♻️ Planner flags refactor

Author: thinkyhead

Marlin/src/gcode/motion/G2_G3.cpp

@@ -315,7 +315,7 @@ void plan_arc(
         // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
         // To reduce stuttering, the sin and cos could be computed at different times.
         // For now, compute both at the same time.
-        const float cos_Ti = cos(i * theta_per_segment), sin_Ti = sin(i * theta_per_segment);
+        const float Ti = i * theta_per_segment, cos_Ti = cos(Ti), sin_Ti = sin(Ti);
         rvec.a = -offset[0] * cos_Ti + offset[1] * sin_Ti;
         rvec.b = -offset[0] * sin_Ti - offset[1] * cos_Ti;
       }

Marlin/src/gcode/motion/G6.cpp

@@ -50,7 +50,7 @@ void GcodeSuite::G6() {
   // No speed is set, can't schedule the move
   if (!planner.last_page_step_rate) return;
 
-  const page_idx_t page_idx = (page_idx_t) parser.value_ulong();
+  const page_idx_t page_idx = (page_idx_t)parser.value_ulong();
 
   uint16_t num_steps = DirectStepping::Config::TOTAL_STEPS;
   if (parser.seen('S')) num_steps = parser.value_ushort();

Marlin/src/gcode/temp/M106_M107.cpp

@@ -90,7 +90,7 @@ void GcodeSuite::M106() {
   // Set speed, with constraint
   thermalManager.set_fan_speed(pfan, speed);
 
-  TERN_(LASER_SYNCHRONOUS_M106_M107, planner.buffer_sync_block(BLOCK_FLAG_SYNC_FANS));
+  TERN_(LASER_SYNCHRONOUS_M106_M107, planner.buffer_sync_block(BLOCK_BIT_SYNC_FANS));
 
   if (TERN0(DUAL_X_CARRIAGE, idex_is_duplicating()))  // pfan == 0 when duplicating
     thermalManager.set_fan_speed(1 - pfan, speed);
@@ -111,7 +111,7 @@ void GcodeSuite::M107() {
   if (TERN0(DUAL_X_CARRIAGE, idex_is_duplicating()))  // pfan == 0 when duplicating
     thermalManager.set_fan_speed(1 - pfan, 0);
 
-  TERN_(LASER_SYNCHRONOUS_M106_M107, planner.buffer_sync_block(BLOCK_FLAG_SYNC_FANS));
+  TERN_(LASER_SYNCHRONOUS_M106_M107, planner.buffer_sync_block(BLOCK_BIT_SYNC_FANS));
 }
 
 #endif // HAS_FAN

Marlin/src/module/planner.cpp

@@ -70,9 +70,6 @@
 
 #if ENABLED(DIRECT_STEPPING)
   #include "../feature/direct_stepping.h"
-  #define IS_PAGE(B) TEST(B->flag, BLOCK_BIT_IS_PAGE)
-#else
-  #define IS_PAGE(B) false
 #endif
 
 #if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
@@ -92,7 +89,34 @@
   #define HAS_DIST_MM_ARG 1
 #endif
 
-enum BlockFlagBit : char {
+#if ENABLED(LASER_POWER_INLINE)
+
+  typedef struct {
+    bool isPlanned:1;
+    bool isEnabled:1;
+    bool dir:1;
+    bool Reserved:6;
+  } power_status_t;
+
+  typedef struct {
+    power_status_t status;    // See planner settings for meaning
+    uint8_t power;            // Ditto; When in trapezoid mode this is nominal power
+    #if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
+      uint8_t   power_entry;  // Entry power for the laser
+      #if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
+        uint8_t   power_exit; // Exit power for the laser
+        uint32_t  entry_per,  // Steps per power increment (to avoid floats in stepper calcs)
+                  exit_per;   // Steps per power decrement
+      #endif
+    #endif
+  } block_laser_t;
+
+#endif
+
+/**
+ * Planner block flags as boolean bit fields
+ */
+enum BlockFlagBit {
   // Recalculate trapezoids on entry junction. For optimization.
   BLOCK_BIT_RECALCULATE,
 
@@ -109,7 +133,7 @@ enum BlockFlagBit : char {
 
   // Direct stepping page
   #if ENABLED(DIRECT_STEPPING)
-    , BLOCK_BIT_IS_PAGE
+    , BLOCK_BIT_PAGE
   #endif
 
   // Sync the fan speeds from the block
@@ -118,57 +142,55 @@ enum BlockFlagBit : char {
   #endif
 };
 
-enum BlockFlag : char {
-    BLOCK_FLAG_RECALCULATE          = _BV(BLOCK_BIT_RECALCULATE)
-  , BLOCK_FLAG_NOMINAL_LENGTH       = _BV(BLOCK_BIT_NOMINAL_LENGTH)
-  , BLOCK_FLAG_CONTINUED            = _BV(BLOCK_BIT_CONTINUED)
-  , BLOCK_FLAG_SYNC_POSITION        = _BV(BLOCK_BIT_SYNC_POSITION)
-  #if ENABLED(DIRECT_STEPPING)
-    , BLOCK_FLAG_IS_PAGE            = _BV(BLOCK_BIT_IS_PAGE)
-  #endif
-  #if ENABLED(LASER_SYNCHRONOUS_M106_M107)
-    , BLOCK_FLAG_SYNC_FANS          = _BV(BLOCK_BIT_SYNC_FANS)
-  #endif
-};
+/**
+ * Planner block flags as boolean bit fields
+ */
+typedef struct {
+  union {
+    uint8_t bits;
 
-#define BLOCK_MASK_SYNC ( BLOCK_FLAG_SYNC_POSITION | TERN0(LASER_SYNCHRONOUS_M106_M107, BLOCK_FLAG_SYNC_FANS) )
+    struct {
+      bool recalculate:1;
 
-#if ENABLED(LASER_POWER_INLINE)
+      bool nominal_length:1;
 
-  typedef struct {
-    bool isPlanned:1;
-    bool isEnabled:1;
-    bool dir:1;
-    bool Reserved:6;
-  } power_status_t;
+      bool continued:1;
 
-  typedef struct {
-    power_status_t status;    // See planner settings for meaning
-    uint8_t power;            // Ditto; When in trapezoid mode this is nominal power
-    #if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
-      uint8_t   power_entry;  // Entry power for the laser
-      #if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
-        uint8_t   power_exit; // Exit power for the laser
-        uint32_t  entry_per,  // Steps per power increment (to avoid floats in stepper calcs)
-                  exit_per;   // Steps per power decrement
+      bool sync_position:1;
+
+      #if ENABLED(DIRECT_STEPPING)
+        bool page:1;
       #endif
-    #endif
-  } block_laser_t;
 
-#endif
+      #if ENABLED(LASER_SYNCHRONOUS_M106_M107)
+        bool sync_fans:1;
+      #endif
+    };
+  };
+
+  void clear() volatile { bits = 0; }
+  void apply(const uint8_t f) volatile { bits |= f; }
+  void apply(const BlockFlagBit b) volatile { SBI(bits, b); }
+  void reset(const BlockFlagBit b) volatile { bits = _BV(b); }
+  void set_nominal(const bool n) volatile { recalculate = true; if (n) nominal_length = true; }
+
+} block_flags_t;
 
 /**
- * struct block_t
- *
- * A single entry in the planner buffer.
- * Tracks linear movement over multiple axes.
+ * A single entry in the planner buffer, used to set up and
+ * track a coordinated linear motion for one or more axes.
  *
  * The "nominal" values are as-specified by G-code, and
  * may never actually be reached due to acceleration limits.
  */
 typedef struct block_t {
 
-  volatile uint8_t flag;                    // Block flags (See BlockFlag enum above) - Modified by ISR and main thread!
+  volatile block_flags_t flag;              // Block flags
+
+  volatile bool is_fan_sync() { return TERN0(LASER_SYNCHRONOUS_M106_M107, flag.sync_fans); }
+  volatile bool is_sync() { return flag.sync_position || is_fan_sync(); }
+  volatile bool is_page() { return TERN0(DIRECT_STEPPING, flag.page); }
+  volatile bool is_move() { return !(is_sync() || is_page()); }
 
   // Fields used by the motion planner to manage acceleration
   float nominal_speed_sqr,                  // The nominal speed for this block in (mm/sec)^2
@@ -759,7 +781,7 @@ class Planner {
      * case of LASER_SYNCHRONOUS_M106_M107 the fan pwm
      */
     static void buffer_sync_block(
-      TERN_(LASER_SYNCHRONOUS_M106_M107, uint8_t sync_flag=BLOCK_FLAG_SYNC_POSITION)
+      TERN_(LASER_SYNCHRONOUS_M106_M107, const BlockFlagBit flag=BLOCK_BIT_SYNC_POSITION)
     );
 
   #if IS_KINEMATIC

Marlin/src/module/planner.h

@@ -1699,7 +1699,7 @@ void Stepper::pulse_phase_isr() {
     }while(0)
 
     // Direct Stepping page?
-    const bool is_page = IS_PAGE(current_block);
+    const bool is_page = current_block->is_page();
 
     #if ENABLED(DIRECT_STEPPING)
       // Direct stepping is currently not ready for HAS_I_AXIS
@@ -1977,7 +1977,7 @@ uint32_t Stepper::block_phase_isr() {
             count_position[_AXIS(AXIS)] += page_step_state.bd[_AXIS(AXIS)] * count_direction[_AXIS(AXIS)];
         #endif
 
-        if (IS_PAGE(current_block)) {
+        if (current_block->is_page()) {
           PAGE_SEGMENT_UPDATE_POS(X);
           PAGE_SEGMENT_UPDATE_POS(Y);
           PAGE_SEGMENT_UPDATE_POS(Z);
@@ -2167,16 +2167,13 @@ uint32_t Stepper::block_phase_isr() {
     if ((current_block = planner.get_current_block())) {
 
       // Sync block? Sync the stepper counts or fan speeds and return
-      while (current_block->flag & BLOCK_MASK_SYNC) {
+      while (current_block->is_sync()) {
 
-        #if ENABLED(LASER_SYNCHRONOUS_M106_M107)
-          const bool is_sync_fans = TEST(current_block->flag, BLOCK_BIT_SYNC_FANS);
-          if (is_sync_fans) planner.sync_fan_speeds(current_block->fan_speed);
-        #else
-          constexpr bool is_sync_fans = false;
-        #endif
-
-        if (!is_sync_fans) _set_position(current_block->position);
+        if (current_block->is_fan_sync()) {
+          TERN_(LASER_SYNCHRONOUS_M106_M107, planner.sync_fan_speeds(current_block->fan_speed));
+        }
+        else
+          _set_position(current_block->position);
 
         discard_current_block();
 
@@ -2196,7 +2193,7 @@ uint32_t Stepper::block_phase_isr() {
       #endif
 
       #if ENABLED(DIRECT_STEPPING)
-        if (IS_PAGE(current_block)) {
+        if (current_block->is_page()) {
           page_step_state.segment_steps = 0;
           page_step_state.segment_idx = 0;
           page_step_state.page = page_manager.get_page(current_block->page_idx);

Marlin/src/module/stepper.cpp

@@ -524,8 +524,7 @@ class Stepper {
     // Discard current block and free any resources
     FORCE_INLINE static void discard_current_block() {
       #if ENABLED(DIRECT_STEPPING)
-        if (IS_PAGE(current_block))
-          page_manager.free_page(current_block->page_idx);
+        if (current_block->is_page()) page_manager.free_page(current_block->page_idx);
       #endif
       current_block = nullptr;
       axis_did_move = 0;