(V); \
if (STEPTEST(A,MAX, )) _STEP_WRITE(A, ,V); \
if (STEPTEST(A,MAX,2)) _STEP_WRITE(A,2,V); \
if (STEPTEST(A,MAX,3)) _STEP_WRITE(A,3,V); \
} \
} \
else { \
A##_STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
A##3_STEP_WRITE(V); \
_STEP_WRITE(A, ,V); \
_STEP_WRITE(A,2,V); \
_STEP_WRITE(A,3,V); \
}

#define TRIPLE_SEPARATE_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (!locked_##A## _motor) A## _STEP_WRITE(V); \
if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \
if (!locked_##A##3_motor) A##3_STEP_WRITE(V); \
if (!locked_##A## _motor) _STEP_WRITE(A, ,V); \
if (!locked_##A##2_motor) _STEP_WRITE(A,2,V); \
if (!locked_##A##3_motor) _STEP_WRITE(A,3,V); \
} \
else { \
A## _STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
A##3_STEP_WRITE(V); \
_STEP_WRITE(A, ,V); \
_STEP_WRITE(A,2,V); \
_STEP_WRITE(A,3,V); \
}

#define QUAD_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (ENABLED(A##_HOME_TO_MIN)) { \
if (STEPTEST(A,MIN, )) A## _STEP_WRITE(V); \
if (STEPTEST(A,MIN,2)) A##2_STEP_WRITE(V); \
if (STEPTEST(A,MIN,3)) A##3_STEP_WRITE(V); \
if (STEPTEST(A,MIN,4)) A##4_STEP_WRITE(V); \
if (STEPTEST(A,MIN, )) _STEP_WRITE(A, ,V); \
if (STEPTEST(A,MIN,2)) _STEP_WRITE(A,2,V); \
if (STEPTEST(A,MIN,3)) _STEP_WRITE(A,3,V); \
if (STEPTEST(A,MIN,4)) _STEP_WRITE(A,4,V); \
} \
else if (ENABLED(A##_HOME_TO_MAX)) { \
if (STEPTEST(A,MAX, )) A## _STEP_WRITE(V); \
if (STEPTEST(A,MAX,2)) A##2_STEP_WRITE(V); \
if (STEPTEST(A,MAX,3)) A##3_STEP_WRITE(V); \
if (STEPTEST(A,MAX,4)) A##4_STEP_WRITE(V); \
if (STEPTEST(A,MAX, )) _STEP_WRITE(A, ,V); \
if (STEPTEST(A,MAX,2)) _STEP_WRITE(A,2,V); \
if (STEPTEST(A,MAX,3)) _STEP_WRITE(A,3,V); \
if (STEPTEST(A,MAX,4)) _STEP_WRITE(A,4,V); \
} \
} \
else { \
A## _STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
A##3_STEP_WRITE(V); \
A##4_STEP_WRITE(V); \
_STEP_WRITE(A, ,V); \
_STEP_WRITE(A,2,V); \
_STEP_WRITE(A,3,V); \
_STEP_WRITE(A,4,V); \
}

#define QUAD_SEPARATE_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (!locked_##A## _motor) A## _STEP_WRITE(V); \
if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \
if (!locked_##A##3_motor) A##3_STEP_WRITE(V); \
if (!locked_##A##4_motor) A##4_STEP_WRITE(V); \
if (!locked_##A## _motor) _STEP_WRITE(A, ,V); \
if (!locked_##A##2_motor) _STEP_WRITE(A,2,V); \
if (!locked_##A##3_motor) _STEP_WRITE(A,3,V); \
if (!locked_##A##4_motor) _STEP_WRITE(A,4,V); \
} \
else { \
A## _STEP_WRITE(V); \
A##2_STEP_WRITE(V); \
A##3_STEP_WRITE(V); \
A##4_STEP_WRITE(V); \
_STEP_WRITE(A, ,V); \
_STEP_WRITE(A,2,V); \
_STEP_WRITE(A,3,V); \
_STEP_WRITE(A,4,V); \
}

#if HAS_SYNCED_X_STEPPERS
#define X_APPLY_DIR(FWD,Q) do{ X_DIR_WRITE(FWD); X2_DIR_WRITE(INVERT_DIR(X2_VS_X, FWD)); }while(0)
#if ENABLED(X_DUAL_ENDSTOPS)
#define X_APPLY_STEP(FWD,Q) DUAL_ENDSTOP_APPLY_STEP(X,FWD)
#define X_APPLY_STEP(STATE,Q) DUAL_ENDSTOP_APPLY_STEP(X,STATE)
#else
#define X_APPLY_STEP(FWD,Q) do{ X_STEP_WRITE(FWD); X2_STEP_WRITE(FWD); }while(0)
#define X_APPLY_STEP(STATE,Q) do{ X_STEP_WRITE(STATE); X2_STEP_WRITE(STATE); }while(0)
#endif
#elif ENABLED(DUAL_X_CARRIAGE)
#define X_APPLY_DIR(FWD,ALWAYS) do{ \
if (extruder_duplication_enabled || ALWAYS) { X_DIR_WRITE(FWD); X2_DIR_WRITE((FWD) ^ idex_mirrored_mode); } \
else if (last_moved_extruder) X2_DIR_WRITE(FWD); else X_DIR_WRITE(FWD); \
}while(0)
#define X_APPLY_STEP(FWD,ALWAYS) do{ \
if (extruder_duplication_enabled || ALWAYS) { X_STEP_WRITE(FWD); X2_STEP_WRITE(FWD); } \
else if (last_moved_extruder) X2_STEP_WRITE(FWD); else X_STEP_WRITE(FWD); \
#define X_APPLY_STEP(STATE,ALWAYS) do{ \
if (extruder_duplication_enabled || ALWAYS) { X_STEP_WRITE(STATE); X2_STEP_WRITE(STATE); } \
else if (last_moved_extruder) X2_STEP_WRITE(STATE); else X_STEP_WRITE(STATE); \
}while(0)
#elif HAS_X_AXIS
#define X_APPLY_DIR(FWD,Q) X_DIR_WRITE(FWD)
#define X_APPLY_STEP(FWD,Q) X_STEP_WRITE(FWD)
#define X_APPLY_STEP(STATE,Q) X_STEP_WRITE(STATE)
#endif

#if HAS_SYNCED_Y_STEPPERS
#define Y_APPLY_DIR(FWD,Q) do{ Y_DIR_WRITE(FWD); Y2_DIR_WRITE(INVERT_DIR(Y2_VS_Y, FWD)); }while(0)
#if ENABLED(Y_DUAL_ENDSTOPS)
#define Y_APPLY_STEP(FWD,Q) DUAL_ENDSTOP_APPLY_STEP(Y,FWD)
#define Y_APPLY_STEP(STATE,Q) DUAL_ENDSTOP_APPLY_STEP(Y,STATE)
#else
#define Y_APPLY_STEP(FWD,Q) do{ Y_STEP_WRITE(FWD); Y2_STEP_WRITE(FWD); }while(0)
#define Y_APPLY_STEP(STATE,Q) do{ Y_STEP_WRITE(STATE); Y2_STEP_WRITE(STATE); }while(0)
#endif
#elif HAS_Y_AXIS
#define Y_APPLY_DIR(FWD,Q) Y_DIR_WRITE(FWD)
#define Y_APPLY_STEP(FWD,Q) Y_STEP_WRITE(FWD)
#define Y_APPLY_STEP(STATE,Q) Y_STEP_WRITE(STATE)
#endif

#if NUM_Z_STEPPERS == 4
Expand All @@ -447,60 +448,60 @@ xyze_int8_t Stepper::count_direction{0};
Z3_DIR_WRITE(INVERT_DIR(Z3_VS_Z, FWD)); Z4_DIR_WRITE(INVERT_DIR(Z4_VS_Z, FWD)); \
}while(0)
#if ENABLED(Z_MULTI_ENDSTOPS)
#define Z_APPLY_STEP(FWD,Q) QUAD_ENDSTOP_APPLY_STEP(Z,FWD)
#define Z_APPLY_STEP(STATE,Q) QUAD_ENDSTOP_APPLY_STEP(Z,STATE)
#elif ENABLED(Z_STEPPER_AUTO_ALIGN)
#define Z_APPLY_STEP(FWD,Q) QUAD_SEPARATE_APPLY_STEP(Z,FWD)
#define Z_APPLY_STEP(STATE,Q) QUAD_SEPARATE_APPLY_STEP(Z,STATE)
#else
#define Z_APPLY_STEP(FWD,Q) do{ Z_STEP_WRITE(FWD); Z2_STEP_WRITE(FWD); Z3_STEP_WRITE(FWD); Z4_STEP_WRITE(FWD); }while(0)
#define Z_APPLY_STEP(STATE,Q) do{ Z_STEP_WRITE(STATE); Z2_STEP_WRITE(STATE); Z3_STEP_WRITE(STATE); Z4_STEP_WRITE(STATE); }while(0)
#endif
#elif NUM_Z_STEPPERS == 3
#define Z_APPLY_DIR(FWD,Q) do{ \
Z_DIR_WRITE(FWD); Z2_DIR_WRITE(INVERT_DIR(Z2_VS_Z, FWD)); Z3_DIR_WRITE(INVERT_DIR(Z3_VS_Z, FWD)); \
}while(0)
#if ENABLED(Z_MULTI_ENDSTOPS)
#define Z_APPLY_STEP(FWD,Q) TRIPLE_ENDSTOP_APPLY_STEP(Z,FWD)
#define Z_APPLY_STEP(STATE,Q) TRIPLE_ENDSTOP_APPLY_STEP(Z,STATE)
#elif ENABLED(Z_STEPPER_AUTO_ALIGN)
#define Z_APPLY_STEP(FWD,Q) TRIPLE_SEPARATE_APPLY_STEP(Z,FWD)
#define Z_APPLY_STEP(STATE,Q) TRIPLE_SEPARATE_APPLY_STEP(Z,STATE)
#else
#define Z_APPLY_STEP(FWD,Q) do{ Z_STEP_WRITE(FWD); Z2_STEP_WRITE(FWD); Z3_STEP_WRITE(FWD); }while(0)
#define Z_APPLY_STEP(STATE,Q) do{ Z_STEP_WRITE(STATE); Z2_STEP_WRITE(STATE); Z3_STEP_WRITE(STATE); }while(0)
#endif
#elif NUM_Z_STEPPERS == 2
#define Z_APPLY_DIR(FWD,Q) do{ Z_DIR_WRITE(FWD); Z2_DIR_WRITE(INVERT_DIR(Z2_VS_Z, FWD)); }while(0)
#if ENABLED(Z_MULTI_ENDSTOPS)
#define Z_APPLY_STEP(FWD,Q) DUAL_ENDSTOP_APPLY_STEP(Z,FWD)
#define Z_APPLY_STEP(STATE,Q) DUAL_ENDSTOP_APPLY_STEP(Z,STATE)
#elif ENABLED(Z_STEPPER_AUTO_ALIGN)
#define Z_APPLY_STEP(FWD,Q) DUAL_SEPARATE_APPLY_STEP(Z,FWD)
#define Z_APPLY_STEP(STATE,Q) DUAL_SEPARATE_APPLY_STEP(Z,STATE)
#else
#define Z_APPLY_STEP(FWD,Q) do{ Z_STEP_WRITE(FWD); Z2_STEP_WRITE(FWD); }while(0)
#define Z_APPLY_STEP(STATE,Q) do{ Z_STEP_WRITE(STATE); Z2_STEP_WRITE(STATE); }while(0)
#endif
#elif HAS_Z_AXIS
#define Z_APPLY_DIR(FWD,Q) Z_DIR_WRITE(FWD)
#define Z_APPLY_STEP(FWD,Q) Z_STEP_WRITE(FWD)
#define Z_APPLY_STEP(STATE,Q) Z_STEP_WRITE(STATE)
#endif

#if HAS_I_AXIS
#define I_APPLY_DIR(FWD,Q) I_DIR_WRITE(FWD)
#define I_APPLY_STEP(FWD,Q) I_STEP_WRITE(FWD)
#define I_APPLY_STEP(STATE,Q) I_STEP_WRITE(STATE)
#endif
#if HAS_J_AXIS
#define J_APPLY_DIR(FWD,Q) J_DIR_WRITE(FWD)
#define J_APPLY_STEP(FWD,Q) J_STEP_WRITE(FWD)
#define J_APPLY_STEP(STATE,Q) J_STEP_WRITE(STATE)
#endif
#if HAS_K_AXIS
#define K_APPLY_DIR(FWD,Q) K_DIR_WRITE(FWD)
#define K_APPLY_STEP(FWD,Q) K_STEP_WRITE(FWD)
#define K_APPLY_STEP(STATE,Q) K_STEP_WRITE(STATE)
#endif
#if HAS_U_AXIS
#define U_APPLY_DIR(FWD,Q) U_DIR_WRITE(FWD)
#define U_APPLY_STEP(FWD,Q) U_STEP_WRITE(FWD)
#define U_APPLY_STEP(STATE,Q) U_STEP_WRITE(STATE)
#endif
#if HAS_V_AXIS
#define V_APPLY_DIR(FWD,Q) V_DIR_WRITE(FWD)
#define V_APPLY_STEP(FWD,Q) V_STEP_WRITE(FWD)
#define V_APPLY_STEP(STATE,Q) V_STEP_WRITE(STATE)
#endif
#if HAS_W_AXIS
#define W_APPLY_DIR(FWD,Q) W_DIR_WRITE(FWD)
#define W_APPLY_STEP(FWD,Q) W_STEP_WRITE(FWD)
#define W_APPLY_STEP(STATE,Q) W_STEP_WRITE(STATE)
#endif

//#define E0_APPLY_DIR(FWD) do{ (FWD) ? FWD_E_DIR(0) : REV_E_DIR(0); }while(0)
Expand All @@ -515,8 +516,8 @@ xyze_int8_t Stepper::count_direction{0};
#if ENABLED(MIXING_EXTRUDER)
#define E_APPLY_DIR(FWD,Q) do{ if (FWD) { MIXER_STEPPER_LOOP(j) FWD_E_DIR(j); } else { MIXER_STEPPER_LOOP(j) REV_E_DIR(j); } }while(0)
#else
#define E_APPLY_STEP(FWD,Q) E_STEP_WRITE(stepper_extruder, FWD)
#define E_APPLY_DIR(FWD,Q) do{ if (FWD) { FWD_E_DIR(stepper_extruder); } else { REV_E_DIR(stepper_extruder); } }while(0)
#define E_APPLY_STEP(STATE,Q) E_STEP_WRITE(stepper_extruder, STATE)
#endif

constexpr uint32_t cycles_to_ns(const uint32_t CYC) { return 1000UL * (CYC) / ((F_CPU) / 1000000); }
Expand Down Expand Up @@ -1780,7 +1781,7 @@ void Stepper::pulse_phase_isr() {
do {
AxisFlags step_needed{0};

#define _APPLY_STEP(AXIS, INV, ALWAYS) AXIS ##_APPLY_STEP(INV, ALWAYS)
#define _APPLY_STEP(AXIS, STATE, ALWAYS) AXIS ##_APPLY_STEP(STATE, ALWAYS)
#define _STEP_STATE(AXIS) STEP_STATE_## AXIS

// Determine if a pulse is needed using Bresenham
Expand Down

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