Move get_axis_position_mm to Planner (#10718)

Marlin/src/core/utility.cpp

@@ -338,9 +338,9 @@ void safe_delay(millis_t ms) {
         #endif
         #if ABL_PLANAR
           const float diff[XYZ] = {
-            stepper.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
+            planner.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
-            stepper.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
+            planner.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
-            stepper.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
+            planner.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
           };
           SERIAL_ECHOPGM("ABL Adjustment X");
           if (diff[X_AXIS] > 0) SERIAL_CHAR('+');

Marlin/src/feature/I2CPositionEncoder.cpp

@@ -99,15 +99,15 @@ void I2CPositionEncoder::update() {
 
         //the encoder likely lost its place when the error occured, so we'll reset and use the printer's
         //idea of where it the axis is to re-initialise
-        float position = stepper.get_axis_position_mm(encoderAxis);
+        const float pos = planner.get_axis_position_mm(encoderAxis);
-        int32_t positionInTicks = position * get_ticks_unit();
+        int32_t positionInTicks = pos * get_ticks_unit();
 
         //shift position from previous to current position
         zeroOffset -= (positionInTicks - get_position());
 
         #ifdef I2CPE_DEBUG
           SERIAL_ECHOPGM("Current position is ");
-          SERIAL_ECHOLN(position);
+          SERIAL_ECHOLN(pos);
 
           SERIAL_ECHOPGM("Position in encoder ticks is ");
           SERIAL_ECHOLN(positionInTicks);
@@ -254,7 +254,7 @@ bool I2CPositionEncoder::passes_test(const bool report) {
 float I2CPositionEncoder::get_axis_error_mm(const bool report) {
   float target, actual, error;
 
-  target = stepper.get_axis_position_mm(encoderAxis);
+  target = planner.get_axis_position_mm(encoderAxis);
   actual = mm_from_count(position);
   error = actual - target;
 
@@ -349,8 +349,8 @@ bool I2CPositionEncoder::test_axis() {
   ec = false;
 
   LOOP_NA(i) {
-    startCoord[i] = stepper.get_axis_position_mm((AxisEnum)i);
+    startCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
-    endCoord[i] = stepper.get_axis_position_mm((AxisEnum)i);
+    endCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
   }
 
   startCoord[encoderAxis] = startPosition;
@@ -359,7 +359,7 @@ bool I2CPositionEncoder::test_axis() {
   planner.synchronize();
 
   planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
-                      stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
+                      planner.get_axis_position_mm(E_AXIS), feedrate, 0);
   planner.synchronize();
 
   // if the module isn't currently trusted, wait until it is (or until it should be if things are working)
@@ -371,7 +371,7 @@ bool I2CPositionEncoder::test_axis() {
 
   if (trusted) { // if trusted, commence test
     planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
-                        stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
+                        planner.get_axis_position_mm(E_AXIS), feedrate, 0);
     planner.synchronize();
   }
 
@@ -408,8 +408,8 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
   travelDistance = endDistance - startDistance;
 
   LOOP_NA(i) {
-    startCoord[i] = stepper.get_axis_position_mm((AxisEnum)i);
+    startCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
-    endCoord[i] = stepper.get_axis_position_mm((AxisEnum)i);
+    endCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
   }
 
   startCoord[encoderAxis] = startDistance;
@@ -419,7 +419,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
 
   LOOP_L_N(i, iter) {
     planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
-                        stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
+                        planner.get_axis_position_mm(E_AXIS), feedrate, 0);
     planner.synchronize();
 
     delay(250);
@@ -428,7 +428,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
     //do_blocking_move_to(endCoord[X_AXIS],endCoord[Y_AXIS],endCoord[Z_AXIS]);
 
     planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
-                        stepper.get_axis_position_mm(E_AXIS), feedrate, 0);
+                        planner.get_axis_position_mm(E_AXIS), feedrate, 0);
     planner.synchronize();
 
     //Read encoder distance

Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp

@@ -448,8 +448,8 @@
 
     #if IS_SCARA // scale the feed rate from mm/s to degrees/s
       scara_feed_factor = cartesian_xy_mm * inv_segments * feedrate;
-      scara_oldA = stepper.get_axis_position_degrees(A_AXIS);
+      scara_oldA = planner.get_axis_position_degrees(A_AXIS);
-      scara_oldB = stepper.get_axis_position_degrees(B_AXIS);
+      scara_oldB = planner.get_axis_position_degrees(B_AXIS);
     #endif
 
     const float diff[XYZE] = {

Marlin/src/gcode/host/M114.cpp

@@ -90,8 +90,8 @@
 
     #if IS_SCARA
       const float deg[XYZ] = {
-        stepper.get_axis_position_degrees(A_AXIS),
+        planner.get_axis_position_degrees(A_AXIS),
-        stepper.get_axis_position_degrees(B_AXIS)
+        planner.get_axis_position_degrees(B_AXIS)
       };
       SERIAL_PROTOCOLPGM("Degrees:");
       report_xyze(deg, 2);
@@ -99,7 +99,7 @@
 
     SERIAL_PROTOCOLPGM("FromStp:");
     get_cartesian_from_steppers();  // writes cartes[XYZ] (with forward kinematics)
-    const float from_steppers[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], stepper.get_axis_position_mm(E_AXIS) };
+    const float from_steppers[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], planner.get_axis_position_mm(E_AXIS) };
     report_xyze(from_steppers);
 
     const float diff[XYZE] = {

Marlin/src/module/motion.cpp

@@ -193,21 +193,21 @@ void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]
 void get_cartesian_from_steppers() {
   #if ENABLED(DELTA)
     forward_kinematics_DELTA(
-      stepper.get_axis_position_mm(A_AXIS),
+      planner.get_axis_position_mm(A_AXIS),
-      stepper.get_axis_position_mm(B_AXIS),
+      planner.get_axis_position_mm(B_AXIS),
-      stepper.get_axis_position_mm(C_AXIS)
+      planner.get_axis_position_mm(C_AXIS)
     );
   #else
     #if IS_SCARA
       forward_kinematics_SCARA(
-        stepper.get_axis_position_degrees(A_AXIS),
+        planner.get_axis_position_degrees(A_AXIS),
-        stepper.get_axis_position_degrees(B_AXIS)
+        planner.get_axis_position_degrees(B_AXIS)
       );
     #else
-      cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
+      cartes[X_AXIS] = planner.get_axis_position_mm(X_AXIS);
-      cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
+      cartes[Y_AXIS] = planner.get_axis_position_mm(Y_AXIS);
     #endif
-    cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
+    cartes[Z_AXIS] = planner.get_axis_position_mm(Z_AXIS);
   #endif
 }
 
@@ -870,12 +870,7 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
               }
             #endif
             // move duplicate extruder into correct duplication position.
-            planner.set_position_mm(
+            planner.set_position_mm(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-              inactive_extruder_x_pos,
-              current_position[Y_AXIS],
-              current_position[Z_AXIS],
-              current_position[E_AXIS]
-            );
             planner.buffer_line(
               current_position[X_AXIS] + duplicate_extruder_x_offset,
               current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],

Marlin/src/module/planner.cpp

@@ -1299,6 +1299,37 @@ void Planner::check_axes_activity() {
 
 #endif // PLANNER_LEVELING
 
+/**
+ * Get an axis position according to stepper position(s)
+ * For CORE machines apply translation from ABC to XYZ.
+ */
+float Planner::get_axis_position_mm(const AxisEnum axis) {
+  float axis_steps;
+  #if IS_CORE
+    // Requesting one of the "core" axes?
+    if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
+
+      // Protect the access to the position.
+      const bool was_enabled = STEPPER_ISR_ENABLED();
+      DISABLE_STEPPER_DRIVER_INTERRUPT();
+
+      // ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
+      // ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
+      axis_steps = 0.5f * (
+        axis == CORE_AXIS_2 ? CORESIGN(stepper.position(CORE_AXIS_1) - stepper.position(CORE_AXIS_2))
+                            : stepper.position(CORE_AXIS_1) + stepper.position(CORE_AXIS_2)
+      );
+
+      if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
+    }
+    else
+      axis_steps = stepper.position(axis);
+  #else
+    axis_steps = stepper.position(axis);
+  #endif
+  return axis_steps * steps_to_mm[axis];
+}
+
 /**
  * Block until all buffered steps are executed / cleaned
  */

Marlin/src/module/planner.h

@@ -546,6 +546,17 @@ class Planner {
      */
     static void sync_from_steppers();
 
+    /**
+     * Get an axis position according to stepper position(s)
+     * For CORE machines apply translation from ABC to XYZ.
+     */
+    static float get_axis_position_mm(const AxisEnum axis);
+
+    // SCARA AB axes are in degrees, not mm
+    #if IS_SCARA
+      FORCE_INLINE static float get_axis_position_degrees(const AxisEnum axis) { return get_axis_position_mm(axis); }
+    #endif
+
     /**
      * Does the buffer have any blocks queued?
      */

Marlin/src/module/scara.cpp

@@ -30,7 +30,7 @@
 
 #include "scara.h"
 #include "motion.h"
-#include "stepper.h"
+#include "planner.h"
 
 float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
 
@@ -147,8 +147,8 @@ void inverse_kinematics(const float raw[XYZ]) {
 }
 
 void scara_report_positions() {
-  SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS));
+  SERIAL_PROTOCOLPAIR("SCARA Theta:", planner.get_axis_position_degrees(A_AXIS));
-  SERIAL_PROTOCOLLNPAIR("   Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS));
+  SERIAL_PROTOCOLLNPAIR("   Psi+Theta:", planner.get_axis_position_degrees(B_AXIS));
   SERIAL_EOL();
 }
 

Marlin/src/module/stepper.cpp

@@ -2037,32 +2037,6 @@ int32_t Stepper::position(const AxisEnum axis) {
   return count_pos;
 }
 
-/**
- * Get an axis position according to stepper position(s)
- * For CORE machines apply translation from ABC to XYZ.
- */
-float Stepper::get_axis_position_mm(const AxisEnum axis) {
-  float axis_steps;
-  #if IS_CORE
-    // Requesting one of the "core" axes?
-    if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
-      CRITICAL_SECTION_START;
-      // ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
-      // ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
-      axis_steps = 0.5f * (
-        axis == CORE_AXIS_2 ? CORESIGN(count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2])
-                            : count_position[CORE_AXIS_1] + count_position[CORE_AXIS_2]
-      );
-      CRITICAL_SECTION_END;
-    }
-    else
-      axis_steps = position(axis);
-  #else
-    axis_steps = position(axis);
-  #endif
-  return axis_steps * planner.steps_to_mm[axis];
-}
-
 void Stepper::finish_and_disable() {
   planner.synchronize();
   disable_all_steppers();

Marlin/src/module/stepper.h

@@ -228,18 +228,6 @@ class Stepper {
     //
     static void report_positions();
 
-    //
-    // Get the position (mm) of an axis based on stepper position(s)
-    //
-    static float get_axis_position_mm(const AxisEnum axis);
-
-    //
-    // SCARA AB axes are in degrees, not mm
-    //
-    #if IS_SCARA
-      FORCE_INLINE static float get_axis_position_degrees(const AxisEnum axis) { return get_axis_position_mm(axis); }
-    #endif
-
     //
     // The stepper subsystem goes to sleep when it runs out of things to execute. Call this
     // to notify the subsystem that it is time to go to work.

Marlin/src/module/temperature.cpp

@@ -36,7 +36,7 @@
   #include "../libs/private_spi.h"
 #endif
 
-#if ENABLED(BABYSTEPPING)
+#if ENABLED(BABYSTEPPING) || ENABLED(PID_EXTRUSION_SCALING)
   #include "stepper.h"
 #endif
 

Marlin/src/module/temperature.h

@@ -38,10 +38,6 @@
   #include "../feature/power.h"
 #endif
 
-#if ENABLED(PID_EXTRUSION_SCALING)
-  #include "stepper.h"
-#endif
-
 #ifndef SOFT_PWM_SCALE
   #define SOFT_PWM_SCALE 0
 #endif