From 02f904dbf9df999264099a26c563b07b1d163df4 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Tue, 18 May 2021 22:53:52 -0500
Subject: [PATCH] =?UTF-8?q?=E2=99=BB=EF=B8=8F=20Minimize=20endstop=20bits?=
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---
Marlin/src/module/endstops.cpp | 17 ++++---
Marlin/src/module/endstops.h | 87 ++++++++++++++++++++++------------
Marlin/src/module/stepper.cpp | 8 ++--
3 files changed, 68 insertions(+), 44 deletions(-)
diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp
index 2ac20c92ef6..d0befe71fb5 100644
--- a/Marlin/src/module/endstops.cpp
+++ b/Marlin/src/module/endstops.cpp
@@ -56,12 +56,12 @@ Endstops endstops;
// private:
bool Endstops::enabled, Endstops::enabled_globally; // Initialized by settings.load()
-volatile uint8_t Endstops::hit_state;
-Endstops::esbits_t Endstops::live_state = 0;
+volatile Endstops::endstop_mask_t Endstops::hit_state;
+Endstops::endstop_mask_t Endstops::live_state = 0;
#if ENDSTOP_NOISE_THRESHOLD
- Endstops::esbits_t Endstops::validated_live_state;
+ Endstops::endstop_mask_t Endstops::validated_live_state;
uint8_t Endstops::endstop_poll_count;
#endif
@@ -356,7 +356,7 @@ void Endstops::resync() {
#endif
void Endstops::event_handler() {
- static uint8_t prev_hit_state; // = 0
+ static endstop_mask_t prev_hit_state; // = 0
if (hit_state == prev_hit_state) return;
prev_hit_state = hit_state;
if (hit_state) {
@@ -364,15 +364,14 @@ void Endstops::event_handler() {
char chrX = ' ', chrY = ' ', chrZ = ' ', chrP = ' ';
#define _SET_STOP_CHAR(A,C) (chr## A = C)
#else
- #define _SET_STOP_CHAR(A,C) ;
+ #define _SET_STOP_CHAR(A,C) NOOP
#endif
#define _ENDSTOP_HIT_ECHO(A,C) do{ \
- SERIAL_ECHOPAIR(" " STRINGIFY(A) ":", planner.triggered_position_mm(_AXIS(A))); \
- _SET_STOP_CHAR(A,C); }while(0)
+ SERIAL_ECHOPAIR(" " STRINGIFY(A) ":", planner.triggered_position_mm(_AXIS(A))); _SET_STOP_CHAR(A,C); }while(0)
#define _ENDSTOP_HIT_TEST(A,C) \
- if (TEST(hit_state, A ##_MIN) || TEST(hit_state, A ##_MAX)) \
+ if (TERN0(HAS_##A##_MIN, TEST(hit_state, A##_MIN)) || TERN0(HAS_##A##_MAX, TEST(hit_state, A##_MAX))) \
_ENDSTOP_HIT_ECHO(A,C)
#define ENDSTOP_HIT_TEST_X() _ENDSTOP_HIT_TEST(X,'X')
@@ -659,7 +658,7 @@ void Endstops::update() {
* still exist. The only way to reduce them further is to increase the number of samples.
* To reduce the chance to 1% (1/128th) requires 7 samples (adding 7ms of delay).
*/
- static esbits_t old_live_state;
+ static endstop_mask_t old_live_state;
if (old_live_state != live_state) {
endstop_poll_count = ENDSTOP_NOISE_THRESHOLD;
old_live_state = live_state;
diff --git a/Marlin/src/module/endstops.h b/Marlin/src/module/endstops.h
index 13e814aa1f9..7d18aaf850f 100644
--- a/Marlin/src/module/endstops.h
+++ b/Marlin/src/module/endstops.h
@@ -28,50 +28,75 @@
#include "../inc/MarlinConfig.h"
#include <stdint.h>
+#define __ES_ITEM(N) N,
+#define _ES_ITEM(K,N) TERN_(K,DEFER4(__ES_ITEM)(N))
+
enum EndstopEnum : char {
- X_MIN, Y_MIN, Z_MIN, Z_MIN_PROBE,
- X_MAX, Y_MAX, Z_MAX,
- X2_MIN, X2_MAX,
- Y2_MIN, Y2_MAX,
- Z2_MIN, Z2_MAX,
- Z3_MIN, Z3_MAX,
- Z4_MIN, Z4_MAX
+ _ES_ITEM(HAS_X_MIN, X_MIN)
+ _ES_ITEM(HAS_X_MAX, X_MAX)
+ _ES_ITEM(HAS_Y_MIN, Y_MIN)
+ _ES_ITEM(HAS_Y_MAX, Y_MAX)
+ _ES_ITEM(HAS_Z_MIN, Z_MIN)
+ _ES_ITEM(HAS_Z_MAX, Z_MAX)
+ #if ENABLED(X_DUAL_ENDSTOPS)
+ _ES_ITEM(HAS_X_MIN, X2_MIN)
+ _ES_ITEM(HAS_X_MAX, X2_MAX)
+ #endif
+ #if ENABLED(Y_DUAL_ENDSTOPS)
+ _ES_ITEM(HAS_Y_MIN, Y2_MIN)
+ _ES_ITEM(HAS_Y_MAX, Y2_MAX)
+ #endif
+ #if ENABLED(Z_MULTI_ENDSTOPS)
+ _ES_ITEM(HAS_Z_MIN, Z2_MIN)
+ _ES_ITEM(HAS_Z_MAX, Z2_MAX)
+ #if NUM_Z_STEPPER_DRIVERS >= 3
+ _ES_ITEM(HAS_Z_MIN, Z3_MIN)
+ _ES_ITEM(HAS_Z_MAX, Z3_MAX)
+ #endif
+ #if NUM_Z_STEPPER_DRIVERS >= 4
+ _ES_ITEM(HAS_Z_MIN, Z4_MIN)
+ _ES_ITEM(HAS_Z_MAX, Z4_MAX)
+ #endif
+ #endif
+ _ES_ITEM(HAS_Z_MIN_PROBE_PIN, Z_MIN_PROBE)
+ NUM_ENDSTOP_STATES
};
#define X_ENDSTOP (x_home_dir(active_extruder) < 0 ? X_MIN : X_MAX)
#define Y_ENDSTOP (Y_HOME_DIR < 0 ? Y_MIN : Y_MAX)
#define Z_ENDSTOP (Z_HOME_DIR < 0 ? TERN(HOMING_Z_WITH_PROBE, Z_MIN, Z_MIN_PROBE) : Z_MAX)
+#undef __ES_ITEM
+#undef _ES_ITEM
+
class Endstops {
public:
- #if HAS_EXTRA_ENDSTOPS
- typedef uint16_t esbits_t;
- #if ENABLED(X_DUAL_ENDSTOPS)
- static float x2_endstop_adj;
- #endif
- #if ENABLED(Y_DUAL_ENDSTOPS)
- static float y2_endstop_adj;
- #endif
- #if ENABLED(Z_MULTI_ENDSTOPS)
- static float z2_endstop_adj;
- #endif
- #if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
- static float z3_endstop_adj;
- #endif
- #if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
- static float z4_endstop_adj;
- #endif
- #else
- typedef uint8_t esbits_t;
+
+ typedef IF<(NUM_ENDSTOP_STATES > 8), uint16_t, uint8_t>::type endstop_mask_t;
+
+ #if ENABLED(X_DUAL_ENDSTOPS)
+ static float x2_endstop_adj;
+ #endif
+ #if ENABLED(Y_DUAL_ENDSTOPS)
+ static float y2_endstop_adj;
+ #endif
+ #if ENABLED(Z_MULTI_ENDSTOPS)
+ static float z2_endstop_adj;
+ #endif
+ #if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
+ static float z3_endstop_adj;
+ #endif
+ #if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
+ static float z4_endstop_adj;
#endif
private:
static bool enabled, enabled_globally;
- static esbits_t live_state;
- static volatile uint8_t hit_state; // Use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT index
+ static endstop_mask_t live_state;
+ static volatile endstop_mask_t hit_state; // Use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT index
#if ENDSTOP_NOISE_THRESHOLD
- static esbits_t validated_live_state;
+ static endstop_mask_t validated_live_state;
static uint8_t endstop_poll_count; // Countdown from threshold for polling
#endif
@@ -107,12 +132,12 @@ class Endstops {
/**
* Get Endstop hit state.
*/
- FORCE_INLINE static uint8_t trigger_state() { return hit_state; }
+ FORCE_INLINE static endstop_mask_t trigger_state() { return hit_state; }
/**
* Get current endstops state
*/
- FORCE_INLINE static esbits_t state() {
+ FORCE_INLINE static endstop_mask_t state() {
return
#if ENDSTOP_NOISE_THRESHOLD
validated_live_state
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index ff2be0c3565..e8f578ae91f 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -260,12 +260,12 @@ xyze_int8_t Stepper::count_direction{0};
#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (A##_HOME_DIR < 0) { \
- if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
- if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
+ if (TERN0(HAS_##A##_MIN, !(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor)) A##_STEP_WRITE(V); \
+ if (TERN0(HAS_##A##2_MIN, !(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor)) A##2_STEP_WRITE(V); \
} \
else { \
- if (!(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \
- if (!(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \
+ if (TERN0(HAS_##A##_MAX, !(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor)) A##_STEP_WRITE(V); \
+ if (TERN0(HAS_##A##2_MAX, !(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor)) A##2_STEP_WRITE(V); \
} \
} \
else { \