🧑‍💻 Some FT Motion renames

To reduce changes in #28043

Marlin/src/module/ft_motion.cpp

@@ -42,7 +42,7 @@ ft_command_t FTMotion::stepperCmdBuff[FTM_STEPPERCMD_BUFF_SIZE] = {0U}; // Stepp
 int32_t FTMotion::stepperCmdBuff_produceIdx = 0, // Index of next stepper command write to the buffer.
         FTMotion::stepperCmdBuff_consumeIdx = 0; // Index of next stepper command read from the buffer.
 
-bool FTMotion::sts_stepperBusy = false;         // The stepper buffer has items and is in use.
+bool FTMotion::stepperCmdBuffHasData = false;   // The stepper buffer has items and is in use.
 
 XYZEval<millis_t> FTMotion::axis_move_end_ti = { 0 };
 AxisBits FTMotion::axis_move_dir;
@@ -64,9 +64,9 @@ bool FTMotion::batchRdyForInterp = false;       // Indicates the batch is done b
                                                 // ... if applicable, and is ready to be converted to step commands.
 
 // Trapezoid data variables.
-xyze_pos_t   FTMotion::startPosn,                     // (mm) Start position of block
-             FTMotion::endPosn_prevBlock = { 0.0f };  // (mm) End position of previous block
-xyze_float_t FTMotion::ratio;                         // (ratio) Axis move ratio of block
+xyze_pos_t   FTMotion::startPos,                    // (mm) Start position of block
+             FTMotion::endPos_prevBlock = { 0.0f }; // (mm) End position of previous block
+xyze_float_t FTMotion::ratio;                       // (ratio) Axis move ratio of block
 float FTMotion::accel_P,                        // Acceleration prime of block. [mm/sec/sec]
       FTMotion::decel_P,                        // Deceleration prime of block. [mm/sec/sec]
       FTMotion::F_P,                            // Feedrate prime of block. [mm/sec]
@@ -135,7 +135,7 @@ void FTMotion::loop() {
    * 4. Signal ready for new block.
    */
   if (stepper.abort_current_block) {
-    if (sts_stepperBusy) return;          // Wait until motion buffers are emptied
+    if (stepperCmdBuffHasData) return;          // Wait until motion buffers are emptied
     discard_planner_block_protected();
     reset();
     stepper.abort_current_block = false;  // Abort finished.
@@ -149,13 +149,13 @@ void FTMotion::loop() {
       continue;
     }
     loadBlockData(stepper.current_block);
+    blockProcRdy = true;
 
     // If the endstop is already pressed, endstop interrupts won't invoke
     // endstop_triggered and the move will grind. So check here for a
     // triggered endstop, which shortly marks the block for discard.
     endstops.update();
 
-    blockProcRdy = true;
     // Some kinematics track axis motion in HX, HY, HZ
     #if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, MARKFORGED_YX)
       stepper.last_direction_bits.hx = stepper.current_block->direction_bits.hx;
@@ -170,18 +170,14 @@ void FTMotion::loop() {
 
   if (blockProcRdy) {
 
-    if (!batchRdy) makeVector(); // Caution: Do not consolidate checks on blockProcRdy/batchRdy, as they are written by makeVector().
-    // When makeVector is finished: either blockProcRdy has been set false (because the block is
-    // done being processed) or batchRdy is set true, or both.
+    if (!batchRdy) makeVector(); // may clear blockProcRdy
 
     // Check if the block has been completely converted:
     if (!blockProcRdy) {
       discard_planner_block_protected();
-
-      // Check if the block needs to be runout:
       if (!batchRdy && !planner.has_blocks_queued()) {
         runoutBlock();
-        makeVector(); // Do an additional makeVector call to guarantee batchRdy set this loop.
+        makeVector(); // Additional call to guarantee batchRdy is set this loop.
       }
     }
   }
@@ -220,7 +216,7 @@ void FTMotion::loop() {
   }
 
   // Report busy status to planner.
-  busy = (sts_stepperBusy || blockProcRdy || batchRdy || batchRdyForInterp);
+  busy = (stepperCmdBuffHasData || blockProcRdy || batchRdy || batchRdyForInterp);
 
 }
 
@@ -386,7 +382,7 @@ void FTMotion::reset() {
 
   blockProcRdy = batchRdy = batchRdyForInterp = false;
 
-  endPosn_prevBlock.reset();
+  endPos_prevBlock.reset();
 
   makeVector_idx = 0;
   makeVector_batchIdx = TERN(FTM_UNIFIED_BWS, 0, _MIN(BATCH_SIDX_IN_WINDOW, FTM_BATCH_SIZE));
@@ -424,13 +420,13 @@ void FTMotion::discard_planner_block_protected() {
 /**
  * Set up a pseudo block to allow motion to settle and buffers to empty.
  * Called when the planner has one block left. The buffers will be filled
- * with the last commanded position by setting the startPosn block variable to
+ * with the last commanded position by setting the startPos block variable to
  * the last position of the previous block and all ratios to zero such that no
  * axes' positions are incremented.
  */
 void FTMotion::runoutBlock() {
 
-  startPosn = endPosn_prevBlock;
+  startPos = endPos_prevBlock;
   ratio.reset();
 
   const int32_t n_to_fill_batch = (FTM_WINDOW_SIZE) - makeVector_batchIdx;
@@ -466,7 +462,7 @@ void FTMotion::loadBlockData(block_t * const current_block) {
   const float totalLength = current_block->millimeters,
               oneOverLength = 1.0f / totalLength;
 
-  startPosn = endPosn_prevBlock;
+  startPos = endPos_prevBlock;
 
   const xyze_pos_t& moveDist = current_block->dist_mm;
 
@@ -551,7 +547,7 @@ void FTMotion::loadBlockData(block_t * const current_block) {
   // Accel + Coasting + Decel datapoints
   max_intervals = N1 + N2 + N3;
 
-  endPosn_prevBlock += moveDist;
+  endPos_prevBlock += moveDist;
 
   // Watch endstops until the move ends
   const millis_t move_end_ti = millis() + SEC_TO_MS((FTM_TS) * float(max_intervals + num_samples_shaper_settle() + ((PROP_BATCHES) + 1) * (FTM_BATCH_SIZE)) + (float(FTM_STEPPERCMD_BUFF_SIZE) / float(FTM_STEPPER_FS)));
@@ -592,7 +588,7 @@ void FTMotion::makeVector() {
       TERN_(HAS_EXTRUDERS, accel_k = decel_P);            // (mm/s^2) Acceleration K factor from Decel phase
     }
 
-    #define _SET_TRAJ(q) traj.q[makeVector_batchIdx] = startPosn.q + ratio.q * dist;
+    #define _SET_TRAJ(q) traj.q[makeVector_batchIdx] = startPos.q + ratio.q * dist;
     LOGICAL_AXIS_MAP_LC(_SET_TRAJ);
 
     #if HAS_EXTRUDERS

Marlin/src/module/ft_motion.h

@@ -113,7 +113,7 @@ class FTMotion {
     static int32_t stepperCmdBuff_produceIdx,             // Index of next stepper command write to the buffer.
                    stepperCmdBuff_consumeIdx;             // Index of next stepper command read from the buffer.
 
-    static bool sts_stepperBusy;                          // The stepper buffer has items and is in use.
+    static bool stepperCmdBuffHasData;                    // The stepper buffer has items and is in use.
 
     static XYZEval<millis_t> axis_move_end_ti;
     static AxisBits axis_move_dir;
@@ -145,9 +145,9 @@ class FTMotion {
     static bool batchRdy, batchRdyForInterp;
 
     // Trapezoid data variables.
-    static xyze_pos_t   startPosn,          // (mm) Start position of block
-                        endPosn_prevBlock;  // (mm) End position of previous block
-    static xyze_float_t ratio;              // (ratio) Axis move ratio of block
+    static xyze_pos_t   startPos,         // (mm) Start position of block
+                        endPos_prevBlock; // (mm) End position of previous block
+    static xyze_float_t ratio;            // (ratio) Axis move ratio of block
     static float accel_P, decel_P,
                  F_P,
                  f_s,

Marlin/src/module/stepper.cpp

@@ -3565,8 +3565,8 @@ void Stepper::report_positions() {
   void Stepper::ftMotion_stepper() {
 
     // Check if the buffer is empty.
-    ftMotion.sts_stepperBusy = (ftMotion.stepperCmdBuff_produceIdx != ftMotion.stepperCmdBuff_consumeIdx);
-    if (!ftMotion.sts_stepperBusy) return;
+    ftMotion.stepperCmdBuffHasData = (ftMotion.stepperCmdBuff_produceIdx != ftMotion.stepperCmdBuff_consumeIdx);
+    if (!ftMotion.stepperCmdBuffHasData) return;
 
     // "Pop" one command from current motion buffer
     const ft_command_t command = ftMotion.stepperCmdBuff[ftMotion.stepperCmdBuff_consumeIdx];