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🎨 FT Motion, axis cleanup
1 parent 89b0143 commit b062a3b

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7 files changed

+41
-38
lines changed

7 files changed

+41
-38
lines changed

‎Marlin/src/core/types.h

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -297,7 +297,7 @@ enum AxisEnum : uint8_t {
297297
#endif
298298

299299
// Distinct axes, including all E and Core
300-
NUM_AXIS_ENUMS,
300+
NUM_AXIS_HEADS,
301301

302302
// Most of the time we refer only to the single E_AXIS
303303
#if HAS_EXTRUDERS
@@ -995,7 +995,7 @@ class AxisBits;
995995

996996
class AxisBits {
997997
public:
998-
typedef bits_t(NUM_AXIS_ENUMS) el;
998+
typedef bits_t(NUM_AXIS_HEADS) el;
999999
union {
10001000
el bits;
10011001
// Axes x, y, z ... e0, e1, e2 ... hx, hy, hz
@@ -1056,7 +1056,7 @@ class AxisBits {
10561056
FI AxisBits& operator=(const el p) { set(p); return *this; }
10571057

10581058
FI void reset() { set(0); }
1059-
FI void fill() { set(_BV(NUM_AXIS_ENUMS) - 1); }
1059+
FI void fill() { set(_BV(NUM_AXIS_HEADS) - 1); }
10601060

10611061
#define MSET(pE,pX,pY,pZ,pI,pJ,pK,pU,pV,pW) LOGICAL_AXIS_CODE(e=pE, x=pX, y=pY, z=pZ, i=pI, j=pJ, k=pK, u=pU, v=pV, w=pW)
10621062

‎Marlin/src/gcode/feature/ft_motion/M493.cpp

Lines changed: 15 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -61,13 +61,13 @@ void say_shaping() {
6161

6262
// FT Shaping
6363
#if HAS_X_AXIS
64-
if (CMPNSTR_HAS_SHAPER(X_AXIS)) {
64+
if (AXIS_HAS_SHAPER(X)) {
6565
SERIAL_ECHOPGM(" with " AXIS_0_NAME);
6666
say_shaper_type(X_AXIS);
6767
}
6868
#endif
6969
#if HAS_Y_AXIS
70-
if (CMPNSTR_HAS_SHAPER(Y_AXIS)) {
70+
if (AXIS_HAS_SHAPER(Y)) {
7171
SERIAL_ECHOPGM(" and with " AXIS_1_NAME);
7272
say_shaper_type(Y_AXIS);
7373
}
@@ -80,7 +80,7 @@ void say_shaping() {
8080
dynamic = z_based || g_based;
8181

8282
// FT Dynamic Frequency Mode
83-
if (CMPNSTR_HAS_SHAPER(X_AXIS) || CMPNSTR_HAS_SHAPER(Y_AXIS)) {
83+
if (AXIS_HAS_SHAPER(X) || AXIS_HAS_SHAPER(Y)) {
8484
#if HAS_DYNAMIC_FREQ
8585
SERIAL_ECHOPGM("Dynamic Frequency Mode ");
8686
switch (ftMotion.cfg.dynFreqMode) {
@@ -201,8 +201,11 @@ void GcodeSuite::M493() {
201201

202202
if (active != ftMotion.cfg.active) {
203203
switch (active) {
204-
case false: flag.reset_ft = true;
205-
case true: flag.report_h = true;
204+
case false:
205+
flag.reset_ft = true;
206+
// fall-thru
207+
case true:
208+
flag.report_h = true;
206209
ftMotion.cfg.active = active;
207210
break;
208211
}
@@ -267,7 +270,7 @@ void GcodeSuite::M493() {
267270

268271
// Dynamic frequency mode parameter.
269272
if (parser.seenval('D')) {
270-
if (CMPNSTR_HAS_SHAPER(X_AXIS) || CMPNSTR_HAS_SHAPER(Y_AXIS)) {
273+
if (AXIS_HAS_SHAPER(X) || AXIS_HAS_SHAPER(Y)) {
271274
const dynFreqMode_t val = dynFreqMode_t(parser.value_byte());
272275
switch (val) {
273276
#if HAS_DYNAMIC_FREQ_MM
@@ -301,7 +304,7 @@ void GcodeSuite::M493() {
301304

302305
// Parse frequency parameter (X axis).
303306
if (parser.seenval('A')) {
304-
if (CMPNSTR_HAS_SHAPER(X_AXIS)) {
307+
if (AXIS_HAS_SHAPER(X)) {
305308
const float val = parser.value_float();
306309
// TODO: Frequency minimum is dependent on the shaper used; the above check isn't always correct.
307310
if (WITHIN(val, FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2)) {
@@ -330,7 +333,7 @@ void GcodeSuite::M493() {
330333
// Parse zeta parameter (X axis).
331334
if (parser.seenval('I')) {
332335
const float val = parser.value_float();
333-
if (CMPNSTR_HAS_SHAPER(X_AXIS)) {
336+
if (AXIS_HAS_SHAPER(X)) {
334337
if (WITHIN(val, 0.01f, 1.0f)) {
335338
ftMotion.cfg.zeta[0] = val;
336339
flag.update = true;
@@ -345,7 +348,7 @@ void GcodeSuite::M493() {
345348
// Parse vtol parameter (X axis).
346349
if (parser.seenval('Q')) {
347350
const float val = parser.value_float();
348-
if (CMPNSTR_IS_EISHAPER(X_AXIS)) {
351+
if (AXIS_HAS_EISHAPER(X)) {
349352
if (WITHIN(val, 0.00f, 1.0f)) {
350353
ftMotion.cfg.vtol[0] = val;
351354
flag.update = true;
@@ -363,7 +366,7 @@ void GcodeSuite::M493() {
363366

364367
// Parse frequency parameter (Y axis).
365368
if (parser.seenval('B')) {
366-
if (CMPNSTR_HAS_SHAPER(Y_AXIS)) {
369+
if (AXIS_HAS_SHAPER(Y)) {
367370
const float val = parser.value_float();
368371
if (WITHIN(val, FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2)) {
369372
ftMotion.cfg.baseFreq[Y_AXIS] = val;
@@ -391,7 +394,7 @@ void GcodeSuite::M493() {
391394
// Parse zeta parameter (Y axis).
392395
if (parser.seenval('J')) {
393396
const float val = parser.value_float();
394-
if (CMPNSTR_HAS_SHAPER(Y_AXIS)) {
397+
if (AXIS_HAS_SHAPER(Y)) {
395398
if (WITHIN(val, 0.01f, 1.0f)) {
396399
ftMotion.cfg.zeta[1] = val;
397400
flag.update = true;
@@ -406,7 +409,7 @@ void GcodeSuite::M493() {
406409
// Parse vtol parameter (Y axis).
407410
if (parser.seenval('R')) {
408411
const float val = parser.value_float();
409-
if (CMPNSTR_IS_EISHAPER(Y_AXIS)) {
412+
if (AXIS_HAS_EISHAPER(Y)) {
410413
if (WITHIN(val, 0.00f, 1.0f)) {
411414
ftMotion.cfg.vtol[1] = val;
412415
flag.update = true;

‎Marlin/src/lcd/menu/menu_motion.cpp

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -416,9 +416,9 @@ void menu_move() {
416416

417417
void menu_ft_motion() {
418418
// Define stuff ahead of the menu loop
419-
MString<20> shaper_name[1 + ENABLED(HAS_Y_AXIS)] {};
419+
MString<20> shaper_name[NUM_AXES_SHAPED] {};
420420
#if HAS_X_AXIS
421-
for (uint_fast8_t a = X_AXIS; a <= TERN(HAS_Y_AXIS, Y_AXIS, X_AXIS); ++a)
421+
for (uint_fast8_t a = X_AXIS; a < NUM_AXES_SHAPED; ++a)
422422
shaper_name[a] = get_shaper_name(AxisEnum(a));
423423
#endif
424424
#if HAS_DYNAMIC_FREQ
@@ -441,21 +441,21 @@ void menu_move() {
441441
SUBMENU_N(X_AXIS, MSG_FTM_CMPN_MODE, menu_ftm_cmpn_x);
442442
MENU_ITEM_ADDON_START_RJ(5); lcd_put_u8str(shaper_name[X_AXIS]); MENU_ITEM_ADDON_END();
443443

444-
if (CMPNSTR_HAS_SHAPER(X_AXIS)) {
444+
if (AXIS_HAS_SHAPER(X)) {
445445
EDIT_ITEM_FAST_N(float42_52, X_AXIS, MSG_FTM_BASE_FREQ_N, &c.baseFreq[X_AXIS], FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2, ftMotion.update_shaping_params);
446446
EDIT_ITEM_FAST_N(float42_52, X_AXIS, MSG_FTM_ZETA_N, &c.zeta[0], 0.0f, 1.0f, ftMotion.update_shaping_params);
447-
if (CMPNSTR_IS_EISHAPER(X_AXIS))
447+
if (AXIS_HAS_EISHAPER(X))
448448
EDIT_ITEM_FAST_N(float42_52, X_AXIS, MSG_FTM_VTOL_N, &c.vtol[0], 0.0f, 1.0f, ftMotion.update_shaping_params);
449449
}
450450
#endif
451451
#if HAS_Y_AXIS
452452
SUBMENU_N(Y_AXIS, MSG_FTM_CMPN_MODE, menu_ftm_cmpn_y);
453453
MENU_ITEM_ADDON_START_RJ(5); lcd_put_u8str(shaper_name[Y_AXIS]); MENU_ITEM_ADDON_END();
454454

455-
if (CMPNSTR_HAS_SHAPER(Y_AXIS)) {
455+
if (AXIS_HAS_SHAPER(Y)) {
456456
EDIT_ITEM_FAST_N(float42_52, Y_AXIS, MSG_FTM_BASE_FREQ_N, &c.baseFreq[Y_AXIS], FTM_MIN_SHAPE_FREQ, (FTM_FS) / 2, ftMotion.update_shaping_params);
457457
EDIT_ITEM_FAST_N(float42_52, Y_AXIS, MSG_FTM_ZETA_N, &c.zeta[1], 0.0f, 1.0f, ftMotion.update_shaping_params);
458-
if (CMPNSTR_IS_EISHAPER(Y_AXIS))
458+
if (AXIS_HAS_EISHAPER(Y))
459459
EDIT_ITEM_FAST_N(float42_52, Y_AXIS, MSG_FTM_VTOL_N, &c.vtol[1], 0.0f, 1.0f, ftMotion.update_shaping_params);
460460
}
461461
#endif
@@ -483,9 +483,9 @@ void menu_move() {
483483

484484
void menu_tune_ft_motion() {
485485
// Define stuff ahead of the menu loop
486-
MString<20> shaper_name[1 + ENABLED(HAS_Y_AXIS)] {};
486+
MString<20> shaper_name[NUM_AXES_SHAPED] {};
487487
#if HAS_X_AXIS
488-
for (uint_fast8_t a = X_AXIS; a <= TERN(HAS_Y_AXIS, Y_AXIS, X_AXIS); ++a)
488+
for (uint_fast8_t a = X_AXIS; a < NUM_AXES_SHAPED; ++a)
489489
shaper_name[a] = get_shaper_name(AxisEnum(a));
490490
#endif
491491
#if HAS_DYNAMIC_FREQ

‎Marlin/src/lcd/tft/ui_color_ui.cpp

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -247,21 +247,21 @@ void MarlinUI::draw_status_screen() {
247247
tft.set_background(COLOR_BACKGROUND);
248248
tft.add_rectangle(0, 0, COORDINATES_W, COORDINATES_H, COLOR_AXIS_HOMED);
249249

250-
#if ENABLED(HAS_X_AXIS) && defined(X_MARK_X) && defined(X_MARK_Y) && defined(X_VALUE_X) && defined(X_VALUE_Y)
250+
#if HAS_X_AXIS && defined(X_MARK_X) && defined(X_MARK_Y) && defined(X_VALUE_X) && defined(X_VALUE_Y)
251251
tft.add_text(X_MARK_X, X_MARK_Y, COLOR_AXIS_HOMED , "X");
252252
const bool nhx = axis_should_home(X_AXIS);
253253
tft_string.set(blink && nhx ? "?" : ftostr4sign(LOGICAL_X_POSITION(current_position.x)));
254254
tft.add_text(X_VALUE_X, X_VALUE_Y, nhx ? COLOR_AXIS_NOT_HOMED : COLOR_AXIS_HOMED, tft_string);
255255
#endif
256256

257-
#if ENABLED(HAS_Y_AXIS) && defined(Y_MARK_X) && defined(Y_MARK_Y) && defined(Y_VALUE_X) && defined(Y_VALUE_Y)
257+
#if HAS_Y_AXIS && defined(Y_MARK_X) && defined(Y_MARK_Y) && defined(Y_VALUE_X) && defined(Y_VALUE_Y)
258258
tft.add_text(Y_MARK_X, Y_MARK_Y, COLOR_AXIS_HOMED , "Y");
259259
const bool nhy = axis_should_home(Y_AXIS);
260260
tft_string.set(blink && nhy ? "?" : ftostr4sign(LOGICAL_Y_POSITION(current_position.y)));
261261
tft.add_text(Y_VALUE_X, Y_VALUE_Y, nhy ? COLOR_AXIS_NOT_HOMED : COLOR_AXIS_HOMED, tft_string);
262262
#endif
263263

264-
#if ENABLED(HAS_Z_AXIS) && defined(Z_MARK_X) && defined(Z_MARK_Y) && defined(Z_VALUE_X) && defined(Z_VALUE_Y) && defined(Z_VALUE_OFFSET)
264+
#if HAS_Z_AXIS && defined(Z_MARK_X) && defined(Z_MARK_Y) && defined(Z_VALUE_X) && defined(Z_VALUE_Y) && defined(Z_VALUE_OFFSET)
265265
tft.add_text(Z_MARK_X, Z_MARK_Y, COLOR_AXIS_HOMED , "Z");
266266
uint16_t offset = Z_VALUE_OFFSET;
267267
const bool nhz = axis_should_home(Z_AXIS);

‎Marlin/src/module/ft_motion.cpp

Lines changed: 3 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -349,15 +349,13 @@ void FTMotion::loop() {
349349

350350
void FTMotion::update_shaping_params() {
351351
#if HAS_X_AXIS
352-
shaping.x.ena = CMPNSTR_HAS_SHAPER(X_AXIS);
353-
if (shaping.x.ena) {
352+
if ((shaping.x.ena = AXIS_HAS_SHAPER(X))) {
354353
shaping.x.set_axis_shaping_A(cfg.shaper[X_AXIS], cfg.zeta[X_AXIS], cfg.vtol[X_AXIS]);
355354
shaping.x.set_axis_shaping_N(cfg.shaper[X_AXIS], cfg.baseFreq[X_AXIS], cfg.zeta[X_AXIS]);
356355
}
357356
#endif
358357
#if HAS_Y_AXIS
359-
shaping.y.ena = CMPNSTR_HAS_SHAPER(Y_AXIS);
360-
if (shaping.y.ena) {
358+
if ((shaping.y.ena = AXIS_HAS_SHAPER(Y))) {
361359
shaping.y.set_axis_shaping_A(cfg.shaper[Y_AXIS], cfg.zeta[Y_AXIS], cfg.vtol[Y_AXIS]);
362360
shaping.y.set_axis_shaping_N(cfg.shaper[Y_AXIS], cfg.baseFreq[Y_AXIS], cfg.zeta[Y_AXIS]);
363361
}
@@ -664,7 +662,7 @@ void FTMotion::makeVector() {
664662
* - Tests for delta are moved outside the loop.
665663
* - Two functions are used for command computation with an array of function pointers.
666664
*/
667-
static void (*command_set[SUM_TERN(HAS_EXTRUDERS, NUM_AXES, 1)])(int32_t&, int32_t&, ft_command_t&, int32_t, int32_t);
665+
static void (*command_set[LOGICAL_AXES])(int32_t&, int32_t&, ft_command_t&, int32_t, int32_t);
668666

669667
static void command_set_pos(int32_t &e, int32_t &s, ft_command_t &b, int32_t bd, int32_t bs) {
670668
if (e < FTM_CTS_COMPARE_VAL) return;

‎Marlin/src/module/ft_motion.h

Lines changed: 7 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -36,23 +36,25 @@
3636
#endif
3737
#endif
3838

39+
#define NUM_AXES_SHAPED TERN(HAS_Y_AXIS, 2, 1)
40+
3941
typedef struct FTConfig {
4042
bool active = ENABLED(FTM_IS_DEFAULT_MOTION); // Active (else standard motion)
4143

4244
#if HAS_X_AXIS
43-
ftMotionShaper_t shaper[1 + ENABLED(HAS_Y_AXIS)] = // Shaper type
45+
ftMotionShaper_t shaper[NUM_AXES_SHAPED] = // Shaper type
4446
{ FTM_DEFAULT_SHAPER_X OPTARG(HAS_Y_AXIS, FTM_DEFAULT_SHAPER_Y) };
45-
float baseFreq[1 + ENABLED(HAS_Y_AXIS)] = // Base frequency. [Hz]
47+
float baseFreq[NUM_AXES_SHAPED] = // Base frequency. [Hz]
4648
{ FTM_SHAPING_DEFAULT_X_FREQ OPTARG(HAS_Y_AXIS, FTM_SHAPING_DEFAULT_Y_FREQ) };
47-
float zeta[1 + ENABLED(HAS_Y_AXIS)] = // Damping factor
49+
float zeta[NUM_AXES_SHAPED] = // Damping factor
4850
{ FTM_SHAPING_ZETA_X OPTARG(HAS_Y_AXIS, FTM_SHAPING_ZETA_Y) };
49-
float vtol[1 + ENABLED(HAS_Y_AXIS)] = // Vibration Level
51+
float vtol[NUM_AXES_SHAPED] = // Vibration Level
5052
{ FTM_SHAPING_V_TOL_X OPTARG(HAS_Y_AXIS, FTM_SHAPING_V_TOL_Y) };
5153
#endif
5254

5355
#if HAS_DYNAMIC_FREQ
5456
dynFreqMode_t dynFreqMode = FTM_DEFAULT_DYNFREQ_MODE; // Dynamic frequency mode configuration.
55-
float dynFreqK[1 + ENABLED(HAS_Y_AXIS)] = { 0.0f }; // Scaling / gain for dynamic frequency. [Hz/mm] or [Hz/g]
57+
float dynFreqK[NUM_AXES_SHAPED] = { 0.0f }; // Scaling / gain for dynamic frequency. [Hz/mm] or [Hz/g]
5658
#else
5759
static constexpr dynFreqMode_t dynFreqMode = dynFreqMode_DISABLED;
5860
#endif

‎Marlin/src/module/ft_types.h

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -41,8 +41,8 @@ enum dynFreqMode_t : uint8_t {
4141
dynFreqMode_MASS_BASED = 2
4242
};
4343

44-
#define CMPNSTR_HAS_SHAPER(A) (ftMotion.cfg.shaper[A] != ftMotionShaper_NONE)
45-
#define CMPNSTR_IS_EISHAPER(A) WITHIN(ftMotion.cfg.shaper[A], ftMotionShaper_EI, ftMotionShaper_3HEI)
44+
#define AXIS_HAS_SHAPER(A) (ftMotion.cfg.shaper[_AXIS(A)] != ftMotionShaper_NONE)
45+
#define AXIS_HAS_EISHAPER(A) WITHIN(ftMotion.cfg.shaper[_AXIS(A)], ftMotionShaper_EI, ftMotionShaper_3HEI)
4646

4747
typedef struct XYZEarray<float, FTM_WINDOW_SIZE> xyze_trajectory_t;
4848
typedef struct XYZEarray<float, FTM_BATCH_SIZE> xyze_trajectoryMod_t;

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