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distinguish between axes and joints
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@DerAndere1
DerAndere1 committed Oct 20, 2023
1 parent 5dbd191 commit b89168f
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Showing 2 changed files with 36 additions and 36 deletions.
42 changes: 21 additions & 21 deletions Marlin/src/module/planner.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -1998,8 +1998,8 @@ bool Planner::_populate_block(
#endif

SECONDARY_AXIS_CODE(
dm.i = (dist.i > 0), dm.j = (dist.j > 0), dm.k = (dist.k > 0),
dm.u = (dist.u > 0), dm.v = (dist.v > 0), dm.w = (dist.w > 0)
dm.i = (dist._i > 0), dm.j = (dist._j > 0), dm.k = (dist._k > 0),
dm.u = (dist._u > 0), dm.v = (dist._v > 0), dm.w = (dist._w > 0)
);

#if HAS_EXTRUDERS
Expand Down Expand Up @@ -2064,7 +2064,7 @@ bool Planner::_populate_block(
#else // default non-h-bot planning
ABS(dist.a), ABS(dist.b), ABS(dist.c)
#endif
, ABS(dist.i), ABS(dist.j), ABS(dist.k), ABS(dist.u), ABS(dist.v), ABS(dist.w)
, ABS(dist._i), ABS(dist._j), ABS(dist._k), ABS(dist._u), ABS(dist._v), ABS(dist._w)
));

/**
Expand Down Expand Up @@ -2118,8 +2118,8 @@ bool Planner::_populate_block(
#endif

SECONDARY_AXIS_CODE(
dist_mm.i = dist.i * mm_per_step[I_AXIS], dist_mm.j = dist.j * mm_per_step[J_AXIS], dist_mm.k = dist.k * mm_per_step[K_AXIS],
dist_mm.u = dist.u * mm_per_step[U_AXIS], dist_mm.v = dist.v * mm_per_step[V_AXIS], dist_mm.w = dist.w * mm_per_step[W_AXIS]
dist_mm._i = dist._i * mm_per_step[I_AXIS], dist_mm._j = dist._j * mm_per_step[J_AXIS], dist_mm._k = dist._k * mm_per_step[K_AXIS],
dist_mm._u = dist._u * mm_per_step[U_AXIS], dist_mm._v = dist._v * mm_per_step[V_AXIS], dist_mm._w = dist._w * mm_per_step[W_AXIS]
);

TERN_(HAS_EXTRUDERS, dist_mm.e = esteps_float * mm_per_step[E_AXIS_N(extruder)]);
Expand All @@ -2132,8 +2132,8 @@ bool Planner::_populate_block(

if (true NUM_AXIS_GANG(
&& block->steps.a < MIN_STEPS_PER_SEGMENT, && block->steps.b < MIN_STEPS_PER_SEGMENT, && block->steps.c < MIN_STEPS_PER_SEGMENT,
&& block->steps.i < MIN_STEPS_PER_SEGMENT, && block->steps.j < MIN_STEPS_PER_SEGMENT, && block->steps.k < MIN_STEPS_PER_SEGMENT,
&& block->steps.u < MIN_STEPS_PER_SEGMENT, && block->steps.v < MIN_STEPS_PER_SEGMENT, && block->steps.w < MIN_STEPS_PER_SEGMENT
&& block->steps._i < MIN_STEPS_PER_SEGMENT, && block->steps._j < MIN_STEPS_PER_SEGMENT, && block->steps._k < MIN_STEPS_PER_SEGMENT,
&& block->steps._u < MIN_STEPS_PER_SEGMENT, && block->steps._v < MIN_STEPS_PER_SEGMENT, && block->steps._w < MIN_STEPS_PER_SEGMENT
)
) {
block->millimeters = TERN0(HAS_EXTRUDERS, ABS(dist_mm.e));
Expand Down Expand Up @@ -2178,8 +2178,8 @@ bool Planner::_populate_block(
#if NUM_AXES
_MAX(LOGICAL_AXIS_LIST(esteps,
block->steps.a, block->steps.b, block->steps.c,
block->steps.i, block->steps.j, block->steps.k,
block->steps.u, block->steps.v, block->steps.w
block->steps._i, block->steps._j, block->steps._k,
block->steps._u, block->steps._v, block->steps._w
))
#elif HAS_EXTRUDERS
esteps
Expand Down Expand Up @@ -2971,12 +2971,12 @@ bool Planner::buffer_segment(const abce_pos_t &abce
int32_t(LROUND(abce.a * settings.axis_steps_per_mm[A_AXIS])),
int32_t(LROUND(abce.b * settings.axis_steps_per_mm[B_AXIS])),
int32_t(LROUND(abce.c * settings.axis_steps_per_mm[C_AXIS])),
int32_t(LROUND(abce.i * settings.axis_steps_per_mm[I_AXIS])),
int32_t(LROUND(abce.j * settings.axis_steps_per_mm[J_AXIS])),
int32_t(LROUND(abce.k * settings.axis_steps_per_mm[K_AXIS])),
int32_t(LROUND(abce.u * settings.axis_steps_per_mm[U_AXIS])),
int32_t(LROUND(abce.v * settings.axis_steps_per_mm[V_AXIS])),
int32_t(LROUND(abce.w * settings.axis_steps_per_mm[W_AXIS]))
int32_t(LROUND(abce._i * settings.axis_steps_per_mm[I_AXIS])),
int32_t(LROUND(abce._j * settings.axis_steps_per_mm[J_AXIS])),
int32_t(LROUND(abce._k * settings.axis_steps_per_mm[K_AXIS])),
int32_t(LROUND(abce._u * settings.axis_steps_per_mm[U_AXIS])),
int32_t(LROUND(abce._v * settings.axis_steps_per_mm[V_AXIS])),
int32_t(LROUND(abce._w * settings.axis_steps_per_mm[W_AXIS]))
)
};

Expand Down Expand Up @@ -3235,12 +3235,12 @@ void Planner::set_machine_position_mm(const abce_pos_t &abce) {
LROUND(abce.a * settings.axis_steps_per_mm[A_AXIS]),
LROUND(abce.b * settings.axis_steps_per_mm[B_AXIS]),
LROUND(abce.c * settings.axis_steps_per_mm[C_AXIS]),
LROUND(abce.i * settings.axis_steps_per_mm[I_AXIS]),
LROUND(abce.j * settings.axis_steps_per_mm[J_AXIS]),
LROUND(abce.k * settings.axis_steps_per_mm[K_AXIS]),
LROUND(abce.u * settings.axis_steps_per_mm[U_AXIS]),
LROUND(abce.v * settings.axis_steps_per_mm[V_AXIS]),
LROUND(abce.w * settings.axis_steps_per_mm[W_AXIS])
LROUND(abce._i * settings.axis_steps_per_mm[I_AXIS]),
LROUND(abce._j * settings.axis_steps_per_mm[J_AXIS]),
LROUND(abce._k * settings.axis_steps_per_mm[K_AXIS]),
LROUND(abce._u * settings.axis_steps_per_mm[U_AXIS]),
LROUND(abce._v * settings.axis_steps_per_mm[V_AXIS]),
LROUND(abce._w * settings.axis_steps_per_mm[W_AXIS])
)
);

Expand Down
30 changes: 15 additions & 15 deletions Marlin/src/module/stepper.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -2616,15 +2616,15 @@ 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 (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 (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;
Expand Down Expand Up @@ -3244,12 +3244,12 @@ void Stepper::_set_position(const abce_long_t &spos) {
count_position.set(spos.a, spos.b - spos.a, spos.c);
#endif
SECONDARY_AXIS_CODE(
count_position.i = spos.i,
count_position.j = spos.j,
count_position.k = spos.k,
count_position.u = spos.u,
count_position.v = spos.v,
count_position.w = spos.w
count_position.i = spos._i,
count_position.j = spos._j,
count_position.k = spos._k,
count_position.u = spos._u,
count_position.v = spos._v,
count_position.w = spos._w
);
TERN_(HAS_EXTRUDERS, count_position.e = spos.e);
#else
Expand Down

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