🎨 Misc. endstop-related tweaks

Marlin/src/feature/backlash.cpp

@@ -29,7 +29,7 @@
 #include "../module/motion.h"
 #include "../module/planner.h"
 
-AxisBits Backlash::last_direction_bits;
+AxisBits Backlash::last_direction;
 xyz_long_t Backlash::residual_error{0};
 
 #ifdef BACKLASH_DISTANCE_MM
@@ -64,7 +64,7 @@ Backlash backlash;
  */
 
 void Backlash::add_correction_steps(const xyze_long_t &dist, const AxisBits dm, block_t * const block) {
-  AxisBits changed_dir = last_direction_bits ^ dm;
+  AxisBits changed_dir = last_direction ^ dm;
   // Ignore direction change unless steps are taken in that direction
   #if DISABLED(CORE_BACKLASH) || ANY(MARKFORGED_XY, MARKFORGED_YX)
     if (!dist.a)            changed_dir.x = false;
@@ -83,7 +83,7 @@ void Backlash::add_correction_steps(const xyze_long_t &dist, const AxisBits dm,
     if (!(dist.b - dist.c)) changed_dir.z = false;
     if (!dist.a)            changed_dir.x = false;
   #endif
-  last_direction_bits ^= changed_dir;
+  last_direction ^= changed_dir;
 
   if (!correction && !residual_error) return;
 
@@ -167,7 +167,7 @@ void Backlash::add_correction_steps(const xyze_long_t &dist, const AxisBits dm,
 int32_t Backlash::get_applied_steps(const AxisEnum axis) {
   if (axis >= NUM_AXES) return 0;
 
-  const bool forward = last_direction_bits[axis];
+  const bool forward = last_direction[axis];
 
   const int32_t residual_error_axis = residual_error[axis];
 

Marlin/src/feature/backlash.h

@@ -29,7 +29,7 @@ public:
   static constexpr uint8_t all_on = 0xFF, all_off = 0x00;
 
 private:
-  static AxisBits last_direction_bits;
+  static AxisBits last_direction;
   static xyz_long_t residual_error;
 
   #if ENABLED(BACKLASH_GCODE)

Marlin/src/gcode/calibrate/M425.cpp

@@ -32,14 +32,14 @@
 /**
  * M425: Enable and tune backlash correction.
  *
- *   F<fraction>     Enable/disable/fade-out backlash correction (0.0 to 1.0)
+ *   F<fraction>  Enable/disable/fade-out backlash correction (0.0 to 1.0)
- *   S<smoothing_mm> Distance over which backlash correction is spread
+ *   S<length>    Distance over which backlash correction is spread
- *   X<distance_mm>  Set the backlash distance on X (0 to disable)
+ *   X<length>    Set the backlash distance on X (0 to disable)
- *   Y<distance_mm>                        ... on Y
+ *   Y<length>                          ... on Y
- *   Z<distance_mm>                        ... on Z
+ *   Z<length>                          ... on Z
- *   X               If a backlash measurement was done on X, copy that value
+ *   X            If a backlash measurement was done on X, copy that value
- *   Y                                              ... on Y
+ *   Y                                           ... on Y
- *   Z                                              ... on Z
+ *   Z                                           ... on Z
  *
  * Type M425 without any arguments to show active values.
  */

Marlin/src/module/endstops.cpp

@@ -77,17 +77,6 @@ bool Endstops::enabled, Endstops::enabled_globally; // Initialized by settings.l
 volatile Endstops::endstop_mask_t Endstops::hit_state;
 Endstops::endstop_mask_t Endstops::live_state = 0;
 
-#if ENABLED(BD_SENSOR)
-  bool Endstops::bdp_state; // = false
-  #if HOMING_Z_WITH_PROBE
-    #define READ_ENDSTOP(P) ((P == TERN(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, Z_MIN_PIN, Z_MIN_PROBE_PIN)) ? bdp_state : READ(P))
-  #else
-    #define READ_ENDSTOP(P) READ(P)
-  #endif
-#else
-  #define READ_ENDSTOP(P) READ(P)
-#endif
-
 #if ENDSTOP_NOISE_THRESHOLD
   Endstops::endstop_mask_t Endstops::validated_live_state;
   uint8_t Endstops::endstop_poll_count;
@@ -97,11 +86,34 @@ Endstops::endstop_mask_t Endstops::live_state = 0;
   volatile bool Endstops::z_probe_enabled = false;
 #endif
 
+//
+// Standard Endstop READ
+//
+#define READ_ENDSTOP(P) READ(P)
+
+//
+// Bed Distance Sensor
+//
+#if ENABLED(BD_SENSOR)
+  bool Endstops::bdp_state; // = false
+  #if HOMING_Z_WITH_PROBE
+    #undef READ_ENDSTOP
+    #define READ_ENDSTOP(P) ((P == TERN(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, Z_MIN_PIN, Z_MIN_PROBE_PIN)) ? bdp_state : READ(P))
+  #endif
+#endif
+
+//
+// Calibration Probe
+//
 #if ENABLED(CALIBRATION_GCODE)
   volatile bool Endstops::calibration_probe_enabled = false;
   volatile bool Endstops::calibration_stop_state;
 #endif
 
+//
+// Multi-Endstop Alignment
+//
+
 // Initialized by settings.load
 #if ENABLED(X_DUAL_ENDSTOPS)
   float Endstops::x2_endstop_adj;
@@ -119,9 +131,16 @@ Endstops::endstop_mask_t Endstops::live_state = 0;
   #endif
 #endif
 
+//
+// SPI Endstops
+//
 #if ENABLED(SPI_ENDSTOPS)
   Endstops::tmc_spi_homing_t Endstops::tmc_spi_homing; // = 0
 #endif
+
+//
+// StallGuard Debounce
+//
 #if ENABLED(IMPROVE_HOMING_RELIABILITY)
   millis_t sg_guard_period; // = 0
 #endif

Marlin/src/module/ft_motion.cpp

@@ -409,7 +409,7 @@ bool FTMotion::plan_next_block() {
     const float totalLength = current_block->millimeters;
 
     startPos = endPos_prevBlock;
-    const xyze_pos_t& moveDist = current_block->dist_mm;
+    const xyze_pos_t &moveDist = current_block->distance_mm;
     ratio = moveDist / totalLength;
 
     // Plan the trajectory using the trajectory generator

Marlin/src/module/ft_motion/stepping.h

@@ -67,8 +67,7 @@ typedef struct Stepping {
   // ISR part
   //
 
-  AxisBits dir_bits;
+  AxisBits dir_bits, step_bits;
-  AxisBits step_bits;
 
   xyze_ulong_t axis_interval_fp{ LOGICAL_AXIS_LIST_1(FTM_NEVER) };
   xyze_ulong_t ticks_left_per_axis_fp{ LOGICAL_AXIS_LIST_1(FTM_NEVER) };
@@ -78,7 +77,7 @@ typedef struct Stepping {
   // generating the next step pulse. The call is inexpensive:
   //  - no heap, no locks – pure arithmetic on pre-computed data
   FORCE_INLINE uint32_t advance_until_step() {
-    step_bits = 0;
+    step_bits.reset();
     uint32_t ticks_to_wait_fp = 0;
 
     for (;;) {
@@ -140,7 +139,7 @@ typedef struct Stepping {
   }
 
   FORCE_INLINE void reset() {
-    step_bits = 0;
+    step_bits.reset();
     axis_interval_fp = FTM_NEVER;
     ticks_left_per_axis_fp = FTM_NEVER;
     ticks_left_in_frame_fp = 0;

Marlin/src/module/planner.cpp

@@ -2060,7 +2060,7 @@ bool Planner::_populate_block(
     TERN_(BACKLASH_COMPENSATION, backlash.add_correction_steps(dist, dm, block));
   }
 
-  TERN_(FT_MOTION, block->dist_mm = dist_mm); // Store the distance for all axes in mm for this block
+  TERN_(FT_MOTION, block->distance_mm = dist_mm);   // Store the distance for all axes in mm for this block
 
   TERN_(HAS_EXTRUDERS, block->steps.e = esteps);
 

Marlin/src/module/planner.h

@@ -262,7 +262,7 @@ typedef struct PlannerBlock {
   AxisBits direction_bits;                  // Direction bits set for this block, where 1 is negative motion
 
   #if ENABLED(FT_MOTION)
-    xyze_pos_t dist_mm;                     // The distance traveled in mm along each axis
+    xyze_pos_t distance_mm;                 // The distance traveled in mm along each axis
   #endif
 
   #if ANY(SMOOTH_LIN_ADVANCE, FTM_HAS_LIN_ADVANCE)