FTM : Fix impossible to set Axis sync via menu

Marlin/src/core/language.h

@@ -366,17 +366,17 @@
 #define STR_Z2 STR_C "2"
 #define STR_Z3 STR_C "3"
 #define STR_Z4 STR_C "4"
-#if CORE_IS_XY || CORE_IS_XZ
+#if ANY(HAS_REAL_X, IS_SCARA, DELTA)
   #define STEPPER_A_NAME 'A'
 #else
   #define STEPPER_A_NAME 'X'
 #endif
-#if CORE_IS_XY || CORE_IS_YZ
+#if ANY(HAS_REAL_Y, IS_SCARA, DELTA, POLAR)
   #define STEPPER_B_NAME 'B'
 #else
   #define STEPPER_B_NAME 'Y'
 #endif
-#if CORE_IS_XZ || CORE_IS_YZ
+#if ANY(HAS_REAL_Z, DELTA)
   #define STEPPER_C_NAME 'C'
 #else
   #define STEPPER_C_NAME 'Z'

Marlin/src/core/types.h

@@ -352,7 +352,7 @@ typedef struct {
 //
 //  - X_AXIS, Y_AXIS, and Z_AXIS should be used for axes in Cartesian space
 //  - A_AXIS, B_AXIS, and C_AXIS should be used for Steppers, corresponding to XYZ on Cartesians
-//  - X_HEAD, Y_HEAD, and Z_HEAD should be used for axes on Core kinematics
+//  - X_REAL, Y_REAL, and Z_REAL should be used for axes on Core kinematics
 //
 enum AxisEnum : uint8_t {
 
@@ -364,8 +364,14 @@ enum AxisEnum : uint8_t {
   #undef _EN_ITEM
 
   // Core also keeps toolhead directions
-  #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
-    X_HEAD, Y_HEAD, Z_HEAD,
+  #if HAS_REAL_X
+    X_REAL,
+  #endif
+  #if HAS_REAL_Y
+    Y_REAL,
+  #endif
+  #if HAS_REAL_Z
+    Z_REAL,
   #endif
 
   // Distinct axes, including all E and Core
@@ -374,6 +380,10 @@ enum AxisEnum : uint8_t {
   // Most of the time we refer only to the single E_AXIS
   #if HAS_EXTRUDERS
     E_AXIS = E0_AXIS,
+    E_REAL = E_AXIS,
+    #define _EN_REAL(N) E##N##_REAL = E##N##_AXIS,
+    REPEAT(EXTRUDERS, _EN_REAL)
+    #undef _EN_REAL
   #endif
 
   // A, B, and C are for DELTA, SCARA, etc.
@@ -387,6 +397,35 @@ enum AxisEnum : uint8_t {
     C_AXIS = Z_AXIS,
   #endif
 
+  // Aliases to distinguish tool axes from stepper indexes
+  #if HAS_X_AXIS && !HAS_REAL_X
+    X_REAL = X_AXIS,
+  #endif
+  #if HAS_Y_AXIS && !HAS_REAL_Y
+    Y_REAL = Y_AXIS,
+  #endif
+  #if HAS_Z_AXIS && !HAS_REAL_Z
+    Z_REAL = Z_AXIS,
+  #endif
+  #if HAS_I_AXIS
+    I_REAL = I_AXIS,
+  #endif
+  #if HAS_J_AXIS
+    J_REAL = J_AXIS,
+  #endif
+  #if HAS_K_AXIS
+    K_REAL = K_AXIS,
+  #endif
+  #if HAS_U_AXIS
+    U_REAL = U_AXIS,
+  #endif
+  #if HAS_V_AXIS
+    V_REAL = V_AXIS,
+  #endif
+  #if HAS_W_AXIS
+    W_REAL = W_AXIS,
+  #endif
+
   // To refer to all or none
   ALL_AXES_ENUM = 0xFE, NO_AXIS_ENUM = 0xFF
 };
@@ -1153,8 +1192,14 @@ class AxisBits {
       #define _EN_ITEM(N) bool e##N:1;
       REPEAT(EXTRUDERS,_EN_ITEM)
       #undef _EN_ITEM
-      #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
-        bool rx:1, ry:1, rz:1;
+      #if HAS_REAL_X
+        bool rx:1;
+      #endif
+      #if HAS_REAL_Y
+        bool ry:1;
+      #endif
+      #if HAS_REAL_Z
+        bool rz:1;
       #endif
     };
     // Axes X, Y, Z ... E0, E1, E2 ... RX, RY, RZ
@@ -1165,8 +1210,14 @@ class AxisBits {
       #define _EN_ITEM(N) bool E##N:1;
       REPEAT(EXTRUDERS,_EN_ITEM)
       #undef _EN_ITEM
-      #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
-        bool RX:1, RY:1, RZ:1;
+      #if HAS_REAL_X
+        bool RX:1;
+      #endif
+      #if HAS_REAL_Y
+        bool RY:1;
+      #endif
+      #if HAS_REAL_Z
+        bool RZ:1;
       #endif
     };
     // a, b, c, e ... ra, rb, rc
@@ -1177,8 +1228,14 @@ class AxisBits {
         REPEAT_S(1,EXTRUDERS,_EN_ITEM)
         #undef _EN_ITEM
       #endif
-      #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
-        bool ra:1, rb:1, rc:1;
+      #if HAS_REAL_X
+        bool ra:1;
+      #endif
+      #if HAS_REAL_Y
+        bool rb:1;
+      #endif
+      #if HAS_REAL_Z
+        bool rc:1;
       #endif
     };
     // A, B, C, E ... RA, RB, RC
@@ -1189,8 +1246,14 @@ class AxisBits {
         REPEAT_S(1,EXTRUDERS,_EN_ITEM)
         #undef _EN_ITEM
       #endif
-      #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX)
-        bool RA:1, RB:1, RC:1;
+      #if HAS_REAL_X
+        bool RA:1;
+      #endif
+      #if HAS_REAL_Y
+        bool RB:1;
+      #endif
+      #if HAS_REAL_Z
+        bool RC:1;
       #endif
     };
   };

Marlin/src/inc/Conditionals-3-etc.h

@@ -584,6 +584,15 @@
 #if ANY(COREYZ, COREZY)
   #define CORE_IS_YZ 1
 #endif
+#if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY)
+  #define HAS_REAL_X 1
+#endif
+#if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_YX)
+  #define HAS_REAL_Y 1
+#endif
+#if CORE_IS_XZ || CORE_IS_YZ
+  #define HAS_REAL_Z 1
+#endif
 #if CORE_IS_XY || CORE_IS_XZ || CORE_IS_YZ
   #define IS_CORE 1
   #if CORE_IS_XY

Marlin/src/inc/SanityCheck.h

@@ -1943,7 +1943,7 @@ static_assert(NUM_SERVOS <= NUM_SERVO_PLUGS, "NUM_SERVOS (or some servo index) i
 #if ENABLED(DUAL_X_CARRIAGE)
   #if EXTRUDERS < 2
     #error "DUAL_X_CARRIAGE requires 2 (or more) extruders."
-  #elif ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX)
+  #elif HAS_REAL_X
     #error "DUAL_X_CARRIAGE cannot be used with COREXY, COREYX, COREXZ, COREZX, MARKFORGED_YX, or MARKFORGED_XY."
   #elif !GOOD_AXIS_PINS(X2)
     #error "DUAL_X_CARRIAGE requires X2 stepper pins to be defined."

Marlin/src/lcd/menu/menu_motion.cpp

@@ -556,7 +556,7 @@ void menu_move() {
 
       editable.state = c.axis_sync_enabled;
       EDIT_ITEM(bool, MSG_FTM_AXIS_SYNC, &editable.state, []{
-        queue.inject(TS(F("M493"), IAXIS_CHAR(MenuItemBase::itemIndex), 'T', int(editable.state)));
+        queue.inject(TS(F("M493"), IAXIS_CHAR(MenuItemBase::itemIndex), 'H', int(editable.state)));
       });
 
       #if ENABLED(FTM_RESONANCE_TEST)

Marlin/src/module/endstops.cpp

@@ -462,30 +462,6 @@ void Endstops::update() {
   #define X_MIN_TEST() TERN1(DUAL_X_CARRIAGE, stepper.last_moved_extruder == 0) // Check min for the left carriage
   #define X_MAX_TEST() TERN1(DUAL_X_CARRIAGE, stepper.last_moved_extruder != 0) // Check max for the right carriage
 
-  // Use HEAD for core axes, AXIS for others
-  #if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX)
-    #define X_AXIS_HEAD X_HEAD
-  #else
-    #define X_AXIS_HEAD X_AXIS
-  #endif
-  #if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY, MARKFORGED_YX)
-    #define Y_AXIS_HEAD Y_HEAD
-  #else
-    #define Y_AXIS_HEAD Y_AXIS
-  #endif
-  #if CORE_IS_XZ || CORE_IS_YZ
-    #define Z_AXIS_HEAD Z_HEAD
-  #else
-    #define Z_AXIS_HEAD Z_AXIS
-  #endif
-
-  #define I_AXIS_HEAD I_AXIS
-  #define J_AXIS_HEAD J_AXIS
-  #define K_AXIS_HEAD K_AXIS
-  #define U_AXIS_HEAD U_AXIS
-  #define V_AXIS_HEAD V_AXIS
-  #define W_AXIS_HEAD W_AXIS
-
   /**
    * Check and update endstops
    */
@@ -680,8 +656,8 @@ void Endstops::update() {
     #define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_DUAL_ENDSTOP(Z, MINMAX)
   #endif
 
-  #define AXIS_IS_MOVING(A) TERN(FT_MOTION, ftMotion, stepper).axis_is_moving(_AXIS(A))
-  #define AXIS_DIR_REV(A)  !TERN(FT_MOTION, ftMotion, stepper).motor_direction(A)
+  #define AXIS_IS_MOVING(A) TERN(FT_MOTION, ftMotion, stepper).axis_is_moving(A##_REAL)
+  #define AXIS_DIR_REV(A)  !TERN(FT_MOTION, ftMotion, stepper).axis_direction(A##_REAL)
 
   #if ENABLED(G38_PROBE_TARGET)
     // For G38 moves check the probe's pin for ALL movement
@@ -704,8 +680,7 @@ void Endstops::update() {
 
   #if HAS_X_AXIS
     if (AXIS_IS_MOVING(X)) {
-      const AxisEnum x_head = TERN0(FT_MOTION, ftMotion.cfg.active) ? X_AXIS : X_AXIS_HEAD;
-      if (AXIS_DIR_REV(x_head)) {
+      if (AXIS_DIR_REV(X)) {
         #if HAS_X_MIN_STATE
           PROCESS_ENDSTOP_X(MIN);
           #if   CORE_DIAG(XY, Y, MIN)
@@ -738,8 +713,7 @@ void Endstops::update() {
 
   #if HAS_Y_AXIS
     if (AXIS_IS_MOVING(Y)) {
-      const AxisEnum y_head = TERN0(FT_MOTION, ftMotion.cfg.active) ? Y_AXIS : Y_AXIS_HEAD;
-      if (AXIS_DIR_REV(y_head)) {
+      if (AXIS_DIR_REV(Y)) {
         #if HAS_Y_MIN_STATE
           PROCESS_ENDSTOP_Y(MIN);
           #if   CORE_DIAG(XY, X, MIN)
@@ -772,8 +746,7 @@ void Endstops::update() {
 
   #if HAS_Z_AXIS
     if (AXIS_IS_MOVING(Z)) {
-      const AxisEnum z_head = TERN0(FT_MOTION, ftMotion.cfg.active) ? Z_AXIS : Z_AXIS_HEAD;
-      if (AXIS_DIR_REV(z_head)) {
+      if (AXIS_DIR_REV(Z)) {
         // Z- : Gantry down, bed up
         #if HAS_Z_MIN_STATE
           // If the Z_MIN_PIN is being used for the probe there's no
@@ -820,7 +793,7 @@ void Endstops::update() {
 
   #if HAS_I_AXIS && HAS_I_STATE
     if (AXIS_IS_MOVING(I)) {
-      if (AXIS_DIR_REV(I_AXIS_HEAD)) {
+      if (AXIS_DIR_REV(I)) {
         #if HAS_I_MIN_STATE
           PROCESS_ENDSTOP(I, MIN);
         #endif
@@ -835,7 +808,7 @@ void Endstops::update() {
 
   #if HAS_J_AXIS && HAS_J_STATE
     if (AXIS_IS_MOVING(J)) {
-      if (AXIS_DIR_REV(J_AXIS_HEAD)) {
+      if (AXIS_DIR_REV(J)) {
         #if HAS_J_MIN_STATE
           PROCESS_ENDSTOP(J, MIN);
         #endif
@@ -850,7 +823,7 @@ void Endstops::update() {
 
   #if HAS_K_AXIS && HAS_K_STATE
     if (AXIS_IS_MOVING(K)) {
-      if (AXIS_DIR_REV(K_AXIS_HEAD)) {
+      if (AXIS_DIR_REV(K)) {
         #if HAS_K_MIN_STATE
           PROCESS_ENDSTOP(K, MIN);
         #endif
@@ -865,7 +838,7 @@ void Endstops::update() {
 
   #if HAS_U_AXIS && HAS_U_STATE
     if (AXIS_IS_MOVING(U)) {
-      if (AXIS_DIR_REV(U_AXIS_HEAD)) {
+      if (AXIS_DIR_REV(U)) {
         #if HAS_U_MIN_STATE
           PROCESS_ENDSTOP(U, MIN);
         #endif
@@ -880,7 +853,7 @@ void Endstops::update() {
 
   #if HAS_V_AXIS && HAS_V_STATE
     if (AXIS_IS_MOVING(V)) {
-      if (AXIS_DIR_REV(V_AXIS_HEAD)) {
+      if (AXIS_DIR_REV(V)) {
         #if HAS_V_MIN_STATE
           PROCESS_ENDSTOP(V, MIN);
         #endif
@@ -895,7 +868,7 @@ void Endstops::update() {
 
   #if HAS_W_AXIS && HAS_W_STATE
     if (AXIS_IS_MOVING(W)) {
-      if (AXIS_DIR_REV(W_AXIS_HEAD)) {
+      if (AXIS_DIR_REV(W)) {
         #if HAS_W_MIN_STATE
           PROCESS_ENDSTOP(W, MIN);
         #endif

Marlin/src/module/ft_motion.cpp

@@ -389,16 +389,10 @@ bool FTMotion::plan_next_block() {
       recovery.info.current_position = current_block->start_position;
     #endif
 
-    // Some kinematics track axis motion in RX, RY, RZ
-    #if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX)
-      stepper.last_direction_bits.rx = current_block->direction_bits.rx;
-    #endif
-    #if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY, MARKFORGED_YX)
-      stepper.last_direction_bits.ry = current_block->direction_bits.ry;
-    #endif
-    #if ANY(CORE_IS_XZ, CORE_IS_YZ)
-      stepper.last_direction_bits.rz = current_block->direction_bits.rz;
-    #endif
+    // Some kinematics track axis motion in HX, HY, HZ
+    TERN_(HAS_REAL_X, stepper.last_direction_bits.rx = current_block->direction_bits.rx);
+    TERN_(HAS_REAL_Y, stepper.last_direction_bits.ry = current_block->direction_bits.ry);
+    TERN_(HAS_REAL_Z, stepper.last_direction_bits.rz = current_block->direction_bits.rz);
 
     // Cache the extruder index / axis for this block
     #if ANY(HAS_MULTI_EXTRUDER, MIXING_EXTRUDER)
@@ -411,7 +405,7 @@ bool FTMotion::plan_next_block() {
     const float totalLength = current_block->millimeters;
 
     startPos = endPos_prevBlock;
-    const xyze_pos_t &moveDist = current_block->distance_mm;
+    const ext_distance_t &moveDist = current_block->ext_distance_mm;
     ratio = moveDist / totalLength;
 
     // Plan the trajectory using the trajectory generator
@@ -422,9 +416,15 @@ bool FTMotion::plan_next_block() {
     TERN_(FTM_HAS_LIN_ADVANCE, use_advance_lead = current_block->use_advance_lead);
 
     axis_move_dir = current_block->direction_bits;
-    #define _SET_MOVE_END(A) moving_axis_flags.A = bool(moveDist.A);
 
+    // Set moving flags for axes that have movement in this block
+    // For CORE kinematics: moveDist.x/.y/.z contain motor distances (a/b/c)
+    // HEAD movement flags need to be inferred: if either motor moves, the head moves
+    #define _SET_MOVE_END(A) moving_axis_flags.A = bool(moveDist.A);
     LOGICAL_AXIS_MAP(_SET_MOVE_END);
+    TERN_(HAS_REAL_X, moving_axis_flags.rx = bool(moveDist.real.x));
+    TERN_(HAS_REAL_Y, moving_axis_flags.ry = bool(moveDist.real.y));
+    TERN_(HAS_REAL_Z, moving_axis_flags.rz = bool(moveDist.real.z));
 
     // If the endstop is already pressed, endstop interrupts won't invoke
     // endstop_triggered and the move will grind. So check here for a

Marlin/src/module/ft_motion.h

@@ -300,11 +300,11 @@ class FTMotion {
     static TrajectoryType getTrajectoryType() { return TERN(FTM_POLYS, trajectoryType, TrajectoryType::TRAPEZOIDAL); }
     static FSTR_P getTrajectoryName();
 
-    FORCE_INLINE static bool axis_is_moving(const AxisEnum axis) {
-      return cfg.active ? moving_axis_flags[axis] : TERN0(HAS_STANDARD_MOTION, stepper.axis_is_moving(axis));
+    FORCE_INLINE static bool axis_is_moving(const AxisEnum real) {
+      return cfg.active ? moving_axis_flags[real] : TERN0(HAS_STANDARD_MOTION, stepper.axis_is_moving(real));
     }
-    FORCE_INLINE static bool motor_direction(const AxisEnum axis) {
-      return cfg.active ? axis_move_dir[axis] : stepper.last_direction_bits[axis];
+    FORCE_INLINE static bool axis_direction(const AxisEnum real) {
+      return cfg.active ? axis_move_dir[real] : stepper.last_direction_bits[real];
     }
 
     // A frame of the stepping plan