lambda, conditional

thinkyhead · thinkyhead · commit e4aba1bd62b7 · 2026-01-08T20:56:01.000-06:00
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
@@ -1241,27 +1241,26 @@
   /**
    * TMC2208 Direction-Flip Delay
    *
-   * Some TMC2208 / TMC2208_STANDALONE setups may require a short delay after a DIR change
-   * to avoid the driver to turn off, especially when using stealthChop (which is the default
-   * for standalone configuration).
+   * Some TMC2208 / TMC2208_STANDALONE drivers may require a short delay after a DIR change
+   * to prevent a standstill error, especially when using stealthChop (the standalone default).
    *
-   * When enabled for an axis, FT Motion will "pause" that axis for > 750µs after a detected
-   * direction flip by holding its trajectory coordinate constant for a multiple of FTM_TS
-   * frames. For the default FTM_FS = 1000, it is a single 1ms frame.
-   * Other axes keep moving normally, and the wait is cancelled if the axis flips again.
+   * When enabled for an axis, FT Motion will hold that axis for > 750µs after a DIR change
+   * by holding its trajectory coordinate constant for a multiple of FTM_TS frames. For the
+   * default FTM_FS = 1000, it is a single 1ms frame.
    *
+   * Other axes keep moving normally, and the wait is canceled if the axis flips again.
    */
   #if AXIS_DRIVER_TYPE_X(TMC2208) || AXIS_DRIVER_TYPE_X(TMC2208_STANDALONE)
-    //#define APPLY_TIMING_HACK_ON_X
+    //#define FTM_DIR_CHANGE_HOLD_X
   #endif
   #if AXIS_DRIVER_TYPE_Y(TMC2208) || AXIS_DRIVER_TYPE_Y(TMC2208_STANDALONE)
-    //#define APPLY_TIMING_HACK_ON_Y
+    //#define FTM_DIR_CHANGE_HOLD_Y
   #endif
   #if AXIS_DRIVER_TYPE_Z(TMC2208) || AXIS_DRIVER_TYPE_Z(TMC2208_STANDALONE)
-    //#define APPLY_TIMING_HACK_ON_Z
+    //#define FTM_DIR_CHANGE_HOLD_Z
   #endif
   #if AXIS_DRIVER_TYPE_E0(TMC2208) || AXIS_DRIVER_TYPE_E0(TMC2208_STANDALONE)
-    //#define APPLY_TIMING_HACK_ON_E
+    //#define FTM_DIR_CHANGE_HOLD_E
   #endif
 
 #endif // FT_MOTION
diff --git a/Marlin/src/inc/Conditionals-4-adv.h b/Marlin/src/inc/Conditionals-4-adv.h
@@ -359,6 +359,9 @@
   #if ANY(FTM_SHAPER_EI, FTM_SHAPER_2HEI, FTM_SHAPER_3HEI)
     #define HAS_FTM_EI_SHAPING 1
   #endif
+  #if ANY(FTM_DIR_CHANGE_HOLD_X, FTM_DIR_CHANGE_HOLD_Y, FTM_DIR_CHANGE_HOLD_Z, FTM_DIR_CHANGE_HOLD_E)
+    #define HAS_FTM_DIR_CHANGE_HOLD 1
+  #endif
 #endif
 
 // Standard Motion
diff --git a/Marlin/src/module/ft_motion.cpp b/Marlin/src/module/ft_motion.cpp
@@ -75,7 +75,7 @@ xyze_pos_t   FTMotion::startPos,                    // (mm) Start position of bl
 xyze_float_t FTMotion::ratio;                       // (ratio) Axis move ratio of block
 float FTMotion::tau = 0.0f;                         // (s) Time since start of block
 bool FTMotion::fastForwardUntilMotion = false;      // Fast forward time if there is no motion
-#if ANY(APPLY_TIMING_HACK_ON_X, APPLY_TIMING_HACK_ON_Y, APPLY_TIMING_HACK_ON_Z, APPLY_TIMING_HACK_ON_E)
+#if HAS_FTM_DIR_CHANGE_HOLD
   xyze_uint_t FTMotion::hold_frames;                // Briefly hold motion after direction changes to fix TMC2208 bug
   AxisBits FTMotion::last_traj_dir;                 // Direction of the last trajectory point after shaping, smoothing, ...
 #endif
@@ -250,7 +250,7 @@ void FTMotion::reset() {
 
   moving_axis_flags.reset();
   last_target_traj.reset();
-  #if ANY(APPLY_TIMING_HACK_ON_X, APPLY_TIMING_HACK_ON_Y, APPLY_TIMING_HACK_ON_Z, APPLY_TIMING_HACK_ON_E)
+  #if HAS_FTM_DIR_CHANGE_HOLD
     last_traj_dir.reset();
     hold_frames.reset();
   #endif
@@ -620,32 +620,38 @@ void FTMotion::fill_stepper_plan_buffer() {
       // It eliminates idle time when changing smoothing time or shapers and speeds up homing and bed leveling.
     }
     else {
-      #if ANY(APPLY_TIMING_HACK_ON_X, APPLY_TIMING_HACK_ON_Y, APPLY_TIMING_HACK_ON_Z, APPLY_TIMING_HACK_ON_E)
+
+      #if HAS_FTM_DIR_CHANGE_HOLD
+
         // When a flip is detected (and the axis is in stealthChop or is standalone),
         // hold that axis' trajectory coordinate constant for at least 750µs.
 
         #define DIR_FLIP_HOLD_S 0.000'750f
-        static constexpr uint32_t DIR_FLIP_HOLD_FRAMES = DIR_FLIP_HOLD_S / FTM_TS + 1;
-
-        #define START_HOLD_IF_DIR_FLIP(A)                                 \
-          if (ENABLED(APPLY_TIMING_HACK_ON_##A)) {                        \
-            const bool direction = traj_coords.A > last_target_traj.A;    \
-            const bool moved = traj_coords.A != last_target_traj.A;       \
-            const bool flipped = moved && (direction != last_traj_dir.A); \
-            const bool hold = !moved || (flipped && hold_frames.A > 0);   \
-            if (hold) {                                                   \
-              if (hold_frames.A) hold_frames.A--;                         \
-              traj_coords.A = last_target_traj.A;                         \
-            } else {                                                      \
-              last_traj_dir.A = direction;                                \
-              hold_frames.A = DIR_FLIP_HOLD_FRAMES;                       \
-            }                                                             \
+        static constexpr uint32_t dir_flip_hold_frames = DIR_FLIP_HOLD_S / (FTM_TS + 1);
+
+        auto start_hold_if_dir_flip = [](const AxisEnum a) {
+          const bool dir = traj_coords[a] > last_target_traj[a],
+                     moved = traj_coords[a] != last_target_traj[a],
+                     flipped = moved && (dir != last_traj_dir[a]),
+                     hold = !moved || (flipped && hold_frames[a] > 0);
+          if (hold) {
+            if (hold_frames[a]) hold_frames[a]--;
+            traj_coords[a] = last_target_traj[a];
           }
+          else {
+            last_traj_dir[a] = dir;
+            hold_frames[a] = dir_flip_hold_frames;
+          }
+        };
+
+        #define START_HOLD_IF_DIR_FLIP(A) TERN_(FTM_DIR_CHANGE_HOLD_##A, start_hold_if_dir_flip(_AXIS(A)));
+
         LOGICAL_AXIS_MAP(START_HOLD_IF_DIR_FLIP);
 
-        #undef START_HOLD_IF_DIR_FLIP
-      #endif
+      #endif // HAS_FTM_DIR_CHANGE_HOLD
+
       fastForwardUntilMotion = false;
+
       // Calculate and store stepper plan in buffer
       stepping_enqueue(traj_coords);
     }
diff --git a/Marlin/src/module/ft_motion.h b/Marlin/src/module/ft_motion.h
@@ -332,12 +332,11 @@ class FTMotion {
     static float tau;                     // (s) Time since start of block
     static bool fastForwardUntilMotion;   // Fast forward time if there is no motion
 
-    #if ANY(APPLY_TIMING_HACK_ON_X, APPLY_TIMING_HACK_ON_Y, APPLY_TIMING_HACK_ON_Z, APPLY_TIMING_HACK_ON_E)
+    #if HAS_FTM_DIR_CHANGE_HOLD
       static xyze_uint_t hold_frames;     // Briefly hold motion after direction changes to fix TMC2208 bug
       static AxisBits last_traj_dir;      // Direction of the last trajectory point after shaping, smoothing, ...
     #endif
 
-
     // Trajectory generators
     static TrapezoidalTrajectoryGenerator trapezoidalGenerator;
     #if ENABLED(FTM_POLYS)
diff --git a/buildroot/tests/STM32F103RC_btt b/buildroot/tests/STM32F103RC_btt
@@ -11,11 +11,13 @@ set -e
 #
 restore_configs
 opt_set MOTHERBOARD BOARD_BTT_SKR_MINI_E3_V1_0 SERIAL_PORT 1 SERIAL_PORT_2 -1 \
-        X_DRIVER_TYPE TMC2209 Y_DRIVER_TYPE TMC2209 Z_DRIVER_TYPE TMC2209 E0_DRIVER_TYPE TMC2209 \
+        X_DRIVER_TYPE TMC2208 Y_DRIVER_TYPE TMC2208 Z_DRIVER_TYPE TMC2208 E0_DRIVER_TYPE TMC2208 \
         X_CURRENT_HOME X_CURRENT/2 Y_CURRENT_HOME Y_CURRENT/2 Z_CURRENT_HOME Y_CURRENT/2
-opt_enable CR10_STOCKDISPLAY PINS_DEBUGGING Z_IDLE_HEIGHT EDITABLE_HOMING_CURRENT \
-           INPUT_SHAPING_X INPUT_SHAPING_Y FT_MOTION FT_MOTION_MENU FTM_RESONANCE_TEST EMERGENCY_PARSER \
+opt_enable CR10_STOCKDISPLAY EMERGENCY_PARSER Z_IDLE_HEIGHT EDITABLE_HOMING_CURRENT \
+           INPUT_SHAPING_X INPUT_SHAPING_Y \
+           FT_MOTION FT_MOTION_MENU FTM_RESONANCE_TEST FTM_DIR_CHANGE_HOLD_X FTM_DIR_CHANGE_HOLD_Y \
            BIQU_MICROPROBE_V1 PROBE_ENABLE_DISABLE Z_SAFE_HOMING AUTO_BED_LEVELING_BILINEAR \
-           ADAPTIVE_STEP_SMOOTHING LIN_ADVANCE SMOOTH_LIN_ADVANCE NONLINEAR_EXTRUSION
+           ADAPTIVE_STEP_SMOOTHING LIN_ADVANCE SMOOTH_LIN_ADVANCE NONLINEAR_EXTRUSION \
+           PINS_DEBUGGING
 opt_disable FTM_POLYS
-exec_test $1 $2 "BigTreeTech SKR Mini E3 1.0 - TMC2209 HW Serial, FT_MOTION w/out FTM_POLYS" "$3"
+exec_test $1 $2 "BigTreeTech SKR Mini E3 1.0 - TMC2208 HW Serial, FT_MOTION w/out FTM_POLYS" "$3"
