diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp
index 4c6b3a0b9..25d437e8e 100644
--- a/Marlin/src/Marlin.cpp
+++ b/Marlin/src/Marlin.cpp
@@ -160,17 +160,6 @@
bool Running = true;
-/**
- * axis_homed
- * Flags that each linear axis was homed.
- * XYZ on cartesian, ABC on delta, ABZ on SCARA.
- *
- * axis_known_position
- * Flags that the position is known in each linear axis. Set when homed.
- * Cleared whenever a stepper powers off, potentially losing its position.
- */
-uint8_t axis_homed, axis_known_position; // = 0
-
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
TempUnit input_temp_units = TEMPUNIT_C;
#endif
diff --git a/Marlin/src/Marlin.h b/Marlin/src/Marlin.h
index 632632043..cd95f964f 100644
--- a/Marlin/src/Marlin.h
+++ b/Marlin/src/Marlin.h
@@ -189,12 +189,6 @@ extern bool Running;
inline bool IsRunning() { return Running; }
inline bool IsStopped() { return !Running; }
-extern uint8_t axis_homed, axis_known_position;
-
-constexpr uint8_t xyz_bits = _BV(X_AXIS) | _BV(Y_AXIS) | _BV(Z_AXIS);
-FORCE_INLINE bool all_axes_homed() { return (axis_homed & xyz_bits) == xyz_bits; }
-FORCE_INLINE bool all_axes_known() { return (axis_known_position & xyz_bits) == xyz_bits; }
-
extern volatile bool wait_for_heatup;
#if HAS_RESUME_CONTINUE
diff --git a/Marlin/src/gcode/geometry/M206_M428.cpp b/Marlin/src/gcode/geometry/M206_M428.cpp
index 88a60d545..086108b18 100644
--- a/Marlin/src/gcode/geometry/M206_M428.cpp
+++ b/Marlin/src/gcode/geometry/M206_M428.cpp
@@ -28,7 +28,6 @@
#include "../../module/motion.h"
#include "../../lcd/ultralcd.h"
#include "../../libs/buzzer.h"
-#include "../../Marlin.h" // for axis_homed
/**
* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
diff --git a/Marlin/src/lcd/extensible_ui/ui_api.cpp b/Marlin/src/lcd/extensible_ui/ui_api.cpp
index af2750cec..6250d9312 100644
--- a/Marlin/src/lcd/extensible_ui/ui_api.cpp
+++ b/Marlin/src/lcd/extensible_ui/ui_api.cpp
@@ -41,7 +41,7 @@
* location: . *
****************************************************************************/
-#include "../../Marlin.h"
+#include "../../inc/MarlinConfigPre.h"
#if ENABLED(EXTENSIBLE_UI)
@@ -109,7 +109,7 @@ namespace UI {
// Machine was killed, reinit SysTick so we are able to compute time without ISRs
if (currTimeHI == 0) {
// Get the last time the Arduino time computed (from CMSIS) and convert it to SysTick
- currTimeHI = (uint32_t)((GetTickCount() * (uint64_t)(F_CPU/8000)) >> 24);
+ currTimeHI = (uint32_t)((GetTickCount() * (uint64_t)(F_CPU / 8000)) >> 24);
// Reinit the SysTick timer to maximize its period
SysTick->LOAD = SysTick_LOAD_RELOAD_Msk; // get the full range for the systick timer
@@ -136,7 +136,7 @@ namespace UI {
#else
// TODO: Implement for AVR
- uint32_t safe_millis() { return millis(); }
+ FORCE_INLINE uint32_t safe_millis() { return millis(); }
#endif
@@ -399,6 +399,7 @@ namespace UI {
#endif
#if ENABLED(JUNCTION_DEVIATION)
+
float getJunctionDeviation_mm() {
return planner.junction_deviation_mm;
}
@@ -407,13 +408,15 @@ namespace UI {
planner.junction_deviation_mm = clamp(value, 0.01, 0.3);
planner.recalculate_max_e_jerk();
}
+
#else
+
float getAxisMaxJerk_mm_s(const axis_t axis) {
- return planner.max_jerk[axis];
+ return planner.max_jerk[axis];
}
float getAxisMaxJerk_mm_s(const extruder_t extruder) {
- return planner.max_jerk[E_AXIS];
+ return planner.max_jerk[E_AXIS];
}
void setAxisMaxJerk_mm_s(const float value, const axis_t axis) {
diff --git a/Marlin/src/lcd/menu/menu_bed_corners.cpp b/Marlin/src/lcd/menu/menu_bed_corners.cpp
new file mode 100644
index 000000000..92b129637
--- /dev/null
+++ b/Marlin/src/lcd/menu/menu_bed_corners.cpp
@@ -0,0 +1,102 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see .
+ *
+ */
+
+//
+// Level Bed Corners menu
+//
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if HAS_LCD_MENU && ENABLED(LEVEL_BED_CORNERS)
+
+#include "menu.h"
+#include "../../module/motion.h"
+#include "../../module/planner.h"
+
+/**
+ * Level corners, starting in the front-left corner.
+ */
+static int8_t bed_corner;
+void _lcd_goto_next_corner() {
+ line_to_z(4.0);
+ switch (bed_corner) {
+ case 0:
+ current_position[X_AXIS] = X_MIN_BED + LEVEL_CORNERS_INSET;
+ current_position[Y_AXIS] = Y_MIN_BED + LEVEL_CORNERS_INSET;
+ break;
+ case 1:
+ current_position[X_AXIS] = X_MAX_BED - LEVEL_CORNERS_INSET;
+ break;
+ case 2:
+ current_position[Y_AXIS] = Y_MAX_BED - LEVEL_CORNERS_INSET;
+ break;
+ case 3:
+ current_position[X_AXIS] = X_MIN_BED + LEVEL_CORNERS_INSET;
+ break;
+ #if ENABLED(LEVEL_CENTER_TOO)
+ case 4:
+ current_position[X_AXIS] = X_CENTER;
+ current_position[Y_AXIS] = Y_CENTER;
+ break;
+ #endif
+ }
+ planner.buffer_line(current_position, MMM_TO_MMS(manual_feedrate_mm_m[X_AXIS]), active_extruder);
+ line_to_z(0.0);
+ if (++bed_corner > 3
+ #if ENABLED(LEVEL_CENTER_TOO)
+ + 1
+ #endif
+ ) bed_corner = 0;
+}
+
+void menu_level_bed_corners() {
+ START_MENU();
+ MENU_ITEM(function,
+ #if ENABLED(LEVEL_CENTER_TOO)
+ MSG_LEVEL_BED_NEXT_POINT
+ #else
+ MSG_NEXT_CORNER
+ #endif
+ , _lcd_goto_next_corner);
+ MENU_ITEM(function, MSG_BACK, lcd_goto_previous_menu_no_defer);
+ END_MENU();
+}
+
+void _lcd_level_bed_corners_homing() {
+ _lcd_draw_homing();
+ if (all_axes_homed()) {
+ bed_corner = 0;
+ lcd_goto_screen(menu_level_bed_corners);
+ _lcd_goto_next_corner();
+ }
+}
+
+void _lcd_level_bed_corners() {
+ defer_return_to_status = true;
+ if (!all_axes_known()) {
+ set_all_unhomed();
+ enqueue_and_echo_commands_P(PSTR("G28"));
+ }
+ lcd_goto_screen(_lcd_level_bed_corners_homing);
+}
+
+#endif // HAS_LCD_MENU && LEVEL_BED_CORNERS
diff --git a/Marlin/src/lcd/menu/menu_bed_leveling.cpp b/Marlin/src/lcd/menu/menu_bed_leveling.cpp
index 5c172b6cf..9e1496a55 100644
--- a/Marlin/src/lcd/menu/menu_bed_leveling.cpp
+++ b/Marlin/src/lcd/menu/menu_bed_leveling.cpp
@@ -188,84 +188,13 @@
//
void _lcd_level_bed_continue() {
defer_return_to_status = true;
- axis_homed = 0;
+ set_all_unhomed();
lcd_goto_screen(_lcd_level_bed_homing);
enqueue_and_echo_commands_P(PSTR("G28"));
}
#endif // PROBE_MANUALLY || MESH_BED_LEVELING
-#if ENABLED(LEVEL_BED_CORNERS)
-
- /**
- * Level corners, starting in the front-left corner.
- */
- static int8_t bed_corner;
- void _lcd_goto_next_corner() {
- line_to_z(4.0);
- switch (bed_corner) {
- case 0:
- current_position[X_AXIS] = X_MIN_BED + LEVEL_CORNERS_INSET;
- current_position[Y_AXIS] = Y_MIN_BED + LEVEL_CORNERS_INSET;
- break;
- case 1:
- current_position[X_AXIS] = X_MAX_BED - LEVEL_CORNERS_INSET;
- break;
- case 2:
- current_position[Y_AXIS] = Y_MAX_BED - LEVEL_CORNERS_INSET;
- break;
- case 3:
- current_position[X_AXIS] = X_MIN_BED + LEVEL_CORNERS_INSET;
- break;
- #if ENABLED(LEVEL_CENTER_TOO)
- case 4:
- current_position[X_AXIS] = X_CENTER;
- current_position[Y_AXIS] = Y_CENTER;
- break;
- #endif
- }
- planner.buffer_line(current_position, MMM_TO_MMS(manual_feedrate_mm_m[X_AXIS]), active_extruder);
- line_to_z(0.0);
- if (++bed_corner > 3
- #if ENABLED(LEVEL_CENTER_TOO)
- + 1
- #endif
- ) bed_corner = 0;
- }
-
- void _lcd_corner_submenu() {
- START_MENU();
- MENU_ITEM(function,
- #if ENABLED(LEVEL_CENTER_TOO)
- MSG_LEVEL_BED_NEXT_POINT
- #else
- MSG_NEXT_CORNER
- #endif
- , _lcd_goto_next_corner);
- MENU_ITEM(function, MSG_BACK, lcd_goto_previous_menu_no_defer);
- END_MENU();
- }
-
- void _lcd_level_bed_corners_homing() {
- _lcd_draw_homing();
- if (all_axes_homed()) {
- bed_corner = 0;
- lcd_goto_screen(_lcd_corner_submenu);
- _lcd_goto_next_corner();
- }
- }
-
- void _lcd_level_bed_corners() {
- defer_return_to_status = true;
- if (!all_axes_known()) {
- axis_homed = 0;
- enqueue_and_echo_commands_P(PSTR("G28"));
- }
- lcd_goto_screen(_lcd_level_bed_corners_homing);
- }
-
-#endif // LEVEL_BED_CORNERS
-
/**
* Step 1: Bed Level entry-point
*
@@ -325,7 +254,6 @@ void menu_bed_leveling() {
#endif
#if ENABLED(LEVEL_BED_CORNERS)
- // Move to the next corner for leveling
MENU_ITEM(submenu, MSG_LEVEL_CORNERS, _lcd_level_bed_corners);
#endif
diff --git a/Marlin/src/lcd/menu/menu_ubl.cpp b/Marlin/src/lcd/menu/menu_ubl.cpp
index fdda55812..e6335b9a2 100644
--- a/Marlin/src/lcd/menu/menu_ubl.cpp
+++ b/Marlin/src/lcd/menu/menu_ubl.cpp
@@ -502,7 +502,7 @@ void _lcd_ubl_output_map_lcd() {
*/
void _lcd_ubl_output_map_lcd_cmd() {
if (!all_axes_known()) {
- axis_homed = 0;
+ set_all_unhomed();
enqueue_and_echo_commands_P(PSTR("G28"));
}
lcd_goto_screen(_lcd_ubl_map_homing);
diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp
index f0832d13a..7d246aac4 100644
--- a/Marlin/src/module/delta.cpp
+++ b/Marlin/src/module/delta.cpp
@@ -73,7 +73,7 @@ void recalc_delta_settings() {
delta_diagonal_rod_2_tower[B_AXIS] = sq(delta_diagonal_rod + drt[B_AXIS]);
delta_diagonal_rod_2_tower[C_AXIS] = sq(delta_diagonal_rod + drt[C_AXIS]);
update_software_endstops(Z_AXIS);
- axis_homed = 0;
+ set_all_unhomed();
}
/**
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
index 202bb12cb..95c5522a0 100644
--- a/Marlin/src/module/motion.cpp
+++ b/Marlin/src/module/motion.cpp
@@ -68,6 +68,17 @@ XYZ_CONSTS(float, max_length, MAX_LENGTH);
XYZ_CONSTS(float, home_bump_mm, HOME_BUMP_MM);
XYZ_CONSTS(signed char, home_dir, HOME_DIR);
+/**
+ * axis_homed
+ * Flags that each linear axis was homed.
+ * XYZ on cartesian, ABC on delta, ABZ on SCARA.
+ *
+ * axis_known_position
+ * Flags that the position is known in each linear axis. Set when homed.
+ * Cleared whenever a stepper powers off, potentially losing its position.
+ */
+uint8_t axis_homed, axis_known_position; // = 0
+
// Relative Mode. Enable with G91, disable with G90.
bool relative_mode; // = false;
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
index 792a1fec8..86cc10dee 100644
--- a/Marlin/src/module/motion.h
+++ b/Marlin/src/module/motion.h
@@ -26,9 +26,7 @@
* High-level motion commands to feed the planner
* Some of these methods may migrate to the planner class.
*/
-
-#ifndef MOTION_H
-#define MOTION_H
+#pragma once
#include "../inc/MarlinConfig.h"
@@ -36,6 +34,14 @@
#include "../module/scara.h"
#endif
+// Axis homed and known-position states
+extern uint8_t axis_homed, axis_known_position;
+constexpr uint8_t xyz_bits = _BV(X_AXIS) | _BV(Y_AXIS) | _BV(Z_AXIS);
+FORCE_INLINE bool all_axes_homed() { return (axis_homed & xyz_bits) == xyz_bits; }
+FORCE_INLINE bool all_axes_known() { return (axis_known_position & xyz_bits) == xyz_bits; }
+FORCE_INLINE void set_all_unhomed() { axis_homed = 0; }
+FORCE_INLINE void set_all_unknown() { axis_known_position = 0; }
+
// Error margin to work around float imprecision
constexpr float slop = 0.0001;
@@ -359,5 +365,3 @@ void homeaxis(const AxisEnum axis);
#if HAS_M206_COMMAND
void set_home_offset(const AxisEnum axis, const float v);
#endif
-
-#endif // MOTION_H